adhoc

completed
2026-09-22T19:12:25.340024+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
244.1 s
total steps
298
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: open red safe in the middle, lemon to its right, teddy bear on the left, brown plush monkey in front. Moving the right arm above the lemon first.
move_to
right_x0.3800right_y0.0500right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4034, -0.0193, -0.0193, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.388, 10.2769, 2.0, -0.0366, 0.188, -0.0904, -0.5812, -1.4564, 9.7162, 2.0342, -0.0513, 0.0122, -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": {"right_x": 0.38, "right_y": 0.05, "right_z": 0.14, "right_gripper": 1}, "note": "Scene: open red safe in the middle, lemon to its right, teddy bear on the left, brown plush monkey in front. Moving the right arm above the lemon first."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteLemon is centred on the jaw column ahead of the fingertips; advancing ~5 cm and descending to grasp it.
move_to
right_x0.4100right_y0.0500right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.1894, 1.2606, 0.6399, -0.1108, 0.1261, 0.0719, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3534 right_y=0.0488 right_z=0.106 right_yaw=0.0378 right_pitch=-0.1347 right_roll=-0.0261 right_gripper=0.9996 state[joint_eff]: [-0.335, -1.5248, 6.7897, 1.8974, -0.0366, 0.0024, -0.022, 0.0889, -5.3128, 9.9487, 2.127, 0.2271, 0.1441, -0.0562] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.05, "right_z": 0.02}, "note": "Lemon is centred on the jaw column ahead of the fingertips; advancing ~5 cm and descending to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteLemon fills the wrist view just past the jaws; the arm fell short at x=0.384, so advancing a bit more so it sits between the fingers.
move_to
right_x0.4200right_y0.0500right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4191, -0.0193, -0.0387, 0.9992, 0.1604, 1.702, 0.6201, 0.239, 0.1059, 0.0509, 0.9996] state[eef_state]: left_x=0.29 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.032 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3836 right_y=0.0468 right_z=0.0023 right_yaw=0.0348 right_pitch=-0.2474 right_roll=-0.0424 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.9316, -0.0806, -0.0611, -0.0122, -0.5538, -7.2274, 7.5009, 1.8584, 0.0024, -0.0611, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.05, "right_z": 0.01}, "note": "Lemon fills the wrist view just past the jaws; the arm fell short at x=0.384, so advancing a bit more so it sits between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
Lemon now between the jaws. Closing.
agent noteLemon sits between the jaws; closing the right gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.1562, 1.7805, 0.7376, 0.1921, 0.0937, 0.0372, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0022 left_pitch=-0.0423 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4094 right_y=0.0514 right_z=0.004 right_yaw=0.0487 right_pitch=-0.2567 right_roll=-0.0435 right_gripper=0.9996 state[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7802, -0.0415, -0.0464, -0.0122, -0.4171, -7.3504, 6.8034, 1.6093, 0.0904, 0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
Lemon now between the jaws. Closing.
move_to({"targets": {"right_gripper": 0}, "note": "Lemon sits between the jaws; closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.43 (~4 cm held), so lemon is grasped; lifting it clear of the safe walls.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.1547, 1.7908, 0.765, 0.1474, 0.0933, 0.0372, 0.4311] state[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4101 right_y=0.0509 right_z=0.0021 right_yaw=0.0466 right_pitch=-0.2841 right_roll=-0.0462 right_gripper=0.4311 state[joint_eff]: [-0.294, -1.2239, 6.9949, 1.7265, -0.0659, -0.0659, -0.0122, -0.4171, -7.6786, 6.5162, 1.6484, 0.0513, 0.0513, 1.0281] 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": {"right_z": 0.2}, "note": "Gripper settled at 0.43 (~4 cm held), so lemon is grasped; lifting it clear of the safe walls."})
tool
executing move_to over 13 steps (1.3s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteLemon lifted; the safe is to the left. Carrying the lemon over the safe interior.
move_to
right_y0.1900right_x0.3900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, 0.1555, 1.5333, 1.2705, -0.6655, 0.0902, 0.033, 0.4339] state[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0652 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4067 right_y=0.0513 right_z=0.1733 right_yaw=0.0508 right_pitch=-0.3341 right_roll=-0.0521 right_gripper=0.4339 state[joint_eff]: [-0.0205, -0.8821, 6.9812, 1.8486, -0.0513, -0.0415, -0.0122, -0.4308, -8.8274, 9.2786, 1.7118, 0.0562, -0.0073, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.19, "right_x": 0.39, "right_z": 0.2}, "note": "Lemon lifted; the safe is to the left. Carrying the lemon over the safe interior."})
tool
executing move_to over 12 steps (1.2s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteGripper is over the safe's right wall; shifting ~4 cm further left to be over the red interior.
move_to
right_y0.2300right_x0.3900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0193, -0.0387, 0.9992, 0.5678, 1.684, 1.5135, -0.8814, 0.3019, 0.3378, 0.4374] state[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0026 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3803 right_y=0.1845 right_z=0.1847 right_yaw=0.0865 right_pitch=-0.3906 right_roll=-0.0829 right_gripper=0.4374 state[joint_eff]: [-0.3214, -1.2239, 7.2821, 1.7216, -0.0611, -0.0415, -0.0122, 0.1162, -7.706, 9.2376, 1.3944, 0.2906, 0.188, 1.033] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.23, "right_x": 0.39, "right_z": 0.2}, "note": "Gripper is over the safe's right wall; shifting ~4 cm further left to be over the red interior."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteLemon is now over the red interior of the safe; lowering it inside before releasing.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4652, -0.0193, -0.0387, 0.9992, 0.6514, 1.8225, 1.7069, -0.997, 0.3252, 0.387, 0.4374] state[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.162 left_yaw=0.0026 left_pitch=-0.0816 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3828 right_y=0.2254 right_z=0.1862 right_yaw=0.1086 right_pitch=-0.4309 right_roll=-0.1058 right_gripper=0.4374 state[joint_eff]: [-0.1709, -1.388, 6.9675, 1.7607, -0.0855, -0.0611, -0.0122, -0.253, -9.3607, 8.9231, 1.0672, 0.3736, 0.2466, 1.0379] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Lemon is now over the red interior of the safe; lowering it inside before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteThe descent didn't happen (z stayed 0.188), possibly an IK stall at this reach; retrying with slightly shorter reach and a smaller drop.
move_to
right_x0.3700right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.659, 1.8328, 1.7302, -1.0199, 0.3256, 0.4015, 0.4374] state[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0024 left_pitch=-0.0911 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3811 right_y=0.2283 right_z=0.1877 right_yaw=0.1047 right_pitch=-0.4384 right_roll=-0.1035 right_gripper=0.4374 state[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7656, -0.0708, -0.0122, -0.0122, -0.1983, -9.2923, 8.5949, 1.2772, 0.3199, 0.1685, 1.033] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.12}, "note": "The descent didn't happen (z stayed 0.188), possibly an IK stall at this reach; retrying with slightly shorter reach and a smaller drop."})
tool
executing move_to over 5 steps (0.5s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteArm is lowering slowly (z 0.173); continuing the descent into the safe.
move_to
right_x0.3700right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.6674, 1.8034, 1.6257, -0.9195, 0.3256, 0.4026, 0.4375] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.379 right_y=0.2313 right_z=0.1734 right_yaw=0.1184 right_pitch=-0.4169 right_roll=-0.0883 right_gripper=0.4375 state[joint_eff]: [0.0615, -0.9231, 7.1726, 1.7021, -0.0317, -0.0513, -0.0122, 0.7453, -8.7316, 6.4205, 1.6142, 0.3101, 0.149, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_z": 0.1}, "note": "Arm is lowering slowly (z 0.173); continuing the descent into the safe."})
tool
executing move_to over 5 steps (0.5s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
Lemon is inside the safe at z≈0.09. Releasing.
agent noteLemon is lowered inside the red safe interior; opening the gripper to drop it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.487, -0.0193, -0.0383, 0.9992, 0.6781, 1.8088, 1.3426, -0.7166, 0.3214, 0.4046, 0.4375] state[eef_state]: left_x=0.2802 left_y=0.0017 left_z=0.1573 left_yaw=0.0024 left_pitch=-0.1053 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3582 right_y=0.2215 right_z=0.0922 right_yaw=0.1091 right_pitch=-0.4912 right_roll=-0.1341 right_gripper=0.4375 state[joint_eff]: [-0.0615, -0.8, 6.9538, 1.8339, -0.0806, -0.0513, -0.0122, 0.212, -9.7436, 7.1453, 1.4383, 0.2662, 0.105, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
Lemon is inside the safe at z≈0.09. Releasing.
move_to({"targets": {"right_gripper": 1}, "note": "Lemon is lowered inside the red safe interior; opening the gripper to drop it."})
tool
executing move_to over 6 steps (0.6s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteLemon is resting inside the safe. Lifting the right arm out and pulling back toward the brown plush monkey sitting just in front of the safe.
move_to
right_z0.1800right_x0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5022, -0.0193, -0.0387, 0.9992, 0.6796, 1.8095, 1.3197, -0.6624, 0.321, 0.4042, 0.9947] state[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3621 right_y=0.2255 right_z=0.0891 right_yaw=0.1196 right_pitch=-0.4657 right_roll=-0.1156 right_gripper=0.9947 state[joint_eff]: [-0.1846, -1.0188, 6.9402, 1.8388, -0.0855, -0.0464, -0.0122, -0.1026, -9.812, 7.1179, 1.3407, 0.2173, 0.1001, -0.1978] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_x": 0.3}, "note": "Lemon is resting inside the safe. Lifting the right arm out and pulling back toward the brown plush monkey sitting just in front of the safe."})
tool
executing move_to over 6 steps (0.6s)
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 noteRetract stalled with high shoulder effort — fingers likely catching on the safe's front wall. Lifting straight up first.
move_to
right_z0.2200right_x0.3600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8043, 0.6067, -0.5159, -0.0189, -0.0387, 0.9992, 0.7341, 1.766, 1.3678, -0.7628, 0.3428, 0.4526, 0.9953] state[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.135 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3451 right_y=0.2363 right_z=0.1145 right_yaw=0.1248 right_pitch=-0.459 right_roll=-0.1126 right_gripper=0.9953 state[joint_eff]: [-0.0342, -0.8684, 7.0906, 1.7705, -0.0806, -0.0562, -0.0122, 2.6735, -17.388, 12.1641, 1.5995, 0.2466, 0.2173, 0.0366] 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": {"right_z": 0.22, "right_x": 0.36}, "note": "Retract stalled with high shoulder effort \u2014 fingers likely catching on the safe's front wall. Lifting straight up first."})
tool
executing move_to over 7 steps (0.7s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteClear of the safe. The brown monkey sits just in front of the safe below the jaws; moving back over it.
move_to
right_x0.2800right_y0.2300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.7113, 1.8175, 1.8256, -1.1362, 0.3229, 0.4259, 0.9954] state[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1489 left_yaw=0.0022 left_pitch=-0.1484 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3605 right_y=0.2414 right_z=0.2154 right_yaw=0.1426 right_pitch=-0.4432 right_roll=-0.0907 right_gripper=0.9954 state[joint_eff]: [-0.1846, -1.2103, 7.1043, 1.7021, -0.0611, -0.0464, -0.0122, -0.4581, -7.4598, 7.3915, 0.9109, 0.2466, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.23, "right_z": 0.15}, "note": "Clear of the safe. The brown monkey sits just in front of the safe below the jaws; moving back over it."})
tool
executing move_to over 7 steps (0.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteThe monkey fills the wrist view centred between the jaws; descending onto it to grab the plush body.
move_to
right_x0.2900right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.8482, 1.5829, 1.2942, -0.9531, 0.3603, 0.5339, 0.9954] state[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2762 right_y=0.2245 right_z=0.1411 right_yaw=0.1491 right_pitch=-0.5078 right_roll=-0.1389 right_gripper=0.9954 state[joint_eff]: [-0.3214, -1.1009, 6.8991, 1.7265, -0.0464, -0.0708, -0.0122, 0.3624, -8.2667, 6.9402, 1.3455, 0.3736, 0.1245, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_z": 0.03}, "note": "The monkey fills the wrist view centred between the jaws; descending onto it to grab the plush body."})
tool
executing move_to over 8 steps (0.8s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteJaws are straddling the monkey's body; closing to grab 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]: [-0.0189, 0.8097, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.8173, 1.7084, 1.0073, -0.5739, 0.3462, 0.5049, 0.9954] state[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.0023 left_pitch=-0.18 left_roll=0.0001 left_gripper=0.9992 right_x=0.2812 right_y=0.2173 right_z=0.0355 right_yaw=0.1348 right_pitch=-0.5443 right_roll=-0.1662 right_gripper=0.9954 state[joint_eff]: [-0.0752, -1.1966, 6.8991, 1.6874, -0.0415, -0.0269, -0.0122, -0.4855, -6.4615, 5.2034, 0.9353, 0.1783, -0.1197, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Jaws are straddling the monkey's body; closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteGripper closed to 0.009 which could be an empty close or just a pinch of fur; lifting to check whether the monkey comes along.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5632, -0.0189, -0.0387, 0.9992, 0.8169, 1.7195, 0.9985, -0.5713, 0.3435, 0.498, 0.0089] state[eef_state]: left_x=0.2679 left_y=0.0019 left_z=0.1416 left_yaw=0.0026 left_pitch=-0.1876 left_roll=-0.0 left_gripper=0.9992 right_x=0.2787 right_y=0.2152 right_z=0.0293 right_yaw=0.1341 right_pitch=-0.5599 right_roll=-0.18 right_gripper=0.0089 state[joint_eff]: [-0.0068, -1.0462, 7.1316, 1.6435, -0.0513, -0.0611, -0.0122, -0.1983, -8.6085, 6.5299, 0.7692, 0.2027, 0.0757, 0.6422] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09}, "note": "Gripper closed to 0.009 which could be an empty close or just a pinch of fur; lifting to check whether the monkey comes along."})
tool
executing move_to over 4 steps (0.4s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteThe monkey stayed fixed in the wrist view while the arm rose, suggesting it's pinched by the fur; lifting further to confirm.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5682, -0.0189, -0.0387, 0.9992, 0.8169, 1.6703, 1.1217, -0.7624, 0.3367, 0.4976, 0.0115] state[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1407 left_yaw=0.0026 left_pitch=-0.1926 left_roll=0.0001 left_gripper=0.9992 right_x=0.2776 right_y=0.2157 right_z=0.0694 right_yaw=0.1319 right_pitch=-0.5786 right_roll=-0.1881 right_gripper=0.0115 state[joint_eff]: [-0.0479, -1.1966, 7.1043, 1.619, -0.0464, -0.0269, -0.0122, -0.335, -9.3197, 7.9248, 0.7937, 0.232, -0.0366, 0.2515] camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "The monkey stayed fixed in the wrist view while the arm rose, suggesting it's pinched by the fur; lifting further to confirm."})
tool
executing move_to over 6 steps (0.6s)
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 noteThe monkey is dangling from the jaws and rose with the arm. Carrying it high over the safe's front wall to the interior.
move_to
right_x0.3700right_y0.2300right_z0.2400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.812, 0.6067, -0.5838, -0.0189, -0.0383, 0.9992, 0.8177, 1.6436, 1.396, -1.071, 0.3248, 0.4973, 0.013] state[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1374 left_yaw=0.0024 left_pitch=-0.2105 left_roll=0.0007 left_gripper=0.9992 right_x=0.2783 right_y=0.2197 right_z=0.1436 right_yaw=0.1386 right_pitch=-0.5918 right_roll=-0.1834 right_gripper=0.013 state[joint_eff]: [-0.294, -0.9368, 6.8855, 1.8046, -0.0611, -0.0659, -0.0122, -0.3897, -8.7726, 8.1983, 0.696, 0.2711, -0.0366, 0.149] 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": 0.37, "right_y": 0.23, "right_z": 0.24}, "note": "The monkey is dangling from the jaws and rose with the arm. Carrying it high over the safe's front wall to the interior."})
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 noteMonkey is above the red interior next to the lemon; lowering it into the safe.
move_to
right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8165, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 0.6712, 2.0197, 2.2326, -1.4773, 0.279, 0.3542, 0.0136] state[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.3676 right_y=0.2344 right_z=0.2317 right_yaw=0.1438 right_pitch=-0.5858 right_roll=-0.1693 right_gripper=0.0136 state[joint_eff]: [-0.2256, -1.4701, 7.0222, 1.58, -0.0464, -0.0366, -0.0122, -0.6222, -9.9624, 7.0085, 0.7302, 0.2222, -0.0708, 0.0513] 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": 0.13}, "note": "Monkey is above the red interior next to the lemon; lowering it into the safe."})
tool
executing move_to over 7 steps (0.7s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteMonkey is hanging over the safe's front wall; shifting forward ~4 cm so it drops fully inside.
move_to
right_x0.4000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6079, -0.0189, -0.0383, 0.9992, 0.6682, 1.9488, 1.6821, -1.1061, 0.2718, 0.3435, 0.0144] state[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.0014 left_gripper=0.9992 right_x=0.3543 right_y=0.2238 right_z=0.1153 right_yaw=0.1131 right_pitch=-0.6835 right_roll=-0.2357 right_gripper=0.0144 state[joint_eff]: [-0.1846, -0.841, 6.8308, 1.6386, -0.0513, -0.0317, -0.0122, 0.1846, -12.8205, 7.0359, 0.9988, 0.1636, 0.0806, 0.0757] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.13}, "note": "Monkey is hanging over the safe's front wall; shifting forward ~4 cm so it drops fully inside."})
tool
executing move_to over 4 steps (0.4s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteTop view still shows the monkey hanging at the safe's front edge; pushing further forward and slightly left toward the safe's centre.
move_to
right_x0.4300right_y0.2400right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.82, 0.6067, -0.6121, -0.0189, -0.0383, 0.9992, 0.6273, 2.0064, 1.7729, -1.0916, 0.2798, 0.2943, 0.015] state[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1307 left_yaw=0.0026 left_pitch=-0.2468 left_roll=0.0015 left_gripper=0.9992 right_x=0.3843 right_y=0.2228 right_z=0.1205 right_yaw=0.1181 right_pitch=-0.6447 right_roll=-0.2336 right_gripper=0.015 state[joint_eff]: [-0.212, -1.1145, 6.9538, 1.4921, -0.0757, -0.0611, -0.0122, -0.3077, -10.1128, 8.0752, 0.6862, 0.359, -0.0708, 0.0415] camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.24, "right_z": 0.13}, "note": "Top view still shows the monkey hanging at the safe's front edge; pushing further forward and slightly left toward the safe's centre."})
tool
executing move_to over 4 steps (0.4s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteForward motion stalled at x=0.39, likely the monkey snagging the front wall; raising while advancing to clear it.
move_to
right_x0.4300right_y0.2400right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7847, -1.0733, 0.2798, 0.2802, 0.015] state[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0026 left_pitch=-0.2506 left_roll=0.0016 left_gripper=0.9992 right_x=0.3911 right_y=0.225 right_z=0.118 right_yaw=0.1273 right_pitch=-0.6351 right_roll=-0.2319 right_gripper=0.015 state[joint_eff]: [-0.0615, -1.1145, 6.8308, 1.5214, -0.0611, -0.0415, -0.0122, 0.294, -11.4393, 6.106, 0.989, 0.2906, 0.0415, -0.0024] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.24, "right_z": 0.22}, "note": "Forward motion stalled at x=0.39, likely the monkey snagging the front wall; raising while advancing to clear it."})
tool
executing move_to over 7 steps (0.7s)
step 156
top_cam
camera top_cam step 156
left_cam
camera left_cam step 156
right_cam
camera right_cam step 156
assistant
agent noteRight arm is frozen (joints unchanged) with pitch drifted to -0.63; commanding a lift with pitch/roll reset to 0 to get it tracking again.
move_to
right_z0.2000right_pitch0.0000right_roll0.0000right_x0.3800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.823, 0.6067, -0.63, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7836, -1.0714, 0.2798, 0.2802, 0.015] state[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.127 left_yaw=0.0027 left_pitch=-0.2677 left_roll=0.002 left_gripper=0.9992 right_x=0.3913 right_y=0.2251 right_z=0.1178 right_yaw=0.1275 right_pitch=-0.6345 right_roll=-0.2314 right_gripper=0.015 state[joint_eff]: [-0.0205, -1.1829, 6.8034, 1.6239, -0.0611, -0.0366, -0.0122, 0.2256, -11.4393, 6.147, 0.906, 0.2955, 0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 156): [image omitted: streamed camera frame] camera 'left_cam' (step 156): [image omitted: streamed camera frame] camera 'right_cam' (step 156): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_pitch": 0, "right_roll": 0, "right_x": 0.38}, "note": "Right arm is frozen (joints unchanged) with pitch drifted to -0.63; commanding a lift with pitch/roll reset to 0 to get it tracking again."})
tool
executing move_to over 22 steps (2.2s)
step 178
top_cam
camera top_cam step 178
assistant
agent noteArm is tracking again with the monkey held above the safe's front edge; advancing forward so the monkey is over the interior.
move_to
right_z0.2000right_pitch0.0000right_roll0.0000right_x0.4400right_y0.2300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, 0.7071, 1.557, 1.1503, -0.3874, 0.4419, 0.3401, 0.0151] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0028 left_pitch=-0.2769 left_roll=0.0022 left_gripper=0.9992 right_x=0.3708 right_y=0.2222 right_z=0.1705 right_yaw=0.1471 right_pitch=-0.1115 right_roll=-0.0494 right_gripper=0.0151 state[joint_eff]: [-0.1846, -1.1145, 6.8444, 1.5263, -0.0708, -0.0464, -0.0122, 0.3214, -9.2513, 7.5009, 2.0488, 0.3639, -0.0171, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_pitch": 0, "right_roll": 0, "right_x": 0.44, "right_y": 0.23}, "note": "Arm is tracking again with the monkey held above the safe's front edge; advancing forward so the monkey is over the interior."})
tool
executing move_to over 6 steps (0.6s)
step 184
assistant
agent noteMonkey now sits over the safe interior in the top view; lowering it inside before releasing.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8253, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.6901, 1.2789, -0.3416, 0.3771, 0.2684, 0.0151] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1252 left_yaw=0.003 left_pitch=-0.2776 left_roll=0.002 left_gripper=0.9992 right_x=0.4203 right_y=0.2215 right_z=0.1711 right_yaw=0.1476 right_pitch=-0.0997 right_roll=-0.0448 right_gripper=0.0151 state[joint_eff]: [-0.0205, -1.2239, 6.7761, 1.4383, -0.0513, -0.0611, -0.0122, -0.6769, -7.9658, 9.7299, 2.0147, 0.232, 0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.11}, "note": "Monkey now sits over the safe interior in the top view; lowering it inside before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 188
assistant
agent noteMonkey is lowered into the safe; opening the gripper to release it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6102, 1.7527, 1.1076, -0.1944, 0.3691, 0.2615, 0.0151] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4086 right_y=0.2123 right_z=0.0976 right_yaw=0.1478 right_pitch=-0.1799 right_roll=-0.084 right_gripper=0.0151 state[joint_eff]: [-0.0615, -1.2376, 6.7624, 1.4139, -0.0806, -0.0464, -0.0122, 0.0479, -8.7316, 7.8154, 1.956, 0.1978, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Monkey is lowered into the safe; opening the gripper to release it."})
tool
executing move_to over 10 steps (1.0s)
step 198
assistant
agent noteMonkey and lemon are both inside the safe. Lifting the right arm straight up out of the safe.
move_to
right_z0.2200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.7599, 1.0946, -0.1326, 0.3691, 0.2615, 0.9945] state[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4133 right_y=0.2182 right_z=0.0993 right_yaw=0.1553 right_pitch=-0.1427 right_roll=-0.0652 right_gripper=0.9945 state[joint_eff]: [-0.0889, -0.9641, 6.7761, 1.4432, -0.0659, -0.0611, -0.0122, -0.0615, -9.0051, 7.3504, 1.8144, 0.1685, 0.0171, 0.0269] 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_z": 0.22, "right_pitch": 0, "right_roll": 0}, "note": "Monkey and lemon are both inside the safe. Lifting the right arm straight up out of the safe."})
tool
executing move_to over 8 steps (0.8s)
step 206
assistant
agent noteRight arm retreats to home; the left arm moves toward the teddy bear, which sits left of the safe and ahead-right of the left gripper.
move_to
right_x0.2900right_y0.0000right_z0.1800left_x0.3800left_y-0.1700left_z0.1200left_pitch0.0000left_roll0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.6575, -0.0189, -0.0387, 0.9992, 0.6205, 1.6188, 1.2385, -0.3405, 0.3664, 0.2611, 0.9952] state[eef_state]: left_x=0.2512 left_y=0.0022 left_z=0.1206 left_yaw=0.0032 left_pitch=-0.3036 left_roll=0.0026 left_gripper=0.9992 right_x=0.4082 right_y=0.2183 right_z=0.1855 right_yaw=0.1671 right_pitch=-0.0743 right_roll=-0.0297 right_gripper=0.9952 state[joint_eff]: [-0.1026, -1.1145, 6.7487, 1.7167, -0.0855, -0.0269, -0.0122, -0.3487, -10.3179, 10.0444, 1.7558, 0.2271, -0.0562, 0.0708] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.18, "left_x": 0.38, "left_y": -0.17, "left_z": 0.12, "left_pitch": 0, "left_roll": 0, "left_gripper": 1}, "note": "Right arm retreats to home; the left arm moves toward the teddy bear, which sits left of the safe and ahead-right of the left gripper."})
tool
executing move_to over 19 steps (1.9s)
step 225
assistant
agent noteTeddy bear sits right between the left jaws in the wrist view; descending to grab it.
move_to
left_x0.3700left_y-0.1650left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6395, 1.5154, 0.7784, -0.0467, -0.506, -0.4248, 0.9993, -0.1303, 0.8791, 0.712, -0.5308, -0.1696, -0.1818, 0.9954] state[eef_state]: left_x=0.3632 left_y=-0.159 left_z=0.097 left_yaw=-0.0055 left_pitch=-0.0878 left_roll=0.0366 left_gripper=0.9993 right_x=0.2923 right_y=-0.0046 right_z=0.177 right_yaw=0.107 right_pitch=-0.0963 right_roll=-0.0272 right_gripper=0.9954 state[joint_eff]: [-0.253, -6.7487, 8.759, 1.7802, -0.3834, 0.0024, -0.0904, -0.1162, -2.1675, 6.5162, 1.9219, -0.2418, -0.0708, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.165, "left_z": 0.02}, "note": "Teddy bear sits right between the left jaws in the wrist view; descending to grab it."})
tool
executing move_to over 5 steps (0.5s)
step 230
assistant
agent noteBear's body is between the jaws at table level; closing the left gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6456, 1.7535, 0.6727, 0.2142, -0.5098, -0.429, 0.9992, -0.1299, 0.8825, 0.7063, -0.5682, -0.1764, -0.1982, 0.9953] state[eef_state]: left_x=0.3587 left_y=-0.1578 left_z=0.0129 left_yaw=-0.0004 left_pitch=-0.1524 left_roll=0.0854 left_gripper=0.9992 right_x=0.2857 right_y=-0.0024 right_z=0.1668 right_yaw=0.1236 right_pitch=-0.1406 right_roll=-0.024 right_gripper=0.9953 state[joint_eff]: [0.1436, -7.3231, 4.6017, 1.7021, -0.1832, -0.022, -0.0171, -0.0752, -1.853, 7.3641, 1.9023, -0.0366, 0.0904, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Bear's body is between the jaws at table level; closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 240
assistant
agent noteBear is grasped (gripper settled at 0.20). Lifting and carrying it over the safe interior.
move_to
left_z0.2600left_x0.4000left_y-0.2900left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6468, 1.7653, 0.6678, 0.2276, -0.5213, -0.432, 0.1982, -0.1303, 0.8829, 0.7063, -0.6098, -0.1764, -0.1993, 0.9954] state[eef_state]: left_x=0.3585 left_y=-0.156 left_z=0.0098 left_yaw=0.0089 left_pitch=-0.1496 left_roll=0.0922 left_gripper=0.1982 right_x=0.2787 right_y=-0.0016 right_z=0.1594 right_yaw=0.1256 right_pitch=-0.1812 right_roll=-0.0141 right_gripper=0.9954 state[joint_eff]: [0.0615, -8.3624, 5.2855, 1.2527, -0.1685, -0.0317, 0.735, -0.0479, -1.6889, 6.8718, 1.9463, -0.1197, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.26, "left_x": 0.4, "left_y": -0.29, "left_pitch": 0, "left_roll": 0}, "note": "Bear is grasped (gripper settled at 0.20). Lifting and carrying it over the safe interior."})
tool
executing move_to over 17 steps (1.7s)
step 257
assistant
agent noteBear is above the safe near its back/left side; lowering it into the interior slightly toward the centre.
