adhoc

completed
2026-09-22T20:00:25.092880+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
261.7 s
total steps
370
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 centre, small white teddy left of it, lemon right of it, brown teddy in front. Moving the left arm over the white teddy to line up a grasp.
move_to
left_x0.3300left_y-0.1200left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3901, -0.0196, -0.0341, 0.9993, -0.0212, 0.7921, 0.6064, -0.3977, -0.02, -0.0261, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.388, 10.2632, 1.9902, -0.0855, 0.1392, -0.0904, -0.5949, -1.3333, 9.6342, 1.9853, -0.0464, 0.0904, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.12, "left_z": 0.15}, "note": "Scene: open red safe in the centre, small white teddy left of it, lemon right of it, brown teddy in front. Moving the left arm over the white teddy to line up a grasp."})
tool
executing move_to over 11 steps (1.1s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent noteWhite teddy is centred on the jaw column in the left wrist cam, slightly ahead. Advancing 2 cm and descending to grasp it.
move_to
left_x0.3400left_y-0.1200left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5858, 1.169, 0.6392, -0.2192, -0.4507, -0.3588, 0.9992, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3165 left_y=-0.1133 left_z=0.1271 left_yaw=-0.0324 left_pitch=-0.0824 left_roll=0.0372 left_gripper=0.9992 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=0.0002 right_pitch=-0.04 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.3624, -3.9316, 9.2923, 1.8584, -0.3687, -0.0464, -0.022, -0.1709, -1.7436, 6.9128, 2.0586, -0.022, -0.0269, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.12, "left_z": 0.02}, "note": "White teddy is centred on the jaw column in the left wrist cam, slightly ahead. Advancing 2 cm and descending to grasp it."})
tool
executing move_to over 7 steps (0.7s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
Teddy is between jaws. Closing.
agent noteThe white teddy fills the left wrist view between the jaws at table level. Closing the gripper on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5598, 1.5669, 0.4561, 0.2928, -0.437, -0.3527, 0.9992, -0.0212, 0.8028, 0.606, -0.4549, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3288 left_y=-0.1136 left_z=0.0153 left_yaw=-0.0163 left_pitch=-0.1466 left_roll=0.0698 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996 state[joint_eff]: [0.4581, -5.4496, 4.0547, 1.5165, -0.105, 0.1148, -0.0171, -0.1299, -1.5111, 7.1043, 1.8877, -0.0317, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
Teddy is between jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "The white teddy fills the left wrist view between the jaws at table level. Closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 28
top_cam
camera top_cam step 28
left_cam
camera left_cam step 28
right_cam
camera right_cam step 28
assistant
agent noteClose came back empty: the teddy is still visible ahead of the jaw tips in the wrist cam. Opening and lifting slightly to reposition further forward.
move_to
left_gripper1.0000left_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.578, 0.45, 0.3092, -0.4389, -0.3561, 0.0435, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3282 left_y=-0.1135 left_z=0.0125 left_yaw=-0.0144 left_pitch=-0.1464 left_roll=0.0688 left_gripper=0.0435 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0923 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [0.1162, -6.4752, 5.4359, 1.3651, -0.149, 0.0269, 1.0525, -0.0479, -1.2103, 6.9675, 1.8632, -0.0659, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 28): [image omitted: streamed camera frame] camera 'left_cam' (step 28): [image omitted: streamed camera frame] camera 'right_cam' (step 28): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.05}, "note": "Close came back empty: the teddy is still visible ahead of the jaw tips in the wrist cam. Opening and lifting slightly to reposition further forward."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteTeddy sits centred but ahead of the jaws. Advancing ~4 cm radially and descending to table level for a second grasp.
move_to
left_x0.3650left_y-0.1150left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5613, 1.4517, 0.4961, 0.0986, -0.4385, -0.3645, 0.995, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3209 left_y=-0.109 left_z=0.035 left_yaw=-0.0068 left_pitch=-0.1787 left_roll=0.0825 left_gripper=0.995 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0004 right_pitch=-0.1144 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.0889, -6.3385, 7.9521, 1.536, -0.232, 0.0171, -0.0562, -0.0615, -1.1966, 6.9402, 1.8144, -0.0464, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.365, "left_y": -0.115, "left_z": 0.0}, "note": "Teddy sits centred but ahead of the jaws. Advancing ~4 cm radially and descending to table level for a second grasp."})
tool
executing move_to over 4 steps (0.4s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteTeddy now fills the space between the jaws at table level. Closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5011, 1.6989, 0.5674, 0.2668, -0.4156, -0.3473, 0.9957, -0.0212, 0.8074, 0.6056, -0.5167, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.354 left_y=-0.1085 left_z=0.0015 left_yaw=0.027 left_pitch=-0.195 left_roll=0.084 left_gripper=0.9957 right_x=0.2754 right_y=0.0013 right_z=0.1502 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996 state[joint_eff]: [0.4855, -5.2308, 5.4906, 1.072, -0.1636, 0.3394, 0.0611, -0.1299, -1.4291, 6.9128, 1.8291, -0.022, -0.022, -0.0122] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Teddy now fills the space between the jaws at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteGripper settled at 0.21, so the teddy is held. Lifting straight up to clear the safe walls.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4957, 1.7336, 0.5827, 0.3294, -0.4049, -0.3187, 0.2117, -0.0212, 0.8082, 0.6056, -0.5453, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3654 left_y=-0.1144 left_z=0.0032 left_yaw=0.0043 left_pitch=-0.1627 left_roll=0.0765 left_gripper=0.2117 right_x=0.2707 right_y=0.0014 right_z=0.1447 right_yaw=0.0005 right_pitch=-0.1644 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [0.1299, -6.3248, 5.2308, 1.3309, -0.1001, 0.0562, 0.6667, -0.1846, -1.2786, 6.8718, 1.8877, -0.0757, -0.0269, -0.0073] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.21, so the teddy is held. Lifting straight up to clear the safe walls."})
tool
executing move_to over 13 steps (1.3s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteTeddy is held and lifted. Carrying it right over the open safe's interior.
move_to
left_x0.4200left_y-0.2900left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4957, 1.3922, 1.0657, -0.5369, -0.4046, -0.3271, 0.2131, -0.0212, 0.8108, 0.6056, -0.5682, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3651 left_y=-0.1143 left_z=0.1735 left_yaw=0.0123 left_pitch=-0.1992 left_roll=0.0907 left_gripper=0.2131 right_x=0.2669 right_y=0.0014 right_z=0.14 right_yaw=0.0003 right_pitch=-0.1899 right_roll=0.0035 right_gripper=0.9996 state[joint_eff]: [-0.1162, -7.9248, 9.5248, 1.58, -0.2369, 0.0464, 0.1343, -0.0205, -1.4154, 6.9675, 1.7802, -0.0464, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.29, "left_z": 0.2}, "note": "Teddy is held and lifted. Carrying it right over the open safe's interior."})
tool
executing move_to over 16 steps (1.6s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent noteLeft gripper is above the red interior of the safe. Lowering the teddy into it before releasing.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7979, 1.998, 1.8431, -0.8726, -0.5598, -0.6079, 0.2158, -0.0212, 0.8135, 0.6056, -0.5999, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4149 left_y=-0.2858 left_z=0.1858 left_yaw=0.003 left_pitch=-0.2375 left_roll=0.0942 left_gripper=0.2158 right_x=0.2614 right_y=0.0015 right_z=0.1338 right_yaw=0.0004 right_pitch=-0.2243 right_roll=0.0043 right_gripper=0.9996 state[joint_eff]: [-0.4718, -10.7966, 8.9094, 1.0183, -0.5641, -0.0122, 0.2711, -0.0342, -1.4017, 6.9402, 1.79, -0.0317, -0.022, -0.0122] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Left gripper is above the red interior of the safe. Lowering the teddy into it before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe safe's front wall appears near the bottom of the wrist view, so the teddy may be over the rim. Advancing 3 cm to be well inside the box.
move_to
left_x0.4400left_y-0.2900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8028, 2.0022, 1.6154, -0.6949, -0.5575, -0.6109, 0.2174, -0.0212, 0.8154, 0.6056, -0.617, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4055 left_y=-0.2802 left_z=0.1209 left_yaw=0.0085 left_pitch=-0.2762 left_roll=0.131 left_gripper=0.2174 right_x=0.2583 right_y=0.0017 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2433 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.0615, -10.2632, 6.5436, 1.2918, -0.359, 0.0269, 0.149, -0.1162, -1.3197, 6.9265, 1.6239, -0.0513, -0.0708, -0.0073] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.29}, "note": "The safe's front wall appears near the bottom of the wrist view, so the teddy may be over the rim. Advancing 3 cm to be well inside the box."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe teddy is hanging over the safe's interior. Opening the gripper to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7757, 2.1059, 1.7424, -0.7158, -0.5415, -0.5991, 0.2188, -0.0212, 0.8165, 0.6056, -0.6308, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4299 left_y=-0.2892 left_z=0.1129 left_yaw=0.0181 left_pitch=-0.2857 left_roll=0.1271 left_gripper=0.2188 right_x=0.2558 right_y=0.0017 right_z=0.1279 right_yaw=0.0009 right_pitch=-0.2582 right_roll=0.0053 right_gripper=0.9996 state[joint_eff]: [0.5949, -11.9726, 8.6632, 0.9255, -0.2662, 0.2515, 0.1392, -0.1026, -1.2103, 6.8034, 1.7118, -0.0415, -0.0611, -0.0073] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The teddy is hanging over the safe's interior. Opening the gripper to drop it in."})
tool
executing move_to over 8 steps (0.8s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteWhite teddy is now inside the safe. Lifting the left arm clear and moving the right arm above the lemon, right of the safe.
move_to
left_z0.2200right_x0.4200right_y0.1400right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7765, 2.1258, 1.7451, -0.7372, -0.5358, -0.6071, 0.995, -0.0208, 0.8173, 0.6056, -0.6571, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.4266 left_y=-0.2877 left_z=0.1016 left_yaw=0.0267 left_pitch=-0.3156 left_roll=0.1469 left_gripper=0.995 right_x=0.2509 right_y=0.0018 right_z=0.1235 right_yaw=0.0012 right_pitch=-0.2853 right_roll=0.0057 right_gripper=0.9996 state[joint_eff]: [0.0615, -13.6, 6.3521, 1.2674, -0.3639, 0.0317, 0.0317, -0.0342, -1.2103, 6.7487, 1.6581, -0.0317, -0.0415, -0.0122] camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22, "right_x": 0.42, "right_y": 0.14, "right_z": 0.15}, "note": "White teddy is now inside the safe. Lifting the left arm clear and moving the right arm above the lemon, right of the safe."})
tool
executing move_to over 14 steps (1.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteLemon is centred on the right jaw column but well ahead of the fingertips. Advancing the right arm ~6 cm and lowering; parking the left arm at home.
move_to
right_x0.4800right_y0.1400right_z0.0800left_x0.2900left_y0.0000left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7773, 2.1834, 2.286, -1.2186, -0.535, -0.6189, 0.9963, 0.4118, 1.6379, 1.2308, -0.5575, 0.2371, 0.2821, 0.9996] state[eef_state]: left_x=0.427 left_y=-0.2887 left_z=0.2134 left_yaw=0.0317 left_pitch=-0.3138 left_roll=0.1372 left_gripper=0.9963 right_x=0.4039 right_y=0.1351 right_z=0.1349 right_yaw=0.0262 right_pitch=-0.3421 right_roll=-0.0212 right_gripper=0.9996 state[joint_eff]: [-0.1299, -11.3162, 8.5265, 0.9206, -0.2466, 0.0708, 0.1148, 0.1162, -7.747, 8.4444, 1.4676, 0.2076, 0.2711, -0.0073] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.14, "right_z": 0.08, "left_x": 0.29, "left_y": 0.0, "left_z": 0.2}, "note": "Lemon is centred on the right jaw column but well ahead of the fingertips. Advancing the right arm ~6 cm and lowering; parking the left arm at home."})
tool
executing move_to over 26 steps (2.6s)
step 137
top_cam
camera top_cam step 137
left_cam
camera left_cam step 137
right_cam
camera right_cam step 137
assistant
agent noteLemon is centred just above the jaw convergence in the right wrist view. Nudging forward slightly and descending to grasp height.
move_to
right_x0.4800right_y0.1350right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1394, 1.0752, 1.0222, -0.8719, -0.2115, -0.0853, 0.9965, 0.3519, 1.9411, 1.3636, -0.4381, 0.1978, 0.2237, 0.9996] state[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1974 left_yaw=0.0793 left_pitch=-0.3262 left_roll=0.1349 left_gripper=0.9965 right_x=0.463 right_y=0.1368 right_z=0.068 right_yaw=0.0275 right_pitch=-0.4024 right_roll=-0.0434 right_gripper=0.9996 state[joint_eff]: [0.1573, -3.412, 6.5846, 1.5214, -0.0415, 0.1392, 0.0073, -0.6906, -9.5795, 9.1692, 1.5311, 0.0708, -0.0171, -0.0122] camera 'top_cam' (step 137): [image omitted: streamed camera frame] camera 'left_cam' (step 137): [image omitted: streamed camera frame] camera 'right_cam' (step 137): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.135, "right_z": 0.015}, "note": "Lemon is centred just above the jaw convergence in the right wrist view. Nudging forward slightly and descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
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 noteLemon sits centred between the right jaws near table level. Closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1993, -0.0799, 0.9965, 0.3367, 2.0525, 1.3376, -0.3328, 0.1913, 0.2127, 0.9996] state[eef_state]: left_x=0.2896 left_y=-0.0013 left_z=0.1926 left_yaw=0.0682 left_pitch=-0.3432 left_roll=0.1315 left_gripper=0.9965 right_x=0.4708 right_y=0.133 right_z=0.0199 right_yaw=0.0201 right_pitch=-0.4348 right_roll=-0.0552 right_gripper=0.9996 state[joint_eff]: [-0.294, -3.0017, 7.2274, 1.3651, -0.2662, -0.0415, -0.0073, -0.3077, -10.1949, 5.9829, 1.3504, 0.0708, -0.0904, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.0}, "note": "Lemon sits centred between the right jaws near table level. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteGripper settled at 0.44 (~4 cm), so the lemon is held. Lifting it clear of the safe walls.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1986, -0.0864, 0.9966, 0.3344, 2.0724, 1.3346, -0.334, 0.1902, 0.2096, 0.4366] state[eef_state]: left_x=0.2896 left_y=-0.0014 left_z=0.1925 left_yaw=0.0713 left_pitch=-0.3429 left_roll=0.1267 left_gripper=0.9966 right_x=0.468 right_y=0.131 right_z=0.0094 right_yaw=0.0171 right_pitch=-0.458 right_roll=-0.0641 right_gripper=0.4366 state[joint_eff]: [-0.1983, -2.8376, 6.7624, 1.2918, -0.1783, 0.0855, -0.0073, 0.0479, -12.6974, 6.3795, 1.1306, 0.0904, -0.0464, 1.0281] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.44 (~4 cm), so the lemon is held. Lifting it clear of the safe walls."})
tool
executing move_to over 14 steps (1.4s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteLemon lifted with the right arm. Carrying it over the right half of the safe interior, beside the white teddy.
move_to
right_x0.4400right_y0.3000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.8944, -0.1986, -0.0902, 0.9966, 0.3344, 1.9881, 2.0399, -1.1156, 0.1867, 0.2054, 0.4414] state[eef_state]: left_x=0.2861 left_y=-0.0009 left_z=0.189 left_yaw=0.0752 left_pitch=-0.3639 left_roll=0.1291 left_gripper=0.9966 right_x=0.4695 right_y=0.1322 right_z=0.2131 right_yaw=0.0239 right_pitch=-0.4515 right_roll=-0.0606 right_gripper=0.4414 state[joint_eff]: [-0.1299, -3.0838, 6.5436, 1.4237, -0.1685, -0.0171, -0.0122, -0.1983, -9.2103, 7.5009, 1.1844, 0.1245, 0.0122, 1.0379] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.3, "right_z": 0.2}, "note": "Lemon lifted with the right arm. Carrying it over the right half of the safe interior, beside the white teddy."})
tool
executing move_to over 14 steps (1.4s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteLemon is above the safe's red interior in the right wrist view. Lowering before releasing.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.8986, -0.1986, -0.091, 0.9966, 0.6991, 2.3852, 2.6495, -1.4124, 0.3275, 0.5083, 0.4414] state[eef_state]: left_x=0.2852 left_y=-0.0008 left_z=0.1884 left_yaw=0.0759 left_pitch=-0.3679 left_roll=0.1296 left_gripper=0.9966 right_x=0.44 right_y=0.3004 right_z=0.1988 right_yaw=0.0654 right_pitch=-0.4602 right_roll=-0.0574 right_gripper=0.4414 state[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3504, -0.1099, -0.0708, -0.0122, 0.1573, -12.3692, 6.8308, 0.8083, 0.3639, 0.2515, 1.0281] camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Lemon is above the safe's red interior in the right wrist view. Lowering before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteLemon is inside the safe beside the white teddy. Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9009, -0.1986, -0.0906, 0.9966, 0.6998, 2.2753, 2.0579, -1.0653, 0.3206, 0.5079, 0.4414] state[eef_state]: left_x=0.2848 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3702 left_roll=0.1304 left_gripper=0.9966 right_x=0.4241 right_y=0.289 right_z=0.0911 right_yaw=0.0252 right_pitch=-0.5711 right_roll=-0.1458 right_gripper=0.4414 state[joint_eff]: [-0.1573, -2.8786, 6.4889, 1.3553, -0.1197, -0.0513, -0.0122, -0.1436, -16.7863, 7.159, 1.1648, 0.1734, -0.0317, 1.033] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is inside the safe beside the white teddy. Releasing it."})
tool
executing move_to over 6 steps (0.6s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteLemon and white teddy are both in the safe. Lifting the right arm straight out of the safe before going for the brown teddy.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9012, -0.1986, -0.0906, 0.9966, 0.6998, 2.2742, 2.035, -1.0653, 0.3172, 0.5007, 0.9948] state[eef_state]: left_x=0.2847 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3706 left_roll=0.1305 left_gripper=0.9966 right_x=0.4199 right_y=0.2862 right_z=0.0842 right_yaw=0.0236 right_pitch=-0.5907 right_roll=-0.1625 right_gripper=0.9948 state[joint_eff]: [-0.0068, -2.7419, 6.5026, 1.3407, -0.1538, -0.0513, -0.0122, -0.3761, -12.7932, 8.0205, 0.7546, 0.149, 0.022, -0.2662] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Lemon and white teddy are both in the safe. Lifting the right arm straight out of the safe before going for the brown teddy."})
tool
executing move_to over 9 steps (0.9s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteBrown teddy lies just in front of the safe's front wall. Moving the right arm back over it to line up a grasp.
move_to
right_x0.3200right_y0.2700right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.902, -0.1986, -0.0906, 0.9966, 0.6979, 2.3917, 2.6129, -1.5585, 0.3134, 0.4973, 0.9966] state[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3713 left_roll=0.1306 left_gripper=0.9966 right_x=0.4112 right_y=0.2785 right_z=0.1727 right_yaw=0.0126 right_pitch=-0.6189 right_roll=-0.1856 right_gripper=0.9966 state[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3065, -0.1685, -0.0415, -0.0122, -0.6906, -17.306, 6.2427, 0.8034, 0.2076, -0.1148, 0.1783] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.27, "right_z": 0.15}, "note": "Brown teddy lies just in front of the safe's front wall. Moving the right arm back over it to line up a grasp."})
tool
executing move_to over 8 steps (0.8s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteRight arm barely moved on the last command (x stuck near 0.40). Retrying the pull-back with a higher z so it clears the safe wall.
move_to
right_x0.3000right_y0.2700right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9016, -0.1986, -0.0906, 0.9966, 0.717, 2.3672, 2.5793, -1.5806, 0.318, 0.5014, 0.9968] state[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3709 left_roll=0.1306 left_gripper=0.9966 right_x=0.3982 right_y=0.2786 right_z=0.174 right_yaw=0.0108 right_pitch=-0.6396 right_roll=-0.2128 right_gripper=0.9968 state[joint_eff]: [-0.1573, -2.6051, 6.7214, 1.3114, -0.149, -0.0659, -0.0122, -0.1026, -14.9812, 5.8735, 0.7302, 0.2759, 0.1099, 0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.27, "right_z": 0.2}, "note": "Right arm barely moved on the last command (x stuck near 0.40). Retrying the pull-back with a higher z so it clears the safe wall."})
tool
executing move_to over 8 steps (0.8s)
step 216
top_cam
camera top_cam step 216
left_cam
camera left_cam step 216
right_cam
camera right_cam step 216
assistant
agent noteBrown teddy lies below, slightly left and ahead of the jaw column in the right wrist view. Nudging forward/left and descending to grab its torso.
move_to
right_x0.3200right_y0.2800right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9043, -0.1986, -0.0906, 0.9966, 0.894, 1.9553, 2.027, -1.478, 0.3523, 0.6296, 0.9969] state[eef_state]: left_x=0.2842 left_y=-0.0006 left_z=0.1872 left_yaw=0.0764 left_pitch=-0.3754 left_roll=0.1316 left_gripper=0.9966 right_x=0.2937 right_y=0.274 right_z=0.2016 right_yaw=0.0587 right_pitch=-0.6283 right_roll=-0.2194 right_gripper=0.9969 state[joint_eff]: [-0.1026, -2.8376, 6.5299, 1.3504, -0.1538, -0.0611, -0.0073, -0.5812, -9.5521, 5.5863, 0.906, 0.4469, 0.0708, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.32, "right_y": 0.28, "right_z": 0.03}, "note": "Brown teddy lies below, slightly left and ahead of the jaw column in the right wrist view. Nudging forward/left and descending to grab its torso."})
tool
executing move_to over 12 steps (1.2s)
step 228
top_cam
camera top_cam step 228
left_cam
camera left_cam step 228
right_cam
camera right_cam step 228
assistant
agent noteBrown teddy's body fills the space between the right jaws. Closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.9969, 0.8631, 2.0182, 1.4479, -0.8505, 0.3592, 0.5941, 0.9969] state[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.9969 right_x=0.3096 right_y=0.2719 right_z=0.0356 right_yaw=0.0391 right_pitch=-0.6376 right_roll=-0.254 right_gripper=0.9969 state[joint_eff]: [-0.1436, -2.7692, 6.5026, 1.3016, -0.1685, -0.0366, 0.022, -0.4171, -9.6342, 5.9692, 0.7009, 0.2418, -0.0757, -0.0073] camera 'top_cam' (step 228): [image omitted: streamed camera frame] camera 'left_cam' (step 228): [image omitted: streamed camera frame] camera 'right_cam' (step 228): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Brown teddy's body fills the space between the right jaws. Closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 238
top_cam
camera top_cam step 238
assistant
agent noteGripper closed to 0.01, meaning it missed; the teddy is still visible ahead of the jaws. Opening and lifting slightly to reposition.
move_to
right_gripper1.0000right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.997, 0.8692, 2.0308, 1.4143, -0.8127, 0.3744, 0.5949, 0.0086] state[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.997 right_x=0.3078 right_y=0.2697 right_z=0.0239 right_yaw=0.0304 right_pitch=-0.6319 right_roll=-0.274 right_gripper=0.0086 state[joint_eff]: [-0.0615, -2.8923, 6.6256, 1.3407, -0.1587, -0.0024, -0.0024, 0.3624, -12.8342, 5.4496, 0.5641, 0.3297, 0.0513, 0.6471] camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.06}, "note": "Gripper closed to 0.01, meaning it missed; the teddy is still visible ahead of the jaws. Opening and lifting slightly to reposition."})
tool
executing move_to over 10 steps (1.0s)
step 248
assistant
agent noteOverhead view shows the brown teddy sits closer to the base than the gripper, which has drifted into a back-tilted pose. Straightening the wrist and moving ~5 cm back while descending onto the teddy.
move_to
right_x0.2500right_y0.2800right_z0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 0.8761, 2.006, 1.4433, -0.9039, 0.3855, 0.5938, 0.9945] state[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.3009 right_y=0.263 right_z=0.0391 right_yaw=0.0103 right_pitch=-0.6485 right_roll=-0.3186 right_gripper=0.9945 state[joint_eff]: [-0.0615, -2.906, 6.6393, 1.3016, -0.1343, -0.0513, -0.0073, -0.0342, -12.6838, 8.2667, 0.4518, 0.3492, 0.0415, -0.1538] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.28, "right_z": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Overhead view shows the brown teddy sits closer to the base than the gripper, which has drifted into a back-tilted pose. Straightening the wrist and moving ~5 cm back while descending onto the teddy."})
tool
executing move_to over 22 steps (2.2s)
step 270
assistant
agent noteWrist is now vertical right over the brown teddy, which sits mostly to the left of the jaws. Shifting 3 cm left and pressing to table level.
move_to
right_y0.3100right_z-0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.1942, 1.8946, 0.7708, 0.046, 0.857, 0.9184, 0.9953] state[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2502 right_y=0.2794 right_z=0.0038 right_yaw=0.0215 right_pitch=-0.0315 right_roll=-0.0178 right_gripper=0.9953 state[joint_eff]: [-0.0479, -2.6872, 6.5026, 1.2674, -0.1587, -0.0366, -0.0171, 0.5402, -5.9419, 3.9863, 1.033, 0.398, 0.1001, 0.0708] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.31, "right_z": -0.01}, "note": "Wrist is now vertical right over the brown teddy, which sits mostly to the left of the jaws. Shifting 3 cm left and pressing to table level."})
tool
executing move_to over 3 steps (0.3s)
step 273
assistant
agent noteOverhead view shows the right gripper sitting on the brown teddy at table level. 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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.2175, 1.9846, 0.8776, 0.0376, 0.8833, 0.9371, 0.9954] state[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2551 right_y=0.3077 right_z=0.0018 right_yaw=0.0219 right_pitch=-0.0068 right_roll=-0.0033 right_gripper=0.9954 state[joint_eff]: [-0.0205, -2.7009, 6.5709, 1.3065, -0.1197, -0.0659, -0.0171, 0.6085, -6.7214, 4.7521, 0.7692, 0.2711, 0.2222, -0.0073] camera 'top_cam' (step 273): [image omitted: streamed camera frame] camera 'left_cam' (step 273): [image omitted: streamed camera frame] camera 'right_cam' (step 273): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Overhead view shows the right gripper sitting on the brown teddy at table level. Closing to grab it."})
tool
executing move_to over 10 steps (1.0s)
step 283
assistant
agent noteMissed again: the teddy sits to the left of the jaws (lower-left in the wrist view, left of the gripper overhead). Opening and sliding 4 cm left and a touch forward.
move_to
right_gripper1.0000right_y0.3500right_x0.2650right_z-0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.091, 0.997, 1.2201, 1.9877, 0.8864, 0.0399, 0.886, 0.9356, 0.0082] state[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0767 left_pitch=-0.3765 left_roll=0.1316 left_gripper=0.997 right_x=0.2556 right_y=0.311 right_z=0.0034 right_yaw=0.0242 right_pitch=-0.0017 right_roll=0.002 right_gripper=0.0082 state[joint_eff]: [-0.0479, -2.6462, 6.6803, 1.2967, -0.1392, -0.0659, -0.0171, -0.2803, -9.1009, 3.9179, 1.0818, 0.2906, -0.0415, 0.6569] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_y": 0.35, "right_x": 0.265, "right_z": -0.01}, "note": "Missed again: the teddy sits to the left of the jaws (lower-left in the wrist view, left of the gripper overhead). Opening and sliding 4 cm left and a touch forward."})
tool
executing move_to over 10 steps (1.0s)
step 293
assistant
agent noteTeddy is still just off the left edge of the jaws in both views. Sliding another 4 cm left to center it before closing.
move_to
right_y0.3900right_z-0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9203, -0.1986, -0.0906, 0.997, 1.2247, 2.1052, 1.0538, 0.0036, 0.902, 0.9443, 0.9943] state[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1845 left_yaw=0.0779 left_pitch=-0.3929 left_roll=0.1357 left_gripper=0.997 right_x=0.2687 right_y=0.3473 right_z=0.0008 right_yaw=0.0159 right_pitch=0.0162 right_roll=0.0172 right_gripper=0.9943 state[joint_eff]: [-0.1983, -3.0154, 6.4752, 1.4383, -0.1343, -0.0464, -0.0073, 0.6085, -7.706, 5.559, 0.9597, 0.2613, 0.0562, 0.1099] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.39, "right_z": -0.01}, "note": "Teddy is still just off the left edge of the jaws in both views. Sliding another 4 cm left to center it before closing."})
tool
executing move_to over 4 steps (0.4s)
step 297
assistant
agent noteOverhead view now shows the right gripper right at the brown teddy. Closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9226, -0.1982, -0.0906, 0.9971, 1.2552, 2.2108, 1.2392, -0.0784, 0.9234, 0.9668, 0.9953] state[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1842 left_yaw=0.0778 left_pitch=-0.3952 left_roll=0.1359 left_gripper=0.9971 right_x=0.2712 right_y=0.3883 right_z=0.0022 right_yaw=0.0236 right_pitch=0.0324 right_roll=0.0277 right_gripper=0.9953 state[joint_eff]: [-0.1573, -2.6735, 6.5162, 1.2527, -0.1245, -0.0513, -0.0073, 0.1709, -8.8821, 5.8462, 0.9109, 0.2662, 0.1832, 0.0904] 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
move_to({"targets": {"right_gripper": 0.0}, "note": "Overhead view now shows the right gripper right at the brown teddy. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 307
assistant
agent noteThird right-arm close was empty; the brown teddy sits just beyond the right arm's side limit. Moving the right arm away and bringing the left arm over the teddy instead.
