adhoc

completed
2026-09-22T19:06:35.909526+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
269.7 s
total steps
355
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 teddy bear left of it, lemon right of it, big teddy bear in front. Moving left arm toward the small bear seen in its wrist cam.
move_to
left_x0.3600left_y-0.0500left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6083, -0.4004, -0.0196, -0.0261, 0.9996] state[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [-0.4991, -1.4291, 10.1812, 1.9609, -0.0757, 0.2076, -0.0904, -0.2393, -1.5385, 9.6615, 2.0098, -0.0415, 0.1001, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.05, "left_z": 0.12}, "note": "Scene: open red safe in the centre, small teddy bear left of it, lemon right of it, big teddy bear in front. Moving left arm toward the small bear seen in its wrist cam."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent noteSmall bear is ~8 cm right of and slightly ahead of the left gripper. Positioning above it.
move_to
left_x0.3800left_y-0.1200left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2382, 1.198, 0.5476, -0.0486, -0.178, -0.1482, 0.9992, -0.0212, 0.7982, 0.6128, -0.4335, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3406 left_y=-0.0468 left_z=0.1004 left_yaw=-0.023 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9992 right_x=0.2887 right_y=0.001 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9996 state[joint_eff]: [-0.3897, -4.3692, 7.8701, 1.7802, -0.2466, 0.0073, -0.0171, -0.0068, -1.4291, 6.6393, 1.9951, -0.0366, -0.0464, -0.0171] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.12, "left_z": 0.1}, "note": "Small bear is ~8 cm right of and slightly ahead of the left gripper. Positioning above it."})
tool
executing move_to over 7 steps (0.7s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteBear centred on jaw column in the wrist view; advancing slightly and descending to grasp it.
move_to
left_x0.3900left_y-0.1150left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4561, 1.4616, 0.7193, -0.049, -0.3206, -0.2897, 0.9992, -0.0212, 0.8024, 0.6094, -0.4553, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3668 left_y=-0.1139 left_z=0.0841 left_yaw=-0.0411 left_pitch=-0.1624 left_roll=0.0294 left_gripper=0.9992 right_x=0.2853 right_y=0.0011 right_z=0.1649 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.3214, -5.7094, 8.4718, 1.7705, -0.3639, -0.0317, -0.0122, -0.0342, -1.4701, 7.241, 1.8632, -0.0562, -0.0122, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.115, "left_z": 0.02}, "note": "Bear centred on jaw column in the wrist view; advancing slightly and descending to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
Bear is between the jaws. Closing.
agent noteBear sits between the jaws at table level; closing gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4294, 1.7107, 0.672, 0.173, -0.3099, -0.2813, 0.9992, -0.0212, 0.8062, 0.6094, -0.4786, -0.0196, -0.0265, 0.9996] state[eef_state]: left_x=0.3761 left_y=-0.109 left_z=0.0114 left_yaw=-0.0218 left_pitch=-0.2339 left_roll=0.0584 left_gripper=0.9992 right_x=0.282 right_y=0.0011 right_z=0.1594 right_yaw=-0.0 right_pitch=-0.0889 right_roll=0.0013 right_gripper=0.9996 state[joint_eff]: [0.2803, -7.3915, 5.0393, 1.8046, -0.022, 0.149, -0.0122, -0.1709, -1.5521, 7.0632, 1.8681, -0.0269, -0.0562, -0.0073] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
Bear is between the jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "Bear sits between the jaws at table level; closing gripper."})
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 noteBear grasped (gripper 0.20). Lifting and carrying it toward the open safe to the right.