move_to
left_z0.1200left_x0.3700left_y-0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8608, 1.8183, 1.6829, -0.6796, -0.6758, -0.6155, 0.2006, -0.1303, 0.8856, 0.7063, -0.635, -0.1768, -0.1993, 0.9953] state[eef_state]: left_x=0.3982 left_y=-0.2883 left_z=0.2432 left_yaw=0.0026 left_pitch=-0.0254 left_roll=-0.0067 left_gripper=0.2006 right_x=0.2744 right_y=-0.001 right_z=0.1545 right_yaw=0.1273 right_pitch=-0.2081 right_roll=-0.0066 right_gripper=0.9953 state[joint_eff]: [-0.4991, -9.4427, 8.9231, 1.3602, -0.5055, 0.0464, 0.2418, -0.0342, -1.853, 7.1043, 1.7118, -0.1441, -0.0562, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12, "left_x": 0.37, "left_y": -0.31}, "note": "Bear is above the safe near its back/left side; lowering it into the interior slightly toward the centre."})
tool
executing move_to over 8 steps (0.8s)
step 265
assistant
agent noteBear is inside the safe beside the lemon and monkey; releasing it while rising up and forward to get behind the open lid for closing.
move_to
left_gripper1.0000left_z0.2700left_x0.5500left_y-0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9455, 1.8668, 1.306, -0.345, -0.7105, -0.6907, 0.2028, -0.1303, 0.8875, 0.7063, -0.6575, -0.1768, -0.1993, 0.9954] state[eef_state]: left_x=0.3669 left_y=-0.3053 left_z=0.1246 left_yaw=-0.0145 left_pitch=-0.061 left_roll=0.0196 left_gripper=0.2028 right_x=0.2705 right_y=-0.0005 right_z=0.1503 right_yaw=0.1287 right_pitch=-0.2317 right_roll=-0.0003 right_gripper=0.9954 state[joint_eff]: [-0.4718, -8.9231, 6.1333, 1.5409, -0.569, -0.1441, 0.2173, -0.2256, -1.7846, 6.9949, 1.6679, -0.1538, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.27, "left_x": 0.55, "left_y": -0.31}, "note": "Bear is inside the safe beside the lemon and monkey; releasing it while rising up and forward to get behind the open lid for closing."})
tool
executing move_to over 15 steps (1.5s)
step 280
assistant
agent noteAll three objects are in the safe; the gripper is up at the lid's top edge. Sweeping down and toward the base to push the lid over and shut.
move_to
left_x0.3300left_z0.0900left_y-0.3100left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6643, 2.6194, 2.9143, -1.0893, -0.535, -0.4702, 0.9974, -0.1303, 0.8921, 0.7055, -0.6804, -0.1764, -0.2024, 0.9954] state[eef_state]: left_x=0.547 left_y=-0.3094 left_z=0.214 left_yaw=0.017 left_pitch=-0.0827 left_roll=0.0236 left_gripper=0.9974 right_x=0.2663 right_y=-0.0 right_z=0.1452 right_yaw=0.1319 right_pitch=-0.259 right_roll=0.0048 right_gripper=0.9954 state[joint_eff]: [0.2803, -17.1556, 8.9915, 1.199, -0.5299, 0.2418, 0.0904, -0.0889, -1.4427, 6.8444, 1.6972, -0.105, 0.0024, -0.0122] camera 'top_cam' (step 280): [image omitted: streamed camera frame] camera 'left_cam' (step 280): [image omitted: streamed camera frame] camera 'right_cam' (step 280): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_z": 0.09, "left_y": -0.31, "left_gripper": 0}, "note": "All three objects are in the safe; the gripper is up at the lid's top edge. Sweeping down and toward the base to push the lid over and shut."})
tool
executing move_to over 17 steps (1.7s)
step 297
assistant
agent noteThe safe is still open, so the task isn't finished. All three objects (lemon, plush monkey, teddy bear) are inside it, but my one try at closing the lid missed. I swept the left gripper down and back toward the base from x≈0.55 m, z≈0.21 m, and it passed in front of the upright lid without touching it. The lid is still standing open at the back of the safe. I ran out of my call budget before I could try again. The bear also sits up high enough that it might stop the lid from shutting all the way.
done
hindsight- Save at least 5 calls for closing the lid. It takes about 3 moves: get the gripper clearly behind the lid top (larger x than the lid, maybe x≈0.58 at z≈0.25, or come from the side), drop to just below the lid top, then sweep toward the base. - Positions of the safe in this setup: interior centre is about right-frame (x 0.40–0.42, y 0.22) and left-frame (x 0.37–0.40, y −0.30). So the real base offset between the arms is about 0.52 m, not 0.65. The lid hinges at the back, around x≈0.47 or more, and stands upright when open. - Starting object positions: the lemon was right of the safe at right-frame (0.41, 0.05). The monkey was in front of the safe at right-frame (0.28, 0.22). The teddy bear was left of the safe at left-frame (0.36, −0.16). - Move in fewer, bigger steps. You can lift and carry in one move, and release while rising. - Plush toys can close to a reading of 0.01 and still be held by the fur. Check by lifting rather than trusting the reading. - When the arm is dipped into the safe, raise it straight up before pulling back, or the fingers catch on the front wall. - Pitch can drift past −0.6 at long reach, and then the arm freezes. Sending pitch=0 and roll=0 explicitly gets it moving again. - Carried objects hang below the jaws and snag on the safe walls. Carry at z≥0.2 and lower only once the arm is fully over the interior in the top-camera view.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0241, 1.9293, 1.2385, -0.371, -0.7311, -0.7971, 0.0096, -0.1303, 0.8959, 0.7025, -0.7017, -0.1764, -0.2028, 0.9953] state[eef_state]: left_x=0.3315 left_y=-0.3109 left_z=0.0734 left_yaw=-0.0097 left_pitch=-0.1317 left_roll=0.0754 left_gripper=0.0096 right_x=0.2619 right_y=0.0006 right_z=0.1397 right_yaw=0.1342 right_pitch=-0.2863 right_roll=0.0122 right_gripper=0.9953 state[joint_eff]: [-0.2667, -13.0393, 6.2154, 1.3211, -0.6862, -0.1441, 0.8718, -0.0752, -1.6889, 7.0906, 1.6337, -0.105, -0.0415, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
done({"summary": "The safe is still open, so the task isn't finished. All three objects (lemon, plush monkey, teddy bear) are inside it, but my one try at closing the lid missed. I swept the left gripper down and back toward the base from x\u22480.55 m, z\u22480.21 m, and it passed in front of the upright lid without touching it. The lid is still standing open at the back of the safe. I ran out of my call budget before I could try again. The bear also sits up high enough that it might stop the lid from shutting all the way.", "hindsight": "- Save at least 5 calls for closing the lid. It takes about 3 moves: get the gripper clearly behind the lid top (larger x than the lid, maybe x\u22480.58 at z\u22480.25, or come from the side), drop to just below the lid top, then sweep toward the base.\n- Positions of the safe in this setup: interior centre is about right-frame (x 0.40\u20130.42, y 0.22) and left-frame (x 0.37\u20130.40, y \u22120.30). So the real base offset between the arms is about 0.52 m, not 0.65. The lid hinges at the back, around x\u22480.47 or more, and stands upright when open.\n- Starting object positions: the lemon was right of the safe at right-frame (0.41, 0.05). The monkey was in front of the safe at right-frame (0.28, 0.22). The teddy bear was left of the safe at left-frame (0.36, \u22120.16).\n- Move in fewer, bigger steps. You can lift and carry in one move, and release while rising.\n- Plush toys can close to a reading of 0.01 and still be held by the fur. Check by lifting rather than trusting the reading.\n- When the arm is dipped into the safe, raise it straight up before pulling back, or the fingers catch on the front wall.\n- Pitch can drift past \u22120.6 at long reach, and then the arm freezes. Sending pitch=0 and roll=0 explicitly gets it moving again.\n- Carried objects hang below the jaws and snag on the safe walls. Carry at z\u22650.2 and lower only once the arm is fully over the interior in the top-camera view."})
tool
done: The safe is still open, so the task isn't finished. All three objects (lemon, plush monkey, teddy bear) are inside it, but my one try at closing the lid missed. I swept the left gripper down and back toward the base from x≈0.55 m, z≈0.21 m, and it passed in front of the upright lid without touching it. The lid is still standing open at the back of the safe. I ran out of my call budget before I could try again. The bear also sits up high enough that it might stop the lid from shutting all the way.
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 · 14.74 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4034, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2769, 2.0, -0.0366, 0.188, -0.0904, -0.5812, -1.4564, 9.7162, 2.0342, -0.0513, 0.0122, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae5e5d03f1155d5f1a4de71f1a87933b3fdec9bb91d59d8a38aba2a8e4b86ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5524235f6eb4c86ca789f361277cc8908b2d7adbc302aa903545c90977cbc11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df4431745bc7a07fb69933dc97d25c1a892bf39a137f84efea301a221f792c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.375 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4034, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2769, 2.0, -0.0366, 0.188, -0.0904, -0.5812, -1.4564, 9.7162, 2.0342, -0.0513, 0.0122, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ae5e5d03f1155d5f1a4de71f1a87933b3fdec9bb91d59d8a38aba2a8e4b86ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5524235f6eb4c86ca789f361277cc8908b2d7adbc302aa903545c90977cbc11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df4431745bc7a07fb69933dc97d25c1a892bf39a137f84efea301a221f792c9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TNwTV2SgHykBZVhcEKihob",
      "input": {
        "note": "Scene: open red safe in the middle, lemon to its right, teddy bear on the left, brown plush monkey in front. Moving the right arm above the lemon first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": 0.05,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TNwTV2SgHykBZVhcEKihob",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.1894, 1.2606, 0.6399, -0.1108, 0.1261, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3534 right_y=0.0488 right_z=0.106 right_yaw=0.0378 right_pitch=-0.1347 right_roll=-0.0261 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 6.7897, 1.8974, -0.0366, 0.0024, -0.022, 0.0889, -5.3128, 9.9487, 2.127, 0.2271, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7474def17aaae0474d5ba516631f80303a51aa88e8041cfec784cec7d5a734e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191f4dc579b354a329e56b13fbab566a5379198f7d5bd9a9d597b939a6cf9113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d632b0b9e941fd485090af475e45017d1a77f5ad295f349d27d6ed0c0ca09739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.551 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4034, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2769, 2.0, -0.0366, 0.188, -0.0904, -0.5812, -1.4564, 9.7162, 2.0342, -0.0513, 0.0122, -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]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.1894, 1.2606, 0.6399, -0.1108, 0.1261, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3534 right_y=0.0488 right_z=0.106 right_yaw=0.0378 right_pitch=-0.1347 right_roll=-0.0261 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 6.7897, 1.8974, -0.0366, 0.0024, -0.022, 0.0889, -5.3128, 9.9487, 2.127, 0.2271, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7474def17aaae0474d5ba516631f80303a51aa88e8041cfec784cec7d5a734e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:191f4dc579b354a329e56b13fbab566a5379198f7d5bd9a9d597b939a6cf9113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d632b0b9e941fd485090af475e45017d1a77f5ad295f349d27d6ed0c0ca09739",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2QcKEAgSGAI4AUIIdGhpbmtpbmcSDHori3y9+zlUu+5ojxoMtnRG828VUGHeP7YmIjBIwczwsx9JuqxCw0IRTr9Z/mRO0euwesoes2t2mzav/WFZDCDBbUI++AL6bXF6lBQq9gZcXIWVCWFOlFOxMjYXoNYHYko2BHAkO0Ff7uR1C86JdEYLBqvKO7/D1XbuJBJEWCMLGwS0MspmymDclR6f1bj/JkaPK753nIo8nEJTJWJelstKz9a1uFVpjNoTEFdR7MMjbKGdB3iyT0TywTFVi1Xw7o546poQLdOEmW4T6xQP9djrCyxhNN5PHKMpTVglXc7Z5ldFLSSI/ZeI/+0IcrDAHqBeak7SYyNNa9CjJEaU9JZm/jJnBWQPQ1sgLHuXd1Dalqv/Q5Hjx9Qf2RefX2v44gHfoA/eY3AiYKhNyiohBa/tqHY8eeQ0YzDknQWBiFIp6zyv3fm9kDFlHYD6VwD2rQAzzALflS5z6ZlT37MxxBE3qTuWrsDOc4Og409Hc/KsD/ePCbK2w+DVapJhrEpZqC+ifC47t2SWhxFSWO88KFQTvpvPEhOwZ3rLQ6JQkvtlLzZUPLFsQeY3Rgrd3IJ9N34EeBVYAQ/59ZtrBmkPVFF6DqnFgBRf+jIWhdouwwIN+Kqz6gLnWkc8rWqftC6ZfCCbzjEpuUbfjuMFxCJXasyv3PGYJtSOrpeg0+e+IGDh28QQn4xYodgR26qiw1vUcEEEbaOOmCEVzdzFlq2iSTqwawyNbOX4HHPBG4YIX3VLaEwt9ZRYVFunqnsKZOEVqNx4QSJ+rENCbsmk5YXimXxYRn7/z2Yq8BxZOCaZIWkrkY/ewMGif3nAi0W2TPFQE8R1fFBCdIDG5LwM7L40stXTLo+oVX0K60IiTg77uaZ5cSCb5K2uPBCKdqq1Ip3kF7D8uZWYinELSmVDZsBiM1NsU/u86qcSwt+cMS8cV12KDWKgTcf0o+mG7Sx5CJmPLiaHkrn/DEBjCXkS73cRPHb8rgGlV7Ij4Uwxea8XD5Kp+y0L6taaEWCef0QyxgdCXyc34IAxMy/klvG0kd3mxhm+Lah/5x1FlQSfYzYfcdATEP9b1BM8QTrEPoiDOQHHdcySMqaGFAr3nTQuEOECyZKSAMzSIkGt5iD9Etu4I2nMa+82Ay6I4w9l9Y+xvB8XxkoD/PodgT/tjGYJPQCs286z7lCzRbFwD39vc2rq+dJJ19e/ihDSYStyJEWhNBeKy8QAVgekfPZ/nr0wPVsr0d2qMKZ1dSqom38B4LYGEruK3tcfiPxJ9GzWVLrFz1zKKTT2Oa/RGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PVLccmznxdRosu6TMpe4hA",
      "input": {
        "note": "Lemon is centred on the jaw column ahead of the fingertips; advancing ~5 cm and descending to grasp it.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.05,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PVLccmznxdRosu6TMpe4hA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4191, -0.0193, -0.0387, 0.9992, 0.1604, 1.702, 0.6201, 0.239, 0.1059, 0.0509, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.032 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3836 right_y=0.0468 right_z=0.0023 right_yaw=0.0348 right_pitch=-0.2474 right_roll=-0.0424 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.9316, -0.0806, -0.0611, -0.0122, -0.5538, -7.2274, 7.5009, 1.8584, 0.0024, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38dd9967b755ebfc6d361adad647f46059a8e802734401bd54c8e298bef20c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc66ad25c96c6286352ceb58400524e7233dc86ffc2e90653924a40625f662c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dc6122f54ab6b6f3fbfcc5f689748fd202f66982cd16663862ac907fef55261c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 3.175 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3908, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6067, -0.4034, -0.0193, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0013 left_z=0.1781 left_yaw=-0.0004 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9993 right_x=0.2919 right_y=0.0008 right_z=0.1766 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.388, 10.2769, 2.0, -0.0366, 0.188, -0.0904, -0.5812, -1.4564, 9.7162, 2.0342, -0.0513, 0.0122, -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]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.1894, 1.2606, 0.6399, -0.1108, 0.1261, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3534 right_y=0.0488 right_z=0.106 right_yaw=0.0378 right_pitch=-0.1347 right_roll=-0.0261 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 6.7897, 1.8974, -0.0366, 0.0024, -0.022, 0.0889, -5.3128, 9.9487, 2.127, 0.2271, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4191, -0.0193, -0.0387, 0.9992, 0.1604, 1.702, 0.6201, 0.239, 0.1059, 0.0509, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.032 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3836 right_y=0.0468 right_z=0.0023 right_yaw=0.0348 right_pitch=-0.2474 right_roll=-0.0424 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.9316, -0.0806, -0.0611, -0.0122, -0.5538, -7.2274, 7.5009, 1.8584, 0.0024, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38dd9967b755ebfc6d361adad647f46059a8e802734401bd54c8e298bef20c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc66ad25c96c6286352ceb58400524e7233dc86ffc2e90653924a40625f662c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc6122f54ab6b6f3fbfcc5f689748fd202f66982cd16663862ac907fef55261c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDK4eSv7GAF3/4Kyl2RoM+VCAsWrLajnKhTrnIjBZg50/6fpAtuF/yU+kG+T4C8F4lJnQioFVtksf4JxTflgBxRu+zeMmI6lkMh2cAaEqzAYYlBmjEQ+3H3GiMFEYdq3RkYOuNN43V9Vdy8YiS7FA9E3tJfSm3aqo29KPC1nRls1WdxvRlsEDwEi0Sq6A2cd2qGJdHYFTZUHDx4qfbRf4GNBddSrjV7Wh9erOf4CvGVnLNmLlvpaZMa5zkN7diS2VsQ2opvPwQVvEasxS9c8KsT0JXwnhUYhp9KMVfo5wCM5hECEydJuwkXIJ0erWxpUsCmtZ0M3hb3foymtRnXI42FoNIBUC9PFDOFJ2dL0IL/iljSnlV3W+KxKlW7XjwmM/4uanhU7A6CWAaiODIwpmeQsKnaplgLIR5XMh8h0HCOvr3Mjt1fq8maRfo0/m+9gvuaAhC7ss0PnGJ00l+9nLv2jHZrTWjVGTffVbrsqbZ262MbDizzFjTt2ujdPGOD6dYaLo3YiTa2xYSu5WykR7Y+TK39tEQjStowS6Fo8dCy6/pYf9xRhyY/aGkRtJCHBfVEngl/2+1wW8/xlbOMtuYfdgCgTW8z3UqVIeG4oocio4tDAwlLrNawSv5ll7OgJZaGEmSso5ctfHcyj4O4lDf2//GlWcirVUZd/Eg5nEoCWLdyQdiYWCTQnhfiWzIEEt6gEOrLFQuC26VJXhqZQLcN++tIfQfHLv0Yqis3r28Hr2IM95+RqFv0gvdZFFvQcXuqUhw18d9cYoCERfk8PxeaVSTNCD0HsVumCAwIYmC5ehwyxQg61Uz1yIHfvRBJOGvP2rWXkXK28iLYvWCxRDoWzIA5bVr3FFsXnAzFY4NSvWr4X9yCxETFFSFfy7xkS/6JZZN3W2r4an29HnbQ28NL5+5j/BzGEbBLrtjvcV1+/mPJXIqBx9938rq8ylscf1A9HdM5bhA5lcrVhjS84yNeT11AZFqnCT4Oujb3Q7lz+xLq2JMoxmf6Xv0741IVOj36DgMN5NF6ptShQcizjVrx/hTUdomDBExKGP/FnV5/0rzyjXnKBFJsxLCp5fHLAzR2XdUXk7k4As8aPdIZyRx+HBw8BC6kacVO0ymGVxmxo6tYFreQrU6eOTVnMTwxPNIl6KBseYWj6vGzFl6VPtRTV7LUGlxaaDWJi5Q1fbiE3knbxVSelz8Oa5Rw9AsGP01Qlubnu/NuRx3/4UGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011LQuY8DeQAfVi34rcibjiB",
      "input": {
        "note": "Lemon fills the wrist view just past the jaws; the arm fell short at x=0.384, so advancing a bit more so it sits between the fingers.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.05,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011LQuY8DeQAfVi34rcibjiB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.1562, 1.7805, 0.7376, 0.1921, 0.0937, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0022 left_pitch=-0.0423 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4094 right_y=0.0514 right_z=0.004 right_yaw=0.0487 right_pitch=-0.2567 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7802, -0.0415, -0.0464, -0.0122, -0.4171, -7.3504, 6.8034, 1.6093, 0.0904, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49eb1be5ad2f31942295470ba575cca904e3d18e5bf4c5b89c65e0467a9c4465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05214e1bd68d02f91009b3258d5eaca3ca1236df9c1e9eaa7f7bd6fb1aabb2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:371527bff4f95e8dbe8673b2d680150c9f06566f0d6e712337da2730ef964e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 6.838 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.038, 0.9992, 0.1894, 1.2606, 0.6399, -0.1108, 0.1261, 0.0719, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0021 left_pitch=-0.0172 left_roll=-0.0028 left_gripper=0.9992 right_x=0.3534 right_y=0.0488 right_z=0.106 right_yaw=0.0378 right_pitch=-0.1347 right_roll=-0.0261 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -1.5248, 6.7897, 1.8974, -0.0366, 0.0024, -0.022, 0.0889, -5.3128, 9.9487, 2.127, 0.2271, 0.1441, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4191, -0.0193, -0.0387, 0.9992, 0.1604, 1.702, 0.6201, 0.239, 0.1059, 0.0509, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.032 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3836 right_y=0.0468 right_z=0.0023 right_yaw=0.0348 right_pitch=-0.2474 right_roll=-0.0424 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.9316, -0.0806, -0.0611, -0.0122, -0.5538, -7.2274, 7.5009, 1.8584, 0.0024, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.1562, 1.7805, 0.7376, 0.1921, 0.0937, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0022 left_pitch=-0.0423 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4094 right_y=0.0514 right_z=0.004 right_yaw=0.0487 right_pitch=-0.2567 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7802, -0.0415, -0.0464, -0.0122, -0.4171, -7.3504, 6.8034, 1.6093, 0.0904, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49eb1be5ad2f31942295470ba575cca904e3d18e5bf4c5b89c65e0467a9c4465",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05214e1bd68d02f91009b3258d5eaca3ca1236df9c1e9eaa7f7bd6fb1aabb2e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:371527bff4f95e8dbe8673b2d680150c9f06566f0d6e712337da2730ef964e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon now between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XG27WiH5oY992fAaRmrxWP",
      "input": {
        "note": "Lemon sits between the jaws; closing the right gripper.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XG27WiH5oY992fAaRmrxWP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.1547, 1.7908, 0.765, 0.1474, 0.0933, 0.0372, 0.4311]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4101 right_y=0.0509 right_z=0.0021 right_yaw=0.0466 right_pitch=-0.2841 right_roll=-0.0462 right_gripper=0.4311\nstate[joint_eff]: [-0.294, -1.2239, 6.9949, 1.7265, -0.0659, -0.0659, -0.0122, -0.4171, -7.6786, 6.5162, 1.6484, 0.0513, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f22c97fc8a28c3861e4d44ebdd5e75853d7a43a648a864afe464f7dcb70de633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9b628ca0f3ea5fa9292e9f505d19a876d292f9e910128e8867d7b505418405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68a330eda389e5dfeefa32a817f29746b054a5cf9269bbeee82148f8437c805a",