move_to
right_gripper1.0000right_z0.2000right_x0.2500right_y0.1200left_x0.2800left_y-0.2200left_z0.0600left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9237, -0.1986, -0.0906, 0.9971, 1.2556, 2.2181, 1.2507, -0.0879, 0.9298, 0.9619, 0.0083] state[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.184 left_yaw=0.0782 left_pitch=-0.3963 left_roll=0.1365 left_gripper=0.9971 right_x=0.272 right_y=0.3891 right_z=0.0022 right_yaw=0.0238 right_pitch=0.036 right_roll=0.0166 right_gripper=0.0083 state[joint_eff]: [-0.0479, -2.8376, 6.4615, 1.2674, -0.1343, -0.0415, -0.0122, -0.1983, -11.9863, 4.2188, 1.1551, 0.2906, 0.0317, 0.6032] camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.2, "right_x": 0.25, "right_y": 0.12, "left_x": 0.28, "left_y": -0.22, "left_z": 0.06, "left_pitch": 0.0, "left_roll": 0.0, "left_yaw": 0.0}, "note": "Third right-arm close was empty; the brown teddy sits just beyond the right arm's side limit. Moving the right arm away and bringing the left arm over the teddy instead."})
tool
executing move_to over 23 steps (2.3s)
step 330
assistant
agent noteBrown teddy shows at the bottom-left of the left wrist view, just under and left of the jaws. Shifting ~4 cm left and descending to table level.
move_to
left_x0.2650left_y-0.1750left_z-0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0348, 1.5635, 0.6266, -0.0463, -0.77, -0.7689, 0.9971, 0.8474, 0.8829, 0.6888, -0.5602, 0.6823, 0.5365, 0.9976] state[eef_state]: left_x=0.2726 left_y=-0.2111 left_z=0.0504 left_yaw=-0.0207 left_pitch=-0.0634 left_roll=0.0479 left_gripper=0.9971 right_x=0.2499 right_y=0.1201 right_z=0.1858 right_yaw=-0.003 right_pitch=0.0229 right_roll=0.0124 right_gripper=0.9976 state[joint_eff]: [-0.335, -5.8735, 6.1607, 1.4481, -0.6471, -0.0317, -0.0122, -0.1162, -1.6342, 9.7846, 1.8437, 0.2613, -0.0757, -0.0122] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.265, "left_y": -0.175, "left_z": -0.01}, "note": "Brown teddy shows at the bottom-left of the left wrist view, just under and left of the jaws. Shifting ~4 cm left and descending to table level."})
tool
executing move_to over 4 steps (0.4s)
step 334
assistant
agent noteTeddy still sits off the left jaw. Sliding 2.5 cm left while closing, to save calls.
move_to
left_y-0.1450left_z-0.0100left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9878, 1.6684, 0.4133, 0.2779, -0.7753, -0.7429, 0.9971, 0.8452, 0.8883, 0.6895, -0.6098, 0.6613, 0.5236, 0.9988] state[eef_state]: left_x=0.2651 left_y=-0.1709 left_z=-0.002 left_yaw=0.0149 left_pitch=-0.0573 left_roll=0.066 left_gripper=0.9971 right_x=0.2445 right_y=0.1176 right_z=0.1759 right_yaw=0.0167 right_pitch=-0.0244 right_roll=-0.0289 right_gripper=0.9988 state[joint_eff]: [0.4171, -3.1795, 3.0154, 0.7643, 0.0073, 0.2711, -0.0122, 0.1299, -2.0308, 6.694, 1.8584, 0.4762, 0.1001, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.145, "left_z": -0.01, "left_gripper": 0.0}, "note": "Teddy still sits off the left jaw. Sliding 2.5 cm left while closing, to save calls."})
tool
executing move_to over 10 steps (1.0s)
step 344
assistant
agent noteLeft jaws appear to be pinching the brown teddy (its tag and fur show between the tips). Carrying it over the safe.
move_to
left_x0.4300left_y-0.3300left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9817, 1.6733, 0.3954, 0.3069, -0.7765, -0.7395, 0.0447, 0.8448, 0.894, 0.6861, -0.635, 0.6563, 0.5232, 0.9989] state[eef_state]: left_x=0.2647 left_y=-0.1669 left_z=-0.0044 left_yaw=0.0195 left_pitch=-0.0534 left_roll=0.0641 left_gripper=0.0447 right_x=0.2416 right_y=0.1152 right_z=0.1693 right_yaw=0.019 right_pitch=-0.0503 right_roll=-0.052 right_gripper=0.9989 state[joint_eff]: [0.0342, -6.1744, 4.547, 1.0916, -0.3687, 0.0464, 1.0818, -0.0342, -2.0718, 7.0085, 1.6679, 0.2662, -0.0464, -0.0024] camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.33, "left_z": 0.2}, "note": "Left jaws appear to be pinching the brown teddy (its tag and fur show between the tips). Carrying it over the safe."})
tool
executing move_to over 15 steps (1.5s)
step 359
assistant
agent noteThe brown teddy hangs from the left jaws right above the open safe, as the right wrist cam shows. Opening to drop it in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.881, 2.0617, 1.8236, -0.6453, -0.7128, -0.6552, 0.0471, 0.8448, 0.8959, 0.6857, -0.6571, 0.6529, 0.5232, 0.9989] state[eef_state]: left_x=0.4266 left_y=-0.33 left_z=0.1881 left_yaw=0.0308 left_pitch=-0.047 left_roll=0.0312 left_gripper=0.0471 right_x=0.2391 right_y=0.1131 right_z=0.1654 right_yaw=0.0203 right_pitch=-0.0688 right_roll=-0.0682 right_gripper=0.9989 state[joint_eff]: [0.1846, -12.0821, 8.0615, 0.8523, -0.3687, 0.2271, 1.0281, -0.1573, -1.7299, 6.8444, 1.5702, 0.2613, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 359): [image omitted: streamed camera frame] camera 'left_cam' (step 359): [image omitted: streamed camera frame] camera 'right_cam' (step 359): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The brown teddy hangs from the left jaws right above the open safe, as the right wrist cam shows. Opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 369
assistant
agent noteI put all three objects into the safe but ran out of budget before closing the lid, so the task is not complete. The left arm dropped in the white teddy, the right arm dropped in the lemon (gripper settled at about 4 cm), and the left arm then dropped in the brown teddy after the right arm missed it three times. The last wrist view shows the brown teddy and the lemon inside, but part of the brown teddy may be hanging over the front wall, and I didn't check that in the overhead view.
done
hindsightWhere things were in this trial: the safe's interior centre was at left-frame (x≈0.42–0.44, y≈-0.29) = right-frame (0.42–0.44, 0.29–0.36). Dropping from a carry height of z≈0.10–0.12 worked, and a lid-closing move needs budget reserved. The brown teddy was in front of the safe at about right-frame (0.27, >0.39), which is beyond the right arm's +y bound of 0.4. The left arm reached it at y≈-0.17 to -0.2. Use the left arm for anything near image x≈90–120 in the front of the table. In the wrist cams, an object that looks centred just above the jaws is really 3–4 cm further out. On the first white-teddy grasp I had to advance about 4 cm past the estimate. Plush toys close to a reading of 0.2 when grasped, and a reading of 0.01 means a miss. After long moves to far targets the right arm drifted into a pitch of about -0.6 (tool tilted back), which made the wrist view misleading and stalled x motions. Command pitch=0 and roll=0 explicitly on approach moves. When the wrist view is ambiguous, trust the overhead view for where the gripper sits relative to the object. Budget: 40 calls is tight for 3 objects plus the lid. Combine the idle arm's parking with the working arm's moves, skip the separate lift-then-carry steps (go straight to the carry pose), and avoid repeated misses: after one empty close, re-measure from the overhead view or switch arms.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8818, 2.0773, 1.8236, -0.6666, -0.7078, -0.6662, 0.9952, 0.8448, 0.8959, 0.6857, -0.6758, 0.6456, 0.5232, 0.9989] state[eef_state]: left_x=0.4246 left_y=-0.3292 left_z=0.177 left_yaw=0.0346 left_pitch=-0.0724 left_roll=0.0493 left_gripper=0.9952 right_x=0.2367 right_y=0.1119 right_z=0.1623 right_yaw=0.0242 right_pitch=-0.0856 right_roll=-0.0782 right_gripper=0.9989 state[joint_eff]: [0.0205, -13.0803, 6.653, 1.5067, -0.4322, 0.0513, 0.022, -0.1162, -1.1282, 6.8034, 1.5214, 0.315, -0.0415, -0.0122] camera 'top_cam' (step 369): [image omitted: streamed camera frame] camera 'left_cam' (step 369): [image omitted: streamed camera frame] camera 'right_cam' (step 369): [image omitted: streamed camera frame]
assistant
done({"summary": "I put all three objects into the safe but ran out of budget before closing the lid, so the task is not complete. The left arm dropped in the white teddy, the right arm dropped in the lemon (gripper settled at about 4 cm), and the left arm then dropped in the brown teddy after the right arm missed it three times. The last wrist view shows the brown teddy and the lemon inside, but part of the brown teddy may be hanging over the front wall, and I didn't check that in the overhead view.", "hindsight": "Where things were in this trial: the safe's interior centre was at left-frame (x\u22480.42\u20130.44, y\u2248-0.29) = right-frame (0.42\u20130.44, 0.29\u20130.36). Dropping from a carry height of z\u22480.10\u20130.12 worked, and a lid-closing move needs budget reserved. The brown teddy was in front of the safe at about right-frame (0.27, >0.39), which is beyond the right arm's +y bound of 0.4. The left arm reached it at y\u2248-0.17 to -0.2. Use the left arm for anything near image x\u224890\u2013120 in the front of the table.\nIn the wrist cams, an object that looks centred just above the jaws is really 3\u20134 cm further out. On the first white-teddy grasp I had to advance about 4 cm past the estimate. Plush toys close to a reading of 0.2 when grasped, and a reading of 0.01 means a miss.\nAfter long moves to far targets the right arm drifted into a pitch of about -0.6 (tool tilted back), which made the wrist view misleading and stalled x motions. Command pitch=0 and roll=0 explicitly on approach moves. When the wrist view is ambiguous, trust the overhead view for where the gripper sits relative to the object.\nBudget: 40 calls is tight for 3 objects plus the lid. Combine the idle arm's parking with the working arm's moves, skip the separate lift-then-carry steps (go straight to the carry pose), and avoid repeated misses: after one empty close, re-measure from the overhead view or switch arms."})
tool
done: I put all three objects into the safe but ran out of budget before closing the lid, so the task is not complete. The left arm dropped in the white teddy, the right arm dropped in the lemon (gripper settled at about 4 cm), and the left arm then dropped in the brown teddy after the right arm missed it three times. The last wrist view shows the brown teddy and the lemon inside, but part of the brown teddy may be hanging over the front wall, and I didn't check that in the overhead view.
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 · 11.66 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3901, -0.0196, -0.0341, 0.9993, -0.0212, 0.7921, 0.6064, -0.3977, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2632, 1.9902, -0.0855, 0.1392, -0.0904, -0.5949, -1.3333, 9.6342, 1.9853, -0.0464, 0.0904, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe8f052958561861cc6ea0442e7f701ddf9f7a8106b98a8d19caac619ba2c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c4db9e75df7be3566a5fa6122dae3db9a1edbb8a8a2d13ec9735e4ffffbc58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2bd8ef140e8a2034699a5d922113efeb25da55db4bc25de59ebf925662f87ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 4.098 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3901, -0.0196, -0.0341, 0.9993, -0.0212, 0.7921, 0.6064, -0.3977, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2632, 1.9902, -0.0855, 0.1392, -0.0904, -0.5949, -1.3333, 9.6342, 1.9853, -0.0464, 0.0904, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe8f052958561861cc6ea0442e7f701ddf9f7a8106b98a8d19caac619ba2c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c4db9e75df7be3566a5fa6122dae3db9a1edbb8a8a2d13ec9735e4ffffbc58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2bd8ef140e8a2034699a5d922113efeb25da55db4bc25de59ebf925662f87ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012tT41v6Gic5bhyPxKpStok",
      "input": {
        "note": "Scene: open red safe in the centre, small white teddy left of it, lemon right of it, brown teddy in front. Moving the left arm over the white teddy to line up a grasp.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.12,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012tT41v6Gic5bhyPxKpStok",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5858, 1.169, 0.6392, -0.2192, -0.4507, -0.3588, 0.9992, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3165 left_y=-0.1133 left_z=0.1271 left_yaw=-0.0324 left_pitch=-0.0824 left_roll=0.0372 left_gripper=0.9992 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=0.0002 right_pitch=-0.04 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -3.9316, 9.2923, 1.8584, -0.3687, -0.0464, -0.022, -0.1709, -1.7436, 6.9128, 2.0586, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3d8480c388d0f6fa36f6855fbd507d15e20343cd7a975cbc8b1ccae1822c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ab2ce61b05a541f2fdafd87a9312fd640795f5740244b60db300e644da602a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cedb1038e2fbd754a0f9f27f1f544221e4f277b284f2f3fd7c298d4e0b812f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /messages · status 200 · 3.898 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3901, -0.0196, -0.0341, 0.9993, -0.0212, 0.7921, 0.6064, -0.3977, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2632, 1.9902, -0.0855, 0.1392, -0.0904, -0.5949, -1.3333, 9.6342, 1.9853, -0.0464, 0.0904, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5858, 1.169, 0.6392, -0.2192, -0.4507, -0.3588, 0.9992, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3165 left_y=-0.1133 left_z=0.1271 left_yaw=-0.0324 left_pitch=-0.0824 left_roll=0.0372 left_gripper=0.9992 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=0.0002 right_pitch=-0.04 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -3.9316, 9.2923, 1.8584, -0.3687, -0.0464, -0.022, -0.1709, -1.7436, 6.9128, 2.0586, -0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3d8480c388d0f6fa36f6855fbd507d15e20343cd7a975cbc8b1ccae1822c1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23ab2ce61b05a541f2fdafd87a9312fd640795f5740244b60db300e644da602a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cedb1038e2fbd754a0f9f27f1f544221e4f277b284f2f3fd7c298d4e0b812f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSvwgKEAgSGAI4AUIIdGhpbmtpbmcSDGQnMT5ONCUuBKW4/xoMT3kIqLtPUXPMryXIIjB9z1iGN8vijsoHqJ+S7XqU9fCywpLqS6uAo2SAH4PO4Vmqr+EFc6vP/ixIb2a4bT8q3AdmaLtKRTaJT06lcJdk25rj0tdILjFCN0t4hpdf8gukE7tz3pj1u8t0ue90QnMNU60yuQ1RT973nO8HpFR7AcWnvqsFDM7Ti5FtEPU0LvBANKPxOLnctWRJcNE4d04isfDzMCgPz1c2SR2tNlzpeo5a11GsK5Uj/UF6gOw24gVi2NRAE4PBNjZblj6CE3Cd6lwTc1n9Ia6Iw0BWP75IBKeGsVl/lxtVoJ1GS3s5BjqZkJdgNIdo1ys6icB4rlUuEY5YoL9iZMaTV4MM0wUqorIPgQ3KBNRpcr6tKGhfCAti4vBqJNd5+vOncoltie0bE73gdT4TtpjCNKIMpWPpZ8Wq1col1jXDdGG+jq2OMSSfZN7j1jTi4vc9loWMMd2T9tbSm27VVPZpPIGAmsEoMaZjRHFe4Udw/NXKKdoHJ46mHR/dIrZiheufV3B0o0UElHR4MpkBbOfSDiu24ANWu4x4cga9Gubwcx3b8z9k0ejivmxfynA7NuM6f7qMEoqRnwShE/nl7CeLw1N566qqsJ7/KhYhCwgVGt9fS1nDiSTZTewpxW6S38SpTEIywKpVpuCutpI2Rh1k3AkuuOdfoEdpA6PKu1ZQiSPMYv56vITb1e8dbE1pLJi+2euMiEDOycaaejxHkpPzTPutg75yTPR4Cu8ujP4m15sais5B0n4rdk2CKRW7oU0OHFKAReTnsv7Is4uNO2obVaWgO74rQ06L14alD4BAWCLy54ehm6MmgqXOXSU89M47xZ7aTsyMp2Plaf8Svz6urc7M2uFCt9jrDyh9mHTornkHA2MACEVTmSpY+mDK33x9Tbx74FVCrJHLjvAzys0NgDY4URWG1UhSDH0orN8H7A3Z/p3zs3+bvA4MlehQvenKcVVc7n7ze8F9P0kPRWcmNUFEQIExRrXefJZdrajY8YQrY0f17pPN8wrqARPp3U3yawNpQV4F4lNjhSbSRqz5+DtqfRDWpXOLa+A6FVobIO75dOUkjY4Nv4QgneXsOLwjWKxdknlaEtMVWd7lEGRw+yGAHynjSKRE9jythRxLQPFU33FFPuzNUo590bbvr3WY293/ouGU45dQvT3JmMsi96AUIBmdhDFLwWQYXnKvc3M8FrVFqwcP8zL0UeFTGbRvZSA8XfRFBT3PmtIIHEMAz49OEdZ3HEjmhju4zpbVX4cJRlBkwItEXI7lYGpGjdfr8zZVQGPAuerjIc43nPAJvz3gWo1/sMXDsoJQSWbvPa9YF+wqfHjxoo3Jw1RXSOKCRPiu1a6EVFZ2gbGl7QfKIaD7FkZ23ooZrVvmjVt30SrYkKlNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K4J8jwpyH4kyPQR6X8XRuH",
      "input": {
        "note": "White teddy is centred on the jaw column in the left wrist cam, slightly ahead. Advancing 2 cm and descending to grasp it.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.12,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01K4J8jwpyH4kyPQR6X8XRuH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5598, 1.5669, 0.4561, 0.2928, -0.437, -0.3527, 0.9992, -0.0212, 0.8028, 0.606, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3288 left_y=-0.1136 left_z=0.0153 left_yaw=-0.0163 left_pitch=-0.1466 left_roll=0.0698 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -5.4496, 4.0547, 1.5165, -0.105, 0.1148, -0.0171, -0.1299, -1.5111, 7.1043, 1.8877, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20770a9202c0686b04f9bd1aa79ed9c0f0f6bfe78551f7e641f0037ca597122a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fcf8241b7d5e0bc625da8c339dd7792217b641244b6b24aa2cf047244c96247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bb37e7208379859702e9fee1fded4fb5625b2f8e38a551ecba765810287a03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 5.115 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7918, 0.6037, -0.3901, -0.0196, -0.0341, 0.9993, -0.0212, 0.7921, 0.6064, -0.3977, -0.02, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1784 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1779 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2632, 1.9902, -0.0855, 0.1392, -0.0904, -0.5949, -1.3333, 9.6342, 1.9853, -0.0464, 0.0904, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5858, 1.169, 0.6392, -0.2192, -0.4507, -0.3588, 0.9992, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3165 left_y=-0.1133 left_z=0.1271 left_yaw=-0.0324 left_pitch=-0.0824 left_roll=0.0372 left_gripper=0.9992 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=0.0002 right_pitch=-0.04 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -3.9316, 9.2923, 1.8584, -0.3687, -0.0464, -0.022, -0.1709, -1.7436, 6.9128, 2.0586, -0.022, -0.0269, -0.0171]",
      "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]: [-0.5598, 1.5669, 0.4561, 0.2928, -0.437, -0.3527, 0.9992, -0.0212, 0.8028, 0.606, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3288 left_y=-0.1136 left_z=0.0153 left_yaw=-0.0163 left_pitch=-0.1466 left_roll=0.0698 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -5.4496, 4.0547, 1.5165, -0.105, 0.1148, -0.0171, -0.1299, -1.5111, 7.1043, 1.8877, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20770a9202c0686b04f9bd1aa79ed9c0f0f6bfe78551f7e641f0037ca597122a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fcf8241b7d5e0bc625da8c339dd7792217b641244b6b24aa2cf047244c96247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bb37e7208379859702e9fee1fded4fb5625b2f8e38a551ecba765810287a03e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Teddy is between jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PYANFAq1hmphTYYPtmMUwf",
      "input": {
        "note": "The white teddy fills the left wrist view between the jaws at table level. Closing the gripper on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PYANFAq1hmphTYYPtmMUwf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.578, 0.45, 0.3092, -0.4389, -0.3561, 0.0435, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1135 left_z=0.0125 left_yaw=-0.0144 left_pitch=-0.1464 left_roll=0.0688 left_gripper=0.0435 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0923 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.4752, 5.4359, 1.3651, -0.149, 0.0269, 1.0525, -0.0479, -1.2103, 6.9675, 1.8632, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5bf742eb89a3977e219b1db2d222c584faee75317b5248f613f4397a021549",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e86de02726511bb78387888546d047590aec90ffbcc89cb6d3bbe49e83c2d474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6c5649fe740ac02e89aeb95bb9e51c6fe18dbbcb9fc9e1f07280d2d73d7789e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.014 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]: [-0.5858, 1.169, 0.6392, -0.2192, -0.4507, -0.3588, 0.9992, -0.0212, 0.7986, 0.6075, -0.4324, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3165 left_y=-0.1133 left_z=0.1271 left_yaw=-0.0324 left_pitch=-0.0824 left_roll=0.0372 left_gripper=0.9992 right_x=0.2882 right_y=0.001 right_z=0.1696 right_yaw=0.0002 right_pitch=-0.04 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -3.9316, 9.2923, 1.8584, -0.3687, -0.0464, -0.022, -0.1709, -1.7436, 6.9128, 2.0586, -0.022, -0.0269, -0.0171]",
      "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]: [-0.5598, 1.5669, 0.4561, 0.2928, -0.437, -0.3527, 0.9992, -0.0212, 0.8028, 0.606, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3288 left_y=-0.1136 left_z=0.0153 left_yaw=-0.0163 left_pitch=-0.1466 left_roll=0.0698 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -5.4496, 4.0547, 1.5165, -0.105, 0.1148, -0.0171, -0.1299, -1.5111, 7.1043, 1.8877, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.578, 0.45, 0.3092, -0.4389, -0.3561, 0.0435, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1135 left_z=0.0125 left_yaw=-0.0144 left_pitch=-0.1464 left_roll=0.0688 left_gripper=0.0435 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0923 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.4752, 5.4359, 1.3651, -0.149, 0.0269, 1.0525, -0.0479, -1.2103, 6.9675, 1.8632, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5bf742eb89a3977e219b1db2d222c584faee75317b5248f613f4397a021549",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e86de02726511bb78387888546d047590aec90ffbcc89cb6d3bbe49e83c2d474",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c5649fe740ac02e89aeb95bb9e51c6fe18dbbcb9fc9e1f07280d2d73d7789e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wgKEAgSGAI4AUIIdGhpbmtpbmcSDEIvdh0Vq24UCzlu+RoMCWeZxiMuu+B/7R2VIjAA17LiHEMocrhQEnrJ/saFYuUxKAIkVKVWNA7+CU315sUPzCRr7Mm2tgE1rR45Rfgq8AduYEedM/WPik0tBbL5KgtOSvSXx9gCToJNT6Z0jnJDpz+YTJfu4vUv/9uRBRf0oqIV8/74wOBGJehT6ciXSMUJV6Gy6ahH6XnbciCmkNSRUc1DRJQUkNP48tGI5KV6juA4Rs6B3pQTClwQ5oJSxidizuKNiySsc7/LM9VgfXMpiC9NoKzdfh0XE0y2cj9LTsmigWKDe0MK4g0N6rkVjKQKjcD7j7zwPlYGW1RWjI0PcK+mkcPAlmMrzbBhlnfHPVJArAX86HNkFLOsbPO578wwJCvu+8AA2qe97vIX7cwbfEV/P/ZXdBddF9kCXnY1FNWCAWhoXGCqpbpGBTxMAASZEdaJxVlnSt4aBKxbjUM257pA7TEvbHcQK4higBbU/NCMUHEOxmcucqPf+2V4OohGsfk/22e+Hl+hWRiczmUM1H35HxTn439ehW4LjnI2szSTxFk3FZOjsByzGyQtK4Uw8favYO2jTuzi5MeXn8Nf8Ny0KbgYZKcd7y7rCKcgIC3PQeQldqwK8Hf+PNzzx14jR8HFK2uJo9vVtOyrfxTXdukkvDs84Cj0c08ciajsmevPvv+CpW22yLQUqJqAz7GKNUVGIrgRRmcGyCckrny6jIF8xA5V6/CXyiGxGjxN2zBhBF0TMeu/T9ctHKlYwpqnZ0ICNv+arLs4GM6WM03J5/r6StmeZXShNN4GIWTHXdJ3jmy/Rrr6tPWTNTMbCRdgIh4KCh+4+RKJPo5FETHRhKIMVJRTz8zFU8zfEsEWyBIAgBevUGgdGgNv+A1g5UKPpVTUE8nFxjm8Eu8LiFioyhUgQ7SkbwHV1jCCKTYEgXopkGPz8CkUzt2aVjgbg8pfUM0a9tzj+HZJWMic7ZozZV4E1gEewsCfp03svSycJ/6ZtMhjNfQWR/uvg8eRjvtVvhbag0wlzdfW+RNxQHTq+rd6ljn0gmy9N5WDb40yeGOmjI+eMW7ct4gfG6qTo8fFohNdk9MTdNkB2JCvVQyeyL/sXYL19Cwfme0p748uK9ZGdkWikw3zbP9aeLkVH49ymZdh/ZC0mbO4RgSTcKN18FxuyIzCTWAREGWwVGzp6eHF1rVq57kE75Xai92Io2Yg8wgO2V2d7hbjmM8iE39OkJnUXKmUn76QZ/Xyl4MyZncSnEnCU2NixEk+ii8H4idK5pAwOsW+OoUWa50uMDiY91PqIAjtA9FhpY3BYbyUtnr1EepVIR8AW+74/zH9PoUQxIq0ShkKS6bmN9yKGOXbZ4/wadDks6qAmMcn7j5dMQ6wS5HnkGnvWVAdWupNZMGn99u7yHLR6i53Qa1iSIDlNnQ1rwHKC372+wijjERGFrYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CjCsjRoLEWed7oDcDFYvs1",
      "input": {