move_to
left_z0.2000left_x0.4200left_y-0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4305, 1.7241, 0.6697, 0.1783, -0.3119, -0.2901, 0.1995, -0.0212, 0.8062, 0.6094, -0.5003, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3749 left_y=-0.1086 left_z=0.0066 left_yaw=-0.0155 left_pitch=-0.2425 left_roll=0.0579 left_gripper=0.1995 right_x=0.2786 right_y=0.0012 right_z=0.1552 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [0.0615, -8.3214, 5.4496, 1.3504, -0.1392, 0.0317, 0.6813, -0.0205, -1.2376, 7.0222, 1.8584, -0.0415, -0.022, -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_z": 0.2, "left_x": 0.42, "left_y": -0.25}, "note": "Bear grasped (gripper 0.20). Lifting and carrying it toward the open safe to the right."})
tool
executing move_to over 13 steps (1.3s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteGripper with bear is above the red safe interior; lowering into it.
move_to
left_z0.1000left_y-0.2700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7033, 1.8709, 1.6665, -0.7647, -0.4549, -0.5301, 0.2021, -0.0212, 0.8104, 0.6075, -0.5247, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4183 left_y=-0.2482 left_z=0.1847 left_yaw=-0.029 left_pitch=-0.2556 left_roll=0.0409 left_gripper=0.2021 right_x=0.2745 right_y=0.0013 right_z=0.1487 right_yaw=0.0004 right_pitch=-0.1411 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [-0.5402, -9.7983, 8.9778, 1.2137, -0.4957, 0.0464, 0.2564, -0.1846, -1.4701, 7.2821, 1.8193, -0.0562, -0.0269, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_y": -0.27}, "note": "Gripper with bear is above the red safe interior; lowering into it."})
tool
executing move_to over 6 steps (0.6s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteBear is inside the safe walls; releasing.
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]: [-0.7391, 1.9575, 1.4734, -0.5549, -0.4622, -0.5594, 0.2043, -0.0212, 0.812, 0.6075, -0.5541, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4103 left_y=-0.2625 left_z=0.099 left_yaw=-0.0301 left_pitch=-0.3045 left_roll=0.0721 left_gripper=0.2043 right_x=0.2697 right_y=0.0014 right_z=0.143 right_yaw=0.0005 right_pitch=-0.172 right_roll=0.0034 right_gripper=0.9996 state[joint_eff]: [-0.4308, -10.0991, 6.2427, 1.3407, -0.4029, -0.0855, 0.2125, -0.0889, -0.8684, 7.0906, 1.8877, -0.0366, -0.0464, -0.0122] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Bear is inside the safe walls; releasing."})
tool
executing move_to over 8 steps (0.8s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteSmall bear dropped inside the safe. Lifting left arm out and parking it away from the centre.
move_to
left_z0.2000left_x0.3000left_y-0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7437, 1.9736, 1.4628, -0.5617, -0.461, -0.5629, 0.9952, -0.0212, 0.8165, 0.6056, -0.5911, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.4057 left_y=-0.2615 left_z=0.0871 left_yaw=-0.0263 left_pitch=-0.3304 left_roll=0.0922 left_gripper=0.9952 right_x=0.263 right_y=0.0016 right_z=0.1346 right_yaw=0.0007 right_pitch=-0.2155 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [0.3897, -11.9863, 7.4188, 1.2039, -0.2711, 0.0024, -0.1392, -0.0752, -1.4291, 7.0906, 1.8486, -0.0464, -0.0415, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.3, "left_y": -0.05}, "note": "Small bear dropped inside the safe. Lifting left arm out and parking it away from the centre."})
tool
executing move_to over 19 steps (1.9s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteBear is in the safe. Now moving the right arm toward the lemon sitting just right of the safe.
move_to
right_x0.4200right_y0.1700right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3237, 1.1637, 1.071, -0.8474, -0.2516, -0.2199, 0.9963, -0.0212, 0.8185, 0.6029, -0.6132, -0.02, -0.0265, 0.9996] state[eef_state]: left_x=0.3064 left_y=-0.0526 left_z=0.1968 left_yaw=0.0083 left_pitch=-0.3224 left_roll=0.0838 left_gripper=0.9963 right_x=0.2586 right_y=0.0017 right_z=0.1293 right_yaw=0.0009 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.1846, -4.3692, 6.694, 1.4969, -0.0659, 0.1001, 0.105, -0.0479, -1.2103, 7.0359, 1.6874, -0.0415, -0.0611, -0.0122] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.17, "right_z": 0.12}, "note": "Bear is in the safe. Now moving the right arm toward the lemon sitting just right of the safe."})
tool
executing move_to over 15 steps (1.5s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteLemon centred on the jaw column a few cm ahead; advancing and descending to grasp across its width.