        "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 · 4.782 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6067, -0.4191, -0.0193, -0.0387, 0.9992, 0.1604, 1.702, 0.6201, 0.239, 0.1059, 0.0509, 0.9996]\nstate[eef_state]: left_x=0.29 left_y=0.0015 left_z=0.1721 left_yaw=0.0025 left_pitch=-0.032 left_roll=-0.0031 left_gripper=0.9992 right_x=0.3836 right_y=0.0468 right_z=0.0023 right_yaw=0.0348 right_pitch=-0.2474 right_roll=-0.0424 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.3197, 7.0085, 1.9316, -0.0806, -0.0611, -0.0122, -0.5538, -7.2274, 7.5009, 1.8584, 0.0024, -0.0611, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.1562, 1.7805, 0.7376, 0.1921, 0.0937, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0022 left_pitch=-0.0423 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4094 right_y=0.0514 right_z=0.004 right_yaw=0.0487 right_pitch=-0.2567 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7802, -0.0415, -0.0464, -0.0122, -0.4171, -7.3504, 6.8034, 1.6093, 0.0904, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.1547, 1.7908, 0.765, 0.1474, 0.0933, 0.0372, 0.4311]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4101 right_y=0.0509 right_z=0.0021 right_yaw=0.0466 right_pitch=-0.2841 right_roll=-0.0462 right_gripper=0.4311\nstate[joint_eff]: [-0.294, -1.2239, 6.9949, 1.7265, -0.0659, -0.0659, -0.0122, -0.4171, -7.6786, 6.5162, 1.6484, 0.0513, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f22c97fc8a28c3861e4d44ebdd5e75853d7a43a648a864afe464f7dcb70de633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9b628ca0f3ea5fa9292e9f505d19a876d292f9e910128e8867d7b505418405",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68a330eda389e5dfeefa32a817f29746b054a5cf9269bbeee82148f8437c805a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSsgkKEAgSGAI4AUIIdGhpbmtpbmcSDM86e8Rx6xShVpY1XRoM7kKpnrfb3B8s+g1gIjAt4+Tzll2qbbgtAYFI3R7wf2LdrVrahy2FvpQPgQ6V2p9y0ikovxLihJwnk54+LRcqzwg8Pp0zaWjDkcg9cVM4h1VADlmlTepDNt/h5rpfYe50JBnYYV0llETo261qnCAD0wLn83FmQaBfJY2SuGEEqGnjNpyKixVl5gf+DqiY5ACt4Vm23FKOVWaOJM+ZUn20XKQIlpYti1fcEisiE4BTqUTUJzFl4gc877vniE1RK8J2YziN/GVf0dHWOmbkyALfOXlIBCTxULuXFIY/4nyoWWBdZeJIxhA6rK3rKWnBhGZTqIN1cMdyxEzfy1rygtbGLsRmyBvX1VN0B4qafx4kr20ppsZdymYA3mcY7QRCgI5g3RCxnJ8edWx9Ih/4t2Rz0b9DH215vbU2+m7jfgi+6lFvXpU4R61T9Vt2KPN92uZLXaOdkCGbCcgd9ymMvjYch/FdcG/hiF4ZyuJcO6Hje/QP4Fmt8Zex8EwI0YTPhuq8/4XJZWcPpKJgo59+G2o5L9xAD5wUOeoywqJTvc94cMA+mwpcDC7ra/j0qnUUrnPbOUGJh8X5hdPQ1ouphALg3CuS7QBRFqOfxTt4xBkykfOtkouls+oH0MdHLMjJtjPTipMiVZFGr31DTnB4gwLgaxUCQM3sy+1LZN+z8ADZ+PM1iLRUUlJVb/mt6fyBJ7Lz9A/30NGDKpCPIHmVhc/SAwng/Lk9E2U8YdN788Yg8wIpNstbdEpV7/ChFD6VBBU6JZcKfEYga+lWyq9q3hlLoC0S15/FgGx6Bcus0YRMow7k2LKrOb0vCK2xRxGzNAPoh4KHKaAm2OuEka9RWzJLsQllukgdpciTGkasIxKnZl25Vez/HBjyMhuGx4wr4xNq3QcD+t23HC74ZQCs8YlPlz6lZG7IguCNVmhpVjELAIxNoVykRixmjzwRxV6Bsa46AuWuqpiM83B6PcEYHhw7pARfwaNU/mApYu4xnxhvpXG9YYgGZ2wBAleuYEVMNqBGLlYJNxB3MaPm46sAzJ5lgvDHCDSdPlYHI4VMjILPkWFJSx8MllQq15cOjq2yGNPpikrNVBDIizwuLhV9n1FN9y0zdCazkvhrHICp20lGY/TMSrgVpuEBvX8YauY3rIyfpdIYun8sKf0+ub8VtPis2cnOKyZx/GzLtq43HgvTN6qvnbdRDGZgs3UnEcgpxbCQ4IykpGnkkb1FEcx637lYSvaY9V98q0yEMsFsXsv+qk8ON6/nIGC0kmafdb5lty0MuGQhiyqCPk+U4AcaoUYCb3IraTCRCEn8mKDJYeWjCUczZVEtB4zDyIKutVc4xGsSfZc/QAn9vJd7E8LAq/TMngpnya8nGuvCH+1eAw05oA8oYDqyJ0+RzCBxWvkkFpU2fM1NaT82CHoDm/b9+2w/kc7lZ6JJMAFkeHX/I9LtyDMAIiJbe+PAnrgvhOfEw2Z7ooIXw9hf0meriliOKsBhBzYsC8+mZsW7a4krRALss1cg08bv+exA3KdWZiTfGZw2qyPCdbc0sVVcPwMM5cNSORgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017kVpUXK8wCR57uZkWzpKT7",
      "input": {
        "note": "Gripper settled at 0.43 (~4 cm held), so lemon is grasped; lifting it clear of the safe walls.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_017kVpUXK8wCR57uZkWzpKT7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, 0.1555, 1.5333, 1.2705, -0.6655, 0.0902, 0.033, 0.4339]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0652 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4067 right_y=0.0513 right_z=0.1733 right_yaw=0.0508 right_pitch=-0.3341 right_roll=-0.0521 right_gripper=0.4339\nstate[joint_eff]: [-0.0205, -0.8821, 6.9812, 1.8486, -0.0513, -0.0415, -0.0122, -0.4308, -8.8274, 9.2786, 1.7118, 0.0562, -0.0073, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75816a34f9ba1eb2653ca3506dbabbcb516ba4b198a245dd07a0ffca884b48b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e4135933cbb7ef18a90fabac95b734ee5bdb0687f5654bac3e3a7e9537c0fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6a8e90729c6a1208b20199bcfde9f82c42cdb38a3e10fde435552e2774ed22d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 4.13 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4282, -0.0189, -0.0387, 0.9992, 0.1562, 1.7805, 0.7376, 0.1921, 0.0937, 0.0372, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1699 left_yaw=0.0022 left_pitch=-0.0423 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4094 right_y=0.0514 right_z=0.004 right_yaw=0.0487 right_pitch=-0.2567 right_roll=-0.0435 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -1.2923, 6.9949, 1.7802, -0.0415, -0.0464, -0.0122, -0.4171, -7.3504, 6.8034, 1.6093, 0.0904, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.1547, 1.7908, 0.765, 0.1474, 0.0933, 0.0372, 0.4311]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4101 right_y=0.0509 right_z=0.0021 right_yaw=0.0466 right_pitch=-0.2841 right_roll=-0.0462 right_gripper=0.4311\nstate[joint_eff]: [-0.294, -1.2239, 6.9949, 1.7265, -0.0659, -0.0659, -0.0122, -0.4171, -7.6786, 6.5162, 1.6484, 0.0513, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, 0.1555, 1.5333, 1.2705, -0.6655, 0.0902, 0.033, 0.4339]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0652 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4067 right_y=0.0513 right_z=0.1733 right_yaw=0.0508 right_pitch=-0.3341 right_roll=-0.0521 right_gripper=0.4339\nstate[joint_eff]: [-0.0205, -0.8821, 6.9812, 1.8486, -0.0513, -0.0415, -0.0122, -0.4308, -8.8274, 9.2786, 1.7118, 0.0562, -0.0073, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75816a34f9ba1eb2653ca3506dbabbcb516ba4b198a245dd07a0ffca884b48b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e4135933cbb7ef18a90fabac95b734ee5bdb0687f5654bac3e3a7e9537c0fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a8e90729c6a1208b20199bcfde9f82c42cdb38a3e10fde435552e2774ed22d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSzQgKEAgSGAI4AUIIdGhpbmtpbmcSDBIcjWCWePzWtdC0AhoMPE0oBkltCYh/3Jh9IjC22mOWSEny2A3dehSHtoi+E3BWQqjGOL5Qj62MfNEh58yQfxon2/OunXeoq+OkWtwq6gfnTOCApik3opNgDcCl/ugs/pMfM/pBGFvq/rv0OlP1wVxlBzmMf/Tsl7IZP/+SIxVjpUc+rK5XpkVxb6/a8MNCQ7L8+eJqEunTAnIK6iiApTOxGZvutxXPfdt7LntrMSeZWjUttGWoCpDJu5Zi8mr/oEBj8WU4DiM2OMrlvyc5nSktt5pvOaYktfp+SfLA2MuBf4aeMOA/tyLYfknZFC8SZ8t0MNZmkjYf5739pKqUz/Xf5HdGkLH/e9IBUEd3/7qMmzEWQ34BAHKzZfoq+EfKQdYem77WeqYzbmpX7TB3DGs/V9WZ75qAhIP8w8iXeGAGUEUZJ7VYiamEWjwAmcJtWuXX+Z/bGk5kVWkc/OQY+NWDDbd8KicQn6jIzAybefuZ4CXln6sEcouztEYfwRdKKNkC5TfPc7YyTX6gIdScVrduTzXHXyuL1BQZajWu2Q2Q4DMi0j9bBJXvQWbF72gop4gtko43HgkjWp+6sY/ibm1ru3L/4RRVlpttbuDAmqcv0CZ6GcdX1V9QB58uzO4ON7SBsYGA3rEaoD3aPop0RK3MRPmo5mwDtyySMEx8/nzu0gCfgsn56T5/cLxxc6PwfQOIzU6gev15D2k+JZv+sbadZ7nl1dpoQXdASCzD2FA5AXNafVgGf/TVNjmm/n7YgPgS3qjkh1CDnr1Tf7h6/4fl+rH8+h8A6TRmw5Np786FHqFNnoqhk5puI2pca8XHm0q//ATGM23JB1kxQffLAgGl9fC6HC5MCVI6BRbznCqOwDOEkVkvezwplUfrpAgdVTh0jijLcMCLhNPpAXiTKATogVqmhdcWvaejjmZ6FxmQsUi990oU6TV7xpV8t/tAKxf1aIrPpRoodUJa8uRDSgQBj+ZZ18x081i/Ee6WDKJjyKCdzq04AqJ7k7kbVbGNRp63+s++u9lvTsSSmn3uR8HPL92JDOHTzaOR2FDh9Ah3N84ocNmwI1/aEZjL+rsMg41pjtEIlG85q1+H2Ug1UxUErjQYCnct9VmFN113+AQYrobwjZ7Ounok0d0qnjIhUwtyH2WnrVzkLlH5KCS33hwKW25HGzmiYTBRjopn8KOqOhq5Pck+6fkmhrs3QDEFC8tyUaAXUKz3eptEv9H0oNk2t8zsUUo1cGJvgLIsaqDgk2Rg2mdFfn0EDg2SBv/o0YSQonOr6Pkw5uNgZVIzG/vXbsAhl6XakfiPCI7WaDK/Zvtgf0ljodgpnuhoeFhaO49SHt5gYJzZ70QZyw6ABLM/fHEdvzzIh/sWHfu14QypOMWeWXTtFciXCb4WW4lFBjvFtdOZ3rSbyy/c7NrVBuLm/8F2jzgeR20YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018oUMLPxvsYbP3qRSrkFjKU",
      "input": {
        "note": "Lemon lifted; the safe is to the left. Carrying the lemon over the safe interior.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.19,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_018oUMLPxvsYbP3qRSrkFjKU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0193, -0.0387, 0.9992, 0.5678, 1.684, 1.5135, -0.8814, 0.3019, 0.3378, 0.4374]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0026 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3803 right_y=0.1845 right_z=0.1847 right_yaw=0.0865 right_pitch=-0.3906 right_roll=-0.0829 right_gripper=0.4374\nstate[joint_eff]: [-0.3214, -1.2239, 7.2821, 1.7216, -0.0611, -0.0415, -0.0122, 0.1162, -7.706, 9.2376, 1.3944, 0.2906, 0.188, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1c8a9c3c43214140041d95b7fbc3755b452ccba0301b575d51df25cca1a5fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb081603b1307c84d94e77519aad64557f96cfce28c866acaee5250165cd402d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba6e7bd7c8acfed5c8adcd32e1c8ecdbe19fc103b9bcf610cf7d51217aa06f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 4.843 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4355, -0.0193, -0.0387, 0.9992, 0.1547, 1.7908, 0.765, 0.1474, 0.0933, 0.0372, 0.4311]\nstate[eef_state]: left_x=0.2877 left_y=0.0016 left_z=0.1685 left_yaw=0.0025 left_pitch=-0.0496 left_roll=-0.0028 left_gripper=0.9992 right_x=0.4101 right_y=0.0509 right_z=0.0021 right_yaw=0.0466 right_pitch=-0.2841 right_roll=-0.0462 right_gripper=0.4311\nstate[joint_eff]: [-0.294, -1.2239, 6.9949, 1.7265, -0.0659, -0.0659, -0.0122, -0.4171, -7.6786, 6.5162, 1.6484, 0.0513, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, 0.1555, 1.5333, 1.2705, -0.6655, 0.0902, 0.033, 0.4339]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0652 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4067 right_y=0.0513 right_z=0.1733 right_yaw=0.0508 right_pitch=-0.3341 right_roll=-0.0521 right_gripper=0.4339\nstate[joint_eff]: [-0.0205, -0.8821, 6.9812, 1.8486, -0.0513, -0.0415, -0.0122, -0.4308, -8.8274, 9.2786, 1.7118, 0.0562, -0.0073, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0193, -0.0387, 0.9992, 0.5678, 1.684, 1.5135, -0.8814, 0.3019, 0.3378, 0.4374]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0026 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3803 right_y=0.1845 right_z=0.1847 right_yaw=0.0865 right_pitch=-0.3906 right_roll=-0.0829 right_gripper=0.4374\nstate[joint_eff]: [-0.3214, -1.2239, 7.2821, 1.7216, -0.0611, -0.0415, -0.0122, 0.1162, -7.706, 9.2376, 1.3944, 0.2906, 0.188, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1c8a9c3c43214140041d95b7fbc3755b452ccba0301b575d51df25cca1a5fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb081603b1307c84d94e77519aad64557f96cfce28c866acaee5250165cd402d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba6e7bd7c8acfed5c8adcd32e1c8ecdbe19fc103b9bcf610cf7d51217aa06f23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4AcKEAgSGAI4AUIIdGhpbmtpbmcSDC97fvQAGl9xKNN5kRoMSzJYYURk5CU4EHwOIjDJBGkjyr99o7MU17OhXNFQGgpcX8X6l1HOpltsFsqF1QM8Ezr5c0IdfgYvQkJxWfYq/QbY+FaqoFNUVd3rXw0RiymnOB8dWUSBYIfVoEv7oZoNTOk4Clj7ZIAFmxZqAuG8dlD7VXwJSv3aVxabBKintkkJYD0ZVmzedKMDvwWU0ONME+Wf2+ftyRNPtela6HSuZap32CcEWqILKo8AHGx+4cOPTl1gL8box6/nourSHdS1sDgP27sG7ca7tU5atFCPLCho8v+FrtweIhPiNzfZpshT/n8TLQJJVjnwCCMT3w21dQJEjqAGIprxMiTo4ssKmz5kk75DcW5urTRSluoyVr3swczAZxtopl6CVH6nDSwTo2y3KriqjEZ47J7uClhRRW08x5OtVo2mA69ty164S3dLDmzVaHRXIbLVzrK6ievnTmqKr2+1pX15tbWMgRAbqrTCRH2sSykvA8hU8MkWBgVL2o7p6k+kNZsM/JncJkzKC28q8JmjzE6OtAuwSSafG0ff7AKc7DI1mFpT47tdodZWZipdR5pkz444A5LhSYieE4ZhXSSEcRfcQISOeJae0OxH8wOnQ9iixwgMDvFR9qo8Efyyj47WblmGxfcstmmxqBSxQuoYOLoS6KczA5nJwGzSifo2yPk2betbPVPaolffUYReL7GuY5e4D1C9hz2ydD/FahzaRgSGy0Lc2bVJYGuU/4mmVcKBYBdZ/O1afJgmmWolaZbAA413GQ+NA8ccxe0Qj8O1wjFbOPCYGm/rywvYkUlRexd8R9BqFZqswYDQzpTdrNWTgw+MT+ulQE16+dzZ3fWmVKLNwKEDpEw3qDhvE4IiJwIVgPncTXoxXYRCBqhXiWS2hYzlq+y2ORyzZm1sqHEB+nrpz6TjKAOCtUn8sKPXMjgGyGu1raXlLcGqSOFROPtHqDZHXG05KXibROmsKEzBgfJyZ6F+FrPFOWQv0blF6r+Nuw0LNtKmfaAJ5sA+MLarmZ+rl+aB1cjuyqlIyaR8PwfvfbFTlz6+V9NVElichudKIxIWzeNc37Iv0RigeEJbX/zjWVP55/KciFuF+mndmBN7tPDYVNap9H4bX6GWhyccE80yoDAWfkSoZI/JAvUQBGyabb4gDutnEvX7dXNsgNI10K+8Xq8L1tCbEgbhCorO0RMf4hb0yJi8drQW1vSM75Pjfza8Lhpi+uGZX5gy3loPUN88vuFSdjFMI5G0pcSuRcGU1tR3cgH5mW+QjiHnq+MJ7Sf4EhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RNx5oyLMmADZ2tGnN1KMTN",
      "input": {
        "note": "Gripper is over the safe's right wall; shifting ~4 cm further left to be over the red interior.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.23,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RNx5oyLMmADZ2tGnN1KMTN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4652, -0.0193, -0.0387, 0.9992, 0.6514, 1.8225, 1.7069, -0.997, 0.3252, 0.387, 0.4374]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.162 left_yaw=0.0026 left_pitch=-0.0816 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3828 right_y=0.2254 right_z=0.1862 right_yaw=0.1086 right_pitch=-0.4309 right_roll=-0.1058 right_gripper=0.4374\nstate[joint_eff]: [-0.1709, -1.388, 6.9675, 1.7607, -0.0855, -0.0611, -0.0122, -0.253, -9.3607, 8.9231, 1.0672, 0.3736, 0.2466, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017083c8aa113458dff9d459cde889b9b5ec974d61b995bfd4cb151e209494db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a56a40735d8f7debff42f1749185beb663aae5da86365d718ab4da110fae29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce590676b435d31c28596b6a2f16b3f46a49a45479b34c186c00a06847bd7ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.875 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4511, -0.0193, -0.0387, 0.9992, 0.1555, 1.5333, 1.2705, -0.6655, 0.0902, 0.033, 0.4339]\nstate[eef_state]: left_x=0.2854 left_y=0.0016 left_z=0.1653 left_yaw=0.0025 left_pitch=-0.0652 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4067 right_y=0.0513 right_z=0.1733 right_yaw=0.0508 right_pitch=-0.3341 right_roll=-0.0521 right_gripper=0.4339\nstate[joint_eff]: [-0.0205, -0.8821, 6.9812, 1.8486, -0.0513, -0.0415, -0.0122, -0.4308, -8.8274, 9.2786, 1.7118, 0.0562, -0.0073, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0193, -0.0387, 0.9992, 0.5678, 1.684, 1.5135, -0.8814, 0.3019, 0.3378, 0.4374]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0026 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3803 right_y=0.1845 right_z=0.1847 right_yaw=0.0865 right_pitch=-0.3906 right_roll=-0.0829 right_gripper=0.4374\nstate[joint_eff]: [-0.3214, -1.2239, 7.2821, 1.7216, -0.0611, -0.0415, -0.0122, 0.1162, -7.706, 9.2376, 1.3944, 0.2906, 0.188, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4652, -0.0193, -0.0387, 0.9992, 0.6514, 1.8225, 1.7069, -0.997, 0.3252, 0.387, 0.4374]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.162 left_yaw=0.0026 left_pitch=-0.0816 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3828 right_y=0.2254 right_z=0.1862 right_yaw=0.1086 right_pitch=-0.4309 right_roll=-0.1058 right_gripper=0.4374\nstate[joint_eff]: [-0.1709, -1.388, 6.9675, 1.7607, -0.0855, -0.0611, -0.0122, -0.253, -9.3607, 8.9231, 1.0672, 0.3736, 0.2466, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:017083c8aa113458dff9d459cde889b9b5ec974d61b995bfd4cb151e209494db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87a56a40735d8f7debff42f1749185beb663aae5da86365d718ab4da110fae29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce590676b435d31c28596b6a2f16b3f46a49a45479b34c186c00a06847bd7ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQkKEAgSGAI4AUIIdGhpbmtpbmcSDNqby8P1TaZHxIDTQBoMhAJQJZDhT6Mg6ln/IjCzI23z9dOlf6UHiRvlsKyIIf96j+aR1FfIY4EE8UrWr9TPmYBFCzvyIPWXkZHhF4Iq5gg8n0K+iKu5btPX0x9SeljIwbI7OY3HFyBw41CDvmQrla5M5BZPP1LWOzEHZo4t+elkk+bnTLrVo9yMI/D+J22Bae3cyyUwGlzsQhqCXWUSuYO219dpELspCSQeVPOz0zMxruj3dttrlkuTlJrfDnP4Y9QkVKfwqbGIjCrgMsRulsbdwBBDOD6WcrMyS8FP/3kTJvmxzL9Rmd6qZmW2YIZSl49YEtFFaneK93XZ7oD/IpaSj6pCmymEwEttz9Etf7yZN2UURBGBb5eGDViUef4dyJG1DG8adjxujf/NFmmpvAYty8lGT/71qnr4oYJYfU/DJHILqjKadFPEhlmq5UH8wS4XAcMtR1SxJ8w0ApuBXZ9yXqBVy23gVPGEj4rj5OMzgpGTgEj9L7o+6bIu3yzbQJY6lMDbtYyV5A4uFbKMnMVyRtUXOogWyIaHYIZpMclXM0zo9J9eICz5hWsJnAwFDM4blPRGPh2AGOgOXcNWX1ahLJqUomhGVA3xDcajmqei00uKfgBxHzbu5Q4rtCSjIbHI30LVwTc9707TkrdOE9W0+pGmiahGEswYaDiu9DyIR3MPmijd1bmY8sBmNPIBcOoQnjDvz6F/RqGir0Y4IRDCCs4c5uR9aG5fvdKYDTAMBS7TfmJoWV4bhSYhd+6jdODW4tJb3QnKOYv8ICUamFgpyr0NfIix43+uuBBsZV6YUK3FKcNXdtslM7Blf1tydx1DDi/DJ0fNz+8nvXhNqtPpiq7dLE/HMPW5wBX26WAHLvNei2d1fMZk8uOxR2qQrTwi3qu2orGQq9iICKb26zWzeHubE8aX+1liQa46P+iZS8x8ucGlitrGgoMAVe2fO9DB0gLF1UeUSBKng3MP+lnNK+U3qAH9XhZjFRQNXtKtNWd9oMuHL1/eBC8l16hALhkzMrLZ1QCNQZMU0XKxRzefhgUj/LnLvglegO98Yi/Kv/EujA+q+E8YLw27LeeMIbrBfnjDNKNnWzIyQqsqj+4Mx1hwT3WIGNzyRiGpyY1qhkTUZBa+JopaObtn9derMw2dcse+b4D7M4uoozZk5Ct9BZEF9jSWH5BSkH2r5jiN4WMBT8hj8rcsyELn172XKFdAxxae/UNSelS5gMGxGCMFVEYMi390nd9IDRTlY+cx/IZY+dBNK9sjtHKcYZIQgz4dqtUeqQWFXTXzYLaqFbETO4Nz2ZtyzIO9yMKFKFbhv88Opz5rKSqiavBwfWpOaL1yxNPxZXBxnYFwzUMuGKdujAhX+4zhb+C21C1NIreCiyLVe6IreiasRFxYgJfWV0NQ8I7ATypZPJ+2jpUsEfVP/71ZNzNs5Ys3dkyXG7ckCj98TMrjfLSttaBblfrdEHoDb2cImrCuUPcY0rKf+DcMZ+oLtAdv+j3GmIcJKX77ZP+BeGh2wmyT33IhN8cxoR5rUsS/ILN4V7Ar6sL4hVtCaT83EPE9DBUKqfbnf4eVyi3ms2EevEzlOeAQRKlo66xRdPRcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PhApK7MrAqUB56U2Ak5r7v",
      "input": {
        "note": "Lemon is now over the red interior of the safe; lowering it inside before releasing.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01PhApK7MrAqUB56U2Ak5r7v",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.659, 1.8328, 1.7302, -1.0199, 0.3256, 0.4015, 0.4374]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0024 left_pitch=-0.0911 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3811 right_y=0.2283 right_z=0.1877 right_yaw=0.1047 right_pitch=-0.4384 right_roll=-0.1035 right_gripper=0.4374\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7656, -0.0708, -0.0122, -0.0122, -0.1983, -9.2923, 8.5949, 1.2772, 0.3199, 0.1685, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1654d0a576698a5e898cc42b76d616f16844cfa1b20ee31f741c3be2c59b1709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e111aca072382aaea020d56c199070ffbd45376d5c343cc7610152f8c9495f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3707e43e06dde871cac4c4b9da48ade10047a3a8f9214700b7666b99a71b7a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.899 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4583, -0.0193, -0.0387, 0.9992, 0.5678, 1.684, 1.5135, -0.8814, 0.3019, 0.3378, 0.4374]\nstate[eef_state]: left_x=0.2844 left_y=0.0016 left_z=0.1639 left_yaw=0.0026 left_pitch=-0.0725 left_roll=-0.0023 left_gripper=0.9992 right_x=0.3803 right_y=0.1845 right_z=0.1847 right_yaw=0.0865 right_pitch=-0.3906 right_roll=-0.0829 right_gripper=0.4374\nstate[joint_eff]: [-0.3214, -1.2239, 7.2821, 1.7216, -0.0611, -0.0415, -0.0122, 0.1162, -7.706, 9.2376, 1.3944, 0.2906, 0.188, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4652, -0.0193, -0.0387, 0.9992, 0.6514, 1.8225, 1.7069, -0.997, 0.3252, 0.387, 0.4374]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.162 left_yaw=0.0026 left_pitch=-0.0816 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3828 right_y=0.2254 right_z=0.1862 right_yaw=0.1086 right_pitch=-0.4309 right_roll=-0.1058 right_gripper=0.4374\nstate[joint_eff]: [-0.1709, -1.388, 6.9675, 1.7607, -0.0855, -0.0611, -0.0122, -0.253, -9.3607, 8.9231, 1.0672, 0.3736, 0.2466, 1.0379]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.659, 1.8328, 1.7302, -1.0199, 0.3256, 0.4015, 0.4374]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0024 left_pitch=-0.0911 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3811 right_y=0.2283 right_z=0.1877 right_yaw=0.1047 right_pitch=-0.4384 right_roll=-0.1035 right_gripper=0.4374\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7656, -0.0708, -0.0122, -0.0122, -0.1983, -9.2923, 8.5949, 1.2772, 0.3199, 0.1685, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1654d0a576698a5e898cc42b76d616f16844cfa1b20ee31f741c3be2c59b1709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e111aca072382aaea020d56c199070ffbd45376d5c343cc7610152f8c9495f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3707e43e06dde871cac4c4b9da48ade10047a3a8f9214700b7666b99a71b7a4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/gkKEAgSGAI4AUIIdGhpbmtpbmcSDAiFKIE36UvfAIFJthoMzUJyroZwWNK/vOlHIjBGKXjnEugSgyey0ks8dZlyIeiCFZTwjIZqNYDEAkKAUvI1LOAIvnaJ7b+DcJ/Ea7oqmwnWSXbqYGqw1TaRKJQAyrG+uENmPG1Mp75qWL9+E2/IfIL8llOD+4ICAVmrOm6y2AscLZkU0xwLo4rcj+bcAyXTppuFO7UbtMncTiY3dSJ8dVneW8NisBiIQtwlkbLPABrWyh2DMEIatVbxBQxXUEJeWbMIJwapTn8YWP4R03tKq+kqG4Asc+Bc3Ll3jXSDXaSefHHyII8ikeywK6wPOUNMkxC+3aE30R93Gp+MmtUs329XNn8liORnjxYf9+D7S4gX1Cl4+fSjc5g/y7692iF/mSNV7Ir1fRMZW40aTmqSNr45SD6Apa/5QiaKgqBdTSYEtq3eB9oNzBusWy5YuXded4KD6jVNQUHgE59lcA6sMM33U+XhQdhnxffXF3C7b6TnONNtFRp0xcCx7etnEC4fa78eDQzP5628dFFKvYA9eU7L5KuasdpIlzVOxgzO1O/ux2PKCrcxWTdU0+zXEoJAPdr8SBWg+cW+onXIiOMYpop2hvYkzyYre+MRuC6mGL6rGw6NxY/4MufTOW/M/wH69DmW1eCdazbcFFs/SZTwxBxrJIv2qmQBxAHGFFbsXJkvmdgQLkPElKbYyn1LlLcrd50NtGN+vab00BKdJ0ZtuAY1mEY5UDfdGBvLoQwpwAIbIJRlDR22UdHbsLlVq0uw4zC5yJ/t4+cohHNjw/EsmwDpXPjgKYULmBo68zclVxPVxGSX2EtNbhn0ce1iSM0SCCPRK+70fPlMv1ULuo7gcYWXwxKE+Cy39a3xPUuZDzvQx4QNFn6ltxci6PCbJ0CpBNBxeqvigFe9gt/h6PHb/MiqvXfzE/AWimEAZmB849bixShOM9mDbSspQ1KIZ6s48EnLFi4S7lIUkQSDvYfz2y0wBVidxWUBNN03+Yacy5Ja+YGVWLoUbJ8LaXdZMEHMZ4mBBYlQLsZODgkusuOnQoQtySAFHaHiCgs7kA7SrG7HKH1Whapznf+gdG80vO7fjqFhsa9QwQ1wV0nXTP9MIVt5GqSqxCur/AGNY5EhdFBulO2W+51v2V9xhL50jg9bQnvu7DCHRTijZ5cZy4JWJW4nVIxR/pODCXW/5WaeQR1r6mnSSTd3S1z8c/f/uKY+XHKK9u+n2ZwTH3CPeXGwjFo9VNHxiOWksM1GyZhjGvd7N6z9QZHgTb5l1A+QaXdh1GnBnASeNhwQbtuXFkmEIy2i8AzeaokTdIs16p0/ItaMi95NYzAOX6lKSKB/MsvxSGFBSxdMAhG+fzOXoo1g/1MgA11r3BIGyciPf8UAmRVVQ2eyqfvsYpsG/qW8kho2Qi6NjqLjZXxPKdEgBCxJ+7XTbWOJgd/M2ih3OU0hhmTUvg2r5Rr4FUql6hBGfmWM2IhgzgoE73q7x7WVGBDsaBfIafbp3BhNV++VjaPJt74mQehEu3qVhjXXUXiSldD0sqV7vntFp3koAcn3pGv8VDGLDeIZ6Zlv+0jaWvfemnKjEGk4/4wvLOMnnslC9MZiTFvCzsq3xHK76ghBulzJJP6BZYIYjjVBPkSQyDDLCQfSUCIi1UrGhvZ+3Y+vFAX5HaPbkawPm4b2mOcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X4vRHXxdqkqssXYP6R3BHj",
      "input": {
        "note": "The descent didn't happen (z stayed 0.188), possibly an IK stall at this reach; retrying with slightly shorter reach and a smaller drop.",
        "targets": {