        "note": "Close came back empty: the teddy is still visible ahead of the jaw tips in the wrist cam. Opening and lifting slightly to reposition further forward.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CjCsjRoLEWed7oDcDFYvs1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.4517, 0.4961, 0.0986, -0.4385, -0.3645, 0.995, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3209 left_y=-0.109 left_z=0.035 left_yaw=-0.0068 left_pitch=-0.1787 left_roll=0.0825 left_gripper=0.995 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0004 right_pitch=-0.1144 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.3385, 7.9521, 1.536, -0.232, 0.0171, -0.0562, -0.0615, -1.1966, 6.9402, 1.8144, -0.0464, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e0b565b91b32d9f53f2c9fa5ef6f16dd7e43acbf6fb3b98a1e5b2ea2931446f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8857ea25b5353fdba838c5c4ef471193a2fb9be46bd112f4aab7cd61aea101bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf8fe5579030b4bec431a7915301ce2fac680dc925bb8c7a3729fa565231f1e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.731 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]: [-0.5598, 1.5669, 0.4561, 0.2928, -0.437, -0.3527, 0.9992, -0.0212, 0.8028, 0.606, -0.4549, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3288 left_y=-0.1136 left_z=0.0153 left_yaw=-0.0163 left_pitch=-0.1466 left_roll=0.0698 left_gripper=0.9992 right_x=0.2849 right_y=0.0011 right_z=0.1633 right_yaw=0.0003 right_pitch=-0.0683 right_roll=0.0011 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -5.4496, 4.0547, 1.5165, -0.105, 0.1148, -0.0171, -0.1299, -1.5111, 7.1043, 1.8877, -0.0317, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.578, 0.45, 0.3092, -0.4389, -0.3561, 0.0435, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1135 left_z=0.0125 left_yaw=-0.0144 left_pitch=-0.1464 left_roll=0.0688 left_gripper=0.0435 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0923 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.4752, 5.4359, 1.3651, -0.149, 0.0269, 1.0525, -0.0479, -1.2103, 6.9675, 1.8632, -0.0659, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5613, 1.4517, 0.4961, 0.0986, -0.4385, -0.3645, 0.995, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3209 left_y=-0.109 left_z=0.035 left_yaw=-0.0068 left_pitch=-0.1787 left_roll=0.0825 left_gripper=0.995 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0004 right_pitch=-0.1144 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.3385, 7.9521, 1.536, -0.232, 0.0171, -0.0562, -0.0615, -1.1966, 6.9402, 1.8144, -0.0464, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e0b565b91b32d9f53f2c9fa5ef6f16dd7e43acbf6fb3b98a1e5b2ea2931446f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8857ea25b5353fdba838c5c4ef471193a2fb9be46bd112f4aab7cd61aea101bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf8fe5579030b4bec431a7915301ce2fac680dc925bb8c7a3729fa565231f1e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wcKEAgSGAI4AUIIdGhpbmtpbmcSDJfcpqJMhCCYMkJ46RoMH4R1jlf3UQewno8YIjC1/Z0QD2zByNUfRHjArvy0jLraOpgNzUVUzP4r6ATCP7ucdE7RoXEXe/jOe6hbASAqlAdAzWOKpuBtAN5BqbPaUJlxbcF1tqzK0MDfcc8kwn+upju2/hgiWA3S0DLzm+QK0XC2qoGdRk5DZD7zt44mPFVZlvVl7n984eHW9MsFVFJ2kSuiQ97SujZV3Sc0DyjDLGULsPOuaUEPlhbrzwHrfmWzTozJjBs0FNH/RTUMfdcGMx9OwNP1b9QKYWeWrCbz1rmt6NKfBUBPJw5bz0OWZmnqM+Wl1ncUBmjfYgxhmWhhOxdFBItVjDMc97abXh/mFu0726J8PM7rAyEtbHOx9ckG+okzdCDdKUR/HSDCUDcUpva2GmQCmbu6bT8nNGG1S8Z4zfinKffejPtBj7yzWiIz+XNevu/BT+h45RX4x+mAhC6g637ZrCoD/0RNgT0c4ODRyCj9Iv0FH8nsAWjab57QUx6Mx94L3ojGPQ2OP26v620L40V+zgtZPV6xhBjTw7fuSHOrCVyDMC9pwN/TuqUZfJZe1lAFST731LSVx9zlS0qtWLpNQUp9BfZF3+d2e6cTS6PhwBZ57TfUwxla9RS60KDCpDeUL6AST8frrZuT8Trxb1tAlLOMvUr2Xk23JhNimsZ5/KFL/1bt/qX8ZsPFGsCzkXATKEeNa+j2mK3oFV7UjGWIGl1KpUI6Cc8ZGLdlIdW/noxcDKL62UJjXwt6/3bYyslIAJ8auWSbfhdXATbA0AM36bSaUbdhD7QesufGiJCxxgbO9VwKYb3xSAjW3SqRf9anPhV5O2DTXXaXUmJHc5DoKvqyWZ2r2LgPxn+x/yuE1/BArWOXJ5gd1AgtT5tE/19mM9lkPXfVH+ZK7cIU/rmDdnZ9m8oZCT6NYXrhfAatv6XjvcHEtAoUjivfZu2Smsq1H3ON/sS66j4iXoihVgOAnay+FiFLIgZavPSak7tCoJkKspm3W1ouYiCk+xrgHnqqLpAcdyD0c9FSmqejMKSYHquiVpIH+DHFzIl8PchkdV0uSCR+x6Bpf36MvPLvN9gnmTBJGsvT5HAV61hRQruPnFBx6MlGVhnvEsufcwnqBKhZN0q+PAYP7vUgQP+A+gh1ZZ0YXXTF5igRnVBgiNwH0LY891LY9HcHORnF9f3Kvcv7jElrHGafB94LXE2QEWv0qPaxsClpHPW4x6l9dCfmzeRcbu5ldMx9FZSnTbfVvnHNuJv5QuvljAR1ps8Ed/q110cI1MK8w7e0dsxFYVgukwBzsNc2XOuInNhNu2jcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hwoh72vbLz4L1ZDD3G9mwZ",
      "input": {
        "note": "Teddy sits centred but ahead of the jaws. Advancing ~4 cm radially and descending to table level for a second grasp.",
        "targets": {
          "left_x": 0.365,
          "left_y": -0.115,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Hwoh72vbLz4L1ZDD3G9mwZ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5011, 1.6989, 0.5674, 0.2668, -0.4156, -0.3473, 0.9957, -0.0212, 0.8074, 0.6056, -0.5167, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.1085 left_z=0.0015 left_yaw=0.027 left_pitch=-0.195 left_roll=0.084 left_gripper=0.9957 right_x=0.2754 right_y=0.0013 right_z=0.1502 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -5.2308, 5.4906, 1.072, -0.1636, 0.3394, 0.0611, -0.1299, -1.4291, 6.9128, 1.8291, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a886e499160fa6c78d9d558ca5ec5f47fa46bf1fcd4858788f69cf60ae22ffb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b27bd379ce676d9119d99e321f172d55573cf4932c9b898ee8209c70d8f83db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:568e22ae1e209e5fb8ba09b1cd0d8c59357195d1bdc34ce3f3732c0eaa188d08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 8.153 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]: [-0.5613, 1.578, 0.45, 0.3092, -0.4389, -0.3561, 0.0435, -0.0212, 0.8036, 0.6056, -0.4778, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3282 left_y=-0.1135 left_z=0.0125 left_yaw=-0.0144 left_pitch=-0.1464 left_roll=0.0688 left_gripper=0.0435 right_x=0.2814 right_y=0.0012 right_z=0.1585 right_yaw=0.0003 right_pitch=-0.0923 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -6.4752, 5.4359, 1.3651, -0.149, 0.0269, 1.0525, -0.0479, -1.2103, 6.9675, 1.8632, -0.0659, -0.0464, -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]: [-0.5613, 1.4517, 0.4961, 0.0986, -0.4385, -0.3645, 0.995, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3209 left_y=-0.109 left_z=0.035 left_yaw=-0.0068 left_pitch=-0.1787 left_roll=0.0825 left_gripper=0.995 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0004 right_pitch=-0.1144 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.3385, 7.9521, 1.536, -0.232, 0.0171, -0.0562, -0.0615, -1.1966, 6.9402, 1.8144, -0.0464, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5011, 1.6989, 0.5674, 0.2668, -0.4156, -0.3473, 0.9957, -0.0212, 0.8074, 0.6056, -0.5167, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.1085 left_z=0.0015 left_yaw=0.027 left_pitch=-0.195 left_roll=0.084 left_gripper=0.9957 right_x=0.2754 right_y=0.0013 right_z=0.1502 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -5.2308, 5.4906, 1.072, -0.1636, 0.3394, 0.0611, -0.1299, -1.4291, 6.9128, 1.8291, -0.022, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a886e499160fa6c78d9d558ca5ec5f47fa46bf1fcd4858788f69cf60ae22ffb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b27bd379ce676d9119d99e321f172d55573cf4932c9b898ee8209c70d8f83db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:568e22ae1e209e5fb8ba09b1cd0d8c59357195d1bdc34ce3f3732c0eaa188d08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XTnSMhccs9a2HRDeJ4Tn6m",
      "input": {
        "note": "Teddy now fills the space between the jaws at table level. Closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XTnSMhccs9a2HRDeJ4Tn6m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4957, 1.7336, 0.5827, 0.3294, -0.4049, -0.3187, 0.2117, -0.0212, 0.8082, 0.6056, -0.5453, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.1144 left_z=0.0032 left_yaw=0.0043 left_pitch=-0.1627 left_roll=0.0765 left_gripper=0.2117 right_x=0.2707 right_y=0.0014 right_z=0.1447 right_yaw=0.0005 right_pitch=-0.1644 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -6.3248, 5.2308, 1.3309, -0.1001, 0.0562, 0.6667, -0.1846, -1.2786, 6.8718, 1.8877, -0.0757, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecd34657f6e38aa75f688bf06bf5395aa428e5cdb36d6ce06df34ba853eaecc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:073caad10b5a1fbe2ffa09227091f61029502f4635aa9da5e94945f91a2d58b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d2ce490b044d70d004388295742480694bbbead2b212cff78a5ecb51f1fa19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 4.553 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]: [-0.5613, 1.4517, 0.4961, 0.0986, -0.4385, -0.3645, 0.995, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3209 left_y=-0.109 left_z=0.035 left_yaw=-0.0068 left_pitch=-0.1787 left_roll=0.0825 left_gripper=0.995 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0004 right_pitch=-0.1144 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -6.3385, 7.9521, 1.536, -0.232, 0.0171, -0.0562, -0.0615, -1.1966, 6.9402, 1.8144, -0.0464, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5011, 1.6989, 0.5674, 0.2668, -0.4156, -0.3473, 0.9957, -0.0212, 0.8074, 0.6056, -0.5167, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.1085 left_z=0.0015 left_yaw=0.027 left_pitch=-0.195 left_roll=0.084 left_gripper=0.9957 right_x=0.2754 right_y=0.0013 right_z=0.1502 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -5.2308, 5.4906, 1.072, -0.1636, 0.3394, 0.0611, -0.1299, -1.4291, 6.9128, 1.8291, -0.022, -0.022, -0.0122]",
      "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]: [-0.4957, 1.7336, 0.5827, 0.3294, -0.4049, -0.3187, 0.2117, -0.0212, 0.8082, 0.6056, -0.5453, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.1144 left_z=0.0032 left_yaw=0.0043 left_pitch=-0.1627 left_roll=0.0765 left_gripper=0.2117 right_x=0.2707 right_y=0.0014 right_z=0.1447 right_yaw=0.0005 right_pitch=-0.1644 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -6.3248, 5.2308, 1.3309, -0.1001, 0.0562, 0.6667, -0.1846, -1.2786, 6.8718, 1.8877, -0.0757, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecd34657f6e38aa75f688bf06bf5395aa428e5cdb36d6ce06df34ba853eaecc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:073caad10b5a1fbe2ffa09227091f61029502f4635aa9da5e94945f91a2d58b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d2ce490b044d70d004388295742480694bbbead2b212cff78a5ecb51f1fa19f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0176X1xBt4Ze43K4EWw6Lgmg",
      "input": {
        "note": "Gripper settled at 0.21, so the teddy is held. Lifting straight up to clear the safe walls.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0176X1xBt4Ze43K4EWw6Lgmg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4957, 1.3922, 1.0657, -0.5369, -0.4046, -0.3271, 0.2131, -0.0212, 0.8108, 0.6056, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3651 left_y=-0.1143 left_z=0.1735 left_yaw=0.0123 left_pitch=-0.1992 left_roll=0.0907 left_gripper=0.2131 right_x=0.2669 right_y=0.0014 right_z=0.14 right_yaw=0.0003 right_pitch=-0.1899 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -7.9248, 9.5248, 1.58, -0.2369, 0.0464, 0.1343, -0.0205, -1.4154, 6.9675, 1.7802, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98fad8ccd68843bcdd383eb596967a27ae4b139bafa6431bde2191cfcfc60e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea36d041cbc4580a5c35b0bd6425a486ba4b87c5558d1fb9aab9467b84ec7615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8172630a5b1e3d23e537542508625e25a0d99e416c245b705b5672f065abfca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.736 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]: [-0.5011, 1.6989, 0.5674, 0.2668, -0.4156, -0.3473, 0.9957, -0.0212, 0.8074, 0.6056, -0.5167, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.354 left_y=-0.1085 left_z=0.0015 left_yaw=0.027 left_pitch=-0.195 left_roll=0.084 left_gripper=0.9957 right_x=0.2754 right_y=0.0013 right_z=0.1502 right_yaw=0.0004 right_pitch=-0.135 right_roll=0.0026 right_gripper=0.9996\nstate[joint_eff]: [0.4855, -5.2308, 5.4906, 1.072, -0.1636, 0.3394, 0.0611, -0.1299, -1.4291, 6.9128, 1.8291, -0.022, -0.022, -0.0122]",
      "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]: [-0.4957, 1.7336, 0.5827, 0.3294, -0.4049, -0.3187, 0.2117, -0.0212, 0.8082, 0.6056, -0.5453, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.1144 left_z=0.0032 left_yaw=0.0043 left_pitch=-0.1627 left_roll=0.0765 left_gripper=0.2117 right_x=0.2707 right_y=0.0014 right_z=0.1447 right_yaw=0.0005 right_pitch=-0.1644 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -6.3248, 5.2308, 1.3309, -0.1001, 0.0562, 0.6667, -0.1846, -1.2786, 6.8718, 1.8877, -0.0757, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4957, 1.3922, 1.0657, -0.5369, -0.4046, -0.3271, 0.2131, -0.0212, 0.8108, 0.6056, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3651 left_y=-0.1143 left_z=0.1735 left_yaw=0.0123 left_pitch=-0.1992 left_roll=0.0907 left_gripper=0.2131 right_x=0.2669 right_y=0.0014 right_z=0.14 right_yaw=0.0003 right_pitch=-0.1899 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -7.9248, 9.5248, 1.58, -0.2369, 0.0464, 0.1343, -0.0205, -1.4154, 6.9675, 1.7802, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98fad8ccd68843bcdd383eb596967a27ae4b139bafa6431bde2191cfcfc60e88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea36d041cbc4580a5c35b0bd6425a486ba4b87c5558d1fb9aab9467b84ec7615",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8172630a5b1e3d23e537542508625e25a0d99e416c245b705b5672f065abfca6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wcKEAgSGAI4AUIIdGhpbmtpbmcSDP1r5S0oYGUAOOjpChoM18kdTUHupvo/pnXDIjBnHXTINp0qTA52AdNSgYM2B0o3woYkOfck3mkivRaB/g2PM6olh3zOqO4UqjJAQ5Iq9AY8Ww5GNsVarhg1kbddApR3hYlWXLI6AoeZDUK/2LzGATZBTsu/5iQ0xbFtCaN0oHPnjp1ZH9Qc27dq1oqwNq+TQKFXNbjMX7mn8+tY7tp3oUgyeZVQ38Tg4OW6m4+Py0XrYvvg8WScC/luIglxgVRcmQ1lDyE2WnuGzbDJ+YZJ8v7+13ZZv4yB7zcHL6ZAiKPMXK5uqk052rT7nxqnMPtAhtl5KbhelPD//L0SdXvBfTc8hlC1ZMaAJ6l2fFuUry8m13KsaNs4iS3dSWxipJlmoxYf1w0NcnWzDvBAcABwxdcjjtGsJa5XjN/t8LRiSyiWmweDZFvcm4pPyeX2KacXdYEjf7Nol0Jy/KF/G5iZ1SWmPZzM7GkbO1Bn89k/ldfTiJ+X/wIOhptk++mc9cJ9WnrG7CScO0lMCBFTUNJlmZh2fWUfj3viCVa1F0fGBTC+YjLg0zYF6ARZzbgL5z+9N4pjof8d8UyzEDMfE4ELXyfuRFjaHJ5xKPSLKEW+gQZPTYXbIVEf4zbZ+8KpaRslU5hwvPL55uxBl0GWr2oeXnSQU0iwP+nX2hQacu6GfVj3OCMjfoyGfOhaRniOJZQEwmzSZcf6QQhXxhEpWqGWSiqejiYpdFlSbC1Z2UE36UolqpK4mzFU9eSa0r+P8ztk2xO9kzQFUZL2ZX+MPdHwi9K4o+wea70hFkSK/4KVtyivjm+3mEhSch7nK2RlJZGDHcpR95FDhwTljOUU1Igi1NhI82cUwnOzDeMqJoDVUFjRIIXitzPPBBMSSKG5EBvezvCqOvXHjnLuqStP+Ey+hwS8WSQ867h6YQ4pQaHaZNcsiRdiYXI1kV1dGqTnkbEAZPph85LRle/kmLF9dDY+6YTBBC6t1CRr1DvMFaAHxQS78kA0sBQo7x+Ds5zfcLuFwNiEh0ZYM42pBkyKFk3CsSO4qbo8qbdtCoKK3XNREKAe7svkmyQGBoqcTTOFtnfUsEky6P7iZf6jdV6y9CvsBMeBGJpxiD7xKQDYDtH2eldybfwP0e8etCdM+K/eCI3OlVbpmeZyR7vgsDa0Y2vyFMjUPzIaV5uH2WXd9GJG6f/HfSM9eozwQN5V7tedFGe1rOgYElPJSvr0E40dGJxkEchO0DiEAg3SGhQWye4iUtqpwrA2QZh+ti7feuAOAa5ar7+ZpBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015raMT2aakaob8sYmxUg3Ks",
      "input": {
        "note": "Teddy is held and lifted. Carrying it right over the open safe's interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.29,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_015raMT2aakaob8sYmxUg3Ks",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7979, 1.998, 1.8431, -0.8726, -0.5598, -0.6079, 0.2158, -0.0212, 0.8135, 0.6056, -0.5999, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.2858 left_z=0.1858 left_yaw=0.003 left_pitch=-0.2375 left_roll=0.0942 left_gripper=0.2158 right_x=0.2614 right_y=0.0015 right_z=0.1338 right_yaw=0.0004 right_pitch=-0.2243 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -10.7966, 8.9094, 1.0183, -0.5641, -0.0122, 0.2711, -0.0342, -1.4017, 6.9402, 1.79, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e748e01fc758eb77121ab6fa57fe172456f709ab067b4ae3e358affd3300dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00a54c46978d5f388d38d614533f9b4622298b29395e925c93ae9653cac0cd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c33494e17b006f0ce7327cf7a09260c3bce85701caa275f34a9629baf962d62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.3 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]: [-0.4957, 1.7336, 0.5827, 0.3294, -0.4049, -0.3187, 0.2117, -0.0212, 0.8082, 0.6056, -0.5453, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3654 left_y=-0.1144 left_z=0.0032 left_yaw=0.0043 left_pitch=-0.1627 left_roll=0.0765 left_gripper=0.2117 right_x=0.2707 right_y=0.0014 right_z=0.1447 right_yaw=0.0005 right_pitch=-0.1644 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -6.3248, 5.2308, 1.3309, -0.1001, 0.0562, 0.6667, -0.1846, -1.2786, 6.8718, 1.8877, -0.0757, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4957, 1.3922, 1.0657, -0.5369, -0.4046, -0.3271, 0.2131, -0.0212, 0.8108, 0.6056, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3651 left_y=-0.1143 left_z=0.1735 left_yaw=0.0123 left_pitch=-0.1992 left_roll=0.0907 left_gripper=0.2131 right_x=0.2669 right_y=0.0014 right_z=0.14 right_yaw=0.0003 right_pitch=-0.1899 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -7.9248, 9.5248, 1.58, -0.2369, 0.0464, 0.1343, -0.0205, -1.4154, 6.9675, 1.7802, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7979, 1.998, 1.8431, -0.8726, -0.5598, -0.6079, 0.2158, -0.0212, 0.8135, 0.6056, -0.5999, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.2858 left_z=0.1858 left_yaw=0.003 left_pitch=-0.2375 left_roll=0.0942 left_gripper=0.2158 right_x=0.2614 right_y=0.0015 right_z=0.1338 right_yaw=0.0004 right_pitch=-0.2243 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -10.7966, 8.9094, 1.0183, -0.5641, -0.0122, 0.2711, -0.0342, -1.4017, 6.9402, 1.79, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e748e01fc758eb77121ab6fa57fe172456f709ab067b4ae3e358affd3300dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00a54c46978d5f388d38d614533f9b4622298b29395e925c93ae9653cac0cd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c33494e17b006f0ce7327cf7a09260c3bce85701caa275f34a9629baf962d62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwkKEAgSGAI4AUIIdGhpbmtpbmcSDF5tkHYhILKbREceuxoM1Ssn0a25LHcg1gkwIjAsjP0YjxJ0ohzuAWXGeCoN6xpQjlzK4KNxW/aSZsr4A3BSKJSCIoK47Ge/567eOFYqzAgEMHnE2XNy5RZanEQVEx/VhKtvBGzRTEN5QAXChvr4C3FsWDTpYanW9ahGIY7Q98+XdFUmmavGeZFdMrchV2xe1Sn8uLVZ/HRL1u7Uy5CdnWe39MHvjcS2LzeFc5VTYF4h9I6Mm+u12FUCwGQSE0d0/Bmm2umDOWpehhTccBXuyE6/+zt+asRwt8pFoUmvabfa/XdvgXtkmzyRXZAIgjRumGFP0WK7W8Ng0SMQhVbBGmVLOqYMZifX3WE28AR0SvKiGslCEZbFtavzSroFdbeKh40eAT+H+yvlS8MtRU6Sea762Pix/smXyEG8UK39o9kFPF6TdLKrsk0J5aQD76fphfqz3s8C8xy9aAHmbJeB/9gWW/p29o+Eg1KklpJ/kb58i+N6Lm2ukTLywo8vI3Wb3Z6rD/3692jT0mum5qXqCvtOn/l2keonS6ud5b/Yzgf5halygusxO0Y3d38GUHQvVWkwPev2Dwe3Y9fKj7duUDm8055GkQp95GT+TZH5GXYYgSYqTVCvE6htf9wwMFO6I82/nSSqVmdbVGcQKHA9G0NCABY4V3WHjK1k1YrMvJfLqnP5K2N50tRXaxSKEqKD+ijLFz4BIX5Ntm3Z41WOsa8tWzHW32PN2wnDmh+F7YwXOsgYFL5mH+Rta8cRG5R6YkRk8hdwtYG3RbkLp5WUB1AjQt3/k1bPXc920BPaz+DouFwr1OI0LcBptt5y2VeVJ0lAO0eIvEfAko3OlJJ/pXKe7bTf3MBHRumXDm7lqKvIvtuncNvl1EogY7N5YL914wTgfQ6qFrcudvna/XZrUmJmeYU9hCNMzT2qlA7YxFDL1OijgK+ogibIyjAyq3Xs1vvFS2ixdWd7UHxFirpAoz0Olm1YVh4kVCYzoF/ns6bXhPJ4uLFWNxLwzVRUb4PhIThWeNEZuMdXlczGMxePIElFVQzu6ZhNtPrZXfx4+0DWSenJHDwK99Nr1Ye3h4PMTRWZ+7YE3nCPmEKo4kP0Bb9nSB4ly/X52i82NrW9x3hpgViunAU2Tf8U7rUtB5H5/oxks+kHF61Y3jKYTQ9A6Rb0u8dYuFjqzZRARcT8pdfARWA4fySQXbE8bpTMMVU3F0QqhJpeIz6Y9q3AaSnJOQl8WVOH5Tmy+voSvuYDgaJYaBkx6mTFRgY75O+tvfDYHjLkzptgMtdcDORYdgFBQMYRlYvgTsQVSkNeivbbcN0BZnhGCpxT2SG68sV4xcDeby4WPqUNC6l15NQ6XI8EJ52j2Ryk6nKlQ8EKxW1ALi4AKgp1u9er3mmWrQ7z30w/+GIde8on33f/lJAIHZGCMoYxjIC5eUkrlD1qXE8OahWabx9JI8YiBhNpfbwv3/v+XkbP3lFfVfS8aJS42JhN4cwrCc4pREmECO7UmUXmQvUJxhr/8jUuDWTPGw3rWHXQU6QfQED+WyNNlKdCiMPoYKQ2nNS4g9QJQqbI/RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANVkSrayyGw5tKX5Sjun4u",
      "input": {
        "note": "Left gripper is above the red interior of the safe. Lowering the teddy into it before releasing.",
        "targets": {
          "left_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_01ANVkSrayyGw5tKX5Sjun4u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8028, 2.0022, 1.6154, -0.6949, -0.5575, -0.6109, 0.2174, -0.0212, 0.8154, 0.6056, -0.617, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.2802 left_z=0.1209 left_yaw=0.0085 left_pitch=-0.2762 left_roll=0.131 left_gripper=0.2174 right_x=0.2583 right_y=0.0017 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2433 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -10.2632, 6.5436, 1.2918, -0.359, 0.0269, 0.149, -0.1162, -1.3197, 6.9265, 1.6239, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed6a60e392f108cc5adcd40faab3b8927b28074e85d5fffbf2778f50e3847adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3985255bb5869741fb6dab430554fc5630141ec9db9de9ecff768f2ba93e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3fa4acdd9d6780fd4cac6220c9649f29c8b3d59c7cab6f39e0157873a981a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.071 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]: [-0.4957, 1.3922, 1.0657, -0.5369, -0.4046, -0.3271, 0.2131, -0.0212, 0.8108, 0.6056, -0.5682, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3651 left_y=-0.1143 left_z=0.1735 left_yaw=0.0123 left_pitch=-0.1992 left_roll=0.0907 left_gripper=0.2131 right_x=0.2669 right_y=0.0014 right_z=0.14 right_yaw=0.0003 right_pitch=-0.1899 right_roll=0.0035 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -7.9248, 9.5248, 1.58, -0.2369, 0.0464, 0.1343, -0.0205, -1.4154, 6.9675, 1.7802, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7979, 1.998, 1.8431, -0.8726, -0.5598, -0.6079, 0.2158, -0.0212, 0.8135, 0.6056, -0.5999, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.2858 left_z=0.1858 left_yaw=0.003 left_pitch=-0.2375 left_roll=0.0942 left_gripper=0.2158 right_x=0.2614 right_y=0.0015 right_z=0.1338 right_yaw=0.0004 right_pitch=-0.2243 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -10.7966, 8.9094, 1.0183, -0.5641, -0.0122, 0.2711, -0.0342, -1.4017, 6.9402, 1.79, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8028, 2.0022, 1.6154, -0.6949, -0.5575, -0.6109, 0.2174, -0.0212, 0.8154, 0.6056, -0.617, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.2802 left_z=0.1209 left_yaw=0.0085 left_pitch=-0.2762 left_roll=0.131 left_gripper=0.2174 right_x=0.2583 right_y=0.0017 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2433 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -10.2632, 6.5436, 1.2918, -0.359, 0.0269, 0.149, -0.1162, -1.3197, 6.9265, 1.6239, -0.0513, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed6a60e392f108cc5adcd40faab3b8927b28074e85d5fffbf2778f50e3847adb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa3985255bb5869741fb6dab430554fc5630141ec9db9de9ecff768f2ba93e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3fa4acdd9d6780fd4cac6220c9649f29c8b3d59c7cab6f39e0157873a981a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDG01WlKnfvsViqkFcBoMgo0QbyC/GM06DQRHIjAjgwmPjYE5vN94xCS4Bz96tv9HYA/6RiQc0sb+LjZ+ZJG/jFjnkaPBsnvvB9P03tQq2wYaJAoulO9x7rZvSleEnVyhj3kDbKw655Nche09XRNyxa5BC2VLvTSM6LoKIUHTxO5mcj5BcVtZAZIVrkQOGV19yPA5ME5fuMHTL05BzHhYfAe5gZsL6q9eoRVxawFW/3lUkeIIlKx/dHb4i0HlA45eWL6GdobtQVBx84jKbVt/cf719qw4+iBrysZt3aLhG2KVSDSnh1I4AOzXmWqISBzLR4et4YBZEriYw58A3J9vI7HVI1llvVW1ZYLGIE/zAbEH2HDZnAPmNTqIvIlvuDavhDbuazSorOD4MyiuOYwAMnpB+pl6OFCh7RUnHYoR5Ndw7KMa3fbBZ32E8+7R18R58qty+KxfHtOLZeRC2/kvnx6ynUimNaL/1npDzCzqOYAFnyLFbbQShfTD1SC7d0xotm4tumAbwGGSrMtHwXqdgh4ElF8WHJIuLsb1HYya+aGwIBvNBLwlRSiY+ICKNoefgqOQPiIeyxq82R2eGEzqtP59MH/mDX6foRZ7HqODzDz+GlmxnXjd0djuYVzfIjteEOKMEgeMqXUc80jt178uHRabvuiLsEHIzeC9bZzCxLxVuTmqj+/OBSreAvKq0kIQn+gn8wA2+Qp3Oiyxu0UFi+jvnpy+OlmThQ9/keQkSwq0G811u3VlIzn9DzIVTioiO9iQW139Mbs8erA6Eu89rDsQNWBVY/UtoPzSDlSyDdTofe6Bb+/wO9qo2P8XiyT1kQZRiUJeJ4Apn85mvicLT//V5aea3OktVXuNzO/W5HaQoHVhlIsCd5EVJVUwhx+zpXEhhP7WyfdMTnXz0ebWj1XzB3xPzBYER7tM5luuGlDrUJ5JuR1bUHKswIfpRaULrl1b5cdHnc9QkeP0eQBhvslLxI4HcaIihu9Lr0ME35fjAh4Mmb101Yg0Iaf5eeoGSLgCvynm/I/9PSKpo9l/lQ1DxSmV0KCuGTE51Q9VkHC/rbY5BN6pxIpzi6BHjMNqUSDojIeV/7j1Zgxw18UfJtdeJtsogFjHwYwCIbra/cjVxsIKuqzPEiTrjVX7HizRK/yq28scUjK9jhkxXOpzV21081CmXKCuNOLAzAvquH29Riktp10sli4oWq7bOiHladhDtubB6wbCJEzUjH5I21TFj+4Y+asRiWpXGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D988FiPmP66yF6ZJKPC6Dh",