move_to
right_x0.4450right_y0.1650right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3222, 1.1652, 1.071, -0.8692, -0.2436, -0.2214, 0.9964, 0.4976, 1.6936, 1.1545, -0.4, 0.3004, 0.342, 0.9996] state[eef_state]: left_x=0.3023 left_y=-0.0522 left_z=0.1931 left_yaw=0.0065 left_pitch=-0.3465 left_roll=0.0842 left_gripper=0.9964 right_x=0.405 right_y=0.1646 right_z=0.1072 right_yaw=0.0286 right_pitch=-0.2939 right_roll=-0.0204 right_gripper=0.9996 state[joint_eff]: [-0.2667, -3.7128, 6.5573, 1.4774, -0.1978, -0.0073, 0.0073, 0.1162, -8.294, 8.2393, 1.4969, 0.2564, 0.1929, -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": {"right_x": 0.445, "right_y": 0.165, "right_z": 0.02}, "note": "Lemon centred on the jaw column a few cm ahead; advancing and descending to grasp across its width."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteLemon fills the view right between the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8764, -0.2432, -0.2218, 0.9965, 0.4511, 1.9347, 1.1107, -0.1562, 0.2691, 0.3103, 0.9996] state[eef_state]: left_x=0.3009 left_y=-0.0517 left_z=0.1921 left_yaw=0.0076 left_pitch=-0.3534 left_roll=0.0862 left_gripper=0.9965 right_x=0.4313 right_y=0.1607 right_z=0.0202 right_yaw=0.0201 right_pitch=-0.3425 right_roll=-0.0356 right_gripper=0.9996 state[joint_eff]: [-0.2256, -3.6034, 6.8308, 1.3651, -0.1245, -0.0611, -0.0073, -0.6769, -8.5675, 6.5573, 1.1893, 0.1587, -0.1343, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon fills the view right between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteEmpty close: the jaws came down beside the safe wall with the lemon to their right. Opening and lifting to re-align.
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]: [-0.3218, 1.1652, 1.071, -0.8768, -0.2432, -0.2218, 0.9965, 0.4572, 1.9476, 1.1103, -0.152, 0.2501, 0.3088, 0.0326] state[eef_state]: left_x=0.3008 left_y=-0.0517 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3538 left_roll=0.0863 left_gripper=0.9965 right_x=0.4289 right_y=0.1663 right_z=0.0142 right_yaw=0.0416 right_pitch=-0.3574 right_roll=-0.0252 right_gripper=0.0326 state[joint_eff]: [-0.0615, -3.6034, 6.8034, 1.2772, -0.188, -0.0317, -0.0122, -0.4034, -10.9333, 5.7504, 1.2088, 0.0269, -0.2955, 0.5495] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.06}, "note": "Empty close: the jaws came down beside the safe wall with the lemon to their right. Opening and lifting to re-align."})
tool
executing move_to over 10 steps (1.0s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteLemon is right of and ahead of the jaws, next to the safe wall. Shifting right and forward to centre on it.
move_to
right_y0.1200right_x0.4500right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2432, -0.2218, 0.9965, 0.4522, 1.898, 1.1671, -0.3244, 0.247, 0.3035, 0.9948] state[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3542 left_roll=0.0864 left_gripper=0.9965 right_x=0.4187 right_y=0.1594 right_z=0.0332 right_yaw=0.0314 right_pitch=-0.4189 right_roll=-0.0548 right_gripper=0.9948 state[joint_eff]: [-0.0615, -3.6034, 6.7077, 1.2723, -0.1441, -0.0464, -0.0122, 0.253, -12.4513, 8.8, 1.2479, 0.1148, 0.0415, -0.2271] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.12, "right_x": 0.45, "right_z": 0.04}, "note": "Lemon is right of and ahead of the jaws, next to the safe wall. Shifting right and forward to centre on it."})
tool
executing move_to over 4 steps (0.4s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteLemon now on the jaw column but still ahead; advancing and dropping to table level.