          "right_x": 0.37,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01X4vRHXxdqkqssXYP6R3BHj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.6674, 1.8034, 1.6257, -0.9195, 0.3256, 0.4026, 0.4375]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.379 right_y=0.2313 right_z=0.1734 right_yaw=0.1184 right_pitch=-0.4169 right_roll=-0.0883 right_gripper=0.4375\nstate[joint_eff]: [0.0615, -0.9231, 7.1726, 1.7021, -0.0317, -0.0513, -0.0122, 0.7453, -8.7316, 6.4205, 1.6142, 0.3101, 0.149, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8cab3c257571fdadd8562eecf476d7b34e959da46a6422b07f202b8f8fa8c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2665a9e3c4983d3b530912ac0cf884ab342657fea1985bd9ea3ba4f7e7c706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3032915bb50544a2665b0ac9aaf58ade7c044f68eddbf0032d4b52563e1dcdfe",
        "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 · 3.544 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8017, 0.6067, -0.4652, -0.0193, -0.0387, 0.9992, 0.6514, 1.8225, 1.7069, -0.997, 0.3252, 0.387, 0.4374]\nstate[eef_state]: left_x=0.2834 left_y=0.0016 left_z=0.162 left_yaw=0.0026 left_pitch=-0.0816 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3828 right_y=0.2254 right_z=0.1862 right_yaw=0.1086 right_pitch=-0.4309 right_roll=-0.1058 right_gripper=0.4374\nstate[joint_eff]: [-0.1709, -1.388, 6.9675, 1.7607, -0.0855, -0.0611, -0.0122, -0.253, -9.3607, 8.9231, 1.0672, 0.3736, 0.2466, 1.0379]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.659, 1.8328, 1.7302, -1.0199, 0.3256, 0.4015, 0.4374]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0024 left_pitch=-0.0911 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3811 right_y=0.2283 right_z=0.1877 right_yaw=0.1047 right_pitch=-0.4384 right_roll=-0.1035 right_gripper=0.4374\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7656, -0.0708, -0.0122, -0.0122, -0.1983, -9.2923, 8.5949, 1.2772, 0.3199, 0.1685, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.6674, 1.8034, 1.6257, -0.9195, 0.3256, 0.4026, 0.4375]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.379 right_y=0.2313 right_z=0.1734 right_yaw=0.1184 right_pitch=-0.4169 right_roll=-0.0883 right_gripper=0.4375\nstate[joint_eff]: [0.0615, -0.9231, 7.1726, 1.7021, -0.0317, -0.0513, -0.0122, 0.7453, -8.7316, 6.4205, 1.6142, 0.3101, 0.149, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc8cab3c257571fdadd8562eecf476d7b34e959da46a6422b07f202b8f8fa8c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2665a9e3c4983d3b530912ac0cf884ab342657fea1985bd9ea3ba4f7e7c706",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3032915bb50544a2665b0ac9aaf58ade7c044f68eddbf0032d4b52563e1dcdfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AkKEAgSGAI4AUIIdGhpbmtpbmcSDGAcCmbUUZOU3grCnRoMhfsfEMSnM24Kd5cmIjAlFkQBSe+iAooC3PTBuAt0LgSbYS9c3DtpctD8BgyeeQHLdHgSAM5V0JJ56nyDtVgqlQlp10pYmZYc/Ou17EI+wDePPhx4PDRGxT3aJEMDYwKOR0+EdI59RNZiOgspLUX6RrtHoNEWn5YoQoCq29Qie4Z5nncXbs5rzp6kTb8yc7Yr1Vk+cArGqXrxOSm1CH0OXgkdkdGQDBpVmc8deKwd8IdFCdVNoGrym/7zLoxPUs2AJzmAzU+d3bNxDIOLUiSUGXMWYi2vP1mAh214/pcFUXJzqWcvTu/NIk44ajxw+qBDlsGP8bIn93LglSDGv6Bf38Goo+TnXxJhtvwUDwpQJptGs9LQVAm8+IvxcgATKtyvyVoADpwcCrDypX8wpBA4A2CsDZB2EcLP0cXrwXfcUYrkm64pQHE+cu2539Y7jQeSZFijzk3usTAdhXEc88Z0UwauwBzQ6lZc0WX4fS1UqF7fVMPuYPlx+oxFhivq6plEkpFdc91kJed/BM3KkyF1DLEetF359mtaZ18zSHtzvDvp0a8a/PN01MyhKZqda3FjdAOy35mWi4AmSQflrkGpOWJtzWscPbHe0Hw+5LHGraWIdRIS34SzFcAAMM6hBoIm4zurtlJf8fcvMYS00HM+jCdMOO2vMTf68VCMaK3MOrceQKb+EP4jSW/f/oeLx6sr4e70m+tk59ETTzjua05jtaNzCSJiL/aXIfnNwlzgUyTUl2MJ7USiTbKMCn/f/Tfucq/A/2zHdlK+jsNjDDbRV9HvSQl22CQpd+lZ8qLjbZHmvr2wbXLiAtYIAAHYtSXGsx2onO5c6zklhTX3UFP5+wreNGEPLTeIvXf1z4sTLiEYPjgebyt0s/77mnHGCYPLlFO/DljEsjvHjonrqPiJP9m4wk68gj8gcVaRFyVWUPyrO9A/ZBOVaj5L666ulATKKSnHtzt47Oz7mZJFuznbNQtbRlKUcAuUsr8c0KPtlzI5f5y9J/yB+WmNcOvFjQxL68NOfPW8UTsepkt5J5t85Ly22fKH0WhkQiDv87FbtYMiWJ+WbUj9l5hsxwalaJb8tFP4EjjKmAdrbviKv9QTgT2q3mkok0AMWGZk440GOSlxOACMOGboutXVLeK2dm0lisb91eqDzIDMG17dwPqAitpQjJfL6Ln/M1CpmeuHNe7z2PtyZnc2w5ZBV/aVyyG/K3BA7RZnW3iONtm/coL6v0EVq08IhjKIXJ1blhmYS3lmKfyGj9PwAUoAyTBS4aT442bt8vtWURPZVxExqx7K7wApz74RMI4rI7n1cUOld9yF82XkvUXG/x1OWJXkoy21Xy+tGF27N7kKTNo955qZh1Z+tntSpp5hSDzgTahutGNuGAbDLqTwaJfW/sxiP37ffY7uAaMTMSQplMQskSVWzDBXV5a8UEjEjT08RTo1gijZLBHbozc6UbuBN24KF2q7UlhpVaQ2Uk4zVXv2X1LkpUh7190ZGphJsBzOhZR7+dc287kn4D+HWtmanqir6dbM/mq64Sc7GeVONH7gDZZhLq9d6s0mlIdTCHH6qO2BbSzXi/QP54Jpm00///n50geTxnbPsqyvW3ELFkfog4DSyLAmrBrgEtE/9dYlouGjKyjeum+ePb0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012MKYz1JVH9rKr6bK5AMtrF",
      "input": {
        "note": "Arm is lowering slowly (z 0.173); continuing the descent into the safe.",
        "targets": {
          "right_x": 0.37,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_012MKYz1JVH9rKr6bK5AMtrF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.487, -0.0193, -0.0383, 0.9992, 0.6781, 1.8088, 1.3426, -0.7166, 0.3214, 0.4046, 0.4375]\nstate[eef_state]: left_x=0.2802 left_y=0.0017 left_z=0.1573 left_yaw=0.0024 left_pitch=-0.1053 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3582 right_y=0.2215 right_z=0.0922 right_yaw=0.1091 right_pitch=-0.4912 right_roll=-0.1341 right_gripper=0.4375\nstate[joint_eff]: [-0.0615, -0.8, 6.9538, 1.8339, -0.0806, -0.0513, -0.0122, 0.212, -9.7436, 7.1453, 1.4383, 0.2662, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662c14a42b01e7c991f8c3dd784e2bb46893ebc0d04d695146a5331e1357249e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c16c5c2694ed24cef240958a418241e75dc8fdcb8e8ccb2b0966cf59a51beb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd35c9a0da67133257712658edc3a3bcb109d4f3f5ffb88392570ba0beec19e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.75 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4732, -0.0193, -0.0383, 0.9992, 0.659, 1.8328, 1.7302, -1.0199, 0.3256, 0.4015, 0.4374]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.16 left_yaw=0.0024 left_pitch=-0.0911 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3811 right_y=0.2283 right_z=0.1877 right_yaw=0.1047 right_pitch=-0.4384 right_roll=-0.1035 right_gripper=0.4374\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7656, -0.0708, -0.0122, -0.0122, -0.1983, -9.2923, 8.5949, 1.2772, 0.3199, 0.1685, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.6674, 1.8034, 1.6257, -0.9195, 0.3256, 0.4026, 0.4375]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.379 right_y=0.2313 right_z=0.1734 right_yaw=0.1184 right_pitch=-0.4169 right_roll=-0.0883 right_gripper=0.4375\nstate[joint_eff]: [0.0615, -0.9231, 7.1726, 1.7021, -0.0317, -0.0513, -0.0122, 0.7453, -8.7316, 6.4205, 1.6142, 0.3101, 0.149, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.487, -0.0193, -0.0383, 0.9992, 0.6781, 1.8088, 1.3426, -0.7166, 0.3214, 0.4046, 0.4375]\nstate[eef_state]: left_x=0.2802 left_y=0.0017 left_z=0.1573 left_yaw=0.0024 left_pitch=-0.1053 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3582 right_y=0.2215 right_z=0.0922 right_yaw=0.1091 right_pitch=-0.4912 right_roll=-0.1341 right_gripper=0.4375\nstate[joint_eff]: [-0.0615, -0.8, 6.9538, 1.8339, -0.0806, -0.0513, -0.0122, 0.212, -9.7436, 7.1453, 1.4383, 0.2662, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662c14a42b01e7c991f8c3dd784e2bb46893ebc0d04d695146a5331e1357249e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c16c5c2694ed24cef240958a418241e75dc8fdcb8e8ccb2b0966cf59a51beb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd35c9a0da67133257712658edc3a3bcb109d4f3f5ffb88392570ba0beec19e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon is inside the safe at z≈0.09. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019XnieuLcb52yJEwx5rL3xs",
      "input": {
        "note": "Lemon is lowered inside the red safe interior; opening the gripper to drop it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_019XnieuLcb52yJEwx5rL3xs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5022, -0.0193, -0.0387, 0.9992, 0.6796, 1.8095, 1.3197, -0.6624, 0.321, 0.4042, 0.9947]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3621 right_y=0.2255 right_z=0.0891 right_yaw=0.1196 right_pitch=-0.4657 right_roll=-0.1156 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0188, 6.9402, 1.8388, -0.0855, -0.0464, -0.0122, -0.1026, -9.812, 7.1179, 1.3407, 0.2173, 0.1001, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74acc5729433f1e826f4165f6f50521fc073ccab484f8fc4e1379b68b3631170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77ee9eb5b82d59dace8b1fc346949835af2e3d0e3930fb532619c710fb6721a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8e007c0ccab8969f835fddf0d147b46bf92b350c7ceee8df453bbd099ff3d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 5.622 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4801, -0.0189, -0.0387, 0.9992, 0.6674, 1.8034, 1.6257, -0.9195, 0.3256, 0.4026, 0.4375]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1587 left_yaw=0.0023 left_pitch=-0.098 left_roll=-0.002 left_gripper=0.9992 right_x=0.379 right_y=0.2313 right_z=0.1734 right_yaw=0.1184 right_pitch=-0.4169 right_roll=-0.0883 right_gripper=0.4375\nstate[joint_eff]: [0.0615, -0.9231, 7.1726, 1.7021, -0.0317, -0.0513, -0.0122, 0.7453, -8.7316, 6.4205, 1.6142, 0.3101, 0.149, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.487, -0.0193, -0.0383, 0.9992, 0.6781, 1.8088, 1.3426, -0.7166, 0.3214, 0.4046, 0.4375]\nstate[eef_state]: left_x=0.2802 left_y=0.0017 left_z=0.1573 left_yaw=0.0024 left_pitch=-0.1053 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3582 right_y=0.2215 right_z=0.0922 right_yaw=0.1091 right_pitch=-0.4912 right_roll=-0.1341 right_gripper=0.4375\nstate[joint_eff]: [-0.0615, -0.8, 6.9538, 1.8339, -0.0806, -0.0513, -0.0122, 0.212, -9.7436, 7.1453, 1.4383, 0.2662, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5022, -0.0193, -0.0387, 0.9992, 0.6796, 1.8095, 1.3197, -0.6624, 0.321, 0.4042, 0.9947]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3621 right_y=0.2255 right_z=0.0891 right_yaw=0.1196 right_pitch=-0.4657 right_roll=-0.1156 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0188, 6.9402, 1.8388, -0.0855, -0.0464, -0.0122, -0.1026, -9.812, 7.1179, 1.3407, 0.2173, 0.1001, -0.1978]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74acc5729433f1e826f4165f6f50521fc073ccab484f8fc4e1379b68b3631170",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77ee9eb5b82d59dace8b1fc346949835af2e3d0e3930fb532619c710fb6721a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8e007c0ccab8969f835fddf0d147b46bf92b350c7ceee8df453bbd099ff3d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+AoKEAgSGAI4AUIIdGhpbmtpbmcSDNkAt8h0wxvDP/fvIRoME6evmieouIRgWm22IjDsZYwOitKBV/lhyC1x4jb3SCv/rEe0rm7dAtRqaByg55PzAOA+WXclXwYtEpFNiJoqlQpRgyxEzHmeMzLZvfTHyY2a33mn20zylPprAXkpf+idDdCcZhykUujr1cIzSBqy8psLALxb7+f94KnhmiRa1cds2Me/S+AFjyUjiRjZxxw1ALaZ4aqKlCNUewrmFYs3a8Af9IwvJzD+owt+NzWHOMHjA02OqhmgBTeZ0Ji1B40qvH7FlTdxHhpPyWFqFRhtYljM8DQGNK/vFmt06qPE09WMa6cKZlb9rS+77UavTTGXQxPswm/zv+LpFsfJ+aDGFXCWPjFjPhotBk+vIFoVNmACChxphCNyRRCqOqZa+CUdmc2zXwRRAMm7W5rGBy+4hvtqJCc0xF97vB/tNsjlD2RN3duw1ULw2PsoNb7CEA7YvWd6+O3CjRBDFa68sayp4F8dtqYTkNWgxenwFePw6a5wLkuaR6exiGS0aUT6fkiqLfRF4KTA4WZVehj8XvO7wqflljapkCWDYLnE8hExm0idTxvRZyjhls4cPfN8TFZauctsRgOwAKR4VylFlhhb5j3Xjfni6c7xHTD8Qc0PKHkL5dGaN9jt0VhAAm5TYRpF9LwZV0p/jxiqeZLVhhTjElOqueK/9FH+Y5GapiCo+xWFejLOaXzPYcNfG8ruAxrcxYS/G0cZzQ/Xz2GILBBXWVtuZesfJTMrZ1+8fexXFIyjZHoUonJpQGBD++9qtUYGwYGF0BOzy3yFb9zB8lnrgBuaG1ZzQWu2J6yhxH+nsdWZkvQR2HqOhYyjfobwaLTejzYuDOIMjI6AWsUI4674KsGkQ20ocj3o8HgB+VhbbynO/zgZ5EWQY5vC9Eo8BfGSlBfJX3LbkkNddx5sOy0z5zN+coocEXpF10ZPE9jXW/P5dOH7PKFcCXvFht71P96eyeLJUsgWJO1VuIwlt3/ylPVAKzRmslbtFYs3iBDjLnjfsqDbprusCe6gouquDmCr1BaYXLoI5c9jGS5U2ma1V83xo7/3cXZVkeAMyPwdW5lpGgbJrgxPALLGgBVtlijP8ZmPTpI9oqX3qfuRcZRFG5B+onOa6F+JPoATjDsyuL3lHxB7UaM6lyuYEerVuvMx8nTA2WijJV/1LrqrFUmAgFMYjzc6pG5oHlZQRGuCxZAGZ8A/KnM7Z25X6b0QKIeMGXDkKhZjA7+IA/sb1ypiON5Sd2fCU08c3VaTvU4n6HgvhwwOLV/dJOxYGr93PWwb1OorywTKMjRI8WBw5DEba8Sw3wlb0bQ5iRLgo9Pa1S0F1kq23qeWBKORJu2Nrs8TUEEOudjr/diTwf7A2Gl/5xOqkXjAGa/m/0s8mjW0DoNQ5WnoDuLIsJLmplZhlerLEcSMyA25Sjo/mRcyWWywPTeUWLT4lWH6pcD3xJF886xIS4DcZHTn5QR0dALib/9vU2kqQQrj5/rPQUPSnbfDwcuoml0VirLJs5ZJksLxcjRLPHwlSwNPID32HuuPx6zvhgQe8wheAo3dKALih3vpTBXsgqECMq53tHzkhVlo9moq1qWOUfe/QqGkrj8SmIovgffEB6UkEHdP3TkecuWPYW74EebrEOSzob92EPaOJYqScosVydL2nLoV5Gv0LjWaGhhbNejFyp7kZpWI3ur7TIrXuQ0MVv7/dPvJT6aB7J88DIabBJfgYtgWVC+lfZgpqWpeimMQm9QUBNsXTuJR86NMVnYkjScibisX/9LHg4AuW5RfSoxB0lUzyBZbrSWLs3HBfhpQqcnCw6UWsX3v1xC+Sv1jdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QF4LQqMqS6JYnQXbtp5fSB",
      "input": {
        "note": "Lemon is resting inside the safe. Lifting the right arm out and pulling back toward the brown plush monkey sitting just in front of the safe.",
        "targets": {
          "right_x": 0.3,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QF4LQqMqS6JYnQXbtp5fSB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6067, -0.5159, -0.0189, -0.0387, 0.9992, 0.7341, 1.766, 1.3678, -0.7628, 0.3428, 0.4526, 0.9953]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.135 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3451 right_y=0.2363 right_z=0.1145 right_yaw=0.1248 right_pitch=-0.459 right_roll=-0.1126 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -0.8684, 7.0906, 1.7705, -0.0806, -0.0562, -0.0122, 2.6735, -17.388, 12.1641, 1.5995, 0.2466, 0.2173, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:316189190c526ef354f8dc29fbba0a66069f5f9733208ec858d422de550bd637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70a14c04005e293e43de5116e5b22aa12d59b766237efbd9e24a0176acb8bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dab7f86e9f7ec1679e810e3adc92d757dd6ccca939b4dce27957f0765874465c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 6.848 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8036, 0.6067, -0.487, -0.0193, -0.0383, 0.9992, 0.6781, 1.8088, 1.3426, -0.7166, 0.3214, 0.4046, 0.4375]\nstate[eef_state]: left_x=0.2802 left_y=0.0017 left_z=0.1573 left_yaw=0.0024 left_pitch=-0.1053 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3582 right_y=0.2215 right_z=0.0922 right_yaw=0.1091 right_pitch=-0.4912 right_roll=-0.1341 right_gripper=0.4375\nstate[joint_eff]: [-0.0615, -0.8, 6.9538, 1.8339, -0.0806, -0.0513, -0.0122, 0.212, -9.7436, 7.1453, 1.4383, 0.2662, 0.105, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5022, -0.0193, -0.0387, 0.9992, 0.6796, 1.8095, 1.3197, -0.6624, 0.321, 0.4042, 0.9947]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3621 right_y=0.2255 right_z=0.0891 right_yaw=0.1196 right_pitch=-0.4657 right_roll=-0.1156 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0188, 6.9402, 1.8388, -0.0855, -0.0464, -0.0122, -0.1026, -9.812, 7.1179, 1.3407, 0.2173, 0.1001, -0.1978]\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]: [-0.0189, 0.8043, 0.6067, -0.5159, -0.0189, -0.0387, 0.9992, 0.7341, 1.766, 1.3678, -0.7628, 0.3428, 0.4526, 0.9953]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.135 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3451 right_y=0.2363 right_z=0.1145 right_yaw=0.1248 right_pitch=-0.459 right_roll=-0.1126 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -0.8684, 7.0906, 1.7705, -0.0806, -0.0562, -0.0122, 2.6735, -17.388, 12.1641, 1.5995, 0.2466, 0.2173, 0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:316189190c526ef354f8dc29fbba0a66069f5f9733208ec858d422de550bd637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a70a14c04005e293e43de5116e5b22aa12d59b766237efbd9e24a0176acb8bec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dab7f86e9f7ec1679e810e3adc92d757dd6ccca939b4dce27957f0765874465c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgggKEAgSGAI4AUIIdGhpbmtpbmcSDJiQOb7oBLhHOsxpqxoMd3+9iMz8JsIv1K7yIjB5AWJwkERgzc5eY1/B4Z2vYcDz9djcMHG75OycTwflL/LPzwhTE2AGM3ws8t/ebeQqnwfHbQPaIGiqgJ/88J+NQUaRX9kpEvN7HLcpawuybWncDNPiNmGNTfDOWXSV0oe1iAm3b7Cw3SplV5UUj2tbywbHMKAUy36A6bNksonXLpswo3tZwVQIsvrpI8obXy7LA4arBtCEuWYlZD/RhK1PnPXGHoQB0Pv/Z0fPt88TXve0BbBMVtX6rNNzPJZ7aFYXZGQfUTEwoc60YFS17KmWimLnRuCJXoRnHqTXlPqcrmkDqcIiWA+ucVtTN/Bn6oPmapdnEQbcjJbtjrXKyuQxHIzwoXY3MhiA3I41gMgnHiqEO5La4BE2Y4DRmrEtYxEEel22DujLokAFCbFzB87Xua1IKng6YtfrWCB8l7dJJpjjAaa9zbWP6ldEndgTfBVPIOe1ptlhrZfzQ7y2+EQjVhohCiURLEtYrtL+dWF+Qm+jo359m5TfX+allkLfBfU3iS9yyPKiZt62gvlHMvKEDRFxVpu/27ITA3NThfzQ7WhAkAw0FD2jvPhfojeZhcTkB7BMGrmnZh5FfxCoReUeQB0MVqY14JRTt27yz+KuTf1S6HEjVdQlSKROi129a/EXjg5GDL4+WMNmD74CZUQVs8XidkhTPtWwhwuaomjS32tVjxo2eDUzqz/wt84cotGrFRgp6TvnMnr00DGkqw+Qf6TqsTAjrQib5QSUTTUPVplC4Hz9J+et4O2HQ45JGWRgnCN7yFnDSB4HWJWxKen6Xy9JoMvPRbCRb8ODmVO8h5wpm1ZSoV+FvbgcECAqvgllIKFKPSQjqBuwoLEmd/COqvLsKk5NPiKDrGPf9B/VY1PQpRwj3Au3apuL2020pyEh0SDWaNIhZennC4s/EtoEahp1w6+kF060CpZS5bhb2VkR015lsWaielQTZHrOdBLXuFEgPyd0foPOhyCWOPKkAWmq+Cc61TGVP9v0uHMkztS8sndy+w+xR84e2HCcBrp65aYeWr9g65ELm5Mka+bdCtWupZZnun1QsfhtCENR4r7i407Wn6eOZ85kYIXCHWxwnZh8YVpBMXRMd1Qj190FfnCpd2YJh1aWz3Psh9cFI3P1Rg47U28HGUKYkOLZcHDoTsQCk/LevF5vZJyMN2Ixih2VDj5w3IBmCk74LV/thuZHI8vQ2MW+yzNKdxZE2L832+InN7wUOZAjQkQfIuvZNWklZJ6GKvpIdYLSGEakH+HbV6jRi9AZe2RR0+02AsPEVWZoGjnK4uD00CDclGUqSt4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gbx8NmNyMtySZVnfTSTF7n",
      "input": {
        "note": "Retract stalled with high shoulder effort — fingers likely catching on the safe's front wall. Lifting straight up first.",
        "targets": {
          "right_x": 0.36,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Gbx8NmNyMtySZVnfTSTF7n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.7113, 1.8175, 1.8256, -1.1362, 0.3229, 0.4259, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1489 left_yaw=0.0022 left_pitch=-0.1484 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3605 right_y=0.2414 right_z=0.2154 right_yaw=0.1426 right_pitch=-0.4432 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2103, 7.1043, 1.7021, -0.0611, -0.0464, -0.0122, -0.4581, -7.4598, 7.3915, 0.9109, 0.2466, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:799743e009dc2f7e432e58244d9edf1544eaf41e696d761b44237845a22a43fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89694f9d908b5a3ca520c1ed6d87f61caec795fac944cf4987444a1cfc49c0f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31d74864682bb7b12ee823492d5c274072e6860294e968ed772ab6f9da7b2829",
        "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 · 5.517 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5022, -0.0193, -0.0387, 0.9992, 0.6796, 1.8095, 1.3197, -0.6624, 0.321, 0.4042, 0.9947]\nstate[eef_state]: left_x=0.2778 left_y=0.0017 left_z=0.1545 left_yaw=0.0027 left_pitch=-0.1201 left_roll=-0.0013 left_gripper=0.9992 right_x=0.3621 right_y=0.2255 right_z=0.0891 right_yaw=0.1196 right_pitch=-0.4657 right_roll=-0.1156 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0188, 6.9402, 1.8388, -0.0855, -0.0464, -0.0122, -0.1026, -9.812, 7.1179, 1.3407, 0.2173, 0.1001, -0.1978]\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]: [-0.0189, 0.8043, 0.6067, -0.5159, -0.0189, -0.0387, 0.9992, 0.7341, 1.766, 1.3678, -0.7628, 0.3428, 0.4526, 0.9953]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.135 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3451 right_y=0.2363 right_z=0.1145 right_yaw=0.1248 right_pitch=-0.459 right_roll=-0.1126 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -0.8684, 7.0906, 1.7705, -0.0806, -0.0562, -0.0122, 2.6735, -17.388, 12.1641, 1.5995, 0.2466, 0.2173, 0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.7113, 1.8175, 1.8256, -1.1362, 0.3229, 0.4259, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1489 left_yaw=0.0022 left_pitch=-0.1484 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3605 right_y=0.2414 right_z=0.2154 right_yaw=0.1426 right_pitch=-0.4432 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2103, 7.1043, 1.7021, -0.0611, -0.0464, -0.0122, -0.4581, -7.4598, 7.3915, 0.9109, 0.2466, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:799743e009dc2f7e432e58244d9edf1544eaf41e696d761b44237845a22a43fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89694f9d908b5a3ca520c1ed6d87f61caec795fac944cf4987444a1cfc49c0f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31d74864682bb7b12ee823492d5c274072e6860294e968ed772ab6f9da7b2829",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywkKEAgSGAI4AUIIdGhpbmtpbmcSDN3gfvvAHL+3IdgYGBoMn4gIdO1unu/Oj5nvIjDUhafgMi9wPjd7Sz4zUHr/fiskUkUP/+ky2ijrpX90JsVh4NzA9v9XDZo3/6BNeboq6Aig2LW2H7QhUN85V5/2is+HS2kduD96UlSmE1xDFDN/90lKPwvhzUQZNTrm7WqpsewqmES02ycuGEegqRGZ5k4kmuN9uSwpHDKIAKjrseKGFm0cuREpg7XHUJRpFyEZusSWBySpWdAXicsMfgBY/6CMrHXhC9y3VsSwf6Ab0aZAqtHiLB9XcpjaFIXpdJuA6KNgwQkR5sHT8C6LBRiRirpZX1P96Rg5K0gMcay3TjJWz591zXRhtQRCOuwKtjleDa69g2rCDuyAvQE8v7JXOvIfDVyGo5R1mESSdne12to3jjdSgxPqKjiiSc4cIlIHWz5+oSEpxCdDyeu5ZgqCdxk2QouDmzzWf1trY1/09LZXKf47tSRR7SQq/fFMDzx+jbULNtBZhQACvN4oDuKwN28yGXUll4prCwxkzybuRcDh/KCvolMfbX0p8WatBJq7bBaWFLtAZyiFXf/VD0uST9XyoFqfn6s0pOYYUH3ZGIJvG1CAB4VCFWXmkCPTMQftuOi5ouLxG1PMOAVwj8sOpaRw/hZ7/+n7eLcByhN2NIvUzz+ejIfI6rlWGInv4tM331L1iV2wXMDTI2uiNYdW08GC/A+S2vzVz6MBL2rjn9oR9KHISOyaYCIO2l+thZi+BMDY2MDPkLhEQJlodofdg5j6ydlvtIqoV++aP+0AgH9C+t1w+GZW51vTyDT8hVH+U7cqxZPAFhYfptMKKvMyDdlW5mA/4/1lzPdrRTW0pmgoledv/tJ3FkcCpxs0w0dLocHYuO05uz7/Z3NSxuPvBTURRHKDnnHMjAnwz9Dyv3Z5Je9wYLfbxZR+GMehffPuhcb4FY9X2idKuR7VY+HUocwVIyf4vixzvT2+OzgMk1GYFPsO3M8zRCMd0sSYE2rfCG0iOpM7grZOnSslCaukMYW3IEPR+7zGfC6BDYZ/D5Bo6QIS4zMkiICpTgtkPoxW+lQY7D+q3rUnRZkAyEn3giPc3cHkINLz8SDTU//Sq7Xo0PnfkXwLGUj2GCqq10VO0eaSSH7nzngcxx1BuxtlmsEwSLk4paTeKViEWo0w7KKbXEgaifYlCAic6QQc0VxASi8aCxjLksEM2UEDrgjtq4qwvW+HUL0s9Yxt4/SjVO/jleKCKzCy4Al6tmt9Nqy/Z09UZvnIOkGN+n4ZMsiop868O7Eo/fZT/QSlL+7taSJZnNg5Ysk/Oe/mMAC3DBqdkFW8T/WzGes9I/J7B3ZDcqMddbVPGZ13mmWQixORpuINH7vmkahlG4v5cOmDVDqH2grYlB4k4NmXivHaRnvijoiEk9YkP/CKSoQ90Diua1wlYArGK5N4/fn3xa9SdcPPSR7GV29kjtDh052QqjTecG+wCupCnP3dk3d5JvS6ErEJH4/SXVbQIZGFE5en7V/NVJ+lUSbH/3+bEbzqWyJBn3Q2BcY7IlUYIIdDb9db5ljiG46P0ccGy0uez1qYsW2O7GkmO2O/1eycyh7ccoQO0AtStf3DbGNGHNcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ULrmFEtH5R1zMyfBKMFkDC",
      "input": {