      "input": {
        "note": "The safe's front wall appears near the bottom of the wrist view, so the teddy may be over the rim. Advancing 3 cm to be well inside the box.",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.29
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01D988FiPmP66yF6ZJKPC6Dh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7757, 2.1059, 1.7424, -0.7158, -0.5415, -0.5991, 0.2188, -0.0212, 0.8165, 0.6056, -0.6308, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.2892 left_z=0.1129 left_yaw=0.0181 left_pitch=-0.2857 left_roll=0.1271 left_gripper=0.2188 right_x=0.2558 right_y=0.0017 right_z=0.1279 right_yaw=0.0009 right_pitch=-0.2582 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.9726, 8.6632, 0.9255, -0.2662, 0.2515, 0.1392, -0.1026, -1.2103, 6.8034, 1.7118, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c94881ba8c6f64ffa39cd1e0217b0e0f6159859aea4e01d6b59c04edd4119cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4ec4ceba2110507b1810f951d2e84b4fe640c983ffd1d532ab4720c9c366fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5308f8936dd1ce31691f3244acfb9685291bc74690f23039eafec3343ad467c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 8.644 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]: [-0.7979, 1.998, 1.8431, -0.8726, -0.5598, -0.6079, 0.2158, -0.0212, 0.8135, 0.6056, -0.5999, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4149 left_y=-0.2858 left_z=0.1858 left_yaw=0.003 left_pitch=-0.2375 left_roll=0.0942 left_gripper=0.2158 right_x=0.2614 right_y=0.0015 right_z=0.1338 right_yaw=0.0004 right_pitch=-0.2243 right_roll=0.0043 right_gripper=0.9996\nstate[joint_eff]: [-0.4718, -10.7966, 8.9094, 1.0183, -0.5641, -0.0122, 0.2711, -0.0342, -1.4017, 6.9402, 1.79, -0.0317, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8028, 2.0022, 1.6154, -0.6949, -0.5575, -0.6109, 0.2174, -0.0212, 0.8154, 0.6056, -0.617, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.2802 left_z=0.1209 left_yaw=0.0085 left_pitch=-0.2762 left_roll=0.131 left_gripper=0.2174 right_x=0.2583 right_y=0.0017 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2433 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -10.2632, 6.5436, 1.2918, -0.359, 0.0269, 0.149, -0.1162, -1.3197, 6.9265, 1.6239, -0.0513, -0.0708, -0.0073]",
      "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]: [-0.7757, 2.1059, 1.7424, -0.7158, -0.5415, -0.5991, 0.2188, -0.0212, 0.8165, 0.6056, -0.6308, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.2892 left_z=0.1129 left_yaw=0.0181 left_pitch=-0.2857 left_roll=0.1271 left_gripper=0.2188 right_x=0.2558 right_y=0.0017 right_z=0.1279 right_yaw=0.0009 right_pitch=-0.2582 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.9726, 8.6632, 0.9255, -0.2662, 0.2515, 0.1392, -0.1026, -1.2103, 6.8034, 1.7118, -0.0415, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c94881ba8c6f64ffa39cd1e0217b0e0f6159859aea4e01d6b59c04edd4119cf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4ec4ceba2110507b1810f951d2e84b4fe640c983ffd1d532ab4720c9c366fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5308f8936dd1ce31691f3244acfb9685291bc74690f23039eafec3343ad467c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDOA1wI8bO2N3tVSkEBoM/TrCKb0UcdSMc4uaIjAMjHdqr99KUFsp+nfWI4bDsxtmqjP/2g5b87fD1fql0brI1cPn8D3sQnUKtYLjszQq2wZDy1LZESB/W2g+mWj3nMGdWsg5oFq94boH6YMusjeQTD4qi7Q2PKvF1/nfRm0u/qupc0/NYuHzH+39D8V9ywXCw/vBWsbhwMXKU/s5XwBGalI+S20J8TW/ioJCJl/TQpgZ5/Hi/N3JKBFiHz2YN+U+jc5IjrgZ4IbyKRU9ko/Iozl3OO8YSM79b7lCSbXoSkR6If3e4TLAyTUsQRTQRwW6X8tJipvKG+WRGlW1iAnmARNMD9plKIRg6hmBcxqGUA0NF9NE4twEilCzNh/nuUqeQhAxgJjm0PYnceaO7rKqThukr3ZPTUbDXwsvorVJgNi+wiHP/W8N9UFi/pwWxanTn2qngh5yD2S7f9sDwqClvYyLH1fkhwwWECbOX7eYXBr0Z8uq+LxKgRwcD+JgghXKs3ccf+DTYa/zahu0D/LbuoHpeed0GpDaHFreB0n2t9h4PxJ6dVNIIUd5aqfxnau9xjDq65m4Q+phBpemnYjhAbpvrGMvREsN3x9OzF1e9hJC+yaJkZDPFx88XXm8tsge+PCTjyshogOKUy2gUnfqh7Kkr53vqj02YxggTj2q5uP5DFEUzjkPy4QArLyo7I9hw+resTOp9aDb5nlEJEXDbNilAVlNdUXF6ungcPI/633fyOAA7fXdsBAdNgHtmM0fgfIGh/tAv0ng7ye5lZPjkodJVgBo+8Wk5l2tH0SPUej3qYwVYIdS9ootIHUWuZWCGqYxkgZ37eV7PAIKiCArdJx9hfrCpN92nOSE1+pHZQ9YZwmECt+qLPkSaiCHdHTiEamq589d13S1MW7cdsjR6RKXyzziAq5jgmVMCpjXIdZepU9LW7VLid0REdL2S1w2ayJP9d5NQx60gShs6Oya+yHCOR14jNfuhR4ikphu7kSRTR3K5R9g171QsuY0KiGP3RMtZi30J3Zu2XrkPbpuWM+1AkoLJtSnn81V0hkc9HA1yzf4bwkVFoDcR8VoLew5Nx8f0HILDe9FIEYlZ8dLPtPaZnHP8gEononpDVyV/kEtJqUCfVVyifuynH0zUMiDqgBXMzKclKZgRR9b1Y8pZebcEGE+mh5Nk6xu8/TolKM0eAJkvUFksQLIx1gkDhoqOxnR5K66C+fHhSoPdy+KHTuhpK6koPih/xGpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PXcvSkU4CZWjv2B5pmNHRV",
      "input": {
        "note": "The teddy is hanging over the safe's interior. Opening the gripper to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PXcvSkU4CZWjv2B5pmNHRV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7765, 2.1258, 1.7451, -0.7372, -0.5358, -0.6071, 0.995, -0.0208, 0.8173, 0.6056, -0.6571, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4266 left_y=-0.2877 left_z=0.1016 left_yaw=0.0267 left_pitch=-0.3156 left_roll=0.1469 left_gripper=0.995 right_x=0.2509 right_y=0.0018 right_z=0.1235 right_yaw=0.0012 right_pitch=-0.2853 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -13.6, 6.3521, 1.2674, -0.3639, 0.0317, 0.0317, -0.0342, -1.2103, 6.7487, 1.6581, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa64718891cb0ea12cdbd0439d0a1bb7ef868a8aa1d5b33381e5ac6a2f9f821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceaaf23d11cd191670dca505d6e0cfe7c3dc5d51f694fdc64b7a5759d84bc509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2288cfac21a1e27e52239a8e6ab26e580064d0120b49fd291caac8b2b8f9fba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.887 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]: [-0.8028, 2.0022, 1.6154, -0.6949, -0.5575, -0.6109, 0.2174, -0.0212, 0.8154, 0.6056, -0.617, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4055 left_y=-0.2802 left_z=0.1209 left_yaw=0.0085 left_pitch=-0.2762 left_roll=0.131 left_gripper=0.2174 right_x=0.2583 right_y=0.0017 right_z=0.1305 right_yaw=0.0009 right_pitch=-0.2433 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -10.2632, 6.5436, 1.2918, -0.359, 0.0269, 0.149, -0.1162, -1.3197, 6.9265, 1.6239, -0.0513, -0.0708, -0.0073]",
      "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]: [-0.7757, 2.1059, 1.7424, -0.7158, -0.5415, -0.5991, 0.2188, -0.0212, 0.8165, 0.6056, -0.6308, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.2892 left_z=0.1129 left_yaw=0.0181 left_pitch=-0.2857 left_roll=0.1271 left_gripper=0.2188 right_x=0.2558 right_y=0.0017 right_z=0.1279 right_yaw=0.0009 right_pitch=-0.2582 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.9726, 8.6632, 0.9255, -0.2662, 0.2515, 0.1392, -0.1026, -1.2103, 6.8034, 1.7118, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.7765, 2.1258, 1.7451, -0.7372, -0.5358, -0.6071, 0.995, -0.0208, 0.8173, 0.6056, -0.6571, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4266 left_y=-0.2877 left_z=0.1016 left_yaw=0.0267 left_pitch=-0.3156 left_roll=0.1469 left_gripper=0.995 right_x=0.2509 right_y=0.0018 right_z=0.1235 right_yaw=0.0012 right_pitch=-0.2853 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -13.6, 6.3521, 1.2674, -0.3639, 0.0317, 0.0317, -0.0342, -1.2103, 6.7487, 1.6581, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:caa64718891cb0ea12cdbd0439d0a1bb7ef868a8aa1d5b33381e5ac6a2f9f821",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceaaf23d11cd191670dca505d6e0cfe7c3dc5d51f694fdc64b7a5759d84bc509",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2288cfac21a1e27e52239a8e6ab26e580064d0120b49fd291caac8b2b8f9fba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pi5BffBb2ou4J4RsQFAw7U",
      "input": {
        "note": "White teddy is now inside the safe. Lifting the left arm clear and moving the right arm above the lemon, right of the safe.",
        "targets": {
          "left_z": 0.22,
          "right_x": 0.42,
          "right_y": 0.14,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01Pi5BffBb2ou4J4RsQFAw7U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7773, 2.1834, 2.286, -1.2186, -0.535, -0.6189, 0.9963, 0.4118, 1.6379, 1.2308, -0.5575, 0.2371, 0.2821, 0.9996]\nstate[eef_state]: left_x=0.427 left_y=-0.2887 left_z=0.2134 left_yaw=0.0317 left_pitch=-0.3138 left_roll=0.1372 left_gripper=0.9963 right_x=0.4039 right_y=0.1351 right_z=0.1349 right_yaw=0.0262 right_pitch=-0.3421 right_roll=-0.0212 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -11.3162, 8.5265, 0.9206, -0.2466, 0.0708, 0.1148, 0.1162, -7.747, 8.4444, 1.4676, 0.2076, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5517ea576d3b23e01a265a889971358a7e1b9305d95b6f1365b0c29a47e518ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b6125d9e2296421fd14ff2913bb2fbf21f0d72611b3ccf6cdea8efff225e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bdc77b2c7e934f5f783a01e3cb4191e35af05db48911dbdda44e8613f7c4f061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.693 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]: [-0.7757, 2.1059, 1.7424, -0.7158, -0.5415, -0.5991, 0.2188, -0.0212, 0.8165, 0.6056, -0.6308, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4299 left_y=-0.2892 left_z=0.1129 left_yaw=0.0181 left_pitch=-0.2857 left_roll=0.1271 left_gripper=0.2188 right_x=0.2558 right_y=0.0017 right_z=0.1279 right_yaw=0.0009 right_pitch=-0.2582 right_roll=0.0053 right_gripper=0.9996\nstate[joint_eff]: [0.5949, -11.9726, 8.6632, 0.9255, -0.2662, 0.2515, 0.1392, -0.1026, -1.2103, 6.8034, 1.7118, -0.0415, -0.0611, -0.0073]",
      "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]: [-0.7765, 2.1258, 1.7451, -0.7372, -0.5358, -0.6071, 0.995, -0.0208, 0.8173, 0.6056, -0.6571, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4266 left_y=-0.2877 left_z=0.1016 left_yaw=0.0267 left_pitch=-0.3156 left_roll=0.1469 left_gripper=0.995 right_x=0.2509 right_y=0.0018 right_z=0.1235 right_yaw=0.0012 right_pitch=-0.2853 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -13.6, 6.3521, 1.2674, -0.3639, 0.0317, 0.0317, -0.0342, -1.2103, 6.7487, 1.6581, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7773, 2.1834, 2.286, -1.2186, -0.535, -0.6189, 0.9963, 0.4118, 1.6379, 1.2308, -0.5575, 0.2371, 0.2821, 0.9996]\nstate[eef_state]: left_x=0.427 left_y=-0.2887 left_z=0.2134 left_yaw=0.0317 left_pitch=-0.3138 left_roll=0.1372 left_gripper=0.9963 right_x=0.4039 right_y=0.1351 right_z=0.1349 right_yaw=0.0262 right_pitch=-0.3421 right_roll=-0.0212 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -11.3162, 8.5265, 0.9206, -0.2466, 0.0708, 0.1148, 0.1162, -7.747, 8.4444, 1.4676, 0.2076, 0.2711, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5517ea576d3b23e01a265a889971358a7e1b9305d95b6f1365b0c29a47e518ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b6125d9e2296421fd14ff2913bb2fbf21f0d72611b3ccf6cdea8efff225e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdc77b2c7e934f5f783a01e3cb4191e35af05db48911dbdda44e8613f7c4f061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wkKEAgSGAI4AUIIdGhpbmtpbmcSDKjM41D/jKJuT478HhoMU0pD54r34GTTrbVFIjDWXDypx2IivOozHx4nMJJmCwiSMSczxrceG7d1DVT460/LpdHF4WO5FQbUvy3G77Uq9Ahjx2onZ8h/wybF/yi3qrUJ5YnwSuIdrXqQYsRJ+TdkvNjDWoS0LiKlPxh1e8B6jGIrEAVkw1+A5YAnblBixv5ue0obZUGZm5lIZH4FhW8p3joz3NBx8SyP5Lr7FH98ahmIOhFpaolT44jUcwh4O10fGntdkZcIiSRsilZpSffnrJ6pTpTM8D2yspKJl863fRPcu8TYmp+8i/oUket1KjYpY+8VcM6631PLEJyeX8cyiF31oPCBP+aTs3N08q+UDJd7zKX4oGTddIAhDLVIXD6Ke8vQaKN0G7+9izJ/U2LamUHY7wALp4hXHvEwUSZ0qW2hlx8pCBahDxIHHcTJbRK2tymsHKaN17oe3PeEzKURHAZA6000FbUxswqpxrt6L4XDKV0Ktx7T0pA5HNjsvKeIXu9V5vU1imO+r565Xg2VvThaJiQ8AxNkDBrnZVzsiljVcMfx2dveeE74f9ZjM2EfChFotqBD6qjHM+JvUyjzVqp6NDxSJJMhnZewqvCqYhkrrTZbKuSpeYjVl8RhvvpW0WcHTrkBw2a7DjGelNDVqx81XFLtN2s1VZeNfQGOsPn4nwAmMyO80r2wA4HUEbXE+/Be2NaJjYzvvP4ZI7NSkH4m5m/R+tS1W81dRTibN6L3uq+rzMceCtmtVQz/nRyhsON4+BTucXEfuXBzP3DIsYp1FsisXX/28U6Ym88by3bchJF9ihan29EW9i8+MZHX/emOmqVFe1+ToBZpAQz7vI4pAZq6jR+qfAk1HXZg37pKz89oxEONvwjODnV6z1nGb+5g+4DCCqP7mTP73EAi6ltuy2cLqzEMP5Guk+8kg2j8na1uG2ASKGUBp09GLH9APLLbX/uPpkfgg7y8kBvoqY+KIfHg46fBEYhavsur7VGi+QnW7BXmQXwhE4JOtWvJwWQ4qQ7HjKTGkGosMcGAVRupUDvGCPYqkUkzOX61Fc6+5bzlHBnrQ+tWJhi8hjTiu9FsuiMAiXD1J+cwlNGR2cx3qL4c3anWSb8u4EhcNn4O/DR8wjn6LY0RcMnP+XXEOuDHq8aLaGDSBt1UQgSFgqaqO14GU0l4UKavgi6Ka2gF1gBprgF5Dtk/TU6fLugwtHwb21VMAxsdRE4WLz6f12bZx9f2C9PMajyyZBKR8RcGKBLzcfvZ9bUevZZOzcHhuCxAmPyxxSZPtUbInipy+ohJ97G8tadwCHDAuOm6lSlW2jPLecZk4Q6vPPh1TRht1q851Phi0cGEXGmFaQEwY5K5ckDO4aZTZR2wnF+BD++34cjFg/BYI3aoLHb9v2AwuoU73hVjRtRXY8jQWYkk3CwKtb42ibJUR55PxmJHbnp+3cMcup7vs/cPjKeb3znYrs6pMrWGzfVu/Js+o8lrpN9HJ5aZJBxIGKZDNRZKzBENyvCdcF1/SPfzww1NaIYzzHzBzc+G58hqKRHrI6byDr/HRKekaZFwnzsrS4mkgQkkl2dzXHVpmqCYolpi2Ma5CorsQwQjYQ9F7wNFkXfIZl6Ayh0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013nQjvCwekHuHdZoTiWG9Me",
      "input": {
        "note": "Lemon is centred on the right jaw column but well ahead of the fingertips. Advancing the right arm ~6 cm and lowering; parking the left arm at home.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.2,
          "right_x": 0.48,
          "right_y": 0.14,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_013nQjvCwekHuHdZoTiWG9Me",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1394, 1.0752, 1.0222, -0.8719, -0.2115, -0.0853, 0.9965, 0.3519, 1.9411, 1.3636, -0.4381, 0.1978, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1974 left_yaw=0.0793 left_pitch=-0.3262 left_roll=0.1349 left_gripper=0.9965 right_x=0.463 right_y=0.1368 right_z=0.068 right_yaw=0.0275 right_pitch=-0.4024 right_roll=-0.0434 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -3.412, 6.5846, 1.5214, -0.0415, 0.1392, 0.0073, -0.6906, -9.5795, 9.1692, 1.5311, 0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a5853c34024314227f5d35c14497825f838ca714ab4ea49b2e6d8d5329b35f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:235894944ef6557d2f9fff4924e49ca9d11d741edf48e72c82dddc4e5abbad73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86d86bc2e20e34f768c60990c508fe8a2e3be63ce8ff23ec7ac9388bfb99d87f",
        "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 · 3.983 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]: [-0.7765, 2.1258, 1.7451, -0.7372, -0.5358, -0.6071, 0.995, -0.0208, 0.8173, 0.6056, -0.6571, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4266 left_y=-0.2877 left_z=0.1016 left_yaw=0.0267 left_pitch=-0.3156 left_roll=0.1469 left_gripper=0.995 right_x=0.2509 right_y=0.0018 right_z=0.1235 right_yaw=0.0012 right_pitch=-0.2853 right_roll=0.0057 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -13.6, 6.3521, 1.2674, -0.3639, 0.0317, 0.0317, -0.0342, -1.2103, 6.7487, 1.6581, -0.0317, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7773, 2.1834, 2.286, -1.2186, -0.535, -0.6189, 0.9963, 0.4118, 1.6379, 1.2308, -0.5575, 0.2371, 0.2821, 0.9996]\nstate[eef_state]: left_x=0.427 left_y=-0.2887 left_z=0.2134 left_yaw=0.0317 left_pitch=-0.3138 left_roll=0.1372 left_gripper=0.9963 right_x=0.4039 right_y=0.1351 right_z=0.1349 right_yaw=0.0262 right_pitch=-0.3421 right_roll=-0.0212 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -11.3162, 8.5265, 0.9206, -0.2466, 0.0708, 0.1148, 0.1162, -7.747, 8.4444, 1.4676, 0.2076, 0.2711, -0.0073]",
      "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]: [-0.1394, 1.0752, 1.0222, -0.8719, -0.2115, -0.0853, 0.9965, 0.3519, 1.9411, 1.3636, -0.4381, 0.1978, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1974 left_yaw=0.0793 left_pitch=-0.3262 left_roll=0.1349 left_gripper=0.9965 right_x=0.463 right_y=0.1368 right_z=0.068 right_yaw=0.0275 right_pitch=-0.4024 right_roll=-0.0434 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -3.412, 6.5846, 1.5214, -0.0415, 0.1392, 0.0073, -0.6906, -9.5795, 9.1692, 1.5311, 0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a5853c34024314227f5d35c14497825f838ca714ab4ea49b2e6d8d5329b35f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:235894944ef6557d2f9fff4924e49ca9d11d741edf48e72c82dddc4e5abbad73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 137):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86d86bc2e20e34f768c60990c508fe8a2e3be63ce8ff23ec7ac9388bfb99d87f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QcKEAgSGAI4AUIIdGhpbmtpbmcSDEBbnIMc45u+6G0tuhoMovyYtOgTW/yNZFLyIjDO1pSSR1541GOGFHYKmdKe6EBkSArz74DVofDpqh5pc5zaP6YmMmIujU0GBuEgW64qigcYzqkL/c9gOMfXvyvPmmfvFQboZuMlExcloRTo03E860h6KCLkvVLf4S30vKwfNE8MT5n0gaDR+KqutgmTFgb9RxmGayDOi9wNrylVa7p9YBEEmx+kD0OtdkQbJXYOywUGp47O9/x1mlTtLp2NL9+mpDu/VI4zPdeH7zNEIqwhdMtJbPUYsCrUD+d0Ncz+yTzd3sP6DYtnNfr/7YqQQ/VDtHhja6nzR4vCQ1r1mjEo6ppwYL4UXcoKgofu5+jto/LM47f75ztXOdNR2jQ8ZMXj+paTmIUnUe7c/4NrKuBvxIuitVD0TZ/zYOofN7KedwHd2xN5dZF3ivtYSiJno2NFk4WXjLT8DuoGPF5FR2pSo4F8olkB7Sc/N7hFe55Xa7o78q8rYfxhcJdes9Ufh5b+Zwzoku1g618xinU0tXSsJZ4h6Ulh3MgMDG3udJ60F7YSXrcPQ0Xn0DnuMUw1p52a+AEcP/IHEFiRW8JPxfyrygH1n83dsQOqpyO78j9GLKvdyfuicF1d6M9hPm3mrBPB4yY7Jrp8VWKFljs495vWmXfv1LyOJTd7VbyFhzMv+Vy9oYRdumplaeP+IC71deReANMI2E+fnzJ1LgGTpd8dZqMdES3gXbHCV4szdPW9VN/2F8gj4ftBDivUKvsDinkBywz2YWmYSXq6Io+mA3A9G1qN0YzGGf2GN5PBEgWSdFKuvLgpu3yv8ZUQNBS+WM8sYi9zstJu2/+WCD/PZFBqclt1Vi9Pyw8o+UBtuf9Z7Sbv3GFywUul1spaIsFS6ps5Mcz+JUgtSgHwAHOvqCDEzi+7xsqNANiOhAeBflS6yhdJ4a3tV8X8CDC8Cxqt6RnuNrImqxBMvbbiO23vDA7cLE4PE5ckzMx2qULfeoFPsoMv8h6FKy3srivYQoHaZ3DMRRDAEFNd4GcIfmNNUQ0Aykhvx/jCdm1L12rxpEGVFYksSZuAgj+89xRPji+nlvuZtXp1GpH1wYIdxdqOOajgsf4BRwkUZBEraFeHXaxEnE+peP1BkY0AuOBRs2m/XNQMninu4WR1twQQ9PV1iEWJQnBcgxLta/NPBD82AN3D4X42J0xGVxuB0fBn97z3ORQGqqSsC8jwbobAuIaC0fD6OMBhPFsR5snmhVyyzgqwaYODhram+sItSK9hN39Kjd0JX8YChSwP9+5RKznaVCbuK6HgsYAKJkTLAs4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TcobRxL9cizUscfEhrgH9F",
      "input": {
        "note": "Lemon is centred just above the jaw convergence in the right wrist view. Nudging forward slightly and descending to grasp height.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.135,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01TcobRxL9cizUscfEhrgH9F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1993, -0.0799, 0.9965, 0.3367, 2.0525, 1.3376, -0.3328, 0.1913, 0.2127, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0013 left_z=0.1926 left_yaw=0.0682 left_pitch=-0.3432 left_roll=0.1315 left_gripper=0.9965 right_x=0.4708 right_y=0.133 right_z=0.0199 right_yaw=0.0201 right_pitch=-0.4348 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -3.0017, 7.2274, 1.3651, -0.2662, -0.0415, -0.0073, -0.3077, -10.1949, 5.9829, 1.3504, 0.0708, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f880237a0338a35cff22f618626b65492c2be799a75025165cb4aed3a75a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4499a602c8597b4cdbdf48d31154a282e54062cef6c8891e08ef41926e2895cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c79d3248035a852cac99b86dafda59abc4e90761ee494c950dd9222ecb7554d",
        "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 · 5.892 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]: [-0.7773, 2.1834, 2.286, -1.2186, -0.535, -0.6189, 0.9963, 0.4118, 1.6379, 1.2308, -0.5575, 0.2371, 0.2821, 0.9996]\nstate[eef_state]: left_x=0.427 left_y=-0.2887 left_z=0.2134 left_yaw=0.0317 left_pitch=-0.3138 left_roll=0.1372 left_gripper=0.9963 right_x=0.4039 right_y=0.1351 right_z=0.1349 right_yaw=0.0262 right_pitch=-0.3421 right_roll=-0.0212 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -11.3162, 8.5265, 0.9206, -0.2466, 0.0708, 0.1148, 0.1162, -7.747, 8.4444, 1.4676, 0.2076, 0.2711, -0.0073]",
      "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]: [-0.1394, 1.0752, 1.0222, -0.8719, -0.2115, -0.0853, 0.9965, 0.3519, 1.9411, 1.3636, -0.4381, 0.1978, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1974 left_yaw=0.0793 left_pitch=-0.3262 left_roll=0.1349 left_gripper=0.9965 right_x=0.463 right_y=0.1368 right_z=0.068 right_yaw=0.0275 right_pitch=-0.4024 right_roll=-0.0434 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -3.412, 6.5846, 1.5214, -0.0415, 0.1392, 0.0073, -0.6906, -9.5795, 9.1692, 1.5311, 0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1993, -0.0799, 0.9965, 0.3367, 2.0525, 1.3376, -0.3328, 0.1913, 0.2127, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0013 left_z=0.1926 left_yaw=0.0682 left_pitch=-0.3432 left_roll=0.1315 left_gripper=0.9965 right_x=0.4708 right_y=0.133 right_z=0.0199 right_yaw=0.0201 right_pitch=-0.4348 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -3.0017, 7.2274, 1.3651, -0.2662, -0.0415, -0.0073, -0.3077, -10.1949, 5.9829, 1.3504, 0.0708, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09f880237a0338a35cff22f618626b65492c2be799a75025165cb4aed3a75a48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4499a602c8597b4cdbdf48d31154a282e54062cef6c8891e08ef41926e2895cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c79d3248035a852cac99b86dafda59abc4e90761ee494c950dd9222ecb7554d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDNn79bux9QCmLes7SRoMR3U/U5WJe2+WUaGRIjDMd2VVmsqYzhz0imnQVXzOEShTtV56U+bDVYsVD6Annu5TDSUYj+STj/dmoQ9EQ7AqtQaF3pbmoOhjsq5GShCV1ZOcS8+AJz2JsrLuVwB78iyVBLTxrRJmpMScvuLnC+ARYdqsOhEYypk5zEI6ULyMI1+d/dBVyahWXjwvd2dRSt/Fnzj6sVYZj0SH/3usYkaW7HZTvmdRrd5IqpegQo1VSuuAxyNlEpQuAAZRZZFjAzTSCQErd3aOx9lqps52kVhHGjLN+7W/vELrpU5KtyfxOOCQQDUorCm6JWanBxiirb0wpVL/H2LNKgnNL0CNbrdWJpiVVVu8TJC8HIYC2S5a71IbnmKCMsaBNwqjGwyKyWTp9PJmpOTxKlbVrQjJdGXRBIJcRXnJrldvMVCrohawDSJrZv50q2S0uQQj6tQSswZiXmAGIQLutSpx89pytIoq/dN7O8JDQcWau9fu7O3jG6uBY66e88wWrSfqKjWUOWe8e8Q1YyDvYqmcpylasjPDohQYQlisDAT5Rpq5E/KyZ1zAytHDzxIPpGM+Ye0hJZJ0xZgnTNi3pz/wMhEIztNEUE9dfxdfZAeSkxJphlR9x5r5WhyZmDb9Q34ksO4K8wzuWsxCZVQV+uiJnY5bM6NWMV5hWuYEV6X5KgC0xR1af+PAdPS58bBfXDSH9UUtRPAH2EfnR1/xP5An/vnjLvJVEhg5rEHUnSNYey5EaJLDFSEy79BfwNQi7IH0Or0ygK9SLiGIrVKHUqIrqurKQeKeHx5aBXAjQFYjSzu13Mr3IlGCJLabqHB7m3z71J0YVNMPjb5D/N3uZ9M4ro5AmdHyGBVUFBCMNK7AdZXckPkv5oc0gCwf8VcoV1DNYpnmKZvWbEXts3Km9f6Rn1536OGukgRyX8/Z94A1yWd3SzHZ7N+mq2uwp8lY5yAJrFvpmqm/jl3qTfjXO4/mrD7ha51X/ncp0poevq0sEjEyjNG3dm1MSaQuQ469wWHbFvnrcvocFZenNTSzTthwwszp+6RfwDDfA4aLKz4ZejjV8w4WQEk4fVNUmtxMUC/B2tQMdCBXq8+J9wwWXbfgbNvDjeYXVR1CaFtH6dGiLLSa8GZMUD/fIjSkLtJnI/NcSxmeEUHrdi7oZFsC6ajIjnPPsnKUiZ71EjIsGxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015Xy99AfP8KnPGDe2hyEtD1",