move_to
right_x0.4700right_y0.1250right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2436, -0.2214, 0.9965, 0.3283, 1.919, 1.1995, -0.3634, 0.189, 0.2157, 0.9966] state[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0078 left_pitch=-0.3541 left_roll=0.087 left_gripper=0.9965 right_x=0.4337 right_y=0.1164 right_z=0.0288 right_yaw=0.0067 right_pitch=-0.4656 right_roll=-0.0635 right_gripper=0.9966 state[joint_eff]: [-0.0479, -3.3983, 6.5436, 1.2527, -0.1832, 0.0122, -0.0073, 0.335, -8.9504, 8.5402, 1.4383, -0.0024, 0.0073, 0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.125, "right_z": 0.01}, "note": "Lemon now on the jaw column but still ahead; advancing and dropping to table level."})
tool
executing move_to over 3 steps (0.3s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteLemon is centred between the jaws right down to the bottom of the wrist view; 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]: [-0.3218, 1.1667, 1.071, -0.8783, -0.2432, -0.2218, 0.9965, 0.321, 2.0449, 1.3182, -0.379, 0.1761, 0.194, 0.9968] state[eef_state]: left_x=0.3007 left_y=-0.0516 left_z=0.1914 left_yaw=0.008 left_pitch=-0.3567 left_roll=0.0874 left_gripper=0.9965 right_x=0.4574 right_y=0.1233 right_z=0.011 right_yaw=0.021 right_pitch=-0.4917 right_roll=-0.0709 right_gripper=0.9968 state[joint_eff]: [-0.2667, -3.2615, 6.8034, 1.2674, -0.1343, -0.0464, -0.0122, -0.4034, -8.759, 6.8308, 1.3114, 0.3053, 0.1294, 0.0073] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is centred between the jaws right down to the bottom of the wrist view; closing."})
tool
executing move_to over 10 steps (1.0s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteSecond empty close: the lemon is pressed against the safe's outer wall and the left finger landed on the wall, squeezing the lemon out. Re-trying with the gripper yawed 90° so the jaws close front-to-back along the lemon's length, parallel to the wall.
move_to
right_gripper1.0000right_z0.1000right_yaw1.5700right_y0.1000right_x0.4600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3218, 1.1671, 1.071, -0.8803, -0.2432, -0.2222, 0.9965, 0.3313, 2.0552, 1.3254, -0.3767, 0.149, 0.1925, 0.0402] state[eef_state]: left_x=0.3003 left_y=-0.0515 left_z=0.191 left_yaw=0.0085 left_pitch=-0.3588 left_roll=0.0879 left_gripper=0.9965 right_x=0.4566 right_y=0.1331 right_z=0.0083 right_yaw=0.0568 right_pitch=-0.4993 right_roll=-0.0456 right_gripper=0.0402 state[joint_eff]: [-0.212, -3.412, 6.7077, 1.3211, -0.1783, -0.0659, -0.0073, -0.5265, -11.7538, 5.2855, 0.9939, 0.1245, -0.1636, 0.7692] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.1, "right_yaw": 1.57, "right_y": 0.1, "right_x": 0.46}, "note": "Second empty close: the lemon is pressed against the safe's outer wall and the left finger landed on the wall, squeezing the lemon out. Re-trying with the gripper yawed 90\u00b0 so the jaws close front-to-back along the lemon's length, parallel to the wall."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteWith 90° yaw the lemon sits on the jaw column just below the safe edge, with fingers on either side clear of the wall. Descending.