        "note": "Clear of the safe. The brown monkey sits just in front of the safe below the jaws; moving back over it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.23,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01ULrmFEtH5R1zMyfBKMFkDC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.8482, 1.5829, 1.2942, -0.9531, 0.3603, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2762 right_y=0.2245 right_z=0.1411 right_yaw=0.1491 right_pitch=-0.5078 right_roll=-0.1389 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.1009, 6.8991, 1.7265, -0.0464, -0.0708, -0.0122, 0.3624, -8.2667, 6.9402, 1.3455, 0.3736, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f4025de4314bc2179a9e9c3e7bdc2fd64512b3c90fa2bebce8401c9bed1461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d51c833bbe228d7a259de81545835ee15dd465a6c485cf59abb08b0b9acb98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01b8829b6f8b53441eb130ebda0ab70bbf2d047c81ce3acc9e0f8c656540f5f4",
        "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 · 3.187 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8043, 0.6067, -0.5159, -0.0189, -0.0387, 0.9992, 0.7341, 1.766, 1.3678, -0.7628, 0.3428, 0.4526, 0.9953]\nstate[eef_state]: left_x=0.2756 left_y=0.0017 left_z=0.1516 left_yaw=0.0024 left_pitch=-0.135 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3451 right_y=0.2363 right_z=0.1145 right_yaw=0.1248 right_pitch=-0.459 right_roll=-0.1126 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -0.8684, 7.0906, 1.7705, -0.0806, -0.0562, -0.0122, 2.6735, -17.388, 12.1641, 1.5995, 0.2466, 0.2173, 0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.7113, 1.8175, 1.8256, -1.1362, 0.3229, 0.4259, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1489 left_yaw=0.0022 left_pitch=-0.1484 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3605 right_y=0.2414 right_z=0.2154 right_yaw=0.1426 right_pitch=-0.4432 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2103, 7.1043, 1.7021, -0.0611, -0.0464, -0.0122, -0.4581, -7.4598, 7.3915, 0.9109, 0.2466, -0.0317, -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 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.8482, 1.5829, 1.2942, -0.9531, 0.3603, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2762 right_y=0.2245 right_z=0.1411 right_yaw=0.1491 right_pitch=-0.5078 right_roll=-0.1389 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.1009, 6.8991, 1.7265, -0.0464, -0.0708, -0.0122, 0.3624, -8.2667, 6.9402, 1.3455, 0.3736, 0.1245, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46f4025de4314bc2179a9e9c3e7bdc2fd64512b3c90fa2bebce8401c9bed1461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d51c833bbe228d7a259de81545835ee15dd465a6c485cf59abb08b0b9acb98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b8829b6f8b53441eb130ebda0ab70bbf2d047c81ce3acc9e0f8c656540f5f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSgggKEAgSGAI4AUIIdGhpbmtpbmcSDNkb3XZMaBa3Upr4kBoMqNDrfbq5EC4qCYd6IjDvRUfABww6Af48ZoCbSD16CygT2vf7ej/Ryv+r0xjDfE5z2G0ZbnYI0ga54vKv1CMqnweZPN/jPeOHtcge51JllbaLD+QHpYVbyuHCW3RzDDn0DE3GFQ7AASMZo9NapbWRMx0vf/77rb7gzaA33HrlVsm++sp45JddlnSoCi5d8LJnffChBh+6CFfTRzbfeOU0AcFnKrtyqPWs7564WhEEtizEDIDh7Ucpii37dvFKdPGzoayHrnRGoOHrIyE17kOJpGsK6G6P1czFaEFM/+hM9JLwNb6CyYg7AcWHpjkckVSW6f2pW0DG26cMb9ufkNDjEap4vXUlovxfRw4XJgVfTAmVrl4GI2nl3a2WKnblwRyo5VrOLXCF0hMITP1edx9eiMaKVUKPLmF8cJBD2vJZL2RREcyXUW2PfPTgrlZ65PziV6q83/46w02nVyL+D4llaqBlbBRBu05QgXJZE9xJ3jWWdSMaUPP+hqeuPAwcdhkD85o3pMKdF9g9QP0kFj122tz6dFi0XGPBGBV/Pl4rDTtRqsCMTpK3HlLP5Vd7NbcsMnspOzzPdefcvf3DLqWPxi0Zt/VMYqf+M1qifO2kl6lDrEARO8Zr5muXDaDT0WTO/hdTP0jxpFxqJkEwu9vIEjQKZlpRX5IUZZwVJBwAHIUzQc/Y9CiPrLhTMIIIow6ei+v9lVTRy+N2SMqybLRcM27MUJukQWmw/DKJif7Lswkfjw5rvvPov9sDQl6T3BosJ/lEWd0QDO6UmHJ0fq/7yxFQOdo2/HLSFZYho1QJSfO4t1xgm2V2Dojo+Kw66lPbDE81A/umjTMC4QSuA8lV0spx7u0j7p6gA/JqNDqXRu0s8VKfrJzUGAQ/ar5yxPed6q6fpMZrELBOBgiMjyVLR6epJpILngPl5woqKh58HVdz2hoMZA1sLr8H9OhIlxxVk07cCQ5bRAAyTXS/AiSYI+XbtSGZz/LddZv7/euNNjbbfDyIu/LonbJF36P7Vk6jHfkbQ/ODpx5zgiI0iu9BH4zKOBdsUNYRmXs2Cv9eE1NhZurNdXBUGqw5MqleZQrOz1/ccPD0RcK8sfuJNenLcn6AVuHw1XeQmOwDkkezKVWUMj2ZeB1t5drxOLx3PjieLcVaCM5K/Fhrtz5+Kshi12SclC3fP/u7bz2E218Ib4kk1n/mSRLcngm9DZ0MSV5X8aGKgEBuaSDTwjWykE8cupexKD3A2SGB4we2WsMI63VW6pllpccKqx48EHvvjAKSQIyuvcj5o3fQW+OeUl6H2weswrlHiVMfzoKv079oGAMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XJt7yiSMaFN9jFd3T3XD4c",
      "input": {
        "note": "The monkey fills the wrist view centred between the jaws; descending onto it to grab the plush body.",
        "targets": {
          "right_x": 0.29,
          "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_01XJt7yiSMaFN9jFd3T3XD4c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.8173, 1.7084, 1.0073, -0.5739, 0.3462, 0.5049, 0.9954]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.0023 left_pitch=-0.18 left_roll=0.0001 left_gripper=0.9992 right_x=0.2812 right_y=0.2173 right_z=0.0355 right_yaw=0.1348 right_pitch=-0.5443 right_roll=-0.1662 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.1966, 6.8991, 1.6874, -0.0415, -0.0269, -0.0122, -0.4855, -6.4615, 5.2034, 0.9353, 0.1783, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ba1c08702b2825a2b155caee4f7e75ada673416e5510ec2b7f931420aa1778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd7998f8e10405eed35afc16bf74fdf1c34d7dea63eabde9de9b87265d84d92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7015abcbb838ea4f9ed1e4cde2f6924eb2ee837de725941e31696d8e48e3a877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.574 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6067, -0.5259, -0.0189, -0.0383, 0.9992, 0.7113, 1.8175, 1.8256, -1.1362, 0.3229, 0.4259, 0.9954]\nstate[eef_state]: left_x=0.2741 left_y=0.0017 left_z=0.1489 left_yaw=0.0022 left_pitch=-0.1484 left_roll=-0.0006 left_gripper=0.9992 right_x=0.3605 right_y=0.2414 right_z=0.2154 right_yaw=0.1426 right_pitch=-0.4432 right_roll=-0.0907 right_gripper=0.9954\nstate[joint_eff]: [-0.1846, -1.2103, 7.1043, 1.7021, -0.0611, -0.0464, -0.0122, -0.4581, -7.4598, 7.3915, 0.9109, 0.2466, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.8482, 1.5829, 1.2942, -0.9531, 0.3603, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2762 right_y=0.2245 right_z=0.1411 right_yaw=0.1491 right_pitch=-0.5078 right_roll=-0.1389 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.1009, 6.8991, 1.7265, -0.0464, -0.0708, -0.0122, 0.3624, -8.2667, 6.9402, 1.3455, 0.3736, 0.1245, -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]: [-0.0189, 0.8097, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.8173, 1.7084, 1.0073, -0.5739, 0.3462, 0.5049, 0.9954]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.0023 left_pitch=-0.18 left_roll=0.0001 left_gripper=0.9992 right_x=0.2812 right_y=0.2173 right_z=0.0355 right_yaw=0.1348 right_pitch=-0.5443 right_roll=-0.1662 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.1966, 6.8991, 1.6874, -0.0415, -0.0269, -0.0122, -0.4855, -6.4615, 5.2034, 0.9353, 0.1783, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12ba1c08702b2825a2b155caee4f7e75ada673416e5510ec2b7f931420aa1778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd7998f8e10405eed35afc16bf74fdf1c34d7dea63eabde9de9b87265d84d92b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7015abcbb838ea4f9ed1e4cde2f6924eb2ee837de725941e31696d8e48e3a877",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VzwkQatvj7obVir3x7owUM",
      "input": {
        "note": "Jaws are straddling the monkey's body; closing to grab it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VzwkQatvj7obVir3x7owUM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5632, -0.0189, -0.0387, 0.9992, 0.8169, 1.7195, 0.9985, -0.5713, 0.3435, 0.498, 0.0089]\nstate[eef_state]: left_x=0.2679 left_y=0.0019 left_z=0.1416 left_yaw=0.0026 left_pitch=-0.1876 left_roll=-0.0 left_gripper=0.9992 right_x=0.2787 right_y=0.2152 right_z=0.0293 right_yaw=0.1341 right_pitch=-0.5599 right_roll=-0.18 right_gripper=0.0089\nstate[joint_eff]: [-0.0068, -1.0462, 7.1316, 1.6435, -0.0513, -0.0611, -0.0122, -0.1983, -8.6085, 6.5299, 0.7692, 0.2027, 0.0757, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3361024db36d6966fff65abbcff57408c8547679e0164a010105cc8ea836ac9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8ba4bc9dee7eb8e92c56be19563d232785da8e3c1ce3b3d480dab58adaeee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b33e88f1b4023fa3328e986eeaa46420f68569e83f88c929b687958c44f9180b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 4.727 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.8482, 1.5829, 1.2942, -0.9531, 0.3603, 0.5339, 0.9954]\nstate[eef_state]: left_x=0.2719 left_y=0.0018 left_z=0.1459 left_yaw=0.0025 left_pitch=-0.164 left_roll=-0.0006 left_gripper=0.9992 right_x=0.2762 right_y=0.2245 right_z=0.1411 right_yaw=0.1491 right_pitch=-0.5078 right_roll=-0.1389 right_gripper=0.9954\nstate[joint_eff]: [-0.3214, -1.1009, 6.8991, 1.7265, -0.0464, -0.0708, -0.0122, 0.3624, -8.2667, 6.9402, 1.3455, 0.3736, 0.1245, -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]: [-0.0189, 0.8097, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.8173, 1.7084, 1.0073, -0.5739, 0.3462, 0.5049, 0.9954]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.0023 left_pitch=-0.18 left_roll=0.0001 left_gripper=0.9992 right_x=0.2812 right_y=0.2173 right_z=0.0355 right_yaw=0.1348 right_pitch=-0.5443 right_roll=-0.1662 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.1966, 6.8991, 1.6874, -0.0415, -0.0269, -0.0122, -0.4855, -6.4615, 5.2034, 0.9353, 0.1783, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5632, -0.0189, -0.0387, 0.9992, 0.8169, 1.7195, 0.9985, -0.5713, 0.3435, 0.498, 0.0089]\nstate[eef_state]: left_x=0.2679 left_y=0.0019 left_z=0.1416 left_yaw=0.0026 left_pitch=-0.1876 left_roll=-0.0 left_gripper=0.9992 right_x=0.2787 right_y=0.2152 right_z=0.0293 right_yaw=0.1341 right_pitch=-0.5599 right_roll=-0.18 right_gripper=0.0089\nstate[joint_eff]: [-0.0068, -1.0462, 7.1316, 1.6435, -0.0513, -0.0611, -0.0122, -0.1983, -8.6085, 6.5299, 0.7692, 0.2027, 0.0757, 0.6422]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3361024db36d6966fff65abbcff57408c8547679e0164a010105cc8ea836ac9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8ba4bc9dee7eb8e92c56be19563d232785da8e3c1ce3b3d480dab58adaeee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b33e88f1b4023fa3328e986eeaa46420f68569e83f88c929b687958c44f9180b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsggKEAgSGAI4AUIIdGhpbmtpbmcSDHSJTou266kdjo8YORoMW5Jx38bW6a3DgJ0EIjA4cP0U52CczvIQjgulfYv6y/Pek17iZMVtwVXOoGW1QGv0MFDZzIQB/3BH4i7XUxkqzwd8y1cAJ8OJwef+AUiy4duUSIgQvPfBwcLNkA6dBYYOrtbbLx4zWyP+s5RYgbU6VuhUYoo+yDObpEO02GUB83GGs4Dwg/Jl0gQll/6EynuG74JwOGU3t5zwcHdWeSOj0P3V4H5aygLAGvwEUK6qOhQvA9C1T0dSFwtM9EOw8qH2jRproqRRchCCCyKtafxX6yxrurbkyXZkXezWYBPlfEse9hT0U3bKx1bho46TgmKzNyHmNR4CTePMkMR/d9PURWpVt8wzmudKw4vhhNwl89PR/mpBjq9sIANmfgpDPjw3RVn40V7Bb9JnUM9L2rNyD2wW+h7u9rCg1QYRr5V4I4SjhdHm/7eatIrwwSnChTODXP/64DjWuYwN3An04Au2PDZkL0b8TaZVoWJH8eEQ4RQthRa9/3d7NEHGLQyIcoEmuykXocbd0G4ehOp6DnbMckS93ZGEwr2VwNwYxPFS/ax8enqGbedy7UAZESkDsooEoJvoUaVqTHUg9jWJzOM076SBNV8vKrJ7leKBSVSelKw7gLv198tcWZoEXdO6DOZAqbSKoK/H//0YDgBhvUJN5O/PrSHXjwdCSPtlV/XNETMvYr/H+NVBEOx85esb/dS4yRoPsVi7CGVxh7D9/TAiL953K9bqjhYowoaIpygQgcFG2gVEmmjbsg7UrwJC9KssUcr/PYBdFkCsTpVgrVhU531sL+ZCvZLejgM+n/hK4KsWckEIcaV3M/jEDUrJKq92dHH7MnUEyA9MhiKvboNZklJrbPJyZ7uG61FAlBb0EswjATOCjOqLitLOx3QlW3Ia+9peu97UUxZA3kKDVa5om817imC2Czdb3sa451OWlkmx1dzqj9XBB8gJeh9aE4yXnFZui5U9zaqWpGNhY+y97y9j2aiEjWaQfYO6EHLA6jC7tX1iIKj94p1L48/PWVrbVLM/dO7a4ioSPM7y3Smm293f8ls28SdBKSjnXALTaHoXNvZXOhZGq3WO4w/rrI2Tmxml1QvYLUx+1vONrFo/zu28V2P9lrm/ow01h0SNnxz857IiY9qeBH0Ghoyy/JqFvhYFpIUGZiwtwqoX1CNnfPwMz+zyJZO6Ohi63SfmEWDma8o9n+1+fnQqLjd1BuFIOqKvgU1hgsMfTrOdZDqt/ubeZOBAwOSXATwtc/dKCMW31MK63j23Z8BO6AXulfVX71oXEn9fCGhNw+SB3EbymkjdufNh1hTpbR/4wQ+byxBjTlxbPjtKpZUg7yjkyWs5LUKGroPfQnb5YAxhaXUw0eBjhRl7CJ59QtpGGncRGo4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015pEdcC813reV9eyvugM5uR",
      "input": {
        "note": "Gripper closed to 0.009 which could be an empty close or just a pinch of fur; lifting to check whether the monkey comes along.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_015pEdcC813reV9eyvugM5uR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5682, -0.0189, -0.0387, 0.9992, 0.8169, 1.6703, 1.1217, -0.7624, 0.3367, 0.4976, 0.0115]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1407 left_yaw=0.0026 left_pitch=-0.1926 left_roll=0.0001 left_gripper=0.9992 right_x=0.2776 right_y=0.2157 right_z=0.0694 right_yaw=0.1319 right_pitch=-0.5786 right_roll=-0.1881 right_gripper=0.0115\nstate[joint_eff]: [-0.0479, -1.1966, 7.1043, 1.619, -0.0464, -0.0269, -0.0122, -0.335, -9.3197, 7.9248, 0.7937, 0.232, -0.0366, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e8dee2bfdc6dfc49ac33c8973df7e18b1ddfe0c4e43d784fb25a2283c01b5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:497f40d1cda47f3a02b005ca055c2caf28aa882bede997b103bbeb5a53c0b269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6e0ae1deb0ae90c2e274b1b722ae09bb7d22c9e2a03270449b48662b2c54566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.358 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5556, -0.0189, -0.0383, 0.9992, 0.8173, 1.7084, 1.0073, -0.5739, 0.3462, 0.5049, 0.9954]\nstate[eef_state]: left_x=0.2692 left_y=0.0018 left_z=0.143 left_yaw=0.0023 left_pitch=-0.18 left_roll=0.0001 left_gripper=0.9992 right_x=0.2812 right_y=0.2173 right_z=0.0355 right_yaw=0.1348 right_pitch=-0.5443 right_roll=-0.1662 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -1.1966, 6.8991, 1.6874, -0.0415, -0.0269, -0.0122, -0.4855, -6.4615, 5.2034, 0.9353, 0.1783, -0.1197, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5632, -0.0189, -0.0387, 0.9992, 0.8169, 1.7195, 0.9985, -0.5713, 0.3435, 0.498, 0.0089]\nstate[eef_state]: left_x=0.2679 left_y=0.0019 left_z=0.1416 left_yaw=0.0026 left_pitch=-0.1876 left_roll=-0.0 left_gripper=0.9992 right_x=0.2787 right_y=0.2152 right_z=0.0293 right_yaw=0.1341 right_pitch=-0.5599 right_roll=-0.18 right_gripper=0.0089\nstate[joint_eff]: [-0.0068, -1.0462, 7.1316, 1.6435, -0.0513, -0.0611, -0.0122, -0.1983, -8.6085, 6.5299, 0.7692, 0.2027, 0.0757, 0.6422]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5682, -0.0189, -0.0387, 0.9992, 0.8169, 1.6703, 1.1217, -0.7624, 0.3367, 0.4976, 0.0115]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1407 left_yaw=0.0026 left_pitch=-0.1926 left_roll=0.0001 left_gripper=0.9992 right_x=0.2776 right_y=0.2157 right_z=0.0694 right_yaw=0.1319 right_pitch=-0.5786 right_roll=-0.1881 right_gripper=0.0115\nstate[joint_eff]: [-0.0479, -1.1966, 7.1043, 1.619, -0.0464, -0.0269, -0.0122, -0.335, -9.3197, 7.9248, 0.7937, 0.232, -0.0366, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e8dee2bfdc6dfc49ac33c8973df7e18b1ddfe0c4e43d784fb25a2283c01b5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:497f40d1cda47f3a02b005ca055c2caf28aa882bede997b103bbeb5a53c0b269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6e0ae1deb0ae90c2e274b1b722ae09bb7d22c9e2a03270449b48662b2c54566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDJ6KdNYF90UN+cLwyhoMF8hBChzNnaVM3evBIjAmWWxuUsUXlU3A162aIJaHiFrHZ3eX4vIeAuRJoj+WJVhJj3on07MsFP6FWG0xFnEq9QeXo/zO2Vd0irYRMU13NYb1ML0Ph0b8cZ3V7BHRD1HtMF2cn0gtCSWG5pSKiBuEzSK4V6BpSq4u/WM3cxmy+kJqaGmVlgEhLywHsLEvslqg+rSfugSslw83uJihjWkmWghiEaAJU9+pPkZDhgi82GfcMGgKqUNeLQZsT1HutZJyfl3MKnEG3nt6F5La8jmRDmFsL4xpkBn0Qol2vHDZL9SLUmNBhOEYfSM+vhZgHe/Vch+/eiiO42V3mNyYAcu5sQMS2cIIGxqE0NS7f2+eyuOqYtH3N6TP4I5DOe9IZPsYMQyg+naJj3xMJA0d6eyLgTkpBTKgzMqlUpjx0K2h/MZ+Fcr+UUpFzGP2Gi3XEFsY1qO9cOrZoRv/xGBX6rIKOj9YI/pKzPtThsRmluGAPqF8FVI+PnZfQ0vDgVW9NnxWCa88MCMPqD9JTnq7vX93iaaJYPezNRgfpaNZHMmsCAcpzl5RTG+pGg0bD4YpKL4I+r31ra0KaUJUGVeEW4JupUulOy/pz1XixAWFV8zdRSRhaA7rMnctVPpTy1Bsz8oSEh/2WBnTQsO/hyJijhTSfEOMrTn1aizjmt3Tkp3aeHYlmgI3EZfGkMwyR5FMladOR8N4/e9Um3FVTdgppLltp/hmrl4puIC4LRDtSdJdTmZK+gV6RypOgr7wwWcIv3xt8lF+K92XpF9zNAwzYDXN5yjVlxZ+L1T8/rzdMisLABXEOH3wGszPTfNdPG9B5Xc5kF4RYMjHIgyWUnVItQt5gd6W+lzpfLdPbp82N30AMyeroRKTK97tjb51ov/INir6vARw0nDgvTK2z9+l24Ap7bfNj2bacCQB5MzUYyMok1Xl/vHKZ0rTx6oHS0kk+/iu8Cko/kSWV5761/d1kUjIWjMD7DijFO/0/+S7DtzKGwrwULc9WRddxppbxwUoKzPDm7T0WGhBHP35nrL4okh9MJ8514mlJ8NvuNyrZKGzf/b6fmX+CVRXH6+iPdZJAYQpVEVv/k9nD3zOdnajkxM8EZs96QdYG37y2x8krbUnIwZTaFAmS86LCWFLNHAZjT4MdXghvZCaFsnsNEssyTS6EWv0KZNYXQNWDbKJytFc3L6W43mPsf6pAasMU13KASanl/AAjSWyh48ThnVAx8XaIWJvJYnkcN2Z/Q7J0aqTwTyGu2yflWLbYwWV2qQfh3LJWja9D3qiU9Kiv3cTH2G1kmkcVfbfXlyeU7WoqyS3aJ070RW2Yju9zCYfg5m4obyszmwwx724AUcNQ53GUrkY7FsTjNSq+UIrA+VzLhpOFtU8qCVvJExCY+ixNrrEKOwW6uiXmikRWjNpQWn9PV3Z/nRUZQeKdxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PKtLZAH6VDucH8Tt5npHX2",
      "input": {
        "note": "The monkey stayed fixed in the wrist view while the arm rose, suggesting it's pinched by the fur; lifting further to confirm.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PKtLZAH6VDucH8Tt5npHX2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.5838, -0.0189, -0.0383, 0.9992, 0.8177, 1.6436, 1.396, -1.071, 0.3248, 0.4973, 0.013]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1374 left_yaw=0.0024 left_pitch=-0.2105 left_roll=0.0007 left_gripper=0.9992 right_x=0.2783 right_y=0.2197 right_z=0.1436 right_yaw=0.1386 right_pitch=-0.5918 right_roll=-0.1834 right_gripper=0.013\nstate[joint_eff]: [-0.294, -0.9368, 6.8855, 1.8046, -0.0611, -0.0659, -0.0122, -0.3897, -8.7726, 8.1983, 0.696, 0.2711, -0.0366, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c918b0a571ee4f23cba23be1e21ecd091dbedcde069846c0bd29648d5d066dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83127e85fa93766febd8ed6baf1943236ef93a79e30cee4c3b1d0cdeaf8f1fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb1b941249f0ca35b6ff857bb70d6a817aec3d37d12fd676840ac88e00d77ce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.024 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5632, -0.0189, -0.0387, 0.9992, 0.8169, 1.7195, 0.9985, -0.5713, 0.3435, 0.498, 0.0089]\nstate[eef_state]: left_x=0.2679 left_y=0.0019 left_z=0.1416 left_yaw=0.0026 left_pitch=-0.1876 left_roll=-0.0 left_gripper=0.9992 right_x=0.2787 right_y=0.2152 right_z=0.0293 right_yaw=0.1341 right_pitch=-0.5599 right_roll=-0.18 right_gripper=0.0089\nstate[joint_eff]: [-0.0068, -1.0462, 7.1316, 1.6435, -0.0513, -0.0611, -0.0122, -0.1983, -8.6085, 6.5299, 0.7692, 0.2027, 0.0757, 0.6422]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5682, -0.0189, -0.0387, 0.9992, 0.8169, 1.6703, 1.1217, -0.7624, 0.3367, 0.4976, 0.0115]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1407 left_yaw=0.0026 left_pitch=-0.1926 left_roll=0.0001 left_gripper=0.9992 right_x=0.2776 right_y=0.2157 right_z=0.0694 right_yaw=0.1319 right_pitch=-0.5786 right_roll=-0.1881 right_gripper=0.0115\nstate[joint_eff]: [-0.0479, -1.1966, 7.1043, 1.619, -0.0464, -0.0269, -0.0122, -0.335, -9.3197, 7.9248, 0.7937, 0.232, -0.0366, 0.2515]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.5838, -0.0189, -0.0383, 0.9992, 0.8177, 1.6436, 1.396, -1.071, 0.3248, 0.4973, 0.013]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1374 left_yaw=0.0024 left_pitch=-0.2105 left_roll=0.0007 left_gripper=0.9992 right_x=0.2783 right_y=0.2197 right_z=0.1436 right_yaw=0.1386 right_pitch=-0.5918 right_roll=-0.1834 right_gripper=0.013\nstate[joint_eff]: [-0.294, -0.9368, 6.8855, 1.8046, -0.0611, -0.0659, -0.0122, -0.3897, -8.7726, 8.1983, 0.696, 0.2711, -0.0366, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c918b0a571ee4f23cba23be1e21ecd091dbedcde069846c0bd29648d5d066dd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83127e85fa93766febd8ed6baf1943236ef93a79e30cee4c3b1d0cdeaf8f1fe4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb1b941249f0ca35b6ff857bb70d6a817aec3d37d12fd676840ac88e00d77ce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQcKEAgSGAI4AUIIdGhpbmtpbmcSDAGxFRSiJLgDz/yOjBoM2rgHabiu7jxhigDOIjAiUCFv4lp2K8qInTwPM7UtuRK/YJ0LFRR4ZT+Fb5RKEqpMxxXAFrKkGcA6pHV/w94q3gaJh5FRtzfxP2bsdClBkRQr6Ruv4+buceiffLyjxRBf+253WrOuZvHsp0vQbyc69Oyvk7unaQdU+ajPOs5LWPK62pYY0jrTpaZm8Q60KID0WJy4SfL6oej1lrQ7/r+qi0A/L7zFSC/MH67wq9gfsHwQw3nttWWTzHVxI4EqRt9mefO5ZKndVNcGJyrx8pzTcLVZYqQTxhyYgXbY5s9XgJuEl0B/FSgpuER5zhdr/+wWbyxQPlkN1eRZG2cIGE+d4Z17B84RyZw8+HoOMwBsEfVRBdIyqcpmuMcEbqFggqha9Pd5LzB/KnhoQWw1Ed/Tc8t4q99ZH98PUBedLyhzqR+4O46JXjQGfdSZBj5DdyfI2OG35PfnxWCtVd3oZHnmkqJOKh8DrTib9iv/PuL11Fn7cWweSUmjiAXuKXbZ/31OIxmxqNut415ViVS/Y9HsWhyb6ZgqSEUiViQR9bwFu0D6GzewuPwO/nSIMHJ45FhuvW/IsGop23OzCg/7NSSIJrrSGK8e7HrGS1A9EpwsJmFwH27gMbUzsCH5dnkGj28wJM0VcbzPGmRRxbjHd9MuwNojMtOVdI3FIDBPZQBHPEsDeYIRvc5jmFJ0nzuWkugCMZ4507IKaCSJuSEI2jQgU6WtbguLfsASmRg45XghAiZgq+Zqwj3r2TYQleh+HDB4cW2NClgcqUHYuxjr7uPfBdIEpfp3sWocGS24ziwd/yv6b/0J303fTNMjs1GWhzZUD+NELPGFpzBF5UCW1xgNd9QXHQz7OAjr+fqGpbH9gBG20ncgW92Q26E4TRbnwONt5eo/4q1sHkAu5KMpdPu6VQrO4lttzkUbbEjVP3sggZzzkBe2suSld1iOYP0ECwVzjhZYFjgAEQxQD9HA5ZYmSAatqP5Z63oGf1JH29btUxSuaZAIB56cXONvw23IhF9G/IUVYf2s/S3uGUkdd3POXDnS5sxs/4fbx5iOrUAtk1LzaxoA90LbmmHi0QPmhHawhYSPP24r+2m5SggFkArLeMjbarQTUaK2OiMzD/DBRvq2OWNK5pu2bx+x++5fnSymAZa5R5BhMrZ16KKXN7z/4xMJumWvLh/QZ/DUuRuJSXCaJpiJMPpMkg8SGVkH+A30am3a0iawCS53Dnvy3W7TGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012PaE1NFwwmt5indsH7yVVp",
      "input": {