      "input": {
        "note": "Lemon sits centred between the right jaws near table level. Closing on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015Xy99AfP8KnPGDe2hyEtD1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1986, -0.0864, 0.9966, 0.3344, 2.0724, 1.3346, -0.334, 0.1902, 0.2096, 0.4366]\nstate[eef_state]: left_x=0.2896 left_y=-0.0014 left_z=0.1925 left_yaw=0.0713 left_pitch=-0.3429 left_roll=0.1267 left_gripper=0.9966 right_x=0.468 right_y=0.131 right_z=0.0094 right_yaw=0.0171 right_pitch=-0.458 right_roll=-0.0641 right_gripper=0.4366\nstate[joint_eff]: [-0.1983, -2.8376, 6.7624, 1.2918, -0.1783, 0.0855, -0.0073, 0.0479, -12.6974, 6.3795, 1.1306, 0.0904, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b588c4180edf9bc5e7a64afe0ff7336d0e778be7d4e37e9a47ee3d37a96ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e81889cf8a3b535a02681abb25c94589bc08d82d95acd3d4e9f3627cef207a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ad6041342dbb5d72fb965dffdd4dfa06f6b483e8e17ac619ffc3d9204034430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 4.813 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]: [-0.1394, 1.0752, 1.0222, -0.8719, -0.2115, -0.0853, 0.9965, 0.3519, 1.9411, 1.3636, -0.4381, 0.1978, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2913 left_y=0.0002 left_z=0.1974 left_yaw=0.0793 left_pitch=-0.3262 left_roll=0.1349 left_gripper=0.9965 right_x=0.463 right_y=0.1368 right_z=0.068 right_yaw=0.0275 right_pitch=-0.4024 right_roll=-0.0434 right_gripper=0.9996\nstate[joint_eff]: [0.1573, -3.412, 6.5846, 1.5214, -0.0415, 0.1392, 0.0073, -0.6906, -9.5795, 9.1692, 1.5311, 0.0708, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1993, -0.0799, 0.9965, 0.3367, 2.0525, 1.3376, -0.3328, 0.1913, 0.2127, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0013 left_z=0.1926 left_yaw=0.0682 left_pitch=-0.3432 left_roll=0.1315 left_gripper=0.9965 right_x=0.4708 right_y=0.133 right_z=0.0199 right_yaw=0.0201 right_pitch=-0.4348 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -3.0017, 7.2274, 1.3651, -0.2662, -0.0415, -0.0073, -0.3077, -10.1949, 5.9829, 1.3504, 0.0708, -0.0904, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1986, -0.0864, 0.9966, 0.3344, 2.0724, 1.3346, -0.334, 0.1902, 0.2096, 0.4366]\nstate[eef_state]: left_x=0.2896 left_y=-0.0014 left_z=0.1925 left_yaw=0.0713 left_pitch=-0.3429 left_roll=0.1267 left_gripper=0.9966 right_x=0.468 right_y=0.131 right_z=0.0094 right_yaw=0.0171 right_pitch=-0.458 right_roll=-0.0641 right_gripper=0.4366\nstate[joint_eff]: [-0.1983, -2.8376, 6.7624, 1.2918, -0.1783, 0.0855, -0.0073, 0.0479, -12.6974, 6.3795, 1.1306, 0.0904, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40b588c4180edf9bc5e7a64afe0ff7336d0e778be7d4e37e9a47ee3d37a96ddb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e81889cf8a3b535a02681abb25c94589bc08d82d95acd3d4e9f3627cef207a4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ad6041342dbb5d72fb965dffdd4dfa06f6b483e8e17ac619ffc3d9204034430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gkKEAgSGAI4AUIIdGhpbmtpbmcSDL37MYCoaHONSnCEKRoMpJEI7te6dPukUprvIjADt2ErHJVl1pRf3raP7TpM70hgQLHFxxbqSJ5yMBjh0VEBGuMAuJ7+OBZa3wxIAlMqkwm9GxY7j5ROLeDemghNZJJA4x3x+HRjawNvvzNY/LypymQ4NVIOUZQBM97NVxoT4bxeif0fk4nMJxtxZu3eZ0jSh/DljGVHOyEuDPBpcOAHYvlieKY+KKjYPC/u3gT26IO3mKUaYxSB33llOeWNUkvJg2bihRL3AfVlexMRMeqKkX8fsLBgSNqZa1pwLBWoLDGsGYvNFTdLLLg5a3W6vTJ/O8TFZQ1fsQUhvQTCz0lwJFyPHu5fCGUiKDNFK4ETiX0PFAU1s4qJ6IHKh6ev75EXlN7Sz9B6QFkixbl6Zb7oxjAoSo0XuPtkmyzCvyqEzrLPRHzcctVKecWGpfg961uJdqIG9gUndkE8pE823ifWpgRfVpZ86LRceJ4hXf3R6eXj2WNn+XGJIXnDtYqGVId9TObpEpl9mxIT/YIR2kkc06HXOGs0j1mgnCCTollf7uHeWUuprrVXo0ZANs2ygswnogqdJgB3IRuQTyjFCK14FG+Hjab/HU4x3aoYQc/34FlM+QmDOXGATR4/MYv/X2ufDEZ3MJtqO/yx2Iv/oRk2UGdTY/heAYZaNGSx6AEvVpHL+rM3aD0v6UjIADEUSNRGVUjkKFt/s881/R90ZtGI7HmZe7lRECU86wMH3JQpgjB6xlNflh1ANjwZ4aqV6VWgWU0sjeC7KYYF346ZxP1bYbHtyk6W+j6F7i0DKXnpLcFGHYfn6MF2+bcOGSVYzvOx3KHzS7EsMR0TpHlkFh2ZEJMtJux6tmdYRGpnVKX2Pi3rkRaZCsNm3THPofyvLuW7vaIm2rrAKInM3k/U16tlLSnwANYLrlD92NzD3WmJz+vHyZvcMy6FVPvsvjP7TrE07RPjxm487qCnShP7v2rF1lfqb23/nMIEg02kvVlCAODQUNJ7qwLlf2zbgDlCbbJJRG63VoUAzyO1V9PQvfFnKBaIKmDX0JCyFDNWJQINVBJZ7RkxsXj1eSo+9lTMvpCZ6GS5k2RhBtw5wRilsBANX4eT/5XelBGnQWv+Tsyx/3wrsOCeG0z18mjkXQb4FAovgKx0DtbbkNlQECdvRIIu1LfOClFeXxJF5c1J0nNjuaONH7CZFDkbw0a8d54cEiXbfuU14ofhLHlK/sDBS/nKrfdrcawIb2N8CmppuF6opuBTxBX7rnShiSyaM3Kfvoi+EmXCiTVUoEdM5HVguNFx6YtqBUsNzPjsN9w6+nYElFyBSFfrpubZQbdidP7tLpay9mOQranajTccb3MlO6ljwgBL2lVblvEW1Rwbk1V0FEDCoqDONGmVxn23IKsu85TqRmEEGgf2RHPq8XRt3qeDG6VhORXCmqBsLnoCmxJct6Sn5N+hT0jo+rOIKXtd2X6Ek/BnUDDP4ztjinyaxI8WbHxgBSxMu30Lg11dqguAfJ2/h5tQ6ma5aBGqxhlalfuFZ+4AOJd2Ce8KXF4TsD65eLE8nVLxH7edBBa1bjdg8Tqc9YomWbt124iLnwednGc/MSAXgaJTz5X1ZtQu7DKoeBHh0L2IuV3ya5kZv0D7kQsDTwrfq4QbAZ3yRMYKh+fwRhrrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YC6kndrUSCdT5KRS8FqDfW",
      "input": {
        "note": "Gripper settled at 0.44 (~4 cm), so the lemon is held. Lifting it clear of the safe walls.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01YC6kndrUSCdT5KRS8FqDfW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.8944, -0.1986, -0.0902, 0.9966, 0.3344, 1.9881, 2.0399, -1.1156, 0.1867, 0.2054, 0.4414]\nstate[eef_state]: left_x=0.2861 left_y=-0.0009 left_z=0.189 left_yaw=0.0752 left_pitch=-0.3639 left_roll=0.1291 left_gripper=0.9966 right_x=0.4695 right_y=0.1322 right_z=0.2131 right_yaw=0.0239 right_pitch=-0.4515 right_roll=-0.0606 right_gripper=0.4414\nstate[joint_eff]: [-0.1299, -3.0838, 6.5436, 1.4237, -0.1685, -0.0171, -0.0122, -0.1983, -9.2103, 7.5009, 1.1844, 0.1245, 0.0122, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a573ae2d2188048f66fd98d2c6611e4d66cd366cf615d8e56d31b31956a995e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edec1ca95cf57557e433a4604e0c4b12ca0154dbc6d3e4c2a813f4b621e04169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50cdfc1074fb02c5748f72b48f75c6f43d1d0883304ad2ba96ea7fa10b43429d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.125 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]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1993, -0.0799, 0.9965, 0.3367, 2.0525, 1.3376, -0.3328, 0.1913, 0.2127, 0.9996]\nstate[eef_state]: left_x=0.2896 left_y=-0.0013 left_z=0.1926 left_yaw=0.0682 left_pitch=-0.3432 left_roll=0.1315 left_gripper=0.9965 right_x=0.4708 right_y=0.133 right_z=0.0199 right_yaw=0.0201 right_pitch=-0.4348 right_roll=-0.0552 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -3.0017, 7.2274, 1.3651, -0.2662, -0.0415, -0.0073, -0.3077, -10.1949, 5.9829, 1.3504, 0.0708, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1986, -0.0864, 0.9966, 0.3344, 2.0724, 1.3346, -0.334, 0.1902, 0.2096, 0.4366]\nstate[eef_state]: left_x=0.2896 left_y=-0.0014 left_z=0.1925 left_yaw=0.0713 left_pitch=-0.3429 left_roll=0.1267 left_gripper=0.9966 right_x=0.468 right_y=0.131 right_z=0.0094 right_yaw=0.0171 right_pitch=-0.458 right_roll=-0.0641 right_gripper=0.4366\nstate[joint_eff]: [-0.1983, -2.8376, 6.7624, 1.2918, -0.1783, 0.0855, -0.0073, 0.0479, -12.6974, 6.3795, 1.1306, 0.0904, -0.0464, 1.0281]",
      "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]: [-0.1379, 1.0809, 1.0138, -0.8944, -0.1986, -0.0902, 0.9966, 0.3344, 1.9881, 2.0399, -1.1156, 0.1867, 0.2054, 0.4414]\nstate[eef_state]: left_x=0.2861 left_y=-0.0009 left_z=0.189 left_yaw=0.0752 left_pitch=-0.3639 left_roll=0.1291 left_gripper=0.9966 right_x=0.4695 right_y=0.1322 right_z=0.2131 right_yaw=0.0239 right_pitch=-0.4515 right_roll=-0.0606 right_gripper=0.4414\nstate[joint_eff]: [-0.1299, -3.0838, 6.5436, 1.4237, -0.1685, -0.0171, -0.0122, -0.1983, -9.2103, 7.5009, 1.1844, 0.1245, 0.0122, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a573ae2d2188048f66fd98d2c6611e4d66cd366cf615d8e56d31b31956a995e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edec1ca95cf57557e433a4604e0c4b12ca0154dbc6d3e4c2a813f4b621e04169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50cdfc1074fb02c5748f72b48f75c6f43d1d0883304ad2ba96ea7fa10b43429d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013YdvQ32CJDzD3KiGbDqpE9",
      "input": {
        "note": "Lemon lifted with the right arm. Carrying it over the right half of the safe interior, beside the white teddy.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.3,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013YdvQ32CJDzD3KiGbDqpE9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.8986, -0.1986, -0.091, 0.9966, 0.6991, 2.3852, 2.6495, -1.4124, 0.3275, 0.5083, 0.4414]\nstate[eef_state]: left_x=0.2852 left_y=-0.0008 left_z=0.1884 left_yaw=0.0759 left_pitch=-0.3679 left_roll=0.1296 left_gripper=0.9966 right_x=0.44 right_y=0.3004 right_z=0.1988 right_yaw=0.0654 right_pitch=-0.4602 right_roll=-0.0574 right_gripper=0.4414\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3504, -0.1099, -0.0708, -0.0122, 0.1573, -12.3692, 6.8308, 0.8083, 0.3639, 0.2515, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f2cd051a2b7335799606295197634306501c35b2c91bba4d7063a11c7c1890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9790fb1410425940f939b9b8bb6472949ad75cf1340aaf630372ef26d4ef531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1f6c4a75660a3ec1a06192febb2a34d91200e62ce18e078174373c8005c16da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.274 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]: [-0.1379, 1.0782, 1.0142, -0.8757, -0.1986, -0.0864, 0.9966, 0.3344, 2.0724, 1.3346, -0.334, 0.1902, 0.2096, 0.4366]\nstate[eef_state]: left_x=0.2896 left_y=-0.0014 left_z=0.1925 left_yaw=0.0713 left_pitch=-0.3429 left_roll=0.1267 left_gripper=0.9966 right_x=0.468 right_y=0.131 right_z=0.0094 right_yaw=0.0171 right_pitch=-0.458 right_roll=-0.0641 right_gripper=0.4366\nstate[joint_eff]: [-0.1983, -2.8376, 6.7624, 1.2918, -0.1783, 0.0855, -0.0073, 0.0479, -12.6974, 6.3795, 1.1306, 0.0904, -0.0464, 1.0281]",
      "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]: [-0.1379, 1.0809, 1.0138, -0.8944, -0.1986, -0.0902, 0.9966, 0.3344, 1.9881, 2.0399, -1.1156, 0.1867, 0.2054, 0.4414]\nstate[eef_state]: left_x=0.2861 left_y=-0.0009 left_z=0.189 left_yaw=0.0752 left_pitch=-0.3639 left_roll=0.1291 left_gripper=0.9966 right_x=0.4695 right_y=0.1322 right_z=0.2131 right_yaw=0.0239 right_pitch=-0.4515 right_roll=-0.0606 right_gripper=0.4414\nstate[joint_eff]: [-0.1299, -3.0838, 6.5436, 1.4237, -0.1685, -0.0171, -0.0122, -0.1983, -9.2103, 7.5009, 1.1844, 0.1245, 0.0122, 1.0379]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.8986, -0.1986, -0.091, 0.9966, 0.6991, 2.3852, 2.6495, -1.4124, 0.3275, 0.5083, 0.4414]\nstate[eef_state]: left_x=0.2852 left_y=-0.0008 left_z=0.1884 left_yaw=0.0759 left_pitch=-0.3679 left_roll=0.1296 left_gripper=0.9966 right_x=0.44 right_y=0.3004 right_z=0.1988 right_yaw=0.0654 right_pitch=-0.4602 right_roll=-0.0574 right_gripper=0.4414\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3504, -0.1099, -0.0708, -0.0122, 0.1573, -12.3692, 6.8308, 0.8083, 0.3639, 0.2515, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14f2cd051a2b7335799606295197634306501c35b2c91bba4d7063a11c7c1890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9790fb1410425940f939b9b8bb6472949ad75cf1340aaf630372ef26d4ef531",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1f6c4a75660a3ec1a06192febb2a34d91200e62ce18e078174373c8005c16da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDEScTbd4C7ZL7kFA4BoMvfKA5xSotuy9QbLLIjA3kObxJyoP6Ot4+H8XhWAQvyJnXQMwCjUhgzbQLzPE65RfVvKSi2//OZAU4jz7EmUqrgd9oEnqZaURovwQe2sXsN4vucCe4rLnsSnS72LBajT2e6NUE83+dPj+MCM78ceJUgGSexmds+1CfV/SkeUQeshVUAZrg4vYIGGVxbjiL9WQ0l0IoRiGeGF9RBSvIWkDDZHCvGzNzhnn9z3nTr76MBsLVanvY+90ZI7kl6wC6ua83CKWwVy81/XCfztQ0sXCQDSqm/REGse67YQtypm3+ChITfbqGvaiWXSOqDLk+Te0LIWzdRlkLqMs3muPu90/j50WKftdA/16PpCWAaRmkz11P+qm5AUZu98rO4mLiKR+LpWCiuGwloMZiynZm47ScVZ9txGhxDdfHAMi5p3z9d+QfrOs1YrY8EqUehT1k/6EBYYdPP3SnApqOYYutrezBau+9RmJnPkBMNh5Y9QxQLZ9+lXhdGm5sUOKAVdnDBkM6DhEzQ+wAuTmwqhvMVKg6jV5gRf1zpVG/h+jGbiWeC/Z+N5HMP4LySrhxLenl9yb1RxX2uwyN/YFikY1SNHoM6DGUAjTBX+LEBt58wTXo7AOUnib/iR1ZTHkM4qMbrqt8lbU+XFVGEFK133axQnPVHvQujG+6bnI0rR3UyEhrw3fV8nqInQn4I4QLEriQopMhKHDy7mmrVLmBpYAnc1fmJ3OYYCcwM0g5fa1Kx9Sl5cQuf2xcaGkBmNUufakuDx87Y4a1fWyACO5KQ8A9eUujB7QaIFqgXNXB59ywiEo1Lkd81rhNVv+3FVuDj+LKWYAb+OocmY1xdXS728wprS0jKPovP8dJ1ziRUhUQVhdaGiviqD2E1qazF17Losd1pgrZdd+FoTH2OkuzRGusvmvvNO854ZUTMf5aLXiGXScuGV4+51oUvnUoYzHcMd5172A27gpY3nkseMXzjC6PCf7xU8JVL9Zhgy0hayn4bZIRKNy+p3togmrJMMHMAlDTDui1wiZ6/6xo4c9XEnBQiD2ybGObt1yP8XKxl8bnlzyz3KFkW9mFspUxy2dS1sGeDYhWfsun/3E89IqEBigETujztZm+GaQsDxG8ebPGYJWUevoaTOh1lxPcQH/4Dri1/jGE9EWyG3cGY45GzJUzobl/6BHiGDVUosUSLY0ER2VVtiDAsDbJykZ/CLsuu/2V438OgCDOAFb48fabFW94K5J5FzdgQIzNzpXhJUS7hwaIrM3k7zz7KnSy4GarIsItF3PesWJOOi8UimFNPehsM25FhjfxfFQBZUbcmxE1q6i33Z6SWBiUZrYGMvyAU476WIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017QoNKFV1Np4tXwYP9YqTio",
      "input": {
        "note": "Lemon is above the safe's red interior in the right wrist view. Lowering before releasing.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017QoNKFV1Np4tXwYP9YqTio",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9009, -0.1986, -0.0906, 0.9966, 0.6998, 2.2753, 2.0579, -1.0653, 0.3206, 0.5079, 0.4414]\nstate[eef_state]: left_x=0.2848 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3702 left_roll=0.1304 left_gripper=0.9966 right_x=0.4241 right_y=0.289 right_z=0.0911 right_yaw=0.0252 right_pitch=-0.5711 right_roll=-0.1458 right_gripper=0.4414\nstate[joint_eff]: [-0.1573, -2.8786, 6.4889, 1.3553, -0.1197, -0.0513, -0.0122, -0.1436, -16.7863, 7.159, 1.1648, 0.1734, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:665efd27261db771970565db82c39fed82adf61e087c91cd88ae00b352d23c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be980b00f8fba26c7a34e41c6ba384bb95c117528b8352a7ab70c917f5fd35d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00c0a19860223fe7cbcd0f742ef6145517a288893901a735c7f278b6455f7693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.458 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]: [-0.1379, 1.0809, 1.0138, -0.8944, -0.1986, -0.0902, 0.9966, 0.3344, 1.9881, 2.0399, -1.1156, 0.1867, 0.2054, 0.4414]\nstate[eef_state]: left_x=0.2861 left_y=-0.0009 left_z=0.189 left_yaw=0.0752 left_pitch=-0.3639 left_roll=0.1291 left_gripper=0.9966 right_x=0.4695 right_y=0.1322 right_z=0.2131 right_yaw=0.0239 right_pitch=-0.4515 right_roll=-0.0606 right_gripper=0.4414\nstate[joint_eff]: [-0.1299, -3.0838, 6.5436, 1.4237, -0.1685, -0.0171, -0.0122, -0.1983, -9.2103, 7.5009, 1.1844, 0.1245, 0.0122, 1.0379]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.1379, 1.0809, 1.0138, -0.8986, -0.1986, -0.091, 0.9966, 0.6991, 2.3852, 2.6495, -1.4124, 0.3275, 0.5083, 0.4414]\nstate[eef_state]: left_x=0.2852 left_y=-0.0008 left_z=0.1884 left_yaw=0.0759 left_pitch=-0.3679 left_roll=0.1296 left_gripper=0.9966 right_x=0.44 right_y=0.3004 right_z=0.1988 right_yaw=0.0654 right_pitch=-0.4602 right_roll=-0.0574 right_gripper=0.4414\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3504, -0.1099, -0.0708, -0.0122, 0.1573, -12.3692, 6.8308, 0.8083, 0.3639, 0.2515, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9009, -0.1986, -0.0906, 0.9966, 0.6998, 2.2753, 2.0579, -1.0653, 0.3206, 0.5079, 0.4414]\nstate[eef_state]: left_x=0.2848 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3702 left_roll=0.1304 left_gripper=0.9966 right_x=0.4241 right_y=0.289 right_z=0.0911 right_yaw=0.0252 right_pitch=-0.5711 right_roll=-0.1458 right_gripper=0.4414\nstate[joint_eff]: [-0.1573, -2.8786, 6.4889, 1.3553, -0.1197, -0.0513, -0.0122, -0.1436, -16.7863, 7.159, 1.1648, 0.1734, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:665efd27261db771970565db82c39fed82adf61e087c91cd88ae00b352d23c61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be980b00f8fba26c7a34e41c6ba384bb95c117528b8352a7ab70c917f5fd35d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00c0a19860223fe7cbcd0f742ef6145517a288893901a735c7f278b6455f7693",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LCyA7Qo2rcRnNS19THPJaF",
      "input": {
        "note": "Lemon is inside the safe beside the white teddy. Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LCyA7Qo2rcRnNS19THPJaF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9012, -0.1986, -0.0906, 0.9966, 0.6998, 2.2742, 2.035, -1.0653, 0.3172, 0.5007, 0.9948]\nstate[eef_state]: left_x=0.2847 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3706 left_roll=0.1305 left_gripper=0.9966 right_x=0.4199 right_y=0.2862 right_z=0.0842 right_yaw=0.0236 right_pitch=-0.5907 right_roll=-0.1625 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7419, 6.5026, 1.3407, -0.1538, -0.0513, -0.0122, -0.3761, -12.7932, 8.0205, 0.7546, 0.149, 0.022, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0632d9adf642747f93023628321213611cd15ec375d102959433482534970644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ccc7caf717e7b8c65effc2e86f2bdc22cb03fa6ec950f4806caaa5de8d9cccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c11a78ea3c85b32e1cb74a3f7947e38c2636bf149727998ed0e59eb6b5d64727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.819 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]: [-0.1379, 1.0809, 1.0138, -0.8986, -0.1986, -0.091, 0.9966, 0.6991, 2.3852, 2.6495, -1.4124, 0.3275, 0.5083, 0.4414]\nstate[eef_state]: left_x=0.2852 left_y=-0.0008 left_z=0.1884 left_yaw=0.0759 left_pitch=-0.3679 left_roll=0.1296 left_gripper=0.9966 right_x=0.44 right_y=0.3004 right_z=0.1988 right_yaw=0.0654 right_pitch=-0.4602 right_roll=-0.0574 right_gripper=0.4414\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3504, -0.1099, -0.0708, -0.0122, 0.1573, -12.3692, 6.8308, 0.8083, 0.3639, 0.2515, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9009, -0.1986, -0.0906, 0.9966, 0.6998, 2.2753, 2.0579, -1.0653, 0.3206, 0.5079, 0.4414]\nstate[eef_state]: left_x=0.2848 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3702 left_roll=0.1304 left_gripper=0.9966 right_x=0.4241 right_y=0.289 right_z=0.0911 right_yaw=0.0252 right_pitch=-0.5711 right_roll=-0.1458 right_gripper=0.4414\nstate[joint_eff]: [-0.1573, -2.8786, 6.4889, 1.3553, -0.1197, -0.0513, -0.0122, -0.1436, -16.7863, 7.159, 1.1648, 0.1734, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9012, -0.1986, -0.0906, 0.9966, 0.6998, 2.2742, 2.035, -1.0653, 0.3172, 0.5007, 0.9948]\nstate[eef_state]: left_x=0.2847 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3706 left_roll=0.1305 left_gripper=0.9966 right_x=0.4199 right_y=0.2862 right_z=0.0842 right_yaw=0.0236 right_pitch=-0.5907 right_roll=-0.1625 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7419, 6.5026, 1.3407, -0.1538, -0.0513, -0.0122, -0.3761, -12.7932, 8.0205, 0.7546, 0.149, 0.022, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0632d9adf642747f93023628321213611cd15ec375d102959433482534970644",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ccc7caf717e7b8c65effc2e86f2bdc22cb03fa6ec950f4806caaa5de8d9cccd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c11a78ea3c85b32e1cb74a3f7947e38c2636bf149727998ed0e59eb6b5d64727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwoKEAgSGAI4AUIIdGhpbmtpbmcSDPcy4yh2yQLAFiivCRoMMKqx4qyLIsdZ/b1UIjD+MS9c1MXGB0TZ3r8LrY6+fAS/VK4RkkvC2/9ClYeCKAHnvwdk52pMzNEFK/fKj1MqoAlS4r5Nr6Racmjwiy8qwYdZo6TvaojKFF5Qz/qp3rRRwU+ffJS0NORQDArovrKVdj3VR5aHF5gMMBRyOfCUfPJs9D5YkmobirVm8iWEbIiHhBlzQkKcox5vx+EjaYrtI5wXgYXhhkPozwoJ0HFqtu2yeuG72wyHMUvTCFsza2B05H4eNDdUopVFHZMEeNgedSw1pk5hS7uj5ZClijv+LLz07pTY7a99MqizhtWPipXZwYS7z5C/q2Bxx9xVVJmS7S8iL4mUC1rq2nBRXRmTHV31RDQuVo07NHNJ26tpuAwjvq12mRyY7YK7iVyKvdo4RkKNodmLvLXcQoVFH99NdWLi23DAxBEY3FMo0nbJg2kmIjyn4VIVmjjfBVm2eZLvsz90AOG5UJHfy3Mi0QZdHjVEMZ/tGiRBA0SHEdVJn6dssAAPpkfA8bsEZjak4oes+D8zSsiTRd6R+gDiuEb38Nt9Ei2ydKdSQDqvW0/tTZfZBFooOqNK2GQoAGqyj60yVv0CNmZOCyhk+vh2rJBCFdGxyHlajRUC15R5274vEySWA/TizqcHGW71Xp0PzLexwpBXmIpU3M03Gb20PL3D9p9hQjYIPxCw0sB11s0clnHN6mX873NryQUGEOyyGjEvVXUPoP3djY2cbESYF1cZqOLlviLE6rG59W/5vuhY4RfQcNn5XORciv5bXcX+jYqvnS2CMyl0ortJEziyUwBROcWNCXPjofiFGO2z7OXtmUQJi19TffakV6RG0yok8grpq82KNsHmufWVyrNYvwlJYk8NAaTAJEd+yLHrLj+jYjSUmlAIf1grtxMxGWMfhjrgRaQOWhhmVIsD0bqE7Nr60ivcyO3TLyUN5NU8MYWTDjfvtnaAnDXws4xjQcmTl2ryxX4ruzQn/IKgc4/FCqecPy2R57ajS8dwXSBcPxfvUa8KtBn+hRGu6IQe5v0hyeyTOJWP5E4JJdd1gnJeBVZR7mDYnr7FdEqYrPWinbIhjvAHxdDQ6eVYA4jeeR9VwY76UPjlAJBNreGQndurTjOI4yB5vovczycC3BuHRFcnVwRmGfVnjOOJaJpUreDAL5ZAIBf0lswQBsiEW9AgDuIm5hEbYLURaAKtgHPy55iPyRQhkqvZqK03+QkZ/4AeKddxV/ORo0X9T+v/odYxZe8vkSVzKdC92njNojUUS0cutYUm1Q6QCFyvlvQeQ5YWXJ1+0RNZumOJt4dP0IPiEvPNvb4/aNCaPSTIn4xDEAEy+lKNuqOR0bgt0JBP4x4iPzUor1iIZlhDaMqjYF/3stmGHG4y6lLU/6VRCqnjsaQb1yWKHFSTKG0+bxSv91jfjBSZyYuURECs9oRuUrfIVhGJ8gt/PR0p2hOQQZ6Py4uAcIXUYmpTltrthfz9C3gL+VL9FRNrWTR6dP5RJIHUHPNLgC9OGi3iBfiEVfcerTyGkRfEQE9dZPFvLhivn4Obl6z5cGAOaEmh2keki2a9e0eateiX7NaRW2ARnEvMT8UgdMO+r0+/KtYQ6LTDOstkFijGbiSV3IA4UMzRVgxEiLwcomb5dyJAj8E5mIXJ5uiOk8Dz1BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HSE9JuHCWHs9KpmJcGEEZ4",
      "input": {
        "note": "Lemon and white teddy are both in the safe. Lifting the right arm straight out of the safe before going for the brown teddy.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HSE9JuHCWHs9KpmJcGEEZ4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.902, -0.1986, -0.0906, 0.9966, 0.6979, 2.3917, 2.6129, -1.5585, 0.3134, 0.4973, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3713 left_roll=0.1306 left_gripper=0.9966 right_x=0.4112 right_y=0.2785 right_z=0.1727 right_yaw=0.0126 right_pitch=-0.6189 right_roll=-0.1856 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3065, -0.1685, -0.0415, -0.0122, -0.6906, -17.306, 6.2427, 0.8034, 0.2076, -0.1148, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c6e1f4b8cb4f85e7295fae4d08da838e0c574402c62a6dddc2fa8f5c41cb8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8762692194eb4365eaa45704c705550d9e0711e8fbf9bc8b98b131ce737e200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:24e68b9784ba6d3f2694c1dfa3bcb7c978dc1eb41f2f4e009a5c78ce4e600c5e",