move_to
right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3222, 1.1687, 1.071, -0.8871, -0.2432, -0.2222, 0.9965, 0.0357, 2.2917, 2.1021, -1.1778, -0.437, -1.3476, 0.9946] state[eef_state]: left_x=0.2991 left_y=-0.0512 left_z=0.1897 left_yaw=0.0092 left_pitch=-0.3668 left_roll=0.0908 left_gripper=0.9965 right_x=0.4894 right_y=0.0959 right_z=0.0978 right_yaw=1.3324 right_pitch=-0.5117 right_roll=-0.1159 right_gripper=0.9946 state[joint_eff]: [-0.1162, -3.5077, 6.694, 1.4188, -0.1294, -0.0659, -0.0073, -0.3487, -12.2872, 6.5573, -0.1099, -0.4274, -0.0708, -0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.01}, "note": "With 90\u00b0 yaw the lemon sits on the jaw column just below the safe edge, with fingers on either side clear of the wall. Descending."})
tool
executing move_to over 6 steps (0.6s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteLemon centred between the jaws at the bottom of the wrist view; 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]: [-0.3218, 1.169, 1.071, -0.8982, -0.2432, -0.2218, 0.9965, 0.0254, 2.299, 1.8595, -0.9802, -0.4683, -1.356, 0.9953] state[eef_state]: left_x=0.297 left_y=-0.0504 left_z=0.1881 left_yaw=0.0108 left_pitch=-0.3776 left_roll=0.0951 left_gripper=0.9965 right_x=0.4748 right_y=0.0954 right_z=0.0342 right_yaw=1.365 right_pitch=-0.4954 right_roll=-0.0538 right_gripper=0.9953 state[joint_eff]: [-0.1573, -3.0701, 6.5162, 1.3504, -0.188, -0.0513, -0.0122, 0.8274, -9.6752, 3.959, 1.4969, 0.2808, -0.0171, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon centred between the jaws at the bottom of the wrist view; closing."})
tool
executing move_to over 10 steps (1.0s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteLemon grasped (gripper 0.45). Lifting over the safe wall and moving toward the safe interior.
move_to
right_z0.2000right_y0.2000right_x0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3218, 1.169, 1.071, -0.8989, -0.2432, -0.2249, 0.9965, 0.0288, 2.3322, 1.8343, -0.9718, -0.45, -1.3571, 0.4451] state[eef_state]: left_x=0.2969 left_y=-0.0503 left_z=0.188 left_yaw=0.0127 left_pitch=-0.3782 left_roll=0.0934 left_gripper=0.9965 right_x=0.4665 right_y=0.0939 right_z=0.011 right_yaw=1.3919 right_pitch=-0.524 right_roll=-0.0031 right_gripper=0.4451 state[joint_eff]: [-0.0205, -3.3709, 6.5026, 1.2723, -0.1685, -0.0024, -0.0073, -0.294, -15.5419, 8.0479, 0.3834, -0.5104, -0.0073, 1.033] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_y": 0.2, "right_x": 0.45}, "note": "Lemon grasped (gripper 0.45). Lifting over the safe wall and moving toward the safe interior."})
tool
executing move_to over 13 steps (1.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteLemon is hanging above the safe interior next to the bear; lowering into the safe.
move_to
right_z0.0900right_y0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3218, 1.1687, 1.071, -0.9012, -0.2432, -0.2253, 0.9966, 0.2623, 2.3318, 2.5355, -1.5322, -0.4114, -1.1313, 0.4479] state[eef_state]: left_x=0.2964 left_y=-0.0502 left_z=0.1878 left_yaw=0.0132 left_pitch=-0.3799 left_roll=0.0939 left_gripper=0.9966 right_x=0.4496 right_y=0.1975 right_z=0.1864 right_yaw=1.3912 right_pitch=-0.5118 right_roll=-0.0545 right_gripper=0.4479 state[joint_eff]: [-0.2256, -3.494, 6.7761, 1.2527, -0.1294, -0.0366, -0.0073, 0.1436, -13.0667, 6.5299, 0.7497, -0.2369, 0.1294, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09, "right_y": 0.22}, "note": "Lemon is hanging above the safe interior next to the bear; lowering into the safe."})
tool
executing move_to over 7 steps (0.7s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteLemon is just above the red floor inside the safe; releasing.