        "note": "The monkey is dangling from the jaws and rose with the arm. Carrying it high over the safe's front wall to the interior.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.23,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012PaE1NFwwmt5indsH7yVVp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8165, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 0.6712, 2.0197, 2.2326, -1.4773, 0.279, 0.3542, 0.0136]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.3676 right_y=0.2344 right_z=0.2317 right_yaw=0.1438 right_pitch=-0.5858 right_roll=-0.1693 right_gripper=0.0136\nstate[joint_eff]: [-0.2256, -1.4701, 7.0222, 1.58, -0.0464, -0.0366, -0.0122, -0.6222, -9.9624, 7.0085, 0.7302, 0.2222, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4868a8f2bebe6fe659838ec8733c3aa415bcf36f9412ad7a7337006bdbcdd656",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf9d56001245e7500911e6e216c73dbffd90be4c19846a866ed9a0729cfb6864",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1880092341f1514b96849760c613d573003e8acf408ac708ecd7a63193bd715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.748 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5682, -0.0189, -0.0387, 0.9992, 0.8169, 1.6703, 1.1217, -0.7624, 0.3367, 0.4976, 0.0115]\nstate[eef_state]: left_x=0.267 left_y=0.0019 left_z=0.1407 left_yaw=0.0026 left_pitch=-0.1926 left_roll=0.0001 left_gripper=0.9992 right_x=0.2776 right_y=0.2157 right_z=0.0694 right_yaw=0.1319 right_pitch=-0.5786 right_roll=-0.1881 right_gripper=0.0115\nstate[joint_eff]: [-0.0479, -1.1966, 7.1043, 1.619, -0.0464, -0.0269, -0.0122, -0.335, -9.3197, 7.9248, 0.7937, 0.232, -0.0366, 0.2515]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.5838, -0.0189, -0.0383, 0.9992, 0.8177, 1.6436, 1.396, -1.071, 0.3248, 0.4973, 0.013]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1374 left_yaw=0.0024 left_pitch=-0.2105 left_roll=0.0007 left_gripper=0.9992 right_x=0.2783 right_y=0.2197 right_z=0.1436 right_yaw=0.1386 right_pitch=-0.5918 right_roll=-0.1834 right_gripper=0.013\nstate[joint_eff]: [-0.294, -0.9368, 6.8855, 1.8046, -0.0611, -0.0659, -0.0122, -0.3897, -8.7726, 8.1983, 0.696, 0.2711, -0.0366, 0.149]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8165, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 0.6712, 2.0197, 2.2326, -1.4773, 0.279, 0.3542, 0.0136]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.3676 right_y=0.2344 right_z=0.2317 right_yaw=0.1438 right_pitch=-0.5858 right_roll=-0.1693 right_gripper=0.0136\nstate[joint_eff]: [-0.2256, -1.4701, 7.0222, 1.58, -0.0464, -0.0366, -0.0122, -0.6222, -9.9624, 7.0085, 0.7302, 0.2222, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4868a8f2bebe6fe659838ec8733c3aa415bcf36f9412ad7a7337006bdbcdd656",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf9d56001245e7500911e6e216c73dbffd90be4c19846a866ed9a0729cfb6864",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1880092341f1514b96849760c613d573003e8acf408ac708ecd7a63193bd715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+QYKEAgSGAI4AUIIdGhpbmtpbmcSDG3qjqtxdC+HzLl+OBoM1LvkchElzGhZwj1OIjCrKxkUzfs1bANTet57SZtuQQnH8C+YJJ7XjQu0nf3bvmWkr4OpwmKYj6tz67fMq+cqlga2FH1S2QOx2Q+y4cnLiz2PATfpf/kOkzxMq0V53AKaRj2UeOqnaOQiak11I+N5wJD/W7JfLS0V78ai9OF6f5kSAduhCMzH4wmvm7wSo/uUqbog7Bc/ZZfk5qC50ucCRe2EXz0vhdTyPfNhk7KvfGV90LK6wYznz0gD2vUGl9mxCD+mfyARTs4pOptQ09tL9slLhzrGqb9QRCpwfVdFP74kSq59deqBOfyOBtnEl9Qse5KKm/bjefrBaiKBBxstGTAMwXslDVkVM/q8CHQAujcF6OAUdPoH26Qg1WrUhb0lz2SHtIIt86EbYE8ogXKFc16qs9IzjwS3UMTKamsn0yBvhMUlZRaQOatOIoFjPSjsJLHB1hxLfObjWfMxsgc4M3xWFeOYzf42gmQniTfejQQ/bvYo5iAndXOW1a+v/05l+iQNLf5Vk1dcS6NHPBmftlt3ve7aUQ35p0R0NJvq2m2ousITIhodAsiBI3RfIf8AgVwoqt2ENuRUsxRR1vNIU099pDB3PzHq+g3ZZTM0SqMxxDTXNjIPEDFtY7A9ELm8cwaw2updLIZz27xZhSOpFrx4zhk6TfdOADUDTtJM+87eLgXHW+tGWc4+0yWCXQR7Qw53l1g2MCY3uaaF/p3sbb+wmjULYKjyiV0NabD+AA0VuwWeFsWg0vJOI6GgC7MUwEL3eAags7P4YCrGDmZ/msaYyMwKCl7h4A/gPco38Kejr1RFU2YSXG5LKtEjPPI5LAE79g3dGSlzrF87wj1NApr1BPgt8vnsyX0d+j344VcLogPaqACcMajPgUn8DKi7VRpnum3WNFRpRdfY99BGtgoACW5Bio37rwUurKu6TqTs5CKYySN8HVzlf+BQOh5XjVEpU4d20Oa4IgxHf1Y/p/QyBxaP+KjL7ahAkjb6B8K2Jz9nFE0gnZNeKHtkiKRSRg2Fom5iQcRNlOrNLTHixzAQhS/ipHNt2Tfd8doOhlmaOk6gevAcnKurvO3sCGACgRA24aRqujxU14WjP0a0ulyUE6PMZjhGeqehKiXnKAB7oAvW68p8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NExsASaszW9uh853SpSrTc",
      "input": {
        "note": "Monkey is above the red interior next to the lemon; lowering it into the safe.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NExsASaszW9uh853SpSrTc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6079, -0.0189, -0.0383, 0.9992, 0.6682, 1.9488, 1.6821, -1.1061, 0.2718, 0.3435, 0.0144]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.0014 left_gripper=0.9992 right_x=0.3543 right_y=0.2238 right_z=0.1153 right_yaw=0.1131 right_pitch=-0.6835 right_roll=-0.2357 right_gripper=0.0144\nstate[joint_eff]: [-0.1846, -0.841, 6.8308, 1.6386, -0.0513, -0.0317, -0.0122, 0.1846, -12.8205, 7.0359, 0.9988, 0.1636, 0.0806, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5809ab63aab010446a71155de9385f4b7387d0cb05e727d97ff94db59ab7c026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f3c5c19f6d92a15ae4f36cc25e5f0c5f6b71781db8ecddbfb7bdd0f222e4a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b08e6a480f60302373e6557865fccb62234b4c929180298dd748066de15b378c",
        "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 · 4.459 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.5838, -0.0189, -0.0383, 0.9992, 0.8177, 1.6436, 1.396, -1.071, 0.3248, 0.4973, 0.013]\nstate[eef_state]: left_x=0.2644 left_y=0.0019 left_z=0.1374 left_yaw=0.0024 left_pitch=-0.2105 left_roll=0.0007 left_gripper=0.9992 right_x=0.2783 right_y=0.2197 right_z=0.1436 right_yaw=0.1386 right_pitch=-0.5918 right_roll=-0.1834 right_gripper=0.013\nstate[joint_eff]: [-0.294, -0.9368, 6.8855, 1.8046, -0.0611, -0.0659, -0.0122, -0.3897, -8.7726, 8.1983, 0.696, 0.2711, -0.0366, 0.149]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8165, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 0.6712, 2.0197, 2.2326, -1.4773, 0.279, 0.3542, 0.0136]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.3676 right_y=0.2344 right_z=0.2317 right_yaw=0.1438 right_pitch=-0.5858 right_roll=-0.1693 right_gripper=0.0136\nstate[joint_eff]: [-0.2256, -1.4701, 7.0222, 1.58, -0.0464, -0.0366, -0.0122, -0.6222, -9.9624, 7.0085, 0.7302, 0.2222, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6079, -0.0189, -0.0383, 0.9992, 0.6682, 1.9488, 1.6821, -1.1061, 0.2718, 0.3435, 0.0144]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.0014 left_gripper=0.9992 right_x=0.3543 right_y=0.2238 right_z=0.1153 right_yaw=0.1131 right_pitch=-0.6835 right_roll=-0.2357 right_gripper=0.0144\nstate[joint_eff]: [-0.1846, -0.841, 6.8308, 1.6386, -0.0513, -0.0317, -0.0122, 0.1846, -12.8205, 7.0359, 0.9988, 0.1636, 0.0806, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5809ab63aab010446a71155de9385f4b7387d0cb05e727d97ff94db59ab7c026",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f3c5c19f6d92a15ae4f36cc25e5f0c5f6b71781db8ecddbfb7bdd0f222e4a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08e6a480f60302373e6557865fccb62234b4c929180298dd748066de15b378c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wgKEAgSGAI4AUIIdGhpbmtpbmcSDMIUAevpFLe6IyMhMRoMzmH79KVt/D5xXmbYIjBNI5F6Fk8JMuOJkJ6y53f8D5aEq3oOE1KiQUh7NPo1gj2WTtv2o0so8JUNciKnksgqhAjR0ebKhZJZAGpBb/dhjTKTmSWajbjYL4v5nFfVQDcEL+j86dOU6d0iihmjAUSqiKvvcwjUbUoEiVfoeHjBmXzEfuDY4sEqeic0JBbKI32NKdQfsRqSOfWJew/Sf1bqLh/A+XicmCV0v55I+g5ZMm7R+HnxtZnDYNkeyRSf+R9BmFv08dhDbbF7+inXK9Fb7iIewwm+mlmTbLliVRu6gtEW6+qMChwoiTzV1Bwa2MuG3Sr09cJJonBxyQFPm55+IZvc+dA/2XZSHJWkm2VhiOVLybfKPTHsjnpsY3tkIC2BIvLmgsD4ndAHl89hPIabl8T7ebZyz7WcsTiBB36tqiEDcCucm6+ZtSaMP5Yo7ekurxO76fUVmdUkhx/9IuPbL37nig0sy54QWEz8dRO743S7YgRYiL6ZIW5fbm6/uyB4jZw/vPCHpc854L5NPflhgB1i+iy1PKriGe7JtpBL6mgHKsw1hfxdkRFv+dH/NVs7GHLlK+ZtnQO79JXfoi6VHOTR03DlrnCx9vPdYbU05Fdf24LnFlm+y8B13dKYD1rlEmjPdwqPGbkSWj0MxMe/+Ci6SGjb6pP/hdG4335+cC1EoNtZghAka38YYS9ZMb2949CmC1vmHFRj2cwCbmAIrSxxq1Dp3mMV1HiTIX4ucr0NSjdV+v7QbsmrcspZDppGVi65A+icwN6TKyRwIsOc57BDZLe6W7zziWBOuFhlgfWqCakyh5wGCYfS/82nG04fiXJ3yXlCu4RjBEOXE6S8qU8C4YkqfXidSJdqZu4Lo/u6i7levLFjQ3PaREK/HpAUWrvEKaNdk6wJL4icPdu6411VZ/RsEG3d0+BzzghoZ7CFQTo9U0yBDLMxoruYhpXrDv/S5YtCeSAoFhZomnBdNE64s6SP/WHHxSV7wfcGV07W3eCBFfg0WjI2ILB578ul15Ako8Omc0GfrszF/S52W29/onPhNHk216K/5xqNBsBwd4HdMxPzI97EC9OAANM6MMLYeiVbWKVkk4Jsstp7b1Z6LhTjsO2CsC8uvaEeynsQSCdwXJm6RbNU+l/qgiBDpcVAkEx6qWK2LVUgDGtGS93yu72AK+yaMT8Za5ol15S8/Z1JB9n4IThlbg6GeOXDqTXTjYqGaSFLMi10vlRPIdNyj844lqB8TvDjRt0ARECRTF5PBz39IE4GazgpwD1nv0J60EyFoaY6XLA0hXn6mYlHU+sHx2JKnAEOoJujdi0iBW/k/tS8lmAF57lmxagKNvNNw5WzTDOf19vbQ+AK8oMcCh0mzczb5drLVk1Ios/0dPdiRwaX50+MO5OojpQv5fcjdiZq/+rGsD/lIrveJNu/5KD285v8KQv3LOs+zjouDQNSEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RRvCr3g7sc8WsdbWNVTF6f",
      "input": {
        "note": "Monkey is hanging over the safe's front wall; shifting forward ~4 cm so it drops fully inside.",
        "targets": {
          "right_x": 0.4,
          "right_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_01RRvCr3g7sc8WsdbWNVTF6f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.82, 0.6067, -0.6121, -0.0189, -0.0383, 0.9992, 0.6273, 2.0064, 1.7729, -1.0916, 0.2798, 0.2943, 0.015]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1307 left_yaw=0.0026 left_pitch=-0.2468 left_roll=0.0015 left_gripper=0.9992 right_x=0.3843 right_y=0.2228 right_z=0.1205 right_yaw=0.1181 right_pitch=-0.6447 right_roll=-0.2336 right_gripper=0.015\nstate[joint_eff]: [-0.212, -1.1145, 6.9538, 1.4921, -0.0757, -0.0611, -0.0122, -0.3077, -10.1128, 8.0752, 0.6862, 0.359, -0.0708, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df32ac3257ea76162d21ea7a0a80bdae8dbb543cc1210087e15ac2ae69a06161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00a1c1e2145ba4dd21f61c65571f1290c749a4c5759ec2d1567fd2da1146cbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cea7d487cf025c1e89554281567fb3e4359e5e239e66d5ee96071c0ce4a27992",
        "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 · 4.445 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8165, 0.6067, -0.5934, -0.0189, -0.0387, 0.9992, 0.6712, 2.0197, 2.2326, -1.4773, 0.279, 0.3542, 0.0136]\nstate[eef_state]: left_x=0.2628 left_y=0.002 left_z=0.1347 left_yaw=0.0027 left_pitch=-0.2246 left_roll=0.0008 left_gripper=0.9992 right_x=0.3676 right_y=0.2344 right_z=0.2317 right_yaw=0.1438 right_pitch=-0.5858 right_roll=-0.1693 right_gripper=0.0136\nstate[joint_eff]: [-0.2256, -1.4701, 7.0222, 1.58, -0.0464, -0.0366, -0.0122, -0.6222, -9.9624, 7.0085, 0.7302, 0.2222, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6079, -0.0189, -0.0383, 0.9992, 0.6682, 1.9488, 1.6821, -1.1061, 0.2718, 0.3435, 0.0144]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.0014 left_gripper=0.9992 right_x=0.3543 right_y=0.2238 right_z=0.1153 right_yaw=0.1131 right_pitch=-0.6835 right_roll=-0.2357 right_gripper=0.0144\nstate[joint_eff]: [-0.1846, -0.841, 6.8308, 1.6386, -0.0513, -0.0317, -0.0122, 0.1846, -12.8205, 7.0359, 0.9988, 0.1636, 0.0806, 0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.82, 0.6067, -0.6121, -0.0189, -0.0383, 0.9992, 0.6273, 2.0064, 1.7729, -1.0916, 0.2798, 0.2943, 0.015]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1307 left_yaw=0.0026 left_pitch=-0.2468 left_roll=0.0015 left_gripper=0.9992 right_x=0.3843 right_y=0.2228 right_z=0.1205 right_yaw=0.1181 right_pitch=-0.6447 right_roll=-0.2336 right_gripper=0.015\nstate[joint_eff]: [-0.212, -1.1145, 6.9538, 1.4921, -0.0757, -0.0611, -0.0122, -0.3077, -10.1128, 8.0752, 0.6862, 0.359, -0.0708, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df32ac3257ea76162d21ea7a0a80bdae8dbb543cc1210087e15ac2ae69a06161",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00a1c1e2145ba4dd21f61c65571f1290c749a4c5759ec2d1567fd2da1146cbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cea7d487cf025c1e89554281567fb3e4359e5e239e66d5ee96071c0ce4a27992",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AcKEAgSGAI4AUIIdGhpbmtpbmcSDC1xWyqxFnZZg3cfCRoMsexSj9WMaUUDmXGbIjDuvQDwFoIekkiDwxtFn8enVj6WtUDxEKof4GiZWXUB4ER/qSa3BT+xtgIaCPyiji0qgQc6+cid4MiI5jTXqu8MVLQ0uf9myXFxuja2o6BgPtgC9qFTDiZwN1fhNfNUNWcjVbbgWZrZAeCZnOXWHNmVl5gJQJtJENK819z+n11T/7f55R5bIaE5ezspKfurxXST1zz1taLi615Mtry+t8QbmTCQFu9Y8RdOf+Kma+Octh3IVVkjDQmdipm6EPnKFTnF7ZvXJLb7EpCYavAf1SEoAjVjVczvZ/NO0B4FCto0riENlTuarfdHVMiiOsocaVFlSAWv0zF5EOwKFhM55zN+ajUhX5T0end5gEIQXlO3WU41YT7odHRWea4Qbs5osRjquKOjP01AVx6lKgA8slcWwTtuyAjtQ5Gi4N21o1UU9DAbFBuwrlSGDzZbZ0dC+K0/n+GLYcPIP1rQod9JVm4JhVdL3pFSHNlKe/5d2HNQcO+SbhtAjYHgqhg6p9CdSqsLoGicFEKSK+E/yFdN2u49dIurZ+aW5g5Jw9Fimcsafw7mtzxf/LbSc8J9yH3UWY2Uxg/eM7qEmhG/uP/s0rVvXlP/vXSuc+eMZvISbIIMxS7AmskOqGOGTKoWURQKwExI330xNNz6Mca6NGLvtCWLyh7TLNmphKUSsS46o5Msf9b97eAzRs5aM+q+Lactp7qhA3bS5zXovYExHVDqBNxWNpVCPhLRKiSlNvgXEdhGQxGJdvD+edvmajBpuaLzxxtTZkTzen/DGivVAu8jZPCj+a0BqtWC3qz/wLqA9rqDp3HwQeGRoZcVOSKfJJfsIQg4HgcT/X4IRJlYtX6dYLjwRqMc5H8W3JnR75DwKerfDY98+J8AqE8SHxfrFzKp/sv9azl1isPNXbK4urgUIXhznWxQg1y0n1dqOobsIV6lJQ129EqDiWA0Sxg/oXNv/8NDTj8XMj2TRtPeCNWPUkYannJ506YY1Guuf+hCtLfGzNBwT8EGvbSEuEMF5q/eM9IwJSASMj8LIBQmwar5JOvfiLDDjQ7nAfB4LTzO7G2xnc4EBGZLiyYF1Cp8IPlKPaWQUyvBOaP0X78t3ohnpp4DFAI49nH9bMabcHXxbY4glpNEg5ouZp0ufVOLcW9lhQFDZAbXy7ufyum2BMG9sWW6aZQPms4kgXgHH9Vznz6P0dZCv9gpDM+UJGsqZrv08KjB+j2C6IrtsansHZfSyRnjyoYvbTQY+/pl1Mzdimb7djNWe9gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013TWX1vUHV9VVjnrf6z33Bb",
      "input": {
        "note": "Top view still shows the monkey hanging at the safe's front edge; pushing further forward and slightly left toward the safe's centre.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.24,
          "right_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_013TWX1vUHV9VVjnrf6z33Bb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7847, -1.0733, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0026 left_pitch=-0.2506 left_roll=0.0016 left_gripper=0.9992 right_x=0.3911 right_y=0.225 right_z=0.118 right_yaw=0.1273 right_pitch=-0.6351 right_roll=-0.2319 right_gripper=0.015\nstate[joint_eff]: [-0.0615, -1.1145, 6.8308, 1.5214, -0.0611, -0.0415, -0.0122, 0.294, -11.4393, 6.106, 0.989, 0.2906, 0.0415, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60d4588e16c8eb0ad5a444363f627bcb7cf6c7b742988e3013cb7299ec20359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec03c98eeaf232de17383b743a1370a33fdbf1c20310f6726e46f5faebaa3bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bcbd2e7734159047b03eda9dfc8c84dd0824a60d4654ab22f28e1963cc3b2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.807 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.6079, -0.0189, -0.0383, 0.9992, 0.6682, 1.9488, 1.6821, -1.1061, 0.2718, 0.3435, 0.0144]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1316 left_yaw=0.0026 left_pitch=-0.2418 left_roll=0.0014 left_gripper=0.9992 right_x=0.3543 right_y=0.2238 right_z=0.1153 right_yaw=0.1131 right_pitch=-0.6835 right_roll=-0.2357 right_gripper=0.0144\nstate[joint_eff]: [-0.1846, -0.841, 6.8308, 1.6386, -0.0513, -0.0317, -0.0122, 0.1846, -12.8205, 7.0359, 0.9988, 0.1636, 0.0806, 0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.82, 0.6067, -0.6121, -0.0189, -0.0383, 0.9992, 0.6273, 2.0064, 1.7729, -1.0916, 0.2798, 0.2943, 0.015]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1307 left_yaw=0.0026 left_pitch=-0.2468 left_roll=0.0015 left_gripper=0.9992 right_x=0.3843 right_y=0.2228 right_z=0.1205 right_yaw=0.1181 right_pitch=-0.6447 right_roll=-0.2336 right_gripper=0.015\nstate[joint_eff]: [-0.212, -1.1145, 6.9538, 1.4921, -0.0757, -0.0611, -0.0122, -0.3077, -10.1128, 8.0752, 0.6862, 0.359, -0.0708, 0.0415]",
      "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]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7847, -1.0733, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0026 left_pitch=-0.2506 left_roll=0.0016 left_gripper=0.9992 right_x=0.3911 right_y=0.225 right_z=0.118 right_yaw=0.1273 right_pitch=-0.6351 right_roll=-0.2319 right_gripper=0.015\nstate[joint_eff]: [-0.0615, -1.1145, 6.8308, 1.5214, -0.0611, -0.0415, -0.0122, 0.294, -11.4393, 6.106, 0.989, 0.2906, 0.0415, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60d4588e16c8eb0ad5a444363f627bcb7cf6c7b742988e3013cb7299ec20359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec03c98eeaf232de17383b743a1370a33fdbf1c20310f6726e46f5faebaa3bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bcbd2e7734159047b03eda9dfc8c84dd0824a60d4654ab22f28e1963cc3b2e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwcKEAgSGAI4AUIIdGhpbmtpbmcSDG56KUI6T17FFhb1ExoM7C9gbYMBtNg5IKkkIjCNKc9sVbjgsryRMT0HqTUqiLB+7y6M6D7g7sopG8jfOgPMHu+L4ZpmEOw6MSvZb8QqvAYRamsDMBuKQl1k6NkhPql7Vqi0UASqZolyr3e/yYWp4ru2il9MpTO+3KV2OjIt0ua++YkxJzHh45rlPuUYdKK56KhccCJEJfMSR5WL8NDOpvHebmNHvgyuZ3MDJUZ32CuVCxgEYnLfzVpFlJCGgU3KfXjor+laGlSmJThwv4etrytAQyIHEnax8zHnoVPa8O7bhzjQB44qLBmBNd7TvOkIRjLAh2agi+11Ry4w/Ta85sJVzwrK5nwLzK/NIayOOD5/LiUaIKJ55MrQfgc+/fJky6SHazoN8NigF89BK3I1tzc9CjiZDKTapoKgLvkrL7XR2oljkH3e4TtLCuJXA5BHnEjRkAEx6j4Rv6IjYIvphPFauhZk/Pj3Xxfug2O4UiUegRR1LuS3G/IBewytVBbkuyyDSdKY5DR5jyv0f+C1Z2QaP9GL3sQEFgiuL1tPV0jDnhryvoCo9XRIwJv0hgiZmwuJSvX9BTixjJIr5ezFbiFuNOUiFBrSYfEq3sVi0MV6XY8giFP40gv/fHqkMQTYG5ErSQo2rlWLLMm7PVQZsERfYPiRn6W6P3CQWPrbaijAuG/2Ism2k1ab972+iirBUyKten4sQLHnKMTjq6ZYZSwVEZQNCEk8GEwAHhK4ebd8iLlneAasJMgU9WR/jlXIA4MsVkbtuG6aFFdQFnd4rIeAaUaZt2hOhycVg+ER+tM9t8fJB9jsWiNNSJ0MuGj99nvshml91qtay5mFu3jWDcbt4lpyeChp/HEBZHQJgBiLKu2CVmaffrOcW7+9VXse95O/NH/htzpq8b2uz4nSnsze819sZgwyKmKA5gPS7uxFkzf2sc23VkPa6G2RHRvP8y/xtiWJzo63dWkHKnGRpCI5gKYFWkfsD8YdBF1Nd9WdpdIB1EPcQQ5dRNrg/NxRvHGcCpUS9r2rrEB+2BzcI5bzE3zDZorJ32TXwpDNZw302l3B4amC7cRHNBtWwSkxR0Jh8COZbztNJfWA5nZkKhKDUbmbOnn/GdZsuZhAHp3Um5IZac/XRdgF3BHV6QyyWNwnFkh5sPujijKG32lP5ZzurvbmL9JSNFlDO/bTpCjZAI8avqQHLJmxOisYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SaJtPbcctdEz1RxR6VYC95",
      "input": {
        "note": "Forward motion stalled at x=0.39, likely the monkey snagging the front wall; raising while advancing to clear it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.24,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01SaJtPbcctdEz1RxR6VYC95",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.823, 0.6067, -0.63, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7836, -1.0714, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.127 left_yaw=0.0027 left_pitch=-0.2677 left_roll=0.002 left_gripper=0.9992 right_x=0.3913 right_y=0.2251 right_z=0.1178 right_yaw=0.1275 right_pitch=-0.6345 right_roll=-0.2314 right_gripper=0.015\nstate[joint_eff]: [-0.0205, -1.1829, 6.8034, 1.6239, -0.0611, -0.0366, -0.0122, 0.2256, -11.4393, 6.147, 0.906, 0.2955, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57d9bb632f5570d37a5c26bb5708e31ff1b4de4a005c72f77dcee6612e2fbdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e271e30d71b398f3fcfece8cb4e2765974888fdc44860b5f974cde503756b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ca19892dd2403977ba08b2fd6b66b07678a62eacfe8402c2c4d278189de9e388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.661 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.82, 0.6067, -0.6121, -0.0189, -0.0383, 0.9992, 0.6273, 2.0064, 1.7729, -1.0916, 0.2798, 0.2943, 0.015]\nstate[eef_state]: left_x=0.2595 left_y=0.002 left_z=0.1307 left_yaw=0.0026 left_pitch=-0.2468 left_roll=0.0015 left_gripper=0.9992 right_x=0.3843 right_y=0.2228 right_z=0.1205 right_yaw=0.1181 right_pitch=-0.6447 right_roll=-0.2336 right_gripper=0.015\nstate[joint_eff]: [-0.212, -1.1145, 6.9538, 1.4921, -0.0757, -0.0611, -0.0122, -0.3077, -10.1128, 8.0752, 0.6862, 0.359, -0.0708, 0.0415]",
      "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]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7847, -1.0733, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0026 left_pitch=-0.2506 left_roll=0.0016 left_gripper=0.9992 right_x=0.3911 right_y=0.225 right_z=0.118 right_yaw=0.1273 right_pitch=-0.6351 right_roll=-0.2319 right_gripper=0.015\nstate[joint_eff]: [-0.0615, -1.1145, 6.8308, 1.5214, -0.0611, -0.0415, -0.0122, 0.294, -11.4393, 6.106, 0.989, 0.2906, 0.0415, -0.0024]",
      "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]: [-0.0189, 0.823, 0.6067, -0.63, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7836, -1.0714, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.127 left_yaw=0.0027 left_pitch=-0.2677 left_roll=0.002 left_gripper=0.9992 right_x=0.3913 right_y=0.2251 right_z=0.1178 right_yaw=0.1275 right_pitch=-0.6345 right_roll=-0.2314 right_gripper=0.015\nstate[joint_eff]: [-0.0205, -1.1829, 6.8034, 1.6239, -0.0611, -0.0366, -0.0122, 0.2256, -11.4393, 6.147, 0.906, 0.2955, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57d9bb632f5570d37a5c26bb5708e31ff1b4de4a005c72f77dcee6612e2fbdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88e271e30d71b398f3fcfece8cb4e2765974888fdc44860b5f974cde503756b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 156):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca19892dd2403977ba08b2fd6b66b07678a62eacfe8402c2c4d278189de9e388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwgKEAgSGAI4AUIIdGhpbmtpbmcSDPQNnMOE6AOwFZ6e/BoMhg5C+7GkrWL0AZSYIjAXX9klsywRdxuE9AQtTGL3U/j4kNImDqS81Sg3XlaDXSRlFFtsIYbq7sPNY/5wWR8qqAebM9oYJg5Wz4K68nCCXVevFToYYgkIYl8FaTamA43lR8K3xOC9uZ1oEa0D5dObHheSboGdN9Xwg6DVapuoTAHV9nBa5BOh6XqV+112tXwHMbq6+1CxOWQzPb5cP9Ip8hO69saCcKcjgrX2kyCQ7R42hhzJicDVLwUx4SHtYxDIxuRpyycXu06WY8HuYjJEQypGWBqoweUiweBVkXlMkDUJO5sGAbFWNbKqub3Qln8U+8saKKEXfCeRbMao+4SbUCXPSDQtDooMI+FeTOIjWQqpgpXUX+vJX2SuUV6vQzAW0tqN1DMqXrW70eurBmdQvnA0g/IRKJQ/fLe6iY1QK9+MEiFt5LPO9qXpXHRcfqi77pFo16Ad9tidm/aVYs7KA/ld0PLAqbBjze72hgrJgP3vYAlNjapBFmiu1F/OzVSe+D7h0lsRQZJjlNhW8dYTPx+k5wqbi21VHAmHSf44a3TgSPNcrWu4XTe0ZbHjRMlqC03UG1ne0XhuAu5VIIWpAZBLZPoymmp349F8BynYFRWiOiKAn3yPrE5ZkpvOmlnArsVrppgOaMcOlcKA29fP5nigvutwYwyC3j+mzvQoH6+z7fl+MztmNrUF8JoXUMyLB1odTzKt0JRPnozJOs+5m52rYVjf42oI7BqY6B7zVmGaKhiDUFbaJyxWDtMTSLPXdoRCry3fjO+r/mt6U0EEeO1ayvy5uC71UO7O/GB+rxx9NRHrbvVBgbSkw72Z35RuTvJMDRm6aGPiD3VNpfUAe39W5LpgDoZ1Cb5Bv1Q9+YrM+NEwrE4JEiIQVCegFkqRwQzaKtbuspwgBFMPE87nRvvFH0ewLYs2EgM5WW+4QC9sL97jph3UziiTyfyc6uF7m8/VAlQLDL5tj6J5/hZ6Xa9ddtvEeGUmTTU7T33Q/U9Sc7pB5J+yHc/edMxtfVHt8YgKnLLTgx23hg2e6CEKNcV7z8v67Ky6u1GHws+w35r0eUWkZWpoO7WIkJtwmVaghKg8baCKuEaAXk8RLue3eE7irrcGDqpQRlV0szGgX9GspEeb6z2Grz6mkKYfY2b2nqmg/0MhsgCvc3harMnccVPy7v0uuyfcHsMIpZcQ/EnsTqO+ts7Hm5B6Wy3yYWvykQph++ouEBJ6mEB4h4RPI4eW1lIhoTHxW6y28nST87mLDjYEVh4nniEibrXKHWvDPKKLNxwjtdeTp01jlCdL8e033yvWKBK2BHhHnbBMdJ8SkUbK/Gp5n7AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011SmC1Ufsieh7jrKwhLZbyj",
      "input": {