        "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 · 4.897 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]: [-0.1379, 1.0809, 1.0138, -0.9009, -0.1986, -0.0906, 0.9966, 0.6998, 2.2753, 2.0579, -1.0653, 0.3206, 0.5079, 0.4414]\nstate[eef_state]: left_x=0.2848 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3702 left_roll=0.1304 left_gripper=0.9966 right_x=0.4241 right_y=0.289 right_z=0.0911 right_yaw=0.0252 right_pitch=-0.5711 right_roll=-0.1458 right_gripper=0.4414\nstate[joint_eff]: [-0.1573, -2.8786, 6.4889, 1.3553, -0.1197, -0.0513, -0.0122, -0.1436, -16.7863, 7.159, 1.1648, 0.1734, -0.0317, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9012, -0.1986, -0.0906, 0.9966, 0.6998, 2.2742, 2.035, -1.0653, 0.3172, 0.5007, 0.9948]\nstate[eef_state]: left_x=0.2847 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3706 left_roll=0.1305 left_gripper=0.9966 right_x=0.4199 right_y=0.2862 right_z=0.0842 right_yaw=0.0236 right_pitch=-0.5907 right_roll=-0.1625 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7419, 6.5026, 1.3407, -0.1538, -0.0513, -0.0122, -0.3761, -12.7932, 8.0205, 0.7546, 0.149, 0.022, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.902, -0.1986, -0.0906, 0.9966, 0.6979, 2.3917, 2.6129, -1.5585, 0.3134, 0.4973, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3713 left_roll=0.1306 left_gripper=0.9966 right_x=0.4112 right_y=0.2785 right_z=0.1727 right_yaw=0.0126 right_pitch=-0.6189 right_roll=-0.1856 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3065, -0.1685, -0.0415, -0.0122, -0.6906, -17.306, 6.2427, 0.8034, 0.2076, -0.1148, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c6e1f4b8cb4f85e7295fae4d08da838e0c574402c62a6dddc2fa8f5c41cb8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8762692194eb4365eaa45704c705550d9e0711e8fbf9bc8b98b131ce737e200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24e68b9784ba6d3f2694c1dfa3bcb7c978dc1eb41f2f4e009a5c78ce4e600c5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoggKEAgSGAI4AUIIdGhpbmtpbmcSDOepDQUbqu1lpoh54xoMAmiEdqA2rgxT6RUiIjDksx2NQn1H0FNMev5EXjTbrM4bS14FgjgbIRFk6wG9jx6enGQO8MmLxynz6/ZTqscqvwduaIbSFHknbv0y+KmukZa1wN0KR0R46oHZYAJRUwmY9nmw85tGgScp2aU1ZuIT9vF9ulvWsaqvlZmxHFFHL2f9GcudXCIES+qzJ/BNWAkJpTyCdBYKzk7XMdAJ0v57AmXXGd2nIbXv3f7wSSrb8CrC40cCQUTT89NfgM+IogJhW7oGT/j0vpidRWQznvYhoVyiRud2QSdJEfLOdSv5k4bBYUG81drq2SNeEFgt5N1Jp6BwDCv2DFyp/iUCJY4VCXqQxxcnNzDYuiBCDnichOC2eunoxytbSMtfjIZXQlwRw/f91lux4LwQxZZEhnP2oJQLF3Gpa+VPa27hLFExsFJLXZdH5+TEpDk0J/pnIsJAcwTujTHmWo3h796mDgaXPVoK6dBm1X+7rqmCx8gkv87NKthfUflTv5pRSTwauCn6Zn3oxStO0ztqPxjcQSMq5Z/KLkWmVDTL8ZMS9JId5Io77h2SylkKWeE4uAYQ+QkCeVafBX9eR6pzwLDcOpiP4OLLHA7DzfkbS7mmxWgWY9CoVGIQNaKEzoVkj16WwvAFJ881BDtrvgvPNvVuezA2BSfTSLEKCF9PgLcjyt3jQI8t0o2LIUUg5PlDuwK66DTd7rodYTYzkR4TExl4jnZG9SMnjVpNeM4tfdbTguPWvOenvJhizNOpxCMZSEGcMxTUxvn6Sc8n2j8Xtem32/GgB24r5QdERPwYOHWJd1qLX2mRaLsBufaEo2govbh7wt5h/LcwyQfkQaAMbrTsF1duvAY2KyUXNNgEqyvYlcLv88k8FA/Hwg+FE14DUgcA9kN/iWt0qlg84GuM2DOuudJYxSGAbNIvtFWwMy2P9o1/GWlHtTcPDdvrQrdrT5sPU/S40860JG0ferK+QH128a0vqGukdKYZUlr1kU5zHed0pqBEH25q0CveusTH5vcVc+wad7hE6Qekm5rgfh6VlOl4BlPFuDrGtybMZHcvIWOmX4IvBttoXj+Yx+3meQ4Fhrd5dDK+qg/941+7DvO8ffjFckuEu913aC4zkhXH4Qrk9VzYaPquSqayPFFLbAlldieYaCOYMmR0+36ClgEw5+T8a41Qss1H435Ubjd9aCWrSsFZFm+OpKn6Wp6tzDMNIOq46eyyfIm995TkjxyjXlzJdqyqRR+z2JqNkUziYVhT0bXMLK4PBfP3Hniko4sQXEg4PA+YJKxmQyS2oaTJprgbxgXxr+L0VMVjSP1T36q8zviN/FC3JmE1MT/epV8wsdd6R8xhKDCP3Dhl1GNAQNDKoxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TYXu8xxtjawx3MDiWGmfjr",
      "input": {
        "note": "Brown teddy lies just in front of the safe's front wall. Moving the right arm back over it to line up a grasp.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.27,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01TYXu8xxtjawx3MDiWGmfjr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.9016, -0.1986, -0.0906, 0.9966, 0.717, 2.3672, 2.5793, -1.5806, 0.318, 0.5014, 0.9968]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3709 left_roll=0.1306 left_gripper=0.9966 right_x=0.3982 right_y=0.2786 right_z=0.174 right_yaw=0.0108 right_pitch=-0.6396 right_roll=-0.2128 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -2.6051, 6.7214, 1.3114, -0.149, -0.0659, -0.0122, -0.1026, -14.9812, 5.8735, 0.7302, 0.2759, 0.1099, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c618f64021b958b4f00e8655c6aeb0067a3b88a43696277825e6f414bbc04c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60ccf2e582f3a581729a23ebb4e288f26ce1e9dbe1f64b641fa40cd3a8a0f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:45c064dca86597af07ea511d1b768e46e5142b82ef15632914084dcbda4f5d5e",
        "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 · 8.809 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]: [-0.1379, 1.0809, 1.0138, -0.9012, -0.1986, -0.0906, 0.9966, 0.6998, 2.2742, 2.035, -1.0653, 0.3172, 0.5007, 0.9948]\nstate[eef_state]: left_x=0.2847 left_y=-0.0007 left_z=0.1881 left_yaw=0.0759 left_pitch=-0.3706 left_roll=0.1305 left_gripper=0.9966 right_x=0.4199 right_y=0.2862 right_z=0.0842 right_yaw=0.0236 right_pitch=-0.5907 right_roll=-0.1625 right_gripper=0.9948\nstate[joint_eff]: [-0.0068, -2.7419, 6.5026, 1.3407, -0.1538, -0.0513, -0.0122, -0.3761, -12.7932, 8.0205, 0.7546, 0.149, 0.022, -0.2662]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0809, 1.0138, -0.902, -0.1986, -0.0906, 0.9966, 0.6979, 2.3917, 2.6129, -1.5585, 0.3134, 0.4973, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3713 left_roll=0.1306 left_gripper=0.9966 right_x=0.4112 right_y=0.2785 right_z=0.1727 right_yaw=0.0126 right_pitch=-0.6189 right_roll=-0.1856 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3065, -0.1685, -0.0415, -0.0122, -0.6906, -17.306, 6.2427, 0.8034, 0.2076, -0.1148, 0.1783]",
      "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]: [-0.1379, 1.0809, 1.0138, -0.9016, -0.1986, -0.0906, 0.9966, 0.717, 2.3672, 2.5793, -1.5806, 0.318, 0.5014, 0.9968]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3709 left_roll=0.1306 left_gripper=0.9966 right_x=0.3982 right_y=0.2786 right_z=0.174 right_yaw=0.0108 right_pitch=-0.6396 right_roll=-0.2128 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -2.6051, 6.7214, 1.3114, -0.149, -0.0659, -0.0122, -0.1026, -14.9812, 5.8735, 0.7302, 0.2759, 0.1099, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c618f64021b958b4f00e8655c6aeb0067a3b88a43696277825e6f414bbc04c03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c60ccf2e582f3a581729a23ebb4e288f26ce1e9dbe1f64b641fa40cd3a8a0f0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45c064dca86597af07ea511d1b768e46e5142b82ef15632914084dcbda4f5d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlggKEAgSGAI4AUIIdGhpbmtpbmcSDF79FAS9s7tq8B5yfBoMWTpcbWZUv/ovkMaWIjC1hjmplrx98YMQx89ZYjYiULWOm6vOzlai7l6KFjtN1A5Y2dhd4EThicY2dTRyklsqsweGCYIbpQu2rJ7LcvsIeCqi/13Le7VDygc3e65nJWqe0lBi+fUT0zXDuf1GJDlGyT9XRxh/HCEobT5t5OjSR/GH+u5YMQr7Plj/7sz7w2kCZ5E02a8FVwBzEJDR7jGTfcdeghmqpvjXDYZEkkOEMQVt5gbbCl+BREHVkzFfegaVfvegIYfp2OurGozBM0duVWLsAa2F0T6M4yx4oDwHoTRqc4I0YT2wOOgboGIx+SrIik3v1R5PE3zsbe1QAGcmGj80SPDVkopZ92TKxTTxQNxIe09KZhD17jISPLJwfAmoLqFvUs2ICzJqe7rg/Qujp5OHhYOu/pbdfDBwJK1ENs/v52DrNJLeG2nk28R4Asb2MHsNgQz0myLQTesNHEWa03XiO2QlHPiL14khfcjOqFRaNxNroCzeu8UINa+AOu4neuR31SIdREIDb7Y0MByVCXsINwrA4/8osJqLcvaxjFO/2fm+d+S0tz3cUkZ6HLpT/qGctdB1RS7mYK/CydVZxP375rvfGvBbHZWjT9PndyGAC7QXxfmtdhUmukKo8zyjG9+BGxUcq7Jl0uQ4gsFIPa9cuEiZaoz0K/aB7Gd5kQ6ZLGXO0qDr5xYsFDbtDNc6s/DbwPXuWDrTVBrr42hOU9JaZu2CW7UGIJ5sF8s4xW36UQziR43wnTDtg1nB1mdU7CKIXePyJfoJEcWI0L4E+I/xc6YzkMGGVuQ+qzaNLAsFfHyKJFPIDel2+NSFYAooRhw7kVLUDrORoguvbVV87O84Xw1hfnX1CeqGKqzr/3AjkEafbBBpVvtbHxzURa+z2W6nBoLnQkk+ZIvytPufEymnlEzA6ypVloKZSU5TPijYEhk6iFdmsK1gAq0Nb893GYv9p7xoRwq78QsYOZtRVb/jVGgVOGJZXy2B9Kr7SpBaWACVAo3r+9OPpvQZu/oapCLdJ90bbNHm3q4IWWxPghUDyr9dx5YcJouToMpp02rDLjICoJ3PlspAkGktxCRKBynOQBE7I4x+Urm7kcdq1tcM6atv8l+fNvBuj+V4rsAT6S6eRzqhZ0rYHkBSFjb2m5agcX1qK4CCUhNrdRshMxj+1pZqgqC3KC6o7ykf2n0yqsogpAj2n7lbwMBYWGYtaY6SyX8qo+s4MKMZJhLGRIUhuatTnQUdhGGvZv0uoGX9apGuDbU7J2ZWYVbMyrM8YxN0K5/9updIlF3LglfKl0DeKJYMq2S80dpX7m9YPuwKQVrmNlpEtawW4nsMP/e8gke8qBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XNSqPsWvCGqxMkZiXLxfAH",
      "input": {
        "note": "Right arm barely moved on the last command (x stuck near 0.40). Retrying the pull-back with a higher z so it clears the safe wall.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.27,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XNSqPsWvCGqxMkZiXLxfAH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9043, -0.1986, -0.0906, 0.9966, 0.894, 1.9553, 2.027, -1.478, 0.3523, 0.6296, 0.9969]\nstate[eef_state]: left_x=0.2842 left_y=-0.0006 left_z=0.1872 left_yaw=0.0764 left_pitch=-0.3754 left_roll=0.1316 left_gripper=0.9966 right_x=0.2937 right_y=0.274 right_z=0.2016 right_yaw=0.0587 right_pitch=-0.6283 right_roll=-0.2194 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -2.8376, 6.5299, 1.3504, -0.1538, -0.0611, -0.0073, -0.5812, -9.5521, 5.5863, 0.906, 0.4469, 0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e906866202fdca7a73e40a00d68e56ed740e8ffcc5cbc277dc234aaf40bc5da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdde50becbf81c42151ed107c48472095d750194ce4d87c294501ae4b3337168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8416a4450f9d009f5a414bb3408a215963b217dcd126e49049c2ac7ea277671c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 5.107 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]: [-0.1379, 1.0809, 1.0138, -0.902, -0.1986, -0.0906, 0.9966, 0.6979, 2.3917, 2.6129, -1.5585, 0.3134, 0.4973, 0.9966]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3713 left_roll=0.1306 left_gripper=0.9966 right_x=0.4112 right_y=0.2785 right_z=0.1727 right_yaw=0.0126 right_pitch=-0.6189 right_roll=-0.1856 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -2.8786, 6.5026, 1.3065, -0.1685, -0.0415, -0.0122, -0.6906, -17.306, 6.2427, 0.8034, 0.2076, -0.1148, 0.1783]",
      "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]: [-0.1379, 1.0809, 1.0138, -0.9016, -0.1986, -0.0906, 0.9966, 0.717, 2.3672, 2.5793, -1.5806, 0.318, 0.5014, 0.9968]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3709 left_roll=0.1306 left_gripper=0.9966 right_x=0.3982 right_y=0.2786 right_z=0.174 right_yaw=0.0108 right_pitch=-0.6396 right_roll=-0.2128 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -2.6051, 6.7214, 1.3114, -0.149, -0.0659, -0.0122, -0.1026, -14.9812, 5.8735, 0.7302, 0.2759, 0.1099, 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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9043, -0.1986, -0.0906, 0.9966, 0.894, 1.9553, 2.027, -1.478, 0.3523, 0.6296, 0.9969]\nstate[eef_state]: left_x=0.2842 left_y=-0.0006 left_z=0.1872 left_yaw=0.0764 left_pitch=-0.3754 left_roll=0.1316 left_gripper=0.9966 right_x=0.2937 right_y=0.274 right_z=0.2016 right_yaw=0.0587 right_pitch=-0.6283 right_roll=-0.2194 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -2.8376, 6.5299, 1.3504, -0.1538, -0.0611, -0.0073, -0.5812, -9.5521, 5.5863, 0.906, 0.4469, 0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e906866202fdca7a73e40a00d68e56ed740e8ffcc5cbc277dc234aaf40bc5da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdde50becbf81c42151ed107c48472095d750194ce4d87c294501ae4b3337168",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8416a4450f9d009f5a414bb3408a215963b217dcd126e49049c2ac7ea277671c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZCajtnC48zttNQ2pxdS4t",
      "input": {
        "note": "Brown teddy lies below, slightly left and ahead of the jaw column in the right wrist view. Nudging forward/left and descending to grab its torso.",
        "targets": {
          "right_x": 0.32,
          "right_y": 0.28,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01AZCajtnC48zttNQ2pxdS4t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.9969, 0.8631, 2.0182, 1.4479, -0.8505, 0.3592, 0.5941, 0.9969]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.9969 right_x=0.3096 right_y=0.2719 right_z=0.0356 right_yaw=0.0391 right_pitch=-0.6376 right_roll=-0.254 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -2.7692, 6.5026, 1.3016, -0.1685, -0.0366, 0.022, -0.4171, -9.6342, 5.9692, 0.7009, 0.2418, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce937af7f3a0868264a8ad048a4daf05cbf027a9ee55bb25554bf2b1da1ede45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66ed04dcbd47ce72b5550c357ad643e500f325d4d9162a2ade52e7b3cbbebdba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cf1abf122f79b523f3837d0950c34b721b08eeaa24bcf8f748cddab73a63926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 5.482 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]: [-0.1379, 1.0809, 1.0138, -0.9016, -0.1986, -0.0906, 0.9966, 0.717, 2.3672, 2.5793, -1.5806, 0.318, 0.5014, 0.9968]\nstate[eef_state]: left_x=0.2846 left_y=-0.0007 left_z=0.188 left_yaw=0.076 left_pitch=-0.3709 left_roll=0.1306 left_gripper=0.9966 right_x=0.3982 right_y=0.2786 right_z=0.174 right_yaw=0.0108 right_pitch=-0.6396 right_roll=-0.2128 right_gripper=0.9968\nstate[joint_eff]: [-0.1573, -2.6051, 6.7214, 1.3114, -0.149, -0.0659, -0.0122, -0.1026, -14.9812, 5.8735, 0.7302, 0.2759, 0.1099, 0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9043, -0.1986, -0.0906, 0.9966, 0.894, 1.9553, 2.027, -1.478, 0.3523, 0.6296, 0.9969]\nstate[eef_state]: left_x=0.2842 left_y=-0.0006 left_z=0.1872 left_yaw=0.0764 left_pitch=-0.3754 left_roll=0.1316 left_gripper=0.9966 right_x=0.2937 right_y=0.274 right_z=0.2016 right_yaw=0.0587 right_pitch=-0.6283 right_roll=-0.2194 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -2.8376, 6.5299, 1.3504, -0.1538, -0.0611, -0.0073, -0.5812, -9.5521, 5.5863, 0.906, 0.4469, 0.0708, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.9969, 0.8631, 2.0182, 1.4479, -0.8505, 0.3592, 0.5941, 0.9969]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.9969 right_x=0.3096 right_y=0.2719 right_z=0.0356 right_yaw=0.0391 right_pitch=-0.6376 right_roll=-0.254 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -2.7692, 6.5026, 1.3016, -0.1685, -0.0366, 0.022, -0.4171, -9.6342, 5.9692, 0.7009, 0.2418, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce937af7f3a0868264a8ad048a4daf05cbf027a9ee55bb25554bf2b1da1ede45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66ed04dcbd47ce72b5550c357ad643e500f325d4d9162a2ade52e7b3cbbebdba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 228):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf1abf122f79b523f3837d0950c34b721b08eeaa24bcf8f748cddab73a63926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wYKEAgSGAI4AUIIdGhpbmtpbmcSDFAehI/EoQi6OJEHChoMrmb25sKCqdDHLq7SIjD8XoJRMAl5Pk2r/uyWQzKlCw02ZyCOa/3frq7Kx18NWIgF1JP0PaLNDFxrDQNI2csq8AUeFQLbeUAy+54pIQGvIaR6DO9VCyxhFtHQCdNtGWrVjQpK4EQsimNeGWlrp7RsZmvUS23DzC+AOE2fCdYqbcarNyx8ewO7tyRg9d6bVtkR8aYMbsXF9g2ky8lLLmhN0bH/yxOSRtaYnqEjUFhlUzfWb2g1P84J0JlT3AcWC7SBRN3+jstPIZZh030xjgWaCXapX46C7+y0fCLpXOJ5isoNtZaRdwkZkeLvCzZlS1qb8FufplWna4gOLeVUH+NRYitFRMZRi6MVx7RGC25uYx5XtsWpBc8YejLgMfqgVyH9AVzOUnHN6bxX7l8XWx7xc8Hv+UZ2U4HLPZYKLbV/EdP0SXvqLQ7qKfb0snmCQZF89FF/wux6StuLKNeZgP3jM8YTaJfiorIstYvjTAIMZeW6pyH4cvCEL9Hi44cQXPCWcs+4QdogfXqc93Yqi7VflIJnJXr8GGc0ZIXutcrUv7mqr1AqN5jThj1Xn5FpnsswoJqKoKm4DepE8rR/S30CjrMzS+m8EUiCatWojGhVM7VUvXElEaUqajdUsDyOoKOzBQ1tVr8LqNXOzGFbrRCrkiaOSkx9GIIVxJZYIfdCmaKfqD176sgIRGiI8eE6vKVM1fOoDvGnlo6H1v+mw2RbvRDD3i80AE0ed4CTplx46h2VDPfGEBHRkSBgE2uyRsJKsraIgyidtemMhUyn12saCqPuG9IHdnlRZx0eIvZOzsLN03JfQaq0rImPO1dbsgupSlCldFLRV+EvtdhS2j5RQCKLJXc9kfIar4j7QmY5Yu4db2j+7SXz2v9nWlqqE44tQbc/mrsk4k+GWA3aAXAh/N9/N4oLeTaf7vDtqh2DTJRHcuxV8nG0675TPUi7H4wehnDCQlucc2et7k+u8+08Nz6pG0NRHTHRm94TS9Pll/+Y9nY0MX88Ie3EJ7nmqGQ/pE70k9vLMUKzch6FcB3LhVgaOglili1//pO30tFblvUlfruQQoJf8ytZMJQVSYFeqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QPWfW9NikLkrN1QgSs5QNw",
      "input": {
        "note": "Brown teddy's body fills the space between the right jaws. Closing on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QPWfW9NikLkrN1QgSs5QNw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.997, 0.8692, 2.0308, 1.4143, -0.8127, 0.3744, 0.5949, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.997 right_x=0.3078 right_y=0.2697 right_z=0.0239 right_yaw=0.0304 right_pitch=-0.6319 right_roll=-0.274 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -2.8923, 6.6256, 1.3407, -0.1587, -0.0024, -0.0024, 0.3624, -12.8342, 5.4496, 0.5641, 0.3297, 0.0513, 0.6471]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d743cd8c9a1dd6634bddb306b239a90635bcb91a25160bffdc0cc7e44557e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d40ab8458d3c638307ac194af9850246e9c0d4d229b93ca1228c4d52f0d024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a58da1ac809c0321be0e298df79b037871123e37b9837e4ae3857d9ec3f8d552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 8.408 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]: [-0.1379, 1.0828, 1.0138, -0.9043, -0.1986, -0.0906, 0.9966, 0.894, 1.9553, 2.027, -1.478, 0.3523, 0.6296, 0.9969]\nstate[eef_state]: left_x=0.2842 left_y=-0.0006 left_z=0.1872 left_yaw=0.0764 left_pitch=-0.3754 left_roll=0.1316 left_gripper=0.9966 right_x=0.2937 right_y=0.274 right_z=0.2016 right_yaw=0.0587 right_pitch=-0.6283 right_roll=-0.2194 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -2.8376, 6.5299, 1.3504, -0.1538, -0.0611, -0.0073, -0.5812, -9.5521, 5.5863, 0.906, 0.4469, 0.0708, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.9969, 0.8631, 2.0182, 1.4479, -0.8505, 0.3592, 0.5941, 0.9969]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.9969 right_x=0.3096 right_y=0.2719 right_z=0.0356 right_yaw=0.0391 right_pitch=-0.6376 right_roll=-0.254 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -2.7692, 6.5026, 1.3016, -0.1685, -0.0366, 0.022, -0.4171, -9.6342, 5.9692, 0.7009, 0.2418, -0.0757, -0.0073]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.997, 0.8692, 2.0308, 1.4143, -0.8127, 0.3744, 0.5949, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.997 right_x=0.3078 right_y=0.2697 right_z=0.0239 right_yaw=0.0304 right_pitch=-0.6319 right_roll=-0.274 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -2.8923, 6.6256, 1.3407, -0.1587, -0.0024, -0.0024, 0.3624, -12.8342, 5.4496, 0.5641, 0.3297, 0.0513, 0.6471]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d743cd8c9a1dd6634bddb306b239a90635bcb91a25160bffdc0cc7e44557e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23d40ab8458d3c638307ac194af9850246e9c0d4d229b93ca1228c4d52f0d024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a58da1ac809c0321be0e298df79b037871123e37b9837e4ae3857d9ec3f8d552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS9gkKEAgSGAI4AUIIdGhpbmtpbmcSDBcx0Ol8fjhmmT8otRoMM1jRGDs/iHKU811aIjCWePr/z27xcb/2UtIK3GXmdzEONQUS7MvF01GKvAfFhSJrkGXWJJEyveUa+e/fPC0qkwl8obRSIdo4ShucNwmy3dyVetfsLzutG+H3BOhGEkmZsFjRalbb3qEko0sPyF9a/wb9/XCpWxmduJpBRP1sIg65eqSMZergCWx8E28FjvSmMZHV55hLiX+mfkx0J8M4j/dJvYxVjEeJH/o5QD0teoOeMoFpnrpCM7VeoAUTv6Zede1Hls3K7bzYpYQW4Nrcac+O92yrL/TYA3gIMNLcRQsEbYYFNEXebBAEGFzW4ZFhiOpbi0X7ZGSldHLf0yHQTFo7nIFHeOX4kYWbT/CE6D1kWDj7iXx5DGSeLNBqCbWxH5VoJjifAHof8LxcIKNNjZGg3Mbo80fZva6vnIo9e4Z3fcQB+r4Mn6u9BnCI1RVKpae1fcA7YQI2szyP1TY6ZXrUlD2elt6ukAVaDoTAjijBUzP1Ry50xkFbY4Ym55n2szbHvA6i0ZR5ihIAp5LVUXiUXXg/dSIbjLsK8//gecPFXCoX7xmnqt6q33c3/0bqTuvY/ro+n7HHsLS14mi7n041slZXnL91EtYKDZO725JtcjPeKmiyDqNHPLnECaY6ikELQ60lPEYvYrGr/Jv9fwQXXRRXwgwUylL9f6bh8QxRQ2jlOU/gBWuZXyp6MguBnSbcDseUneFi1RxHwtbAJ8pzitNyVW0aO3c/RDdEu4PgsOTMQU7KSAVrmiP7IBZv6P2cNLuTGZrjqiDkrFHqhI+OEejlS4cRVK49SwXBRLjciLra7Uerk24lL1d/a/rXe5oJiJA6Zz9GcBkrHOEqCGI0UUwugVRqz5gXtodmXKHvlHnhBsUZFpq2vcvLxbGTOCW0XMMVGBS3tpr4gowArlRllAhtKzot69KV4uRzr3757rHEfipDQwwVew4VB4qdZnDxhZXEKCEsr3vQqGbBNeVPX7/d8xIEvB3PUGs59tO19hu7Ljg9Er4cSSqX3FA4osCAOA6ixSHJOIXt84HLGOiLDAKMkIEJmuVlfkspa/+paJOPhv9daJ/RRoVUISL4JNSSD50iNSsozLYMxXIDo4OkkKFNi4qXYj8prLLJaQwXNeIcOwN26nVSLu8BkII7NQO2HQJ5F1YGDyyZYdEaYqo2aPpvEQFbKR3zJhIoYJV8lAFvjd4TjFFiwPmMtU7f4j/EGOiF14VcnVWhgLUmegYTcjhFYS3R6r6UBHESSyw/zQwBoPWXju8cQ7PK9YxlbZ/I36xZtZfY11sLvqIqyhYhQFRcKvircaybPGr8tyawD16trM1MKikJ6je64S5D7jX8Z3FqqnJ2WDoV28PhKHbBly1NDWK2wDYWfHnhTvnEKJ62WpzXb4V69W03erC0RcvwAi98p4WiQpji0BhPDylj/AXnO2uZEKdc1frWi6tCsCb8ieXbKD1TcD6qXtTWcIJ7vuDBVXQli4DhzZicZnIObhcgDzZwf2hJlSsqKWCL8k6Fi65hqJZsObZlNJ7nNZUi3JipK1LGuqMeQLs/JZQYwtzPM+hYmDVBzX6kmn/eZXGclrRd/9iKm5Ud0dutyWy6pOlE2CU+DX8v1bEYbEgdmNluyxlslRRDUcPEQ2aaGONPGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015GG8AV7cLc6LPCj37Yvwtk",
      "input": {
        "note": "Gripper closed to 0.01, meaning it missed; the teddy is still visible ahead of the jaws. Opening and lifting slightly to reposition.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015GG8AV7cLc6LPCj37Yvwtk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 0.8761, 2.006, 1.4433, -0.9039, 0.3855, 0.5938, 0.9945]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.3009 right_y=0.263 right_z=0.0391 right_yaw=0.0103 right_pitch=-0.6485 right_roll=-0.3186 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.906, 6.6393, 1.3016, -0.1343, -0.0513, -0.0073, -0.0342, -12.6838, 8.2667, 0.4518, 0.3492, 0.0415, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9684441226b42ed571f870e3f80156d5064e38acce18ef84c1490f163cead64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f100bed2fcf9a6a607fe153745d8ab5a7a97d597ab90c3b3707b85468f87f704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eca10393651cd55f40f70c7c6bc9ff8cc9668ecfc9df939b4ed9b0be421aa82e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 5.043 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]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.9969, 0.8631, 2.0182, 1.4479, -0.8505, 0.3592, 0.5941, 0.9969]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.9969 right_x=0.3096 right_y=0.2719 right_z=0.0356 right_yaw=0.0391 right_pitch=-0.6376 right_roll=-0.254 right_gripper=0.9969\nstate[joint_eff]: [-0.1436, -2.7692, 6.5026, 1.3016, -0.1685, -0.0366, 0.022, -0.4171, -9.6342, 5.9692, 0.7009, 0.2418, -0.0757, -0.0073]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.997, 0.8692, 2.0308, 1.4143, -0.8127, 0.3744, 0.5949, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.997 right_x=0.3078 right_y=0.2697 right_z=0.0239 right_yaw=0.0304 right_pitch=-0.6319 right_roll=-0.274 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -2.8923, 6.6256, 1.3407, -0.1587, -0.0024, -0.0024, 0.3624, -12.8342, 5.4496, 0.5641, 0.3297, 0.0513, 0.6471]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 0.8761, 2.006, 1.4433, -0.9039, 0.3855, 0.5938, 0.9945]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.3009 right_y=0.263 right_z=0.0391 right_yaw=0.0103 right_pitch=-0.6485 right_roll=-0.3186 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.906, 6.6393, 1.3016, -0.1343, -0.0513, -0.0073, -0.0342, -12.6838, 8.2667, 0.4518, 0.3492, 0.0415, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9684441226b42ed571f870e3f80156d5064e38acce18ef84c1490f163cead64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f100bed2fcf9a6a607fe153745d8ab5a7a97d597ab90c3b3707b85468f87f704",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eca10393651cd55f40f70c7c6bc9ff8cc9668ecfc9df939b4ed9b0be421aa82e",
        "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_01SNhZe8YszCfBbYZw5cjLL7",
      "input": {
        "note": "Overhead view shows the brown teddy sits closer to the base than the gripper, which has drifted into a back-tilted pose. Straightening the wrist and moving ~5 cm back while descending onto the teddy.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.25,