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]: [-0.3222, 1.1725, 1.0664, -0.9051, -0.2432, -0.2253, 0.9966, 0.3077, 2.2627, 1.9873, -1.129, -0.4, -1.0954, 0.4479] state[eef_state]: left_x=0.2952 left_y=-0.0499 left_z=0.1845 left_yaw=0.0144 left_pitch=-0.3915 left_roll=0.0982 left_gripper=0.9966 right_x=0.4345 right_y=0.214 right_z=0.077 right_yaw=1.449 right_pitch=-0.5539 right_roll=0.038 right_gripper=0.4479 state[joint_eff]: [-0.1709, -3.9316, 6.8718, 1.3309, -0.1636, -0.0415, -0.0122, 0.2667, -14.8171, 6.8034, 0.7839, -0.315, 0.0415, 1.0281] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is just above the red floor inside the safe; releasing."})
tool
executing move_to over 6 steps (0.6s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteLemon and small bear are in the safe. Moving the right arm out of the way and bringing the left arm above the big teddy bear in front of the safe.
move_to
right_z0.2200right_y0.0500right_x0.3000right_yaw0.0000left_x0.2700left_y-0.3000left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3218, 1.1725, 1.0664, -0.9058, -0.2432, -0.2253, 0.9966, 0.3103, 2.2627, 1.9652, -1.1259, -0.3996, -1.0985, 0.9947] state[eef_state]: left_x=0.2951 left_y=-0.0497 left_z=0.1844 left_yaw=0.0149 left_pitch=-0.3922 left_roll=0.0985 left_gripper=0.9966 right_x=0.4295 right_y=0.2137 right_z=0.0707 right_yaw=1.4644 right_pitch=-0.562 right_roll=0.0569 right_gripper=0.9947 state[joint_eff]: [-0.0479, -3.6034, 6.735, 1.2381, -0.1538, -0.0708, -0.0122, -0.335, -12.6291, 7.7333, 0.4957, -0.1978, 0.022, -0.1587] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_y": 0.05, "right_x": 0.3, "right_yaw": 0.0, "left_x": 0.27, "left_y": -0.3, "left_z": 0.15}, "note": "Lemon and small bear are in the safe. Moving the right arm out of the way and bringing the left arm above the big teddy bear in front of the safe."})
tool
executing move_to over 23 steps (2.3s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteBig bear lies below the left gripper, its head slightly left of the jaw column. Descending to grab the head/upper body.
move_to
left_x0.2800left_y-0.2800left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0698, 1.8053, 1.5223, -1.0668, -0.5247, -0.9688, 0.9969, 0.1791, 1.3758, 1.3762, -1.2064, 0.009, 0.1146, 0.9953] state[eef_state]: left_x=0.2643 left_y=-0.2909 left_z=0.1406 left_yaw=0.0134 left_pitch=-0.4334 left_roll=0.1166 left_gripper=0.9969 right_x=0.2966 right_y=0.0557 right_z=0.2007 right_yaw=0.0798 right_pitch=-0.621 right_roll=0.0435 right_gripper=0.9953 state[joint_eff]: [-0.4718, -8.7043, 8.3214, 0.6764, -0.6081, -0.0562, 0.0269, -0.3897, -6.5573, 9.347, 1.3065, 0.0269, 0.2173, 0.0513] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": -0.28, "left_z": 0.03}, "note": "Big bear lies below the left gripper, its head slightly left of the jaw column. Descending to grab the head/upper body."})
tool
executing move_to over 8 steps (0.8s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
Head is right between the jaws. Closing.