        "note": "Right arm is frozen (joints unchanged) with pitch drifted to -0.63; commanding a lift with pitch/roll reset to 0 to get it tracking again.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.38,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_011SmC1Ufsieh7jrKwhLZbyj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, 0.7071, 1.557, 1.1503, -0.3874, 0.4419, 0.3401, 0.0151]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0028 left_pitch=-0.2769 left_roll=0.0022 left_gripper=0.9992 right_x=0.3708 right_y=0.2222 right_z=0.1705 right_yaw=0.1471 right_pitch=-0.1115 right_roll=-0.0494 right_gripper=0.0151\nstate[joint_eff]: [-0.1846, -1.1145, 6.8444, 1.5263, -0.0708, -0.0464, -0.0122, 0.3214, -9.2513, 7.5009, 2.0488, 0.3639, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49bbc40f96d4afba4c0a1b84dadf369138f2ae7675e0d2d7a8aec32588314fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb68ce74097aa21aa2cd13054e766502a9fb520932c9b8daf2a1a5b39c3e9020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1f9e7ac79ae0684a1878466131dbeb71e370bb70c7f66d3e97c1622b51b2ce5",
        "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 · 3.734 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]: [-0.0189, 0.8207, 0.6067, -0.6151, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7847, -1.0733, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.259 left_y=0.002 left_z=0.13 left_yaw=0.0026 left_pitch=-0.2506 left_roll=0.0016 left_gripper=0.9992 right_x=0.3911 right_y=0.225 right_z=0.118 right_yaw=0.1273 right_pitch=-0.6351 right_roll=-0.2319 right_gripper=0.015\nstate[joint_eff]: [-0.0615, -1.1145, 6.8308, 1.5214, -0.0611, -0.0415, -0.0122, 0.294, -11.4393, 6.106, 0.989, 0.2906, 0.0415, -0.0024]",
      "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]: [-0.0189, 0.823, 0.6067, -0.63, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7836, -1.0714, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.127 left_yaw=0.0027 left_pitch=-0.2677 left_roll=0.002 left_gripper=0.9992 right_x=0.3913 right_y=0.2251 right_z=0.1178 right_yaw=0.1275 right_pitch=-0.6345 right_roll=-0.2314 right_gripper=0.015\nstate[joint_eff]: [-0.0205, -1.1829, 6.8034, 1.6239, -0.0611, -0.0366, -0.0122, 0.2256, -11.4393, 6.147, 0.906, 0.2955, 0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, 0.7071, 1.557, 1.1503, -0.3874, 0.4419, 0.3401, 0.0151]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0028 left_pitch=-0.2769 left_roll=0.0022 left_gripper=0.9992 right_x=0.3708 right_y=0.2222 right_z=0.1705 right_yaw=0.1471 right_pitch=-0.1115 right_roll=-0.0494 right_gripper=0.0151\nstate[joint_eff]: [-0.1846, -1.1145, 6.8444, 1.5263, -0.0708, -0.0464, -0.0122, 0.3214, -9.2513, 7.5009, 2.0488, 0.3639, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49bbc40f96d4afba4c0a1b84dadf369138f2ae7675e0d2d7a8aec32588314fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb68ce74097aa21aa2cd13054e766502a9fb520932c9b8daf2a1a5b39c3e9020",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f9e7ac79ae0684a1878466131dbeb71e370bb70c7f66d3e97c1622b51b2ce5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyggKEAgSGAI4AUIIdGhpbmtpbmcSDOmtzXnCU6x2sBkeeRoMDB/QZtF7Xyf/pkpkIjCGJRwud3vzoLDcyRnJoY4uekD1nAWRBUYTCV9X51SxAS7dq6YO72jBcdYXtmJdrbkq5wc4PdCJKLCqfW5MDmnxhIKGejBwasFlQ0S/3owHVoUxyA3d6N9CD7wUgAd0hm0r9ts1C8+O1wdCrK0m5su44LwbxbeR9yhdn8dt/SEz+ABAdG3v69Yg16erR0uls3zHXX6375WTZlcmhvnntGiOon0DoyKI9IYtqCVnVLr14UnJVsDPMlJaem43MOFLnDHMK6cOXLZvHZotjEsH87qtYr4BEmXP4KUKqmKz9VrOlyrubmTRm1A5MK64+S4q+60XM0EAJO6No7YZEXnSCSCkqN7wCApKTIr4QZT7L9WMcOxBa8LIfN9ZXY9wsFj5rFtrJWyvNu8GZBsESdaJqQJ7pZV/OpnKZ+lvDIoroZ6gE5RhMo6eaKWnS84Zl7udeFRMipJY+/l2HuJNw1OyrSgB4c50b71oBgBKcQGM2/dWinLCWN44EClq30ouXgZYnqkjAhvg+KU2Wi1cTRuZBuqfoCow0rO6y08A/c2/oU9HCMMEqtP0JA88WeBkqr8sVllq0KaMpqAwThLe9xSgvt6cB/vqRlX73tO3u9jRPgs+NQ+YgFdXxeqymXW5yTUkzzafHbP9trWR+XgNI5JVLClhs56rbdYcFdB8wdsBP1dzlxLA/fK9HOArcQ07JVHTvjBLssJrlPaUHFwhEghgasdGlaHsaxyAHAC0bLOE39/PcBc8i49INDu1+n/iUEeAmIYmmMmRggKp4Ab5eId8PYCzL83BuJFkxzoE3ztMUQOYahpHcviIm5pflgJZtYr1c7ZiJZQd2ljnxXRGlvuwj15ifQ3RZrhFbJgOFqhktZ/Qgj4ed/+DC6n/iwyJKn9APPCj6lCSppSi80nWWdXBhStUyJl3x6A279p7XKsyfyIUDIE7ryyEz4HSXok5sNo+3SwVKKbygyb+5t7a40I6DdeqyWLJgAEZ0CluPCxgC6lMY4rEiXvMzmMsAVDBwlwTJXRMp4wiMsS2kSJdQUrq9DYBzwvukkKD1cLjygc/yassJX06K84USuqotZghREV/mXmZKVZ34ECcUHS4UxqRs4M6mJtIgsUoeiK11VzRzCOrsToU1BThSFpKP7o/UGCPJBBahLHkiJS9Ym49XQDkYoQXU9Uq1NKSTJ5ZWgxtLGgfNmOrhIVbUTsHl4zxFcXOuTiI9qDPaZMmhFOKWOjSmR+O3RTnsVhiN5xy6pB5ZLTdt8BmeqDQKoT+keIyfXOrVFwXTpeAWLEWOMmhOVfSl+ujOQNrtA88Wk2mWrmuLU4y3fn/hP8n6k3K73keyIgmo/sVootMewOUtoXGlwNCwSCGTwTyGMEl9iKEKxb/sQK+wphdZZivkZsZK8AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016HVfzX5vHfuxoPvk7SjqWn",
      "input": {
        "note": "Arm is tracking again with the monkey held above the safe's front edge; advancing forward so the monkey is over the interior.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.44,
          "right_y": 0.23,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_016HVfzX5vHfuxoPvk7SjqWn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.6901, 1.2789, -0.3416, 0.3771, 0.2684, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1252 left_yaw=0.003 left_pitch=-0.2776 left_roll=0.002 left_gripper=0.9992 right_x=0.4203 right_y=0.2215 right_z=0.1711 right_yaw=0.1476 right_pitch=-0.0997 right_roll=-0.0448 right_gripper=0.0151\nstate[joint_eff]: [-0.0205, -1.2239, 6.7761, 1.4383, -0.0513, -0.0611, -0.0122, -0.6769, -7.9658, 9.7299, 2.0147, 0.232, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20fddd445b1db2a3b65da6a6a0f192a1a7f3b644e6fc059fd9ec1737a59c455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407e680977caa59487472a49111f0e1574527bb1c4fd9fc8e4416a9067d94eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad26316416cdd0dfb78c6143bcd7bf893cf50773d6b3ab800df3fb63420051f1",
        "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 · 3.491 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]: [-0.0189, 0.823, 0.6067, -0.63, -0.0189, -0.0383, 0.9992, 0.6224, 2.0235, 1.7836, -1.0714, 0.2798, 0.2802, 0.015]\nstate[eef_state]: left_x=0.2563 left_y=0.0021 left_z=0.127 left_yaw=0.0027 left_pitch=-0.2677 left_roll=0.002 left_gripper=0.9992 right_x=0.3913 right_y=0.2251 right_z=0.1178 right_yaw=0.1275 right_pitch=-0.6345 right_roll=-0.2314 right_gripper=0.015\nstate[joint_eff]: [-0.0205, -1.1829, 6.8034, 1.6239, -0.0611, -0.0366, -0.0122, 0.2256, -11.4393, 6.147, 0.906, 0.2955, 0.0366, -0.0122]\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]: [-0.0189, 0.8249, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, 0.7071, 1.557, 1.1503, -0.3874, 0.4419, 0.3401, 0.0151]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0028 left_pitch=-0.2769 left_roll=0.0022 left_gripper=0.9992 right_x=0.3708 right_y=0.2222 right_z=0.1705 right_yaw=0.1471 right_pitch=-0.1115 right_roll=-0.0494 right_gripper=0.0151\nstate[joint_eff]: [-0.1846, -1.1145, 6.8444, 1.5263, -0.0708, -0.0464, -0.0122, 0.3214, -9.2513, 7.5009, 2.0488, 0.3639, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.6901, 1.2789, -0.3416, 0.3771, 0.2684, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1252 left_yaw=0.003 left_pitch=-0.2776 left_roll=0.002 left_gripper=0.9992 right_x=0.4203 right_y=0.2215 right_z=0.1711 right_yaw=0.1476 right_pitch=-0.0997 right_roll=-0.0448 right_gripper=0.0151\nstate[joint_eff]: [-0.0205, -1.2239, 6.7761, 1.4383, -0.0513, -0.0611, -0.0122, -0.6769, -7.9658, 9.7299, 2.0147, 0.232, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20fddd445b1db2a3b65da6a6a0f192a1a7f3b644e6fc059fd9ec1737a59c455",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407e680977caa59487472a49111f0e1574527bb1c4fd9fc8e4416a9067d94eb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad26316416cdd0dfb78c6143bcd7bf893cf50773d6b3ab800df3fb63420051f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/QYKEAgSGAI4AUIIdGhpbmtpbmcSDBasxhzVFgVZvUaN2BoMd2tDa8lnMWi3f2xjIjBuqhTGo34BW7RHqycYMgBQ8Ogl2CIoPxlaH/8rRjDnweItfNgM/FQltfC1Htg71bwqmgYa9fy/7nKOMkOSyFz30vXHFcg07PdxAUyS6od2UuhKGD32M+yG5/YoCAP0zd64KnYH+2uhJdTPSlcBkE0r/5/qCIyWycw3jsaCnu+2BbofsxcsmqLhZjxiE7JuS6DHUMjqhLXf7oheETzyxT61X8SD64tirfvfm/bGxljOtIeGl51pgtTGojpb9RcmTro9gGGho7z/BqiPXyhBKYTENZD+7Zwjc//PLDSeVps/OENh86Mg6sgUseDVnfo6bPOb1lLMvW8jL1BNDtA+G1Kwf3gzkpGGyPjpS4VEDN8l5wp7+D8f5bH2JNaIFLt/J9ZfmgjojlozFJhP59V2Qg0w51U6gu1kd+yd2V+wOuPC8cvq2ai5CPXrKWYGAi3PBcPKliI20Sz6L+O7dSK7hIGFohER7C7LFE3gvN1zNCzVoNzIDY1AjN7Ko3n0iK1eW+iPAywUIw8Qf/xBvF3J7BaWoQjdfihDq/NVJnkMtRjHoa/ONCBBQKagrFX7Hhhieb260v+0Su18nArIjw95cr2uKI3WItGql1Cegk/cvyg4MN+2egdULNf6QuGaidVmZbZw5mnJFNd75/qRy5CuqACME4VUOP1tO9RB6S6zcmd15cz3sn0F2ENyq+s4o2gFSHmdumIGZXoa+J+CIrMChBj1eBS3OHOZvzyW34PNf+jsp4UKS19eiQW+4abedr8VKhbHNhNMPI/1TOCPElAyyxPaHcvBf5GhNUAFu3YEI9CLxQc/H2d4nghgM0P3m5W6hcm1ixAdwgxFJGi/w8msNZ0A6No7r6NjxheJa230hTv4mdefwMLk66A5gQrg+YRrMhOHRlFzzn3zt/vft/lNkO+H1VO5Zbq1+sh4czCMe+2q+ZZjcxbN1461SWsCR98eiLe6EIC+5U9iSvLrPx/n+zGLW1dzj35ooQ3e61eR5ETvFKZLeluPKX1ZOCQd3qnaa/2JJ02n6TMWIu6xXdE51Et2+hurKl2LNWTg0KcPCmpkRdymHeZ+dXsY+io6lXmM4Uy7DxruZfFfSnP+J5HWaw5VhvcjsP/AKPxvJUmPHRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Z4w1qcUDcuTzHhpU8xoBM",
      "input": {
        "note": "Monkey now sits over the safe interior in the top view; lowering it inside before releasing.",
        "targets": {
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017Z4w1qcUDcuTzHhpU8xoBM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6102, 1.7527, 1.1076, -0.1944, 0.3691, 0.2615, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4086 right_y=0.2123 right_z=0.0976 right_yaw=0.1478 right_pitch=-0.1799 right_roll=-0.084 right_gripper=0.0151\nstate[joint_eff]: [-0.0615, -1.2376, 6.7624, 1.4139, -0.0806, -0.0464, -0.0122, 0.0479, -8.7316, 7.8154, 1.956, 0.1978, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159c7d63f10890640a6665a91c43f639db91afeb24f8d86938af80b42535ff60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac6e9684615df91aa058259c306e91e2d85ad5a59e4001208ca50486059c4f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cdb6fbc0c89cb5a677f5acf478bbd3fc0a11390dbd1aaa93a65d80654347d360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 7.753 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]: [-0.0189, 0.8249, 0.6067, -0.6373, -0.0189, -0.0383, 0.9992, 0.7071, 1.557, 1.1503, -0.3874, 0.4419, 0.3401, 0.0151]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1254 left_yaw=0.0028 left_pitch=-0.2769 left_roll=0.0022 left_gripper=0.9992 right_x=0.3708 right_y=0.2222 right_z=0.1705 right_yaw=0.1471 right_pitch=-0.1115 right_roll=-0.0494 right_gripper=0.0151\nstate[joint_eff]: [-0.1846, -1.1145, 6.8444, 1.5263, -0.0708, -0.0464, -0.0122, 0.3214, -9.2513, 7.5009, 2.0488, 0.3639, -0.0171, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8253, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.6901, 1.2789, -0.3416, 0.3771, 0.2684, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1252 left_yaw=0.003 left_pitch=-0.2776 left_roll=0.002 left_gripper=0.9992 right_x=0.4203 right_y=0.2215 right_z=0.1711 right_yaw=0.1476 right_pitch=-0.0997 right_roll=-0.0448 right_gripper=0.0151\nstate[joint_eff]: [-0.0205, -1.2239, 6.7761, 1.4383, -0.0513, -0.0611, -0.0122, -0.6769, -7.9658, 9.7299, 2.0147, 0.232, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6102, 1.7527, 1.1076, -0.1944, 0.3691, 0.2615, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4086 right_y=0.2123 right_z=0.0976 right_yaw=0.1478 right_pitch=-0.1799 right_roll=-0.084 right_gripper=0.0151\nstate[joint_eff]: [-0.0615, -1.2376, 6.7624, 1.4139, -0.0806, -0.0464, -0.0122, 0.0479, -8.7316, 7.8154, 1.956, 0.1978, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:159c7d63f10890640a6665a91c43f639db91afeb24f8d86938af80b42535ff60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ac6e9684615df91aa058259c306e91e2d85ad5a59e4001208ca50486059c4f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdb6fbc0c89cb5a677f5acf478bbd3fc0a11390dbd1aaa93a65d80654347d360",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RhiivNWrgsAzYyEQFL3fAW",
      "input": {
        "note": "Monkey is lowered into the safe; opening the gripper to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RhiivNWrgsAzYyEQFL3fAW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.7599, 1.0946, -0.1326, 0.3691, 0.2615, 0.9945]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4133 right_y=0.2182 right_z=0.0993 right_yaw=0.1553 right_pitch=-0.1427 right_roll=-0.0652 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, -0.9641, 6.7761, 1.4432, -0.0659, -0.0611, -0.0122, -0.0615, -9.0051, 7.3504, 1.8144, 0.1685, 0.0171, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31590affccaae555708fdfff45d228a83fff13fcff0d903c02e3b1e853e0f18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e03fb7c1eeec2b142ba8bfdf1dff26fa3d8e09ae174ce4a181dbf34df8afb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfc8bb93519c80ee3286460030e2e914211741cbec36ccdc3521a15180994a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 6.911 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]: [-0.0189, 0.8253, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.6901, 1.2789, -0.3416, 0.3771, 0.2684, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1252 left_yaw=0.003 left_pitch=-0.2776 left_roll=0.002 left_gripper=0.9992 right_x=0.4203 right_y=0.2215 right_z=0.1711 right_yaw=0.1476 right_pitch=-0.0997 right_roll=-0.0448 right_gripper=0.0151\nstate[joint_eff]: [-0.0205, -1.2239, 6.7761, 1.4383, -0.0513, -0.0611, -0.0122, -0.6769, -7.9658, 9.7299, 2.0147, 0.232, 0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6102, 1.7527, 1.1076, -0.1944, 0.3691, 0.2615, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4086 right_y=0.2123 right_z=0.0976 right_yaw=0.1478 right_pitch=-0.1799 right_roll=-0.084 right_gripper=0.0151\nstate[joint_eff]: [-0.0615, -1.2376, 6.7624, 1.4139, -0.0806, -0.0464, -0.0122, 0.0479, -8.7316, 7.8154, 1.956, 0.1978, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.7599, 1.0946, -0.1326, 0.3691, 0.2615, 0.9945]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4133 right_y=0.2182 right_z=0.0993 right_yaw=0.1553 right_pitch=-0.1427 right_roll=-0.0652 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, -0.9641, 6.7761, 1.4432, -0.0659, -0.0611, -0.0122, -0.0615, -9.0051, 7.3504, 1.8144, 0.1685, 0.0171, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31590affccaae555708fdfff45d228a83fff13fcff0d903c02e3b1e853e0f18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4e03fb7c1eeec2b142ba8bfdf1dff26fa3d8e09ae174ce4a181dbf34df8afb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfc8bb93519c80ee3286460030e2e914211741cbec36ccdc3521a15180994a02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011M5UE6ZET26PNnt46hcm7D",
      "input": {
        "note": "Monkey and lemon are both inside the safe. Lifting the right arm straight up out of the safe.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011M5UE6ZET26PNnt46hcm7D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.6575, -0.0189, -0.0387, 0.9992, 0.6205, 1.6188, 1.2385, -0.3405, 0.3664, 0.2611, 0.9952]\nstate[eef_state]: left_x=0.2512 left_y=0.0022 left_z=0.1206 left_yaw=0.0032 left_pitch=-0.3036 left_roll=0.0026 left_gripper=0.9992 right_x=0.4082 right_y=0.2183 right_z=0.1855 right_yaw=0.1671 right_pitch=-0.0743 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.1145, 6.7487, 1.7167, -0.0855, -0.0269, -0.0122, -0.3487, -10.3179, 10.0444, 1.7558, 0.2271, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112dbb1b51c55422aebb120e352597d3622db5c8150b1dbc6dd2cdc608eaf016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee334b1005b0b7e0e074e0daf30624386eee56a5f76e79230f27508a487a9a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6118bd0a706f83c19891b0a851c2fc3bba79d1aed6d9d9347d0a2cc98f638477",
        "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 · 4.387 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]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6102, 1.7527, 1.1076, -0.1944, 0.3691, 0.2615, 0.0151]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4086 right_y=0.2123 right_z=0.0976 right_yaw=0.1478 right_pitch=-0.1799 right_roll=-0.084 right_gripper=0.0151\nstate[joint_eff]: [-0.0615, -1.2376, 6.7624, 1.4139, -0.0806, -0.0464, -0.0122, 0.0479, -8.7316, 7.8154, 1.956, 0.1978, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.7599, 1.0946, -0.1326, 0.3691, 0.2615, 0.9945]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4133 right_y=0.2182 right_z=0.0993 right_yaw=0.1553 right_pitch=-0.1427 right_roll=-0.0652 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, -0.9641, 6.7761, 1.4432, -0.0659, -0.0611, -0.0122, -0.0615, -9.0051, 7.3504, 1.8144, 0.1685, 0.0171, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.6575, -0.0189, -0.0387, 0.9992, 0.6205, 1.6188, 1.2385, -0.3405, 0.3664, 0.2611, 0.9952]\nstate[eef_state]: left_x=0.2512 left_y=0.0022 left_z=0.1206 left_yaw=0.0032 left_pitch=-0.3036 left_roll=0.0026 left_gripper=0.9992 right_x=0.4082 right_y=0.2183 right_z=0.1855 right_yaw=0.1671 right_pitch=-0.0743 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.1145, 6.7487, 1.7167, -0.0855, -0.0269, -0.0122, -0.3487, -10.3179, 10.0444, 1.7558, 0.2271, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:112dbb1b51c55422aebb120e352597d3622db5c8150b1dbc6dd2cdc608eaf016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee334b1005b0b7e0e074e0daf30624386eee56a5f76e79230f27508a487a9a30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6118bd0a706f83c19891b0a851c2fc3bba79d1aed6d9d9347d0a2cc98f638477",
        "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_01UrHiioF874AvHLQVt32nyj",
      "input": {
        "note": "Right arm retreats to home; the left arm moves toward the teddy bear, which sits left of the safe and ahead-right of the left gripper.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.38,
          "left_y": -0.17,
          "left_z": 0.12,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01UrHiioF874AvHLQVt32nyj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6395, 1.5154, 0.7784, -0.0467, -0.506, -0.4248, 0.9993, -0.1303, 0.8791, 0.712, -0.5308, -0.1696, -0.1818, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.159 left_z=0.097 left_yaw=-0.0055 left_pitch=-0.0878 left_roll=0.0366 left_gripper=0.9993 right_x=0.2923 right_y=-0.0046 right_z=0.177 right_yaw=0.107 right_pitch=-0.0963 right_roll=-0.0272 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -6.7487, 8.759, 1.7802, -0.3834, 0.0024, -0.0904, -0.1162, -2.1675, 6.5162, 1.9219, -0.2418, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d268a9e9ebf6a308af9f42715a8cce91da3b605d0e1770e7b27880eb0c459d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb62f22714553ae7be8cf67793c16eadc9a813f238679e51c5d040db9fce877b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:581d023c3aeae3cfe8733c5118fe1c702095b9c50cc41e62aa2137afe9712ba7",
        "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 · 4.276 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]: [-0.0189, 0.8257, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.6147, 1.7599, 1.0946, -0.1326, 0.3691, 0.2615, 0.9945]\nstate[eef_state]: left_x=0.2549 left_y=0.0021 left_z=0.1251 left_yaw=0.003 left_pitch=-0.278 left_roll=0.002 left_gripper=0.9992 right_x=0.4133 right_y=0.2182 right_z=0.0993 right_yaw=0.1553 right_pitch=-0.1427 right_roll=-0.0652 right_gripper=0.9945\nstate[joint_eff]: [-0.0889, -0.9641, 6.7761, 1.4432, -0.0659, -0.0611, -0.0122, -0.0615, -9.0051, 7.3504, 1.8144, 0.1685, 0.0171, 0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.6575, -0.0189, -0.0387, 0.9992, 0.6205, 1.6188, 1.2385, -0.3405, 0.3664, 0.2611, 0.9952]\nstate[eef_state]: left_x=0.2512 left_y=0.0022 left_z=0.1206 left_yaw=0.0032 left_pitch=-0.3036 left_roll=0.0026 left_gripper=0.9992 right_x=0.4082 right_y=0.2183 right_z=0.1855 right_yaw=0.1671 right_pitch=-0.0743 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.1145, 6.7487, 1.7167, -0.0855, -0.0269, -0.0122, -0.3487, -10.3179, 10.0444, 1.7558, 0.2271, -0.0562, 0.0708]",
      "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]: [-0.6395, 1.5154, 0.7784, -0.0467, -0.506, -0.4248, 0.9993, -0.1303, 0.8791, 0.712, -0.5308, -0.1696, -0.1818, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.159 left_z=0.097 left_yaw=-0.0055 left_pitch=-0.0878 left_roll=0.0366 left_gripper=0.9993 right_x=0.2923 right_y=-0.0046 right_z=0.177 right_yaw=0.107 right_pitch=-0.0963 right_roll=-0.0272 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -6.7487, 8.759, 1.7802, -0.3834, 0.0024, -0.0904, -0.1162, -2.1675, 6.5162, 1.9219, -0.2418, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d268a9e9ebf6a308af9f42715a8cce91da3b605d0e1770e7b27880eb0c459d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb62f22714553ae7be8cf67793c16eadc9a813f238679e51c5d040db9fce877b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:581d023c3aeae3cfe8733c5118fe1c702095b9c50cc41e62aa2137afe9712ba7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiwcKEAgSGAI4AUIIdGhpbmtpbmcSDPZvBNVBs9RKuK+WfRoM1+4L024wGX8O3GEuIjB8sPZuM+XtnUzs+hjnKHtS2QptoUGR+yMeEVF3dMKPZxUGqxk4P1NVnr3fC3G3TsMqqAa31JayYeBPj7uCqe7AT8dD9KD1KRNVKqO3adYt1gPh8CPUr9TEAtzbfw0Q/z1MNhowUWetuBMXaZw7jeYacL/z6qvu+ODD1zM/9hM9XElW+0QJXEm609D4OBmKTMHIiquILlnis06onNZQ63O112pM3vL+5sMkJl6VApE2YG6eDyvGG5g0TjnqEoMNPJ8NaIfCCIsOBXsQGvfxxv3x0FHkAkCinZEAeNo15yoJcnx/FFrNLQkmMhd17NRk0nUiDbnArRROG76rnbDrpzUR7TAJOXODYLr9GP53ENSQNe6HNLj463jo1BifLed7Yzaszcv3lPXA6iKDTJyihjIgGNLZs1p383LzP8Ho+ZoFcVjBJdveSXASWT2Dl21bc0J5XSe9mpAmIZlwWyD8ZRktDo4dUTP60axViKmT2xxMQWFRw2xE8QhX5doXxOOJ4yUx81IGKAqUPiJj8LBdvp9OO71XIj6PaLmt2pQtwghLQI9L7SLkcGErQBdSP9Mv0znw4f/0suJUiESVfPf9lahqdczOww40P8EP7UkNBcAnVPKeFL3RdqqpK2+oATFvEl5folWUkuPb7qk6+CGpUsy7uI9ojpWXRGLMB5cu4INAbUkaPtrU3KeWz3Y8ZVvckkVkIrChzVDD6sdntu5xygPU2dv3Ee4KkZoYnFq66Oz/2WNXR1h0H14m5Ixp3B9TfbLAAJJcRruKnt7oQ02qX/5nC1n94U7JAZAfGyGMc9iFmC7yefJ645CaBAU8bz4OnY+4QvdCgEN7Oc/9fqlLsB7XK84fkmMnf2Z1mhiqSynrqHVbj57nAsy1UPsUj5D51a+R6EpjZAm0nyUFZ6yMl46sGu0XsPpsteN8es+ixA6LcmIiJTNBU2ZRIS2Y7CrgjrhAyGlq6hzK2bS7/bs64uy/saKyO11M3O+Iap3vWI9QVXE9J/ifZr939YjkQHdFi3tf7Ti9pQtc41ZeGOLlamPTqRLoyibLQSX2R3UUCEajNTnxVjsFUOJN6wi0Vd/6JOED5b4JpPZ91CFg3P/MjJ63WH9nd297+RMXeIjTOpXmgVMn9Mk1outFbpfuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015JwN4hVWmXYb8qUUdCdmJB",