          "right_y": 0.28,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01SNhZe8YszCfBbYZw5cjLL7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.1942, 1.8946, 0.7708, 0.046, 0.857, 0.9184, 0.9953]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2502 right_y=0.2794 right_z=0.0038 right_yaw=0.0215 right_pitch=-0.0315 right_roll=-0.0178 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.6872, 6.5026, 1.2674, -0.1587, -0.0366, -0.0171, 0.5402, -5.9419, 3.9863, 1.033, 0.398, 0.1001, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37e00f973a6e46866544253e64385f446da6087f5e859fe03ac86e68b5ece801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930b91b2c06fbc3edd304cd620fb561c280fe5c5f8d88a156259ad097b2bfd8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a506be1260082f3ad26bbda112013216bc0021e21a04879d1a2077b403ddae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 5.289 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]: [-0.1379, 1.0828, 1.0138, -0.9051, -0.1986, -0.0906, 0.997, 0.8692, 2.0308, 1.4143, -0.8127, 0.3744, 0.5949, 0.0086]\nstate[eef_state]: left_x=0.2841 left_y=-0.0006 left_z=0.1871 left_yaw=0.0764 left_pitch=-0.3761 left_roll=0.1318 left_gripper=0.997 right_x=0.3078 right_y=0.2697 right_z=0.0239 right_yaw=0.0304 right_pitch=-0.6319 right_roll=-0.274 right_gripper=0.0086\nstate[joint_eff]: [-0.0615, -2.8923, 6.6256, 1.3407, -0.1587, -0.0024, -0.0024, 0.3624, -12.8342, 5.4496, 0.5641, 0.3297, 0.0513, 0.6471]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 0.8761, 2.006, 1.4433, -0.9039, 0.3855, 0.5938, 0.9945]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.3009 right_y=0.263 right_z=0.0391 right_yaw=0.0103 right_pitch=-0.6485 right_roll=-0.3186 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.906, 6.6393, 1.3016, -0.1343, -0.0513, -0.0073, -0.0342, -12.6838, 8.2667, 0.4518, 0.3492, 0.0415, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.1942, 1.8946, 0.7708, 0.046, 0.857, 0.9184, 0.9953]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2502 right_y=0.2794 right_z=0.0038 right_yaw=0.0215 right_pitch=-0.0315 right_roll=-0.0178 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.6872, 6.5026, 1.2674, -0.1587, -0.0366, -0.0171, 0.5402, -5.9419, 3.9863, 1.033, 0.398, 0.1001, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37e00f973a6e46866544253e64385f446da6087f5e859fe03ac86e68b5ece801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:930b91b2c06fbc3edd304cd620fb561c280fe5c5f8d88a156259ad097b2bfd8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a506be1260082f3ad26bbda112013216bc0021e21a04879d1a2077b403ddae5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlwgKEAgSGAI4AUIIdGhpbmtpbmcSDAM6q9S5Qadn+Bin7hoMKatNe9We/78Cn3mqIjCKHO/3NmGoiwcGaA9w5/WhU/MRfnOltiqzwcoFRdVyy+m2fJYsqPEPCcr0kw7F+wAqtAc+MzT+ssZGL9lq1YClCBV4HteCvGSkNDkUvYWVpQe0/cpFS6fy2dIsLjEgUnB3+Q0mRkmrEMjbvfQzD7Ym7MTtOQOP0Y7BKRRx/5DMQ4XI6U8vrmj73wI7jBa9m60sCCYtKZtFc1apASxKSnYeZ3ydN9rqu2KEJSBq3g4xzT1qV0HjdVHSMzrTs/pB1I2UEs+pfeLCTBFx8cDT3g/1Jx69tP2OoOpVeqgiL6yAVBvfG9ZyhBMB4J4x/ELNNeucO9P5zgPWFEjuOFYogNmEdap58JxX3DDWPD4I8GZiApbdMy7HUQd9vI9dz6Qt66Csz3jNfKeuU9JRyTaPAGNOVjCdcnXHIrRQoZwtWpvuhcGQNJgyaw0rqO3FMgo3hmVrVa+HiD7VUkpgW2rimRaJ3x2uzrSjxTVeWNCrYN63tWDLOpn6/amhAUIKlq3gMUCvqijenKY53899knbyJwL+ObR75RtgkaJM7oaDKTtRrukLMse4rAVaVgOji9Qf40iaQpt0yKo5DUpOHDcILkaK9ctgrz47NVkkgL0yCsam+3pNzFmxkEF2cn61BBnEtaW7vZLRali57Hi9/JT6Pjz0AZJqCEZelY6f2TReYQGvv2hGbM217dM8LFqNtR+f8TgFWbtGCgcC7NMuDfrcSWAH04rVpHmLdOBxYMo/SqPJAdnTjVD046UretoNrwBPD7qCVJZSlEZdGKeumkTG3AVW0FEjE4B+2s7Oycy0gSJ+o6tw1rY0Fn+oYBrH27+bYSTrZTrvsVYD5j58GFb380M0cCGFrIHWgA+kvQZpoA6QkIGJ8W0kCtp1IgWWOhdAkM4awfBhx0LKddl/6R2sXG5a8h/t0b2i8B26eJvRubig7bs/Noia2wT2yWDkkImu5GMIP9W2wu+2IIx3Kx5o0bYV7EKWmHuFf9af3shPN6WRS7SeTtDZ+lWWRnPlHqeJuTumYLpoU6ggBXxgGI2xQB1sTjzbjWntX+9K+Pg0DcFALckP1XwLBdMnJq6iTy+wEkAYMPIQD2LMS8U5gd7xdd0TaM99et9aF/gIOGH6mola0sv0GZc9z2Bmhq4Wql+o9ya2h2TDH/7V5WyE652Ht+8LXQb4Oz4XFqIvSodRPZd6bqHnb6Mn07M3ErQUQ4oVMrctbgAItbPefm4Knx0j0bQzdlapMmrcgbyQ/DON7DjuHQI+cL/Ub259ibtjXqqkEd90eAbVlclqrjRkvhf2wWJEI2qkegFuJjom/ugfsG1rG1RxUuSAyu4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DxXoYfLwwiYSr4hZCkYL81",
      "input": {
        "note": "Wrist is now vertical right over the brown teddy, which sits mostly to the left of the jaws. Shifting 3 cm left and pressing to table level.",
        "targets": {
          "right_y": 0.31,
          "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_01DxXoYfLwwiYSr4hZCkYL81",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.2175, 1.9846, 0.8776, 0.0376, 0.8833, 0.9371, 0.9954]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2551 right_y=0.3077 right_z=0.0018 right_yaw=0.0219 right_pitch=-0.0068 right_roll=-0.0033 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.7009, 6.5709, 1.3065, -0.1197, -0.0659, -0.0171, 0.6085, -6.7214, 4.7521, 0.7692, 0.2711, 0.2222, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b1a24d3d220040c8d0b075ff800fb7b43549994ef1c00ef9d73ddc10056cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7941810ba581e97774a11a3ff19cd7d9f143792cdbb1de70d2084245beffcebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1477097a8fbfec9499ee4fb3aae6070d4fd54ad5e5a78c342f9719bf8327e096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 6.702 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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 0.8761, 2.006, 1.4433, -0.9039, 0.3855, 0.5938, 0.9945]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.3009 right_y=0.263 right_z=0.0391 right_yaw=0.0103 right_pitch=-0.6485 right_roll=-0.3186 right_gripper=0.9945\nstate[joint_eff]: [-0.0615, -2.906, 6.6393, 1.3016, -0.1343, -0.0513, -0.0073, -0.0342, -12.6838, 8.2667, 0.4518, 0.3492, 0.0415, -0.1538]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.1942, 1.8946, 0.7708, 0.046, 0.857, 0.9184, 0.9953]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2502 right_y=0.2794 right_z=0.0038 right_yaw=0.0215 right_pitch=-0.0315 right_roll=-0.0178 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.6872, 6.5026, 1.2674, -0.1587, -0.0366, -0.0171, 0.5402, -5.9419, 3.9863, 1.033, 0.398, 0.1001, 0.0708]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.2175, 1.9846, 0.8776, 0.0376, 0.8833, 0.9371, 0.9954]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2551 right_y=0.3077 right_z=0.0018 right_yaw=0.0219 right_pitch=-0.0068 right_roll=-0.0033 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.7009, 6.5709, 1.3065, -0.1197, -0.0659, -0.0171, 0.6085, -6.7214, 4.7521, 0.7692, 0.2711, 0.2222, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36b1a24d3d220040c8d0b075ff800fb7b43549994ef1c00ef9d73ddc10056cd1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7941810ba581e97774a11a3ff19cd7d9f143792cdbb1de70d2084245beffcebe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 273):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1477097a8fbfec9499ee4fb3aae6070d4fd54ad5e5a78c342f9719bf8327e096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gcKEAgSGAI4AUIIdGhpbmtpbmcSDGqFu1rUfpGUre+jrhoM7ycDjuKbSqN9l8x3IjDQ6jIMHQ8ukt+qJSVv02yyNAC8vzzOhMfvCS1/y8fhJfugT0c3rRJCE0097ZXE3Rwq8wYPKxviomjrsiD7+gwKsSNYbGt5HxTQPBOx+7or2pcKFpk3uhX9x2bzIpwX9itnC1vN9YE8xAqONdIiNc+0KOdsBfJlaFRmKB//mAv10bpGF3yq05EuQfM7262nU3Wy44Shmrmc1+Aa/o4DmEXFl5FhbZJ0Yn+MAedRT9XrEwQgyGL0qNCZrN/V5wB8DgbagHiLDJQabTcoxY2hXLVXC5IvcCPLAnW/7Y37u9h/aWXl4MeDgdLKWPoIYAv+V7dVJ94layVz4KqWOL6yJlq/XGThfalNPIsU2KaylXmmwszaV06/uGdO6pYoipUaPVVBeplfHOc+nMTQQ3T3LtlQR8k83kVam9WViH5KLXYcLNKHNyI9vhbGO4dXjdqw7V7fIg8SDLG0m8GrtjP9u/0SxKfEVB+1wB02LxoPfTsUnrjO3L/d1xi4ltpyJGwVjwVCRjsMhnhATqlbfRG11MYlmbbqXyNsJwGHHuCajkEzIVZqH//n7fFypZVuTnX29m8mSFQRLb/RSldmLqHy6UKJteDc2BFiNc0T+Jp9auEd7fwlm/KkjAj8rIW27V9G1R30QGxaUUI4FdL+V1zKn/7p4HCSx7cMM65JX/S0hpI+zBBj4M0Fzcb7Jh7IfwSDYUpESb6TGyTkrMVmZzUBMkQzVRv9AtiJ6FN9todd4gKwvILxinYy+t7B7vlnTKk9Us7CDzM5u3A40PebM9xNWLrNXXZx1qxLgWv8qvFma1ECs5zbdvKQzV1M/7KJY0hM1+9YkAxjPzFbVY86oHUVnzA5R2ggdXy/0HsYhGHWO+wGdTWIxjgjhgG8HDYht1jOct4xjyWTKEEgbUXMFCY5nqySRwliNsgHY9y8BAmvj048Ta4lDTKLcpDaHLcmKU6zKmUaWKvJ/FMwx6go9VXMGsWzwfCUiXhN/nDN6qvRZcRm548L7s0kKYbQf3/VCx8OStOQ6/pa18lVCKfAw2DAosR14iYcUWPtzI8ish2g0gSVtEf/oN6wHfrfuwCi7swevsm/Xw5seX5Ok6sy7JnRuk+RnS0tEF7o5lNa5uYKIZHhvUdsNO9lIt8AVfKKEgBja8lcNA+u880Ypc+68RKPkbqsLckE46L5g2AiwLYRVHqzB4RSTjv3kyXwS1FtetX+qRJYGnH54vUg6mD7zi2opZLhmqRrXCpuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LPU54t6XiJUngpVLubM4qJ",
      "input": {
        "note": "Overhead view shows the right gripper sitting on the brown teddy at table level. Closing to grab it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01LPU54t6XiJUngpVLubM4qJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.091, 0.997, 1.2201, 1.9877, 0.8864, 0.0399, 0.886, 0.9356, 0.0082]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0767 left_pitch=-0.3765 left_roll=0.1316 left_gripper=0.997 right_x=0.2556 right_y=0.311 right_z=0.0034 right_yaw=0.0242 right_pitch=-0.0017 right_roll=0.002 right_gripper=0.0082\nstate[joint_eff]: [-0.0479, -2.6462, 6.6803, 1.2967, -0.1392, -0.0659, -0.0171, -0.2803, -9.1009, 3.9179, 1.0818, 0.2906, -0.0415, 0.6569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e469eb3e1b933a7d287b0baba5e466f78515411c037c86dcd4a48311cefba108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569f79927294aba93c579ef1d48b5f3d59121cbe021c98fd0c0d8906be3c1017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9894a794b46bb31ba4edaf2517cc0c4f0ca52301d225206349334c0e4cc082d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 6.857 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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.1942, 1.8946, 0.7708, 0.046, 0.857, 0.9184, 0.9953]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2502 right_y=0.2794 right_z=0.0038 right_yaw=0.0215 right_pitch=-0.0315 right_roll=-0.0178 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.6872, 6.5026, 1.2674, -0.1587, -0.0366, -0.0171, 0.5402, -5.9419, 3.9863, 1.033, 0.398, 0.1001, 0.0708]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.2175, 1.9846, 0.8776, 0.0376, 0.8833, 0.9371, 0.9954]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2551 right_y=0.3077 right_z=0.0018 right_yaw=0.0219 right_pitch=-0.0068 right_roll=-0.0033 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.7009, 6.5709, 1.3065, -0.1197, -0.0659, -0.0171, 0.6085, -6.7214, 4.7521, 0.7692, 0.2711, 0.2222, -0.0073]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.091, 0.997, 1.2201, 1.9877, 0.8864, 0.0399, 0.886, 0.9356, 0.0082]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0767 left_pitch=-0.3765 left_roll=0.1316 left_gripper=0.997 right_x=0.2556 right_y=0.311 right_z=0.0034 right_yaw=0.0242 right_pitch=-0.0017 right_roll=0.002 right_gripper=0.0082\nstate[joint_eff]: [-0.0479, -2.6462, 6.6803, 1.2967, -0.1392, -0.0659, -0.0171, -0.2803, -9.1009, 3.9179, 1.0818, 0.2906, -0.0415, 0.6569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e469eb3e1b933a7d287b0baba5e466f78515411c037c86dcd4a48311cefba108",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:569f79927294aba93c579ef1d48b5f3d59121cbe021c98fd0c0d8906be3c1017",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9894a794b46bb31ba4edaf2517cc0c4f0ca52301d225206349334c0e4cc082d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1woKEAgSGAI4AUIIdGhpbmtpbmcSDGhwEShh9DSj1GDehxoMP2KR7jSHvkpbMzeiIjBJQEiXkLurSR4kfzBkHnN3NtbE9/Stl/hEZKcex5KF10MGEnjVaRt64syhSE4OGpsq9AkbQwtZp4TdaGl5EDXih0WpmjCMip2klGlTsyJmb02OD5opBEqXwf7032rclK2Pt+hch4EGUgS4CYRw3RkTfQMRUgivGS4x8FWx4l8z8eC3LZJSEDh/0PP7DRi3y4Wsv9LNx9e/552J2JNnwmdzrpt/ASzkhjhtzBC8iq6abhwPIhPnvY8dYeMsLDDvq9ReF9XKAlca1F2zk3hgGCatD8Ahqu8UgcPITdUtEZ4ufJ3al1i95Parl4vNQfGvds7P1IiV+zvllTkDVkZkao6shAG6HSdqhEAeSTQgdUUAOQGacnmifnTJJoHa6n6WH8SIfI1GjxgTGQjKrCFloP49y5Q3+k6Ap7+mmTV4qFLC49BRCMHfX7E8GWGUTo+9qo5qvsZwlyfgCQhYZVU4mCCQnSjqT+TwqEVthrHOr9MVSHgPuwzfela4iq23imWj50VXTr5NI2VWMlS2n+99fitzM+UL5FLe7N8fIGbkpoAuOARt+Rgh3rnhsRSIDBY4U9+O6JRap78uCtCDFuS+a42wXtuiRZiDO3LdIE1KBLVpg8tkeyapJbDHMvNi1/9ihYc787EvTwQpnOGbGI7Jrkr7TklVBJonNS9xr3tfy+4bedPq7M4MQpUNugdpeHzXvZ7QsMv/rQgG3pWRwrrdIKRB5w4gd17NN3JcyqPnndp6pnjysegVJ8FOTBURwpIJ3HTDTlCrpTkw/shdrDRJGvGGOP09iilZFsRMDgOnRa9PFOzdt0Yevd6RYZOm9lqCkql2evqLRHCTAs38+8UGZuiI+u7BRjXC/XsnvDgZhND7BzribH+he5EQ+2ENznrWp1FH53QspO+q1hrRYlsKkEzcM9/FH9MLX0kgmWTKdl6G3n4xFPlzUfFLzMUibJvSeXHOoMWbyG3SAhARX0cWtcjaBukN+Q0yi9ixi6wGnIA9uPxQ1f3cXyNKW5+uOSgtf9/BD/IajZIgEbKxnKo0HElaP6agz+4+RaPTTvaNDvPw2ydDzcmzYiIsZ0c0YJqmj68S36wK1XhkvqEMuMR1Hm8cEjat2GO0GaT5oeh9Ih/I5iTt3VnYE2/uuKvEJJcXOBGEBEOWr5FSPZEXfRpivbz4EmEo9JGlU+dNDzkQEXj5fLybFCdjJlnrlfdGq5sSEdienllPT1jQp0Sm6Rdj5OpEcrPN5Wy44zHR2pDkIHbQJMdx655CgdKoPklXI4PqFRzzWhZQ/NdtCpe6ZM550gT+f930mmIvfM3/jcOENCJUIGEz9aB7ya1xeROdLXUBAwCyh8+lEHCGkJZe4a7husyldhCn+483blWx5EINQ31qrB+cEVDHeJPj05HvW7afVh1OPjQDKxkMhOZewzprK1pcRDadKtNV2Fhd85sojNv/8K0vk4dIn0Q1TiA742BMMHN5m8ZBhHVw1LGPmCuS7sc+tRbVZZu7kIXdJV3B0u64BF4A35Jlv197YWOWduv8L1n7LEa/TLk1V15/zmpJub1zk9bnLZeiKNgr74ROF7jFHOld+ij9zhQtzZO9gI743pv0RpQFTjuCa20Wn3k0xdZCtxkxybgs1Y/T+pMK9NxfC+1rr5Hv38gtIyTorTnIIXJezEd9KUrpgw5iZ6XSYn8+aCulPEkiGC6diB9ymgxDQoZ14fHDhBPU5diBQY5hzaoWqN6Mgh8KRdSKWrarO1MJoP0muODgGRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R1gqTQvEbMkn1VbZmWpK2n",
      "input": {
        "note": "Missed again: the teddy sits to the left of the jaws (lower-left in the wrist view, left of the gripper overhead). Opening and sliding 4 cm left and a touch forward.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.265,
          "right_y": 0.35,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01R1gqTQvEbMkn1VbZmWpK2n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9203, -0.1986, -0.0906, 0.997, 1.2247, 2.1052, 1.0538, 0.0036, 0.902, 0.9443, 0.9943]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1845 left_yaw=0.0779 left_pitch=-0.3929 left_roll=0.1357 left_gripper=0.997 right_x=0.2687 right_y=0.3473 right_z=0.0008 right_yaw=0.0159 right_pitch=0.0162 right_roll=0.0172 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -3.0154, 6.4752, 1.4383, -0.1343, -0.0464, -0.0073, 0.6085, -7.706, 5.559, 0.9597, 0.2613, 0.0562, 0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a03f172527014fd5ab41eac4d9a8ec704ebc0364a47258ba4a3ed520a73d33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b8623637cf7adb9d1d7a258f1f375497d17d61c6634bc475c2b401493ef6924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d8324789722ff6ce1020af85fca78642dc36c589e20d903ff33d8b40c5c025c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 30 attempt 0 · /messages · status 200 · 4.591 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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.0906, 0.9971, 1.2175, 1.9846, 0.8776, 0.0376, 0.8833, 0.9371, 0.9954]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0764 left_pitch=-0.3765 left_roll=0.1319 left_gripper=0.9971 right_x=0.2551 right_y=0.3077 right_z=0.0018 right_yaw=0.0219 right_pitch=-0.0068 right_roll=-0.0033 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -2.7009, 6.5709, 1.3065, -0.1197, -0.0659, -0.0171, 0.6085, -6.7214, 4.7521, 0.7692, 0.2711, 0.2222, -0.0073]",
      "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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.091, 0.997, 1.2201, 1.9877, 0.8864, 0.0399, 0.886, 0.9356, 0.0082]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0767 left_pitch=-0.3765 left_roll=0.1316 left_gripper=0.997 right_x=0.2556 right_y=0.311 right_z=0.0034 right_yaw=0.0242 right_pitch=-0.0017 right_roll=0.002 right_gripper=0.0082\nstate[joint_eff]: [-0.0479, -2.6462, 6.6803, 1.2967, -0.1392, -0.0659, -0.0171, -0.2803, -9.1009, 3.9179, 1.0818, 0.2906, -0.0415, 0.6569]",
      "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]: [-0.1379, 1.0847, 1.0138, -0.9203, -0.1986, -0.0906, 0.997, 1.2247, 2.1052, 1.0538, 0.0036, 0.902, 0.9443, 0.9943]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1845 left_yaw=0.0779 left_pitch=-0.3929 left_roll=0.1357 left_gripper=0.997 right_x=0.2687 right_y=0.3473 right_z=0.0008 right_yaw=0.0159 right_pitch=0.0162 right_roll=0.0172 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -3.0154, 6.4752, 1.4383, -0.1343, -0.0464, -0.0073, 0.6085, -7.706, 5.559, 0.9597, 0.2613, 0.0562, 0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a03f172527014fd5ab41eac4d9a8ec704ebc0364a47258ba4a3ed520a73d33d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b8623637cf7adb9d1d7a258f1f375497d17d61c6634bc475c2b401493ef6924",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8324789722ff6ce1020af85fca78642dc36c589e20d903ff33d8b40c5c025c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UbX9b8X9s6PWHjuCA6gg5e",
      "input": {
        "note": "Teddy is still just off the left edge of the jaws in both views. Sliding another 4 cm left to center it before closing.",
        "targets": {
          "right_y": 0.39,
          "right_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UbX9b8X9s6PWHjuCA6gg5e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9226, -0.1982, -0.0906, 0.9971, 1.2552, 2.2108, 1.2392, -0.0784, 0.9234, 0.9668, 0.9953]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1842 left_yaw=0.0778 left_pitch=-0.3952 left_roll=0.1359 left_gripper=0.9971 right_x=0.2712 right_y=0.3883 right_z=0.0022 right_yaw=0.0236 right_pitch=0.0324 right_roll=0.0277 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.6735, 6.5162, 1.2527, -0.1245, -0.0513, -0.0073, 0.1709, -8.8821, 5.8462, 0.9109, 0.2662, 0.1832, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e3f3771b4fac9e68925c9aaa704bd5c2f4cdc21fc3f239adcb4eab535943cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22fcf7f1a13b447ff6986590a89819dd7d528dede8252ba6723da6c90f1159bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7bafcd042d18c36159731c53e8d3a665ccd1c05e5dfdf8a5514751850626562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 10.06 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]: [-0.1379, 1.0828, 1.0138, -0.9054, -0.1986, -0.091, 0.997, 1.2201, 1.9877, 0.8864, 0.0399, 0.886, 0.9356, 0.0082]\nstate[eef_state]: left_x=0.284 left_y=-0.0006 left_z=0.187 left_yaw=0.0767 left_pitch=-0.3765 left_roll=0.1316 left_gripper=0.997 right_x=0.2556 right_y=0.311 right_z=0.0034 right_yaw=0.0242 right_pitch=-0.0017 right_roll=0.002 right_gripper=0.0082\nstate[joint_eff]: [-0.0479, -2.6462, 6.6803, 1.2967, -0.1392, -0.0659, -0.0171, -0.2803, -9.1009, 3.9179, 1.0818, 0.2906, -0.0415, 0.6569]",
      "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]: [-0.1379, 1.0847, 1.0138, -0.9203, -0.1986, -0.0906, 0.997, 1.2247, 2.1052, 1.0538, 0.0036, 0.902, 0.9443, 0.9943]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1845 left_yaw=0.0779 left_pitch=-0.3929 left_roll=0.1357 left_gripper=0.997 right_x=0.2687 right_y=0.3473 right_z=0.0008 right_yaw=0.0159 right_pitch=0.0162 right_roll=0.0172 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -3.0154, 6.4752, 1.4383, -0.1343, -0.0464, -0.0073, 0.6085, -7.706, 5.559, 0.9597, 0.2613, 0.0562, 0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9226, -0.1982, -0.0906, 0.9971, 1.2552, 2.2108, 1.2392, -0.0784, 0.9234, 0.9668, 0.9953]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1842 left_yaw=0.0778 left_pitch=-0.3952 left_roll=0.1359 left_gripper=0.9971 right_x=0.2712 right_y=0.3883 right_z=0.0022 right_yaw=0.0236 right_pitch=0.0324 right_roll=0.0277 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.6735, 6.5162, 1.2527, -0.1245, -0.0513, -0.0073, 0.1709, -8.8821, 5.8462, 0.9109, 0.2662, 0.1832, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e3f3771b4fac9e68925c9aaa704bd5c2f4cdc21fc3f239adcb4eab535943cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22fcf7f1a13b447ff6986590a89819dd7d528dede8252ba6723da6c90f1159bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7bafcd042d18c36159731c53e8d3a665ccd1c05e5dfdf8a5514751850626562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSywgKEAgSGAI4AUIIdGhpbmtpbmcSDBVUtJzHKm2o1cKG/xoM9F8RA/VuFsI5tbpiIjC6wr5o9C0fO2S4FQjLSoYS2g2TRrbhHzhc8LEq1CwyTau3OeDVX3SltrHXAwjNrQwq6AeNVRScpBd4qz2E18ZxlhloGYxaEu65jglgPEm1xaK27A6YcUctV0DOBCBvcVYmjJfFEP7P/Crk4gALzPI+90auYB+pQK8/nAXwLwHcWr1RxYUFLBkdvzzbIdIlcc3swkapI+OMExZS7U0BsI+jZ40k0v9NAPhTLEAEcuaen9C7u8pBhbQAUx8GjrC2ppzn0jmNCB6O8tXMqhiFu0o17LXCAkXCsSEDVg6mXX+Kk5HNlGYWWNEMdXk7tSGlgr4dY02mbZkos0hud4kFxrSOumJu5wfbst3YoOQRjDt6wSpQDoinSCniHGgrFjqBChwh+rb3pOEGGDMDP82c0EmhiudJEpbYXeGaQi4s4WFg6PKB4o2uaORuajs4OVnL65hqLZTMztNyAu5vTcvzEHpU4LM6/lFcVXoFWfCQW6v40+jyEz/Wk5nEJ6m1mMDvchft8NQ6cds39Msb8s6Q3gRb5hYjmaQZfBeCZoXrifFoPORqrsA9/8gVlInvo80ZPSOO1ae4BvmFuq5xVRyEx/GdBBLCKLxYIU52x0llyJ/740dl1AaPb/rgpTlQq3y/T8dRrloJ7BI4/bpFbGTcCStHJvwDS+gsorCAH9smHApsPLywbBd1knKdyW7iOoZTbdifTED7d+kUo1r6WJ/maQyBmNkbo2jxxJbKR7/vh/OQZnA+uyc2SRFaqCX5+ggr9gSMkaUBnJ6FfvBdfT3Ijacs7P0Ll4Xy1cV2pI/+o9shZ9+WVe72lVYnFF4GpJDqKjkKK3e12lv6pgJScud8GA2G6DaLYfWtDQ6VElmeYQEVUqolgUGbZk+ejKdnDpeHZRmSeQeUJ1EuzNBXD7CAQHgp84947Fne7EZ1HxJ7rLNziULnSOT5cxqLTaberRLWd7F05S4ortchpxh/saKt112le0nhwQ/IdbQN9u/+eVIV2wZM+6bTVPQ/r7nd/ZdpZY1WBABZ7Ikoi19/avn0PakY7ii1BNfIypb6g1YnbNRnErclM5GbPp7f8Xzk6MfNyICnD5oznm6BG5WT9dzr0QrMezhMWapooUXzF3vbfMu6lLWwiSwm8wfAOqjTNCcOGg8dNJaUbnFw3P7rFlfsZuxt919d/mlZ2Cb2dqD5lRLn84DLB1Xc5WhHWtJ9vFzvSmMG/q8TwZlB3eBLTKPTt4JVmLNvMrjpMWxWpIuRZtdBPScPMkIkMkW/4q716QG27Ofh+9i9OQVkk1h1FXAEGOTEsK/bjzyxJMfOdfsYlVAvmNZI1hWVaO0ruhO17G6uo7OvBTiFAYTKO3YO4gmD9iESb811AWjXDnmNIFprb36tFvHoptzXty7Tg9pQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L211uTmGPjBhUB334BLM4b",
      "input": {
        "note": "Overhead view now shows the right gripper right at the brown teddy. Closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L211uTmGPjBhUB334BLM4b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9237, -0.1986, -0.0906, 0.9971, 1.2556, 2.2181, 1.2507, -0.0879, 0.9298, 0.9619, 0.0083]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.184 left_yaw=0.0782 left_pitch=-0.3963 left_roll=0.1365 left_gripper=0.9971 right_x=0.272 right_y=0.3891 right_z=0.0022 right_yaw=0.0238 right_pitch=0.036 right_roll=0.0166 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -2.8376, 6.4615, 1.2674, -0.1343, -0.0415, -0.0122, -0.1983, -11.9863, 4.2188, 1.1551, 0.2906, 0.0317, 0.6032]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c25457d24eb46a95a9d873b4a8cfaf46453d4a40b96fc86466af106d6fbc67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50ad7d18a7ac42b4a2f7067ebd13882830d97ee5cbf7d7ca838cf51e74ec96c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3f3f1b1a3eea19ae6bbeb63ededdc791968c592e14e034b408153cb25737b75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 7.341 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]: [-0.1379, 1.0847, 1.0138, -0.9203, -0.1986, -0.0906, 0.997, 1.2247, 2.1052, 1.0538, 0.0036, 0.902, 0.9443, 0.9943]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1845 left_yaw=0.0779 left_pitch=-0.3929 left_roll=0.1357 left_gripper=0.997 right_x=0.2687 right_y=0.3473 right_z=0.0008 right_yaw=0.0159 right_pitch=0.0162 right_roll=0.0172 right_gripper=0.9943\nstate[joint_eff]: [-0.1983, -3.0154, 6.4752, 1.4383, -0.1343, -0.0464, -0.0073, 0.6085, -7.706, 5.559, 0.9597, 0.2613, 0.0562, 0.1099]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1379, 1.0847, 1.0138, -0.9226, -0.1982, -0.0906, 0.9971, 1.2552, 2.2108, 1.2392, -0.0784, 0.9234, 0.9668, 0.9953]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1842 left_yaw=0.0778 left_pitch=-0.3952 left_roll=0.1359 left_gripper=0.9971 right_x=0.2712 right_y=0.3883 right_z=0.0022 right_yaw=0.0236 right_pitch=0.0324 right_roll=0.0277 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.6735, 6.5162, 1.2527, -0.1245, -0.0513, -0.0073, 0.1709, -8.8821, 5.8462, 0.9109, 0.2662, 0.1832, 0.0904]",
      "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]: [-0.1379, 1.0847, 1.0138, -0.9237, -0.1986, -0.0906, 0.9971, 1.2556, 2.2181, 1.2507, -0.0879, 0.9298, 0.9619, 0.0083]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.184 left_yaw=0.0782 left_pitch=-0.3963 left_roll=0.1365 left_gripper=0.9971 right_x=0.272 right_y=0.3891 right_z=0.0022 right_yaw=0.0238 right_pitch=0.036 right_roll=0.0166 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -2.8376, 6.4615, 1.2674, -0.1343, -0.0415, -0.0122, -0.1983, -11.9863, 4.2188, 1.1551, 0.2906, 0.0317, 0.6032]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33c25457d24eb46a95a9d873b4a8cfaf46453d4a40b96fc86466af106d6fbc67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50ad7d18a7ac42b4a2f7067ebd13882830d97ee5cbf7d7ca838cf51e74ec96c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3f3f1b1a3eea19ae6bbeb63ededdc791968c592e14e034b408153cb25737b75",
        "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_01T3XCzwFyd7Fp4vyFxqUCqT",
      "input": {
        "note": "Third right-arm close was empty; the brown teddy sits just beyond the right arm's side limit. Moving the right arm away and bringing the left arm over the teddy instead.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.28,
          "left_y": -0.22,
          "left_yaw": 0.0,
          "left_z": 0.06,
          "right_gripper": 1.0,
          "right_x": 0.25,
          "right_y": 0.12,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01T3XCzwFyd7Fp4vyFxqUCqT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0348, 1.5635, 0.6266, -0.0463, -0.77, -0.7689, 0.9971, 0.8474, 0.8829, 0.6888, -0.5602, 0.6823, 0.5365, 0.9976]\nstate[eef_state]: left_x=0.2726 left_y=-0.2111 left_z=0.0504 left_yaw=-0.0207 left_pitch=-0.0634 left_roll=0.0479 left_gripper=0.9971 right_x=0.2499 right_y=0.1201 right_z=0.1858 right_yaw=-0.003 right_pitch=0.0229 right_roll=0.0124 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -5.8735, 6.1607, 1.4481, -0.6471, -0.0317, -0.0122, -0.1162, -1.6342, 9.7846, 1.8437, 0.2613, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d875620ea249162ffbc9de87c6e2b4e85472d30d88e4cf0f61e6d7ebd17878f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f526c9caf251cda8e3f55ae7bf969a92ba52693fa46b2d3d9b58a87d25f8365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7cb79233972f8ffa551f9e6dc7a607f238966abc96d59b2dcde1c9e8b85f1fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 6.505 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]: [-0.1379, 1.0847, 1.0138, -0.9226, -0.1982, -0.0906, 0.9971, 1.2552, 2.2108, 1.2392, -0.0784, 0.9234, 0.9668, 0.9953]\nstate[eef_state]: left_x=0.2807 left_y=-0.0002 left_z=0.1842 left_yaw=0.0778 left_pitch=-0.3952 left_roll=0.1359 left_gripper=0.9971 right_x=0.2712 right_y=0.3883 right_z=0.0022 right_yaw=0.0236 right_pitch=0.0324 right_roll=0.0277 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -2.6735, 6.5162, 1.2527, -0.1245, -0.0513, -0.0073, 0.1709, -8.8821, 5.8462, 0.9109, 0.2662, 0.1832, 0.0904]",
      "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]: [-0.1379, 1.0847, 1.0138, -0.9237, -0.1986, -0.0906, 0.9971, 1.2556, 2.2181, 1.2507, -0.0879, 0.9298, 0.9619, 0.0083]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.184 left_yaw=0.0782 left_pitch=-0.3963 left_roll=0.1365 left_gripper=0.9971 right_x=0.272 right_y=0.3891 right_z=0.0022 right_yaw=0.0238 right_pitch=0.036 right_roll=0.0166 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -2.8376, 6.4615, 1.2674, -0.1343, -0.0415, -0.0122, -0.1983, -11.9863, 4.2188, 1.1551, 0.2906, 0.0317, 0.6032]",
      "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]: [-1.0348, 1.5635, 0.6266, -0.0463, -0.77, -0.7689, 0.9971, 0.8474, 0.8829, 0.6888, -0.5602, 0.6823, 0.5365, 0.9976]\nstate[eef_state]: left_x=0.2726 left_y=-0.2111 left_z=0.0504 left_yaw=-0.0207 left_pitch=-0.0634 left_roll=0.0479 left_gripper=0.9971 right_x=0.2499 right_y=0.1201 right_z=0.1858 right_yaw=-0.003 right_pitch=0.0229 right_roll=0.0124 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -5.8735, 6.1607, 1.4481, -0.6471, -0.0317, -0.0122, -0.1162, -1.6342, 9.7846, 1.8437, 0.2613, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d875620ea249162ffbc9de87c6e2b4e85472d30d88e4cf0f61e6d7ebd17878f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f526c9caf251cda8e3f55ae7bf969a92ba52693fa46b2d3d9b58a87d25f8365",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cb79233972f8ffa551f9e6dc7a607f238966abc96d59b2dcde1c9e8b85f1fec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4ggKEAgSGAI4AUIIdGhpbmtpbmcSDOt30qLMKI2yltw64BoMQS0wDIvfuSWr6nEyIjCGEkMZbJJTRDyvffKCso/hMZliKnPRE2LJLeqaQ+lROx6LPATqdvtY+Q8iEchYawgq/wd3td6N8IHGrbsOo0ydSv5sBZtAFdWeYNFC1Ohk8+YwptlSw0zv/8F9NDPldqcOt2Nomg8tu6lzYUzqYqtAGgL1zqw+It4fC1sGer78u8rt8tdRWccO5xavrBE6hOMRa2ACEZlA23LNtTV17boGcohdBR8N5nvc9EJb4m2Tv/DhgazanfD/acH2FhPY42TPSbuJTdbNZfR2PlPFDkDqq9TbHSSjT/lueWM3Dzj2xaWpFAujhtgdfZsVxfkMXaB9HANyXxmZQ84zhaDHY/G1csVa+k+051cLxVEPOquxIcZ7/toWpaaT+iX0bO4Kb7lbkqR/jvo8DIefhd1gnC/Zk0eC2NnvTkl3ptfXipdCiEC5GPlx/SPRms30vBKiflrzGqTxdDF8yLJwej998tnGd8oJg11HYuyXJyPxxgEvaKuB5R4r/mQmsSPOP/SIlJ7mVzvqpVHaFnat9V1+AqIr6JrWHvWT9avT/J91f8//5B86k++JzeqiWlVqo8ms1HtZMWk9VNUq6GiBTPQktryQ3z7uQxuD0sQDCGHic76AhiSHp7kZI4X5o/bDXsyYyafBj4vbTmZlIUtNYVZtpTw0k88wu3wnhooY62qp0ocWmOhqFReshTEqYHQpFL+ICMuCCAprwW3no4THs0HK4TRcMUAHTUe8/vGc7L8EjNwKHAaLrJ0xBVgYfRo9FQgKpxPfDcPI9xoYkAD8Ze7cFnaKhlXUdDpJ4XLDoYyr/yc/gGkMapD2y8HAJ54oUSbrkY5Xmjumeed5MavCNlizmznYbUroLHEHT1eoE31rkMYfOWji3lnL1AXvivSM9DbNRPpVAGZY4Iw6l9BSSnMr0FqwXcYEl7pVxCkcK3DJLPvTeFIrXdV5RuUxRsJLhFebeRnKZzzzqetxXoV1sd7kTNRjp0QKeW18XX0nKZlw0hTpu6Fk/WBA1kuD7pqrmbeI8xVkXIv+xSOdtlbwt8PQlUOI2O3zW13KgI/t28aKIsTo46aBgr6haCdkhDT7TxpMofgRgi9Cp+EeapAq1ma4SeNMsEV0t80XJFspxoKknVxoLLqXjaKpo3x0PuaoH0BcPBpsKW5oafYirx6w3W+tjrvBuz4nYIG3tXSzE5Lxr2+jSEOFQ4mgJ7EXnG5dqXSsM1sBVeB+Agw4RV8wCaCSG4h4EMy5Nr2vRO07XRu0qpvLPL1QnRTt+nt5C4R+BRtvh6ZpSf8/Eu6v8nmPnJsN5Cc176hlQ5C9RgPwRU2KrQYJiYjyrS5lEgNEH0y9vN3v5xlC0/Zj+fRXcJ4YkfNp0bF6HG+IOIM1EgVeFz1KfIg48yXEyo2er9RYngoN62H95QRrsYl9wEClKy+Pf7OEYqVHmSgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YH6oHKwJbtYxBbbVK6Yrg1",
      "input": {
        "note": "Brown teddy shows at the bottom-left of the left wrist view, just under and left of the jaws. Shifting ~4 cm left and descending to table level.",
        "targets": {
          "left_x": 0.265,
          "left_y": -0.175,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01YH6oHKwJbtYxBbbVK6Yrg1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 1.6684, 0.4133, 0.2779, -0.7753, -0.7429, 0.9971, 0.8452, 0.8883, 0.6895, -0.6098, 0.6613, 0.5236, 0.9988]\nstate[eef_state]: left_x=0.2651 left_y=-0.1709 left_z=-0.002 left_yaw=0.0149 left_pitch=-0.0573 left_roll=0.066 left_gripper=0.9971 right_x=0.2445 right_y=0.1176 right_z=0.1759 right_yaw=0.0167 right_pitch=-0.0244 right_roll=-0.0289 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -3.1795, 3.0154, 0.7643, 0.0073, 0.2711, -0.0122, 0.1299, -2.0308, 6.694, 1.8584, 0.4762, 0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cfb7aacb9c21a2c314e9e793d0d63b4e8d3c7dcc86f468608949cafdac9ad7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa61fefeb799222709af42af8e5e5435686333feaa5802e5b1e4a3aa0674716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39d589e128c9e23849dc5a664ec1d1f2bedcb26e5b26757b7f987e8bcde21d54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.61 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]: [-0.1379, 1.0847, 1.0138, -0.9237, -0.1986, -0.0906, 0.9971, 1.2556, 2.2181, 1.2507, -0.0879, 0.9298, 0.9619, 0.0083]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.184 left_yaw=0.0782 left_pitch=-0.3963 left_roll=0.1365 left_gripper=0.9971 right_x=0.272 right_y=0.3891 right_z=0.0022 right_yaw=0.0238 right_pitch=0.036 right_roll=0.0166 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -2.8376, 6.4615, 1.2674, -0.1343, -0.0415, -0.0122, -0.1983, -11.9863, 4.2188, 1.1551, 0.2906, 0.0317, 0.6032]",
      "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]: [-1.0348, 1.5635, 0.6266, -0.0463, -0.77, -0.7689, 0.9971, 0.8474, 0.8829, 0.6888, -0.5602, 0.6823, 0.5365, 0.9976]\nstate[eef_state]: left_x=0.2726 left_y=-0.2111 left_z=0.0504 left_yaw=-0.0207 left_pitch=-0.0634 left_roll=0.0479 left_gripper=0.9971 right_x=0.2499 right_y=0.1201 right_z=0.1858 right_yaw=-0.003 right_pitch=0.0229 right_roll=0.0124 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -5.8735, 6.1607, 1.4481, -0.6471, -0.0317, -0.0122, -0.1162, -1.6342, 9.7846, 1.8437, 0.2613, -0.0757, -0.0122]",
      "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]: [-0.9878, 1.6684, 0.4133, 0.2779, -0.7753, -0.7429, 0.9971, 0.8452, 0.8883, 0.6895, -0.6098, 0.6613, 0.5236, 0.9988]\nstate[eef_state]: left_x=0.2651 left_y=-0.1709 left_z=-0.002 left_yaw=0.0149 left_pitch=-0.0573 left_roll=0.066 left_gripper=0.9971 right_x=0.2445 right_y=0.1176 right_z=0.1759 right_yaw=0.0167 right_pitch=-0.0244 right_roll=-0.0289 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -3.1795, 3.0154, 0.7643, 0.0073, 0.2711, -0.0122, 0.1299, -2.0308, 6.694, 1.8584, 0.4762, 0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8cfb7aacb9c21a2c314e9e793d0d63b4e8d3c7dcc86f468608949cafdac9ad7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa61fefeb799222709af42af8e5e5435686333feaa5802e5b1e4a3aa0674716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39d589e128c9e23849dc5a664ec1d1f2bedcb26e5b26757b7f987e8bcde21d54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSvAsKEAgSGAI4AUIIdGhpbmtpbmcSDJZZE16EmDlNKA5xURoM4yQY0TspzRdpWnnFIjBbABMOQiuyjvbTOOCKdzFcCVfJ4uyNLA0jpCBikHPqQ+EGe+ZeHsGggrBev8xbgYcq2QokND0GjsOWKWcrMwFYICsf1aLVCOcKPFkRf06WnzB9Dwo9CPdwiYb2PIPdBi5ikrwHLvvYHdn3eSzMZjgiY6zRHeFpWs0iqK0b/xA8s7logBn4wouPAxVV1Ok9GbHIp6zcwyt5PzWjcvN1u71+e1Khoo9Brc14z7ICzvojrjsTa6EMNIzLH4AXyS7o2xhuzdNW59E3j4QIydeTLdqbKVlPv52xGdEgPEMF5T3zZrSU7FcEjG7aEiGjBFYZKGFMNVazbu1cLfP7WE5i7V7qKNHqo00PUM1MBV94QmF1yy5JLc+niXaEMsws4yAbvJ2dn3fT5Vd2vkiO+z8M9vh1R1WZxTMQxahQlKz2UsBEPqbSRHCVHnNZIgMc9MJ5ttKto5+k1FlrjS6rWR+B80oozoRP9tixES2sqn4z7sUcf+a7oFVNPz3zdKSUfVeNwJHY6U6PZP+nzu4QM+9oBJ0O85i37UTQDSV2NrqTDBuPOViI2o4+4/U/O6dtxbLMPmkL75LyDsH0Umxy8bZ7q+/fCtWgdEGQ5GKrUUvZ8kdptoBDcc16RPPbqNjylHRy9LGw5CyJyKOhqEEY+QqkWDWr8flY5hX2v2qxmbAl1eezRapl3SDoMq6m/eEpHU6MqcZM+Q/ah8EPu7stCC970Cxk1WVA1FIVoiqrp2nigIAD481cFDS9S1GYupElDN5l1GVF50GLSt4UxOBTABVhRlDsQ+bRBEFKipFjWj7CigUnrYxgiziwU0+YqEnuOl514Fxu7fUUe9qtzsvU6cizmcqtnPrcLIEFuBOv6JtjQEbiBXf0RY53X+neOyeaYLd21lp13K2jxAJwreOEQNB/9ABMeIIf+cx8QJnmfyAxE71VCOOl01rb3DkrrI5UVp04Gz3ELZkB6iEIYNj6Uvl65W24+9a9ze+5MktRt6lxeJtxU1Ht06454+Ro0ysVhYP/iQnqkuz5GmqqZOF5wEOq9zI9EwP2O3Ep6msb4ZRNf8DTdQoAZlFuDUoO42GNDXyac98WaBZPuaRwl7a5JL2Ruk5HGfS9YJLMTcOpoXucqmjTmZO72P5ACMFaZIu+agk4ZMdI6647nBZctgkFr9p1k8qj7Gyh9hHMMaAV5Lak6S/kTGQoGgboO2T1LD3PNFBQbUUkAaDv2FemyF762S7B4PNSsn5gPGX1PKAPBt2//grYxn0+5INNXBmnE2QGW/OO31rguOGGX5ptW2xUzEHpfp0VlNxXZBMHBHRcADtlkFtjtMWP4vxItaSlYb0lDL/MnBsFkpkOgbMonRrJP6vsyDuJcg6zZZ8RI/MTpBoIUasq1GvIJrwa+9G29JoOadWKAep8rUQayqtyoNfE7Z46JJsrPs0w/kGWag1GkVXZGyUhw3P2Nux3HFJjQzFzZMOngTJpdCLPVz4tETgaYFUBjD1Cc9BCryFaEYChWBJvk9zK2UVa/bXiR+zquPqz8Q9EJ8qgmPPfO5gNH1iCofawrHR063jC4eOVNAP1yEu3/A+T367QPjdBRMAdO9oQ9j6SQM/PntDRg2ZAK8rN8I8ARKldDZL4lDfkaWtv6tFEGELUPITLLl21eo5DK6d7xN/4XgxHOT83tPIJ5IyyE17satLvWlaE+8d1JukPtH7f3WsF0wv93/rSTzwF2U+WXhZ+UyTJfQkOJbaGlQz0fiWmQA4AEJxpt+jeJrLu46rofpixtG6JMqvWHBItaIZaY65ZRVlc2HSAOUWPVot2p7ZugPIu0mZ6+WrkXeTc6MUThY0rD7nPgchhGP6ARYQqiUsFOjfrokCkccYBVosmUIZUFl1B5k69mK5WT8dPjhKsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014WLtUX8DRioqA9UjjTdjAX",
      "input": {
        "note": "Teddy still sits off the left jaw. Sliding 2.5 cm left while closing, to save calls.",
        "targets": {
          "left_gripper": 0.0,
          "left_y": -0.145,
          "left_z": -0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014WLtUX8DRioqA9UjjTdjAX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9817, 1.6733, 0.3954, 0.3069, -0.7765, -0.7395, 0.0447, 0.8448, 0.894, 0.6861, -0.635, 0.6563, 0.5232, 0.9989]\nstate[eef_state]: left_x=0.2647 left_y=-0.1669 left_z=-0.0044 left_yaw=0.0195 left_pitch=-0.0534 left_roll=0.0641 left_gripper=0.0447 right_x=0.2416 right_y=0.1152 right_z=0.1693 right_yaw=0.019 right_pitch=-0.0503 right_roll=-0.052 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -6.1744, 4.547, 1.0916, -0.3687, 0.0464, 1.0818, -0.0342, -2.0718, 7.0085, 1.6679, 0.2662, -0.0464, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50618d6c50ac3f77beb9b9ab28600d8568531763612a0d550844f30605146e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5d3e1ac01ba9729e309e21e215e014699f79a6dcfa3a7647f218fb66f800f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:540d7b4a479b4f1d4cb4d11d615cf90c07d7a896e566f35c9914d52260f4225e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 3.963 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]: [-1.0348, 1.5635, 0.6266, -0.0463, -0.77, -0.7689, 0.9971, 0.8474, 0.8829, 0.6888, -0.5602, 0.6823, 0.5365, 0.9976]\nstate[eef_state]: left_x=0.2726 left_y=-0.2111 left_z=0.0504 left_yaw=-0.0207 left_pitch=-0.0634 left_roll=0.0479 left_gripper=0.9971 right_x=0.2499 right_y=0.1201 right_z=0.1858 right_yaw=-0.003 right_pitch=0.0229 right_roll=0.0124 right_gripper=0.9976\nstate[joint_eff]: [-0.335, -5.8735, 6.1607, 1.4481, -0.6471, -0.0317, -0.0122, -0.1162, -1.6342, 9.7846, 1.8437, 0.2613, -0.0757, -0.0122]",
      "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]: [-0.9878, 1.6684, 0.4133, 0.2779, -0.7753, -0.7429, 0.9971, 0.8452, 0.8883, 0.6895, -0.6098, 0.6613, 0.5236, 0.9988]\nstate[eef_state]: left_x=0.2651 left_y=-0.1709 left_z=-0.002 left_yaw=0.0149 left_pitch=-0.0573 left_roll=0.066 left_gripper=0.9971 right_x=0.2445 right_y=0.1176 right_z=0.1759 right_yaw=0.0167 right_pitch=-0.0244 right_roll=-0.0289 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -3.1795, 3.0154, 0.7643, 0.0073, 0.2711, -0.0122, 0.1299, -2.0308, 6.694, 1.8584, 0.4762, 0.1001, 0.1099]\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]: [-0.9817, 1.6733, 0.3954, 0.3069, -0.7765, -0.7395, 0.0447, 0.8448, 0.894, 0.6861, -0.635, 0.6563, 0.5232, 0.9989]\nstate[eef_state]: left_x=0.2647 left_y=-0.1669 left_z=-0.0044 left_yaw=0.0195 left_pitch=-0.0534 left_roll=0.0641 left_gripper=0.0447 right_x=0.2416 right_y=0.1152 right_z=0.1693 right_yaw=0.019 right_pitch=-0.0503 right_roll=-0.052 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -6.1744, 4.547, 1.0916, -0.3687, 0.0464, 1.0818, -0.0342, -2.0718, 7.0085, 1.6679, 0.2662, -0.0464, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50618d6c50ac3f77beb9b9ab28600d8568531763612a0d550844f30605146e1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f5d3e1ac01ba9729e309e21e215e014699f79a6dcfa3a7647f218fb66f800f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:540d7b4a479b4f1d4cb4d11d615cf90c07d7a896e566f35c9914d52260f4225e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS/AgKEAgSGAI4AUIIdGhpbmtpbmcSDD/iNn8FDC95obGNmBoMeqL5da+n1k6KbszwIjBhLacUne/ZRH2z3leyj72ckS4mDDN44/E0yzrX+xx+Gps/vuT/+ENyTKWRgWA7K+oqmQhwMiMEEdRazIMxMGc4Szu2PKxpmGKkGXzaNkI6I63xJKcvtzBQazmyIljcMV99UYN1U/P+0Adg2A+SHvO6pOm8vGeEMB+LKTe7g7Rn1Scp5Zji5QtUITZ8hjmW3abpDyRppJ4SJhPIBBmrXW5Qt5Egsjmulv7fhcrmBpeoW0LdWnY6uijJZx0SawyxjsSLzVp+gCAcQAHVYF7bEFEik0675erDhWmWPkOuI9wP1Nol+fXKzIuWiS/sqFry+76hx8YF7vLxi1YoJFFxS9oV0tWNn1Mgm1BPQZYfzs6FKHCYdYLVPt6fH9cV6bm/JNJoWfLAP9tcD6B2NLbbuRTSmKQSsR5TZmu4ba/J8aNwKjt40nin/M7Yy8Mxl1D8SPx35Bk2+wVf5MacGMTaDCA7t9YU3Z3wfXHnOUsQMV1nNAeUiGg7zpChRsIT+GZa5EiRUUin1qd/KabKxzAOp7ZZtClb30rhr23EmGSiejiS8XwbGT2dQUa86KnwZvX6AshWdWBLfE3OVrQRV/P7+mFkBIdQ6GRZTjhH5i5xnhkZ4Oe+h6EpuTlDiIsflbWjmNXeLJQoRxywsUwLXv+YH1BGxb/gnrATEMmczYa2/+EfV4WJioLSVDR4Th9LKRZfEGoaBcsQ6zziKAT1Pt51Al+QLJbMX9PaxQ6+1H3fnOhzCnfmIGUxsGn/oeDZ1TXN3UrA7WsgZlxQu7+3SinVrMWCGynGeGZAwzoOXvD/GezvwGJUsxMpOLQTZlL8TXXACphHKO57ErrL6S3Nve0WaqCrbk/4kBs+tESoAQGprlzpIA6YD10ux22Wwlo85THDFezh3YLnVberOAKeSIs72w5dHnmcK8JbxdVX3O74dLE5e9TYBorlXb2A1i3d5y+hCZSA2zLW1HrnxNvTp8O0fj7tHhB+7vfRMhVma0iZ79IBF1D6hO3hV2R+d3cb4KRgeN5x3DHbpXQNNlKLIDeYmn4Wy4wvMwlxVJy0JfMwrbEiOSS470VqNUgqcswpk3j8csR4LEzdyt5yiuYCxh0/WWVW1e4qYUHDGsF5uRgL12Is1ZLwrZqcR7X9N6sirXLlKD0S3GjMC18hEJQ99qGRD7Ej1sn/dnCPyNXlmDNKQCbjAJqQhPTxPkrKorboQ/gEjD8J67OAPUgKv3AZxY7FMBLUSKzNgWWDKivZgjmvTbFuxzjNGIDOF5i6fKcSB8qF1eus68xkNxd+MesaRXR6eFinLgRKokTd9tHEoc71zYeh9GkWnQU/sh+Mtg7nyYqmwhAd/Y7eu82aZsk3OBVfW0FlVVCbB/DV0EYUrTv9/hAsPLHoohxV51rUtlLxFfG7Vhn0eaPcAByZACB06UZ+jGHELWX/fY8t7p6V+gDEZm8JyycLIamR5iCVUR8ifBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015u1guEsmpJSBMZueW3ykvG",
      "input": {
        "note": "Left jaws appear to be pinching the brown teddy (its tag and fur show between the tips). Carrying it over the safe.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.33,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_015u1guEsmpJSBMZueW3ykvG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.881, 2.0617, 1.8236, -0.6453, -0.7128, -0.6552, 0.0471, 0.8448, 0.8959, 0.6857, -0.6571, 0.6529, 0.5232, 0.9989]\nstate[eef_state]: left_x=0.4266 left_y=-0.33 left_z=0.1881 left_yaw=0.0308 left_pitch=-0.047 left_roll=0.0312 left_gripper=0.0471 right_x=0.2391 right_y=0.1131 right_z=0.1654 right_yaw=0.0203 right_pitch=-0.0688 right_roll=-0.0682 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -12.0821, 8.0615, 0.8523, -0.3687, 0.2271, 1.0281, -0.1573, -1.7299, 6.8444, 1.5702, 0.2613, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22f6e2fd074fecce5a76e70b2739d91b846f97e837e04a4e673b33172d6aa6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcba45cdb23932bccc64f0eb8f28973487c3e13f5e123a9f754bf79f61cd947b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a5340b585cf6c2803018df83879071b254857c48fa2b6cfb545295daeaf9873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 10.81 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9878, 1.6684, 0.4133, 0.2779, -0.7753, -0.7429, 0.9971, 0.8452, 0.8883, 0.6895, -0.6098, 0.6613, 0.5236, 0.9988]\nstate[eef_state]: left_x=0.2651 left_y=-0.1709 left_z=-0.002 left_yaw=0.0149 left_pitch=-0.0573 left_roll=0.066 left_gripper=0.9971 right_x=0.2445 right_y=0.1176 right_z=0.1759 right_yaw=0.0167 right_pitch=-0.0244 right_roll=-0.0289 right_gripper=0.9988\nstate[joint_eff]: [0.4171, -3.1795, 3.0154, 0.7643, 0.0073, 0.2711, -0.0122, 0.1299, -2.0308, 6.694, 1.8584, 0.4762, 0.1001, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9817, 1.6733, 0.3954, 0.3069, -0.7765, -0.7395, 0.0447, 0.8448, 0.894, 0.6861, -0.635, 0.6563, 0.5232, 0.9989]\nstate[eef_state]: left_x=0.2647 left_y=-0.1669 left_z=-0.0044 left_yaw=0.0195 left_pitch=-0.0534 left_roll=0.0641 left_gripper=0.0447 right_x=0.2416 right_y=0.1152 right_z=0.1693 right_yaw=0.019 right_pitch=-0.0503 right_roll=-0.052 right_gripper=0.9989\nstate[joint_eff]: [0.0342, -6.1744, 4.547, 1.0916, -0.3687, 0.0464, 1.0818, -0.0342, -2.0718, 7.0085, 1.6679, 0.2662, -0.0464, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.881, 2.0617, 1.8236, -0.6453, -0.7128, -0.6552, 0.0471, 0.8448, 0.8959, 0.6857, -0.6571, 0.6529, 0.5232, 0.9989]\nstate[eef_state]: left_x=0.4266 left_y=-0.33 left_z=0.1881 left_yaw=0.0308 left_pitch=-0.047 left_roll=0.0312 left_gripper=0.0471 right_x=0.2391 right_y=0.1131 right_z=0.1654 right_yaw=0.0203 right_pitch=-0.0688 right_roll=-0.0682 right_gripper=0.9989\nstate[joint_eff]: [0.1846, -12.0821, 8.0615, 0.8523, -0.3687, 0.2271, 1.0281, -0.1573, -1.7299, 6.8444, 1.5702, 0.2613, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d22f6e2fd074fecce5a76e70b2739d91b846f97e837e04a4e673b33172d6aa6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcba45cdb23932bccc64f0eb8f28973487c3e13f5e123a9f754bf79f61cd947b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 359):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5340b585cf6c2803018df83879071b254857c48fa2b6cfb545295daeaf9873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnAcKEAgSGAI4AUIIdGhpbmtpbmcSDLJ4rAyAfIc47a7J4RoMdJMmmoUOgEs+Fg7HIjCZiHhXXwogxXQ89cNsQCGNyW/Yg6ov7xkxvh/VDpSsuYCahNBxg9mIM4s2XxlFR50quQZg72b4xq/GtQZORDNsGPCa2oarG7g25yhyGufQNijRpyDrsuTA/KF4AVQZMcbDCp1Eze+TQoWWbgQH6UNxZ+uUeKf61zrHwHtRDJ9xOUUHcaOO2nNW21aQbAur3KsXWVygiCm7r8S6xc+/pWgrmCHVNVlW8jBHaR/XnEbEs+rJNSYsV8XFWlxe2Y2S08zGltvi2SozkZ7/9o2+E/t0PwxDFsjOhYnzHZDvLCsHhrWaxos1htBvPP8aaEqZUZzquos3uVM8Tk4ExyFkAiQ/bOKedstIAPhbcODYi9Opga7mJoBIzHV0UmbDQoAumoTo9HaD9fwtNUdsF1mJ+GBnPIPcuU7t2vJ0VcgGoqwh8d1l/wRS2FKUrjoNkX0koBSa4Vs3mGX2ozu7KN/5NhZEVCOkx+IdOB1c8oVfqleNNhAeRbyc7/a4bW052EctShMU4svOui2bIzWu6MJs0ysJt3DsT4wNkAfMKJ8h6kfEJCaOVVUp2X8CYSnUBceSRTZsS11UhvmUdeR53iUDMGl1M0ugx75hHtJ1yZsFfNdLiqXyCy3dw/SH7v7Z+4rB4hfOhob37w0d4LMdXFxilauELJPJ6NHL7uIIEwfEO1eOf4J9rOTrxmcmUsatK74itbC9bblgRYmgjeLDaLvf0JGp95dBotNbbrYNoOTc0pX3mo/antBLQt3R6p150lI54NaKx6+PbA4ICBehaV5FQERym26cb5Q/bHCR6S5jpd74iZZ11tNXYSv0K1d8V5BEwDeCMRYZaPar3rNqHyZB+j4aAitEu/LIgvLlSjZag0tPKN3jfqdXSLXbCQmSWJYnSB3YyeBoFU5yp060WV6i1UBmTNUbP0HTNAdYLp2L0bJRQaY5YZG+SF2eh6htzXX3KQfMfkA1GIim80A5+3MeWEx7SeZqT07mwumfsqMULXcI8FGpqkS6BtUZn8djCQ/5PQSuQSelPjJbn1TNK5mWQWL+PeQ417eS6x7k+R8EMooTE+U6ZkfQdmMwmsSTmbNzj65Pa4JFUfPK+oAbv2+iUV3d7RsspTny7rtYm4EB3TCbLfmQO1Vrla8jBa9JFRisKICdhmQRzzpGb66+Ca0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HMAiroPzmEFjHwMYsdGoiX",
      "input": {
        "note": "The brown teddy hangs from the left jaws right above the open safe, as the right wrist cam shows. Opening to drop it in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HMAiroPzmEFjHwMYsdGoiX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8818, 2.0773, 1.8236, -0.6666, -0.7078, -0.6662, 0.9952, 0.8448, 0.8959, 0.6857, -0.6758, 0.6456, 0.5232, 0.9989]\nstate[eef_state]: left_x=0.4246 left_y=-0.3292 left_z=0.177 left_yaw=0.0346 left_pitch=-0.0724 left_roll=0.0493 left_gripper=0.9952 right_x=0.2367 right_y=0.1119 right_z=0.1623 right_yaw=0.0242 right_pitch=-0.0856 right_roll=-0.0782 right_gripper=0.9989\nstate[joint_eff]: [0.0205, -13.0803, 6.653, 1.5067, -0.4322, 0.0513, 0.022, -0.1162, -1.1282, 6.8034, 1.5214, 0.315, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfaf9a8b1526eadec8ec3284f028a0db778f6e4b898b7f72a8346c2334b74f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 369):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c54cafa529587f01dc5e90671c0afa9a10301f6141816d0de5a0c5fa7efefca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 369):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a1c749cd321e2c61f834a3e1ebc69e9c28891f4455076dc2aff4b30610ce63e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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