      "input": {
        "note": "Teddy bear sits right between the left jaws in the wrist view; descending to grab it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.165,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_015JwN4hVWmXYb8qUUdCdmJB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.7535, 0.6727, 0.2142, -0.5098, -0.429, 0.9992, -0.1299, 0.8825, 0.7063, -0.5682, -0.1764, -0.1982, 0.9953]\nstate[eef_state]: left_x=0.3587 left_y=-0.1578 left_z=0.0129 left_yaw=-0.0004 left_pitch=-0.1524 left_roll=0.0854 left_gripper=0.9992 right_x=0.2857 right_y=-0.0024 right_z=0.1668 right_yaw=0.1236 right_pitch=-0.1406 right_roll=-0.024 right_gripper=0.9953\nstate[joint_eff]: [0.1436, -7.3231, 4.6017, 1.7021, -0.1832, -0.022, -0.0171, -0.0752, -1.853, 7.3641, 1.9023, -0.0366, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91394d6e1e2cf7ad0d95a64afebecae27f6b233739fd26d4289d1cd85595f516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0decfadb257033d6a9c52cdd066760d226801026c2bb6e986872c4d688d7c70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ceeba58451dc57b65fafbba0407e50a64f92ab563b5a205c6046c9ba9b93de31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 10.03 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8314, 0.6067, -0.6575, -0.0189, -0.0387, 0.9992, 0.6205, 1.6188, 1.2385, -0.3405, 0.3664, 0.2611, 0.9952]\nstate[eef_state]: left_x=0.2512 left_y=0.0022 left_z=0.1206 left_yaw=0.0032 left_pitch=-0.3036 left_roll=0.0026 left_gripper=0.9992 right_x=0.4082 right_y=0.2183 right_z=0.1855 right_yaw=0.1671 right_pitch=-0.0743 right_roll=-0.0297 right_gripper=0.9952\nstate[joint_eff]: [-0.1026, -1.1145, 6.7487, 1.7167, -0.0855, -0.0269, -0.0122, -0.3487, -10.3179, 10.0444, 1.7558, 0.2271, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6395, 1.5154, 0.7784, -0.0467, -0.506, -0.4248, 0.9993, -0.1303, 0.8791, 0.712, -0.5308, -0.1696, -0.1818, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.159 left_z=0.097 left_yaw=-0.0055 left_pitch=-0.0878 left_roll=0.0366 left_gripper=0.9993 right_x=0.2923 right_y=-0.0046 right_z=0.177 right_yaw=0.107 right_pitch=-0.0963 right_roll=-0.0272 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -6.7487, 8.759, 1.7802, -0.3834, 0.0024, -0.0904, -0.1162, -2.1675, 6.5162, 1.9219, -0.2418, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.7535, 0.6727, 0.2142, -0.5098, -0.429, 0.9992, -0.1299, 0.8825, 0.7063, -0.5682, -0.1764, -0.1982, 0.9953]\nstate[eef_state]: left_x=0.3587 left_y=-0.1578 left_z=0.0129 left_yaw=-0.0004 left_pitch=-0.1524 left_roll=0.0854 left_gripper=0.9992 right_x=0.2857 right_y=-0.0024 right_z=0.1668 right_yaw=0.1236 right_pitch=-0.1406 right_roll=-0.024 right_gripper=0.9953\nstate[joint_eff]: [0.1436, -7.3231, 4.6017, 1.7021, -0.1832, -0.022, -0.0171, -0.0752, -1.853, 7.3641, 1.9023, -0.0366, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91394d6e1e2cf7ad0d95a64afebecae27f6b233739fd26d4289d1cd85595f516",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0decfadb257033d6a9c52cdd066760d226801026c2bb6e986872c4d688d7c70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceeba58451dc57b65fafbba0407e50a64f92ab563b5a205c6046c9ba9b93de31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016j5dNSd8ELBUkQSKdZNqcZ",
      "input": {
        "note": "Bear's body is between the jaws at table level; closing the left gripper.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016j5dNSd8ELBUkQSKdZNqcZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.7653, 0.6678, 0.2276, -0.5213, -0.432, 0.1982, -0.1303, 0.8829, 0.7063, -0.6098, -0.1764, -0.1993, 0.9954]\nstate[eef_state]: left_x=0.3585 left_y=-0.156 left_z=0.0098 left_yaw=0.0089 left_pitch=-0.1496 left_roll=0.0922 left_gripper=0.1982 right_x=0.2787 right_y=-0.0016 right_z=0.1594 right_yaw=0.1256 right_pitch=-0.1812 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -8.3624, 5.2855, 1.2527, -0.1685, -0.0317, 0.735, -0.0479, -1.6889, 6.8718, 1.9463, -0.1197, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e14f094f4b4a4363764559a1f77405d1e64ef9640368337823fd36e51056d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35382b6187703d6fcd521bde2a800cfcab35918004a8d0d1817ceefc091307dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb412c263ceb66eac621b04dadf49d6a93a9d48540a5cb7ec391bcd057496556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 6.47 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6395, 1.5154, 0.7784, -0.0467, -0.506, -0.4248, 0.9993, -0.1303, 0.8791, 0.712, -0.5308, -0.1696, -0.1818, 0.9954]\nstate[eef_state]: left_x=0.3632 left_y=-0.159 left_z=0.097 left_yaw=-0.0055 left_pitch=-0.0878 left_roll=0.0366 left_gripper=0.9993 right_x=0.2923 right_y=-0.0046 right_z=0.177 right_yaw=0.107 right_pitch=-0.0963 right_roll=-0.0272 right_gripper=0.9954\nstate[joint_eff]: [-0.253, -6.7487, 8.759, 1.7802, -0.3834, 0.0024, -0.0904, -0.1162, -2.1675, 6.5162, 1.9219, -0.2418, -0.0708, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.7535, 0.6727, 0.2142, -0.5098, -0.429, 0.9992, -0.1299, 0.8825, 0.7063, -0.5682, -0.1764, -0.1982, 0.9953]\nstate[eef_state]: left_x=0.3587 left_y=-0.1578 left_z=0.0129 left_yaw=-0.0004 left_pitch=-0.1524 left_roll=0.0854 left_gripper=0.9992 right_x=0.2857 right_y=-0.0024 right_z=0.1668 right_yaw=0.1236 right_pitch=-0.1406 right_roll=-0.024 right_gripper=0.9953\nstate[joint_eff]: [0.1436, -7.3231, 4.6017, 1.7021, -0.1832, -0.022, -0.0171, -0.0752, -1.853, 7.3641, 1.9023, -0.0366, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.7653, 0.6678, 0.2276, -0.5213, -0.432, 0.1982, -0.1303, 0.8829, 0.7063, -0.6098, -0.1764, -0.1993, 0.9954]\nstate[eef_state]: left_x=0.3585 left_y=-0.156 left_z=0.0098 left_yaw=0.0089 left_pitch=-0.1496 left_roll=0.0922 left_gripper=0.1982 right_x=0.2787 right_y=-0.0016 right_z=0.1594 right_yaw=0.1256 right_pitch=-0.1812 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -8.3624, 5.2855, 1.2527, -0.1685, -0.0317, 0.735, -0.0479, -1.6889, 6.8718, 1.9463, -0.1197, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76e14f094f4b4a4363764559a1f77405d1e64ef9640368337823fd36e51056d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35382b6187703d6fcd521bde2a800cfcab35918004a8d0d1817ceefc091307dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb412c263ceb66eac621b04dadf49d6a93a9d48540a5cb7ec391bcd057496556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q9vDSpDoq6g2hzirktcdxu",
      "input": {
        "note": "Bear is grasped (gripper settled at 0.20). Lifting and carrying it over the safe interior.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.4,
          "left_y": -0.29,
          "left_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01Q9vDSpDoq6g2hzirktcdxu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8608, 1.8183, 1.6829, -0.6796, -0.6758, -0.6155, 0.2006, -0.1303, 0.8856, 0.7063, -0.635, -0.1768, -0.1993, 0.9953]\nstate[eef_state]: left_x=0.3982 left_y=-0.2883 left_z=0.2432 left_yaw=0.0026 left_pitch=-0.0254 left_roll=-0.0067 left_gripper=0.2006 right_x=0.2744 right_y=-0.001 right_z=0.1545 right_yaw=0.1273 right_pitch=-0.2081 right_roll=-0.0066 right_gripper=0.9953\nstate[joint_eff]: [-0.4991, -9.4427, 8.9231, 1.3602, -0.5055, 0.0464, 0.2418, -0.0342, -1.853, 7.1043, 1.7118, -0.1441, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aa5617c797992ff0608182746c9e5b09e9946cf4a4d1c64a041c92c510184c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf24a865ca3656b41a4134ba5a349716f293ae4a0d3be67d2e8486b44134f784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8e3df060fc62addc7d31dbb9b3d5a741fa8b56af62c7cbfc1b09b302b364592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 12.09 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6456, 1.7535, 0.6727, 0.2142, -0.5098, -0.429, 0.9992, -0.1299, 0.8825, 0.7063, -0.5682, -0.1764, -0.1982, 0.9953]\nstate[eef_state]: left_x=0.3587 left_y=-0.1578 left_z=0.0129 left_yaw=-0.0004 left_pitch=-0.1524 left_roll=0.0854 left_gripper=0.9992 right_x=0.2857 right_y=-0.0024 right_z=0.1668 right_yaw=0.1236 right_pitch=-0.1406 right_roll=-0.024 right_gripper=0.9953\nstate[joint_eff]: [0.1436, -7.3231, 4.6017, 1.7021, -0.1832, -0.022, -0.0171, -0.0752, -1.853, 7.3641, 1.9023, -0.0366, 0.0904, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.7653, 0.6678, 0.2276, -0.5213, -0.432, 0.1982, -0.1303, 0.8829, 0.7063, -0.6098, -0.1764, -0.1993, 0.9954]\nstate[eef_state]: left_x=0.3585 left_y=-0.156 left_z=0.0098 left_yaw=0.0089 left_pitch=-0.1496 left_roll=0.0922 left_gripper=0.1982 right_x=0.2787 right_y=-0.0016 right_z=0.1594 right_yaw=0.1256 right_pitch=-0.1812 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -8.3624, 5.2855, 1.2527, -0.1685, -0.0317, 0.735, -0.0479, -1.6889, 6.8718, 1.9463, -0.1197, -0.0122, -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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8608, 1.8183, 1.6829, -0.6796, -0.6758, -0.6155, 0.2006, -0.1303, 0.8856, 0.7063, -0.635, -0.1768, -0.1993, 0.9953]\nstate[eef_state]: left_x=0.3982 left_y=-0.2883 left_z=0.2432 left_yaw=0.0026 left_pitch=-0.0254 left_roll=-0.0067 left_gripper=0.2006 right_x=0.2744 right_y=-0.001 right_z=0.1545 right_yaw=0.1273 right_pitch=-0.2081 right_roll=-0.0066 right_gripper=0.9953\nstate[joint_eff]: [-0.4991, -9.4427, 8.9231, 1.3602, -0.5055, 0.0464, 0.2418, -0.0342, -1.853, 7.1043, 1.7118, -0.1441, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aa5617c797992ff0608182746c9e5b09e9946cf4a4d1c64a041c92c510184c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf24a865ca3656b41a4134ba5a349716f293ae4a0d3be67d2e8486b44134f784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8e3df060fc62addc7d31dbb9b3d5a741fa8b56af62c7cbfc1b09b302b364592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AgKEAgSGAI4AUIIdGhpbmtpbmcSDLf+wBviftEaCVQBFxoM7C44ag8mlIP4dYI5IjDB/eTb8Ur+IVvLYEwHplDwqbP4Jxu6E0B8z3cPyrECRQnFGWgfRmj0sSqvwDpRQWAq8QefJF89BnApKq5E+DqzpeyXidthuvRVJ97O3exoJIBwzJvek+Z1pv0zXIT0GoVDA4vGmMqfk7tYdhIbR/wnDyAwTS5CMk2wcFMph/rXCeNCIULbRAvZhpHql2/eDHdVzwwO90xHy3BhLta+BxNmCo0WTWBuokrutiUm8deiH4lUHtjAj0h4SOsrZaijegMKcNlbSTwDMkkxkHaRYD9fs1wUMuYCdrSahSnmlge/vWiW1GiF6GSUxuFg4zIw7DXKCAwVPKzlMVtiNekolZYnO2WEtHBvUWPR/1qS4DruFDxD6e8Ibt7jtFfxOAyMHKYJtXnJ3j2GQ24gl+YyAxFpLwXdLFeJZdSAkj1i6f7L1CGpzZTCPzAXTySEopHF2PTpawhw8YbYJRr5unhkJ8JXBNFMw8FrUumkVssI6S1Z5QUOUdd99G/AjZb4C3PtMrl00I/n4qE9XAknjshPazdZU56h478aAgqRlQOt4KrO2W8F+Fl9Wjad77bBc4QmQ5s4ggjdUlVgEujco5X+oJ6s3NH/LKmWqYOQO0FzsPc2ZPppsW5W/gGAQ/gc48rt74Sx2ueRcGs+adpFtc6iZfAZwmczl7M0Ymb4GpoAScIZMwn3lfVvfxqkavA8HZ8dHhm09zkCUQlNAgyZrCSkNPxDtqzS4Qidt/0zvmYKOr+NCml7N4d4pk78vYgkdpLtVfw4jMFAWYy6W2cmCzrJ59eVDoZXOHXWKckdpqeGvoXTQRk3PNFoWW5JXpA2LzSKMLhgGe46cyx83s9ogLdzFQfV63CGP3tcmvl131Lcn9EUjW4kkFBAZy7cKB35ArOFPWjdHBm1fmSMIAmRTZVfpO+lSUIPwxkJrmhvzO7BRlz9FsNdAPI9woWLL4dBZlF4z3rtrHFiiUrZEVgAlhLiJ/qcqlz+8Adyql/zmHgtJOq2AGdoL7TP7L7gNtNB6oKfEpiuFH5hQeu9hjE9pnc4mTD1bPtG/rOgsvKIjtjP9bzH2P4dKGnPQTgHPYrHv+zztqW9GG4gXzz5FdBv4M5YeIaINl+q9jnqloKoErPHTcQQ46WjM0kWZLjlnDzEf+pom1/vkNM2f+0ieurgVitPzo33P2hm7pOUB8P7Q2SGHeXwFwqiXo1HZOf35jQLARxl9fwkSK8skwh5y74t2bSGoNOATlON3JLzhbEsJh6CQjGfa+N4S70JXZnY8UWyowoul0HclzKEiZEnmIojCD1mfuHXJJFsd9EX35Z361p7RH85EnBoBn9i8GUbyv6WWbU7lpOcJ5n+SSD6R+F4QRPYFk7nCUu8LmbEdSvBh0ntB+uW8iOxW3OVxpc9WZennkvMIQmJwttMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6qxhJFv5LyK2fEZMZ9YvF",
      "input": {
        "note": "Bear is above the safe near its back/left side; lowering it into the interior slightly toward the centre.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.31,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01U6qxhJFv5LyK2fEZMZ9YvF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9455, 1.8668, 1.306, -0.345, -0.7105, -0.6907, 0.2028, -0.1303, 0.8875, 0.7063, -0.6575, -0.1768, -0.1993, 0.9954]\nstate[eef_state]: left_x=0.3669 left_y=-0.3053 left_z=0.1246 left_yaw=-0.0145 left_pitch=-0.061 left_roll=0.0196 left_gripper=0.2028 right_x=0.2705 right_y=-0.0005 right_z=0.1503 right_yaw=0.1287 right_pitch=-0.2317 right_roll=-0.0003 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -8.9231, 6.1333, 1.5409, -0.569, -0.1441, 0.2173, -0.2256, -1.7846, 6.9949, 1.6679, -0.1538, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:390289db62db203de09031c0dec908e001fb27480c0fda164f2da51bec8379fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c5bbc251ad1caa39b4026cbd6af32933a3e2219c03eb2304efe3c16003f6808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a25d5e80b8fd9183811049fa6853b3b39d943208496a0f200953baf702c02196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 6.445 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6468, 1.7653, 0.6678, 0.2276, -0.5213, -0.432, 0.1982, -0.1303, 0.8829, 0.7063, -0.6098, -0.1764, -0.1993, 0.9954]\nstate[eef_state]: left_x=0.3585 left_y=-0.156 left_z=0.0098 left_yaw=0.0089 left_pitch=-0.1496 left_roll=0.0922 left_gripper=0.1982 right_x=0.2787 right_y=-0.0016 right_z=0.1594 right_yaw=0.1256 right_pitch=-0.1812 right_roll=-0.0141 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -8.3624, 5.2855, 1.2527, -0.1685, -0.0317, 0.735, -0.0479, -1.6889, 6.8718, 1.9463, -0.1197, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8608, 1.8183, 1.6829, -0.6796, -0.6758, -0.6155, 0.2006, -0.1303, 0.8856, 0.7063, -0.635, -0.1768, -0.1993, 0.9953]\nstate[eef_state]: left_x=0.3982 left_y=-0.2883 left_z=0.2432 left_yaw=0.0026 left_pitch=-0.0254 left_roll=-0.0067 left_gripper=0.2006 right_x=0.2744 right_y=-0.001 right_z=0.1545 right_yaw=0.1273 right_pitch=-0.2081 right_roll=-0.0066 right_gripper=0.9953\nstate[joint_eff]: [-0.4991, -9.4427, 8.9231, 1.3602, -0.5055, 0.0464, 0.2418, -0.0342, -1.853, 7.1043, 1.7118, -0.1441, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9455, 1.8668, 1.306, -0.345, -0.7105, -0.6907, 0.2028, -0.1303, 0.8875, 0.7063, -0.6575, -0.1768, -0.1993, 0.9954]\nstate[eef_state]: left_x=0.3669 left_y=-0.3053 left_z=0.1246 left_yaw=-0.0145 left_pitch=-0.061 left_roll=0.0196 left_gripper=0.2028 right_x=0.2705 right_y=-0.0005 right_z=0.1503 right_yaw=0.1287 right_pitch=-0.2317 right_roll=-0.0003 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -8.9231, 6.1333, 1.5409, -0.569, -0.1441, 0.2173, -0.2256, -1.7846, 6.9949, 1.6679, -0.1538, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:390289db62db203de09031c0dec908e001fb27480c0fda164f2da51bec8379fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c5bbc251ad1caa39b4026cbd6af32933a3e2219c03eb2304efe3c16003f6808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a25d5e80b8fd9183811049fa6853b3b39d943208496a0f200953baf702c02196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JaTRJJCTKMrdaEAj87rsfU",
      "input": {
        "note": "Bear is inside the safe beside the lemon and monkey; releasing it while rising up and forward to get behind the open lid for closing.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.55,
          "left_y": -0.31,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01JaTRJJCTKMrdaEAj87rsfU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6643, 2.6194, 2.9143, -1.0893, -0.535, -0.4702, 0.9974, -0.1303, 0.8921, 0.7055, -0.6804, -0.1764, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.547 left_y=-0.3094 left_z=0.214 left_yaw=0.017 left_pitch=-0.0827 left_roll=0.0236 left_gripper=0.9974 right_x=0.2663 right_y=-0.0 right_z=0.1452 right_yaw=0.1319 right_pitch=-0.259 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -17.1556, 8.9915, 1.199, -0.5299, 0.2418, 0.0904, -0.0889, -1.4427, 6.8444, 1.6972, -0.105, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e3f71bee9397d2ffcf775209ed292f066e933a35504487beddd40812bb14a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d31f75816f0499324e55ec5934abff9a4d1f8f243927a9ca492396df06a5598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cd963276ed4ab0010954f3fe31f935ef9b6b1e7f38f5a7f5fa43016864272c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 10.84 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8608, 1.8183, 1.6829, -0.6796, -0.6758, -0.6155, 0.2006, -0.1303, 0.8856, 0.7063, -0.635, -0.1768, -0.1993, 0.9953]\nstate[eef_state]: left_x=0.3982 left_y=-0.2883 left_z=0.2432 left_yaw=0.0026 left_pitch=-0.0254 left_roll=-0.0067 left_gripper=0.2006 right_x=0.2744 right_y=-0.001 right_z=0.1545 right_yaw=0.1273 right_pitch=-0.2081 right_roll=-0.0066 right_gripper=0.9953\nstate[joint_eff]: [-0.4991, -9.4427, 8.9231, 1.3602, -0.5055, 0.0464, 0.2418, -0.0342, -1.853, 7.1043, 1.7118, -0.1441, -0.0562, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9455, 1.8668, 1.306, -0.345, -0.7105, -0.6907, 0.2028, -0.1303, 0.8875, 0.7063, -0.6575, -0.1768, -0.1993, 0.9954]\nstate[eef_state]: left_x=0.3669 left_y=-0.3053 left_z=0.1246 left_yaw=-0.0145 left_pitch=-0.061 left_roll=0.0196 left_gripper=0.2028 right_x=0.2705 right_y=-0.0005 right_z=0.1503 right_yaw=0.1287 right_pitch=-0.2317 right_roll=-0.0003 right_gripper=0.9954\nstate[joint_eff]: [-0.4718, -8.9231, 6.1333, 1.5409, -0.569, -0.1441, 0.2173, -0.2256, -1.7846, 6.9949, 1.6679, -0.1538, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6643, 2.6194, 2.9143, -1.0893, -0.535, -0.4702, 0.9974, -0.1303, 0.8921, 0.7055, -0.6804, -0.1764, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.547 left_y=-0.3094 left_z=0.214 left_yaw=0.017 left_pitch=-0.0827 left_roll=0.0236 left_gripper=0.9974 right_x=0.2663 right_y=-0.0 right_z=0.1452 right_yaw=0.1319 right_pitch=-0.259 right_roll=0.0048 right_gripper=0.9954\nstate[joint_eff]: [0.2803, -17.1556, 8.9915, 1.199, -0.5299, 0.2418, 0.0904, -0.0889, -1.4427, 6.8444, 1.6972, -0.105, 0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e3f71bee9397d2ffcf775209ed292f066e933a35504487beddd40812bb14a34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d31f75816f0499324e55ec5934abff9a4d1f8f243927a9ca492396df06a5598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 280):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cd963276ed4ab0010954f3fe31f935ef9b6b1e7f38f5a7f5fa43016864272c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwsKEAgSGAI4AUIIdGhpbmtpbmcSDDgcYjZev3ypINUtGxoMWUs+L7vUkCmpe/63IjBOxT/aISkjhYOfNkUQS5lXMfQgUbOQlwFjY5efWnjX9a+tSN99qCEpPML6auRfSD0q3AoMhaTVSNaGYLoCSCf1rRLh1MHic1EvQftdn6mqWK1zzmQ4sSX9DqaPtlAB2O+twukKVEmmQZu0lpZIG7ylSiRZDMapUnvhVbJsfSkdY5zBSFA/23GN7MpDzz9QjzVsJbVUPUqWEAtnhADbbRSJuRzg657aqiinKkcILJL1wwkk1i/4y7qvvmlPe140h900PA7lIZivFcD8W0s+5HsqLARf1PspvBzhlRFX8PE0Y35xPuDj0ZrGCNDFLHcZM0jpVzBMxX+aw7wniCZzuSaX7HvrcwZY0k0cIm6jBlzAWiijbAgHSLN+e3saa2d/C6Ew4/LbO0Wle0vGmq2TnLr6J3rtiKM9S3jVewTmmqzM5TsF5rhcsmLy7XaVfeElxImPEj0k1JnudQXBbvfIQyDGqyNCQ99RRn3R9bEQF53LrQpCfkRveGgDpHZuqdcp+mSFohlbQgm12EpDYhOzhCiDEXE/DqlHaFsysUVGLuAV3zoDTa4TseqVmku+u2ml7AS9xTrIDZzSCdpzFw2UvUtrjP78+1DJ9I3+D0dtz5zPyEofdQQyFYIaupR60sbb510R6/rIIvCsqRj6WY71sOTk39YHRPsBwjemDjUfCVDOTaH3YUoFbBdCjfXmb8LvJGQ5DeTwQArIqK0YGDQTI7tug9Bxf6hOcHmsKi2bnolkl8BNiwCh80KidX3Roz+KejwbVKNM7nFeUZ6GU9ddeW5kYND759locWlvJrg63OtWURv35jVaI8kcoQdmzARGIQlGe50ih8Q0mEDnDe7vjMhioylM7rHvcnny5axput1uiOGzukcRaSe2Gd+hw/Df/UiuCZVshVxrlBGupgOvvnQIgT4DkNHHxd2SmH04Y2oZtkOagO8HJZUzoHaIxftD4TumdjYrcHUG5htwCiQaEN0zZrghBjomP0Nz5vHsCCIqzTRXMJDh45Fvy5BX/2wZIkG27YTOu4V6FVggEmyBov4FSVyrJ790ywx2ypb5oLmb+NOPvbCMx6GQu5t52I5daa7ILnqks6WtdZ1DAe7X+3bMOPOwSgJKZdm+nHUkMY4VxA0CMH5m0NBlOenR8K7s+XB0wjoOihryI7vEOzGYyN0pkIBtYHmqRA6o4Y/sJXyyjm+2SLwcV4E/4fa7P5QxHMdDgONIsPnSUObvQIu+p1WDSq2jysL5c75yPlVTAaTx2sDCjqwLMMW2DD78zxdKp5lA/1Zf4Gok6ny3mtADLV4nTdH7q9yi2+wCfpLut6KZ2ZPQ0AqvfMNkQXzIOQenIL5AoaLFvRKFQeglUKhtL9WGJKLXcnSGxRYf99ltCK6JAyCVuiZFiFofByyB/JTUSHKZZU7/NVOmvcu4dVnnxu627GKBNkSY7u3PFORoIdgcbRfPPsaTXcaBOGoah+dLsXUe7pcLS0sPJgPGfCOopeXDNELR3bT+867Gx3fnYUOkbzzJj1l2dGqTpNC7PGSMxvsTzFKkOU3SlRXHafUHvk0U/3O8r3OCl/1SjBZBTztSWR1pR1Sw2d8KqBEJUODKpJmmVI2VTfcLr6mOuMtlw4YXEfYrSwqJQz/J1AkQsq9B/sm0qdUo0rcqdBLipPouLL/d/NuO5dqipOfdFfiauAg/vqb7ri31PDuxwnRJlLo5Iw2DjveN1sOqnREMOJHQTS+tKA2m4y7FFtOyjLS/ZL0iPXX3DAEesnWVSAykkLxGWhA/NZ1TQesOxuYjMaRia1zXg129h9Lfrs5LO1D8LA8sPxdQYCbT6UnEyNHghWeVZRCQgiioDT5+GPKtHdr0AJJQlwMr0GAnTlVjfBdpKMKnoo/zVsjngFFAtXUiCvBNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XcTQ3PHbTSLVECh4F3adg3",
      "input": {
        "note": "All three objects are in the safe; the gripper is up at the lid's top edge. Sweeping down and toward the base to push the lid over and shut.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.33,
          "left_y": -0.31,
          "left_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01XcTQ3PHbTSLVECh4F3adg3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0241, 1.9293, 1.2385, -0.371, -0.7311, -0.7971, 0.0096, -0.1303, 0.8959, 0.7025, -0.7017, -0.1764, -0.2028, 0.9953]\nstate[eef_state]: left_x=0.3315 left_y=-0.3109 left_z=0.0734 left_yaw=-0.0097 left_pitch=-0.1317 left_roll=0.0754 left_gripper=0.0096 right_x=0.2619 right_y=0.0006 right_z=0.1397 right_yaw=0.1342 right_pitch=-0.2863 right_roll=0.0122 right_gripper=0.9953\nstate[joint_eff]: [-0.2667, -13.0393, 6.2154, 1.3211, -0.6862, -0.1441, 0.8718, -0.0752, -1.6889, 7.0906, 1.6337, -0.105, -0.0415, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eda6827a80a830adf02e5cc6cf2888ec254135217b131dc97abb7f638b103a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4751d62a51466ae9321f353588ce301f8a4834fddd0986c14fc435448835d214",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ff996877c4b15c939aaa5d9780606f7c8b2afb3f7a2b0eda4e4713d555488b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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