agent noteBear head fills the space between the jaws; closing 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]: [-1.0203, 1.8858, 1.203, -0.6769, -0.5182, -0.9176, 0.997, 0.1772, 1.3651, 1.3518, -1.2213, 0.0177, 0.1154, 0.9954] state[eef_state]: left_x=0.2746 left_y=-0.2731 left_z=0.0365 left_yaw=0.0336 left_pitch=-0.4476 left_roll=0.1526 left_gripper=0.997 right_x=0.2885 right_y=0.0521 right_z=0.1944 right_yaw=0.0661 right_pitch=-0.6486 right_roll=0.0299 right_gripper=0.9954 state[joint_eff]: [0.3214, -8.7179, 5.4632, 0.8278, -0.2173, 0.0122, -0.0024, 0.1026, -5.5043, 6.2154, 1.243, -0.0806, -0.0415, -0.0073] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
Head is right between the jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "Bear head fills the space between the jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 225
top_cam
camera top_cam step 225
assistant
agent noteEmpty close – the plush slid out to the right. Opening and shifting right/forward over the bear's body for another try.
move_to
left_gripper1.0000left_y-0.2900left_x0.2900left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0195, 1.8946, 1.1919, -0.6781, -0.5198, -0.9199, 0.0399, 0.1772, 1.3369, 1.2964, -1.1988, 0.0158, 0.1123, 0.9954] state[eef_state]: left_x=0.2725 left_y=-0.2689 left_z=0.0305 left_yaw=0.0453 left_pitch=-0.4564 left_roll=0.1724 left_gripper=0.0399 right_x=0.2816 right_y=0.0512 right_z=0.1857 right_yaw=0.0698 right_pitch=-0.6533 right_roll=0.0303 right_gripper=0.9954 state[joint_eff]: [-0.212, -9.9077, 6.5846, 0.7546, -0.2906, -0.1099, 0.9255, -0.0479, -5.9966, 6.5846, 1.2039, 0.0952, 0.0024, -0.0171] camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_y": -0.29, "left_x": 0.29, "left_z": 0.08}, "note": "Empty close \u2013 the plush slid out to the right. Opening and shifting right/forward over the bear's body for another try."})
tool
executing move_to over 10 steps (1.0s)
step 235
assistant
agent noteThe bear's raised arm/body is ahead and right of the jaws; moving there and descending to grab the narrower arm/torso.
move_to
left_x0.3100left_y-0.3050left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0122, 1.9102, 1.4063, -0.8772, -0.5129, -0.9257, 0.9956, 0.1776, 1.3041, 1.2377, -1.1725, 0.0162, 0.1123, 0.9954] state[eef_state]: left_x=0.2851 left_y=-0.2859 left_z=0.0754 left_yaw=0.0533 left_pitch=-0.4619 left_roll=0.1659 left_gripper=0.9956 right_x=0.2746 right_y=0.05 right_z=0.1772 right_yaw=0.0698 right_pitch=-0.6529 right_roll=0.0299 right_gripper=0.9954 state[joint_eff]: [0.2667, -7.9385, 8.3077, 0.5739, -0.3492, 0.1001, -0.149, 0.3077, -5.7094, 6.5436, 1.1551, 0.0415, -0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.31, "left_y": -0.305, "left_z": 0.015}, "note": "The bear's raised arm/body is ahead and right of the jaws; moving there and descending to grab the narrower arm/torso."})
tool
executing move_to over 4 steps (0.4s)
step 239
assistant
agent noteBear's body and arm are 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]: [-0.9882, 2.0808, 1.4124, -0.757, -0.5087, -0.9173, 0.9969, 0.1783, 1.2713, 1.1786, -1.1458, 0.0158, 0.1123, 0.9954] state[eef_state]: left_x=0.3008 left_y=-0.2936 left_z=0.0159 left_yaw=0.0905 left_pitch=-0.4876 left_roll=0.2121 left_gripper=0.9969 right_x=0.2675 right_y=0.049 right_z=0.1682 right_yaw=0.071 right_pitch=-0.6525 right_roll=0.0304 right_gripper=0.9954 state[joint_eff]: [0.1162, -11.3846, 5.8462, 0.7448, -0.2711, 0.2369, 0.1197, 0.1983, -5.1761, 6.735, 1.1648, 0.0952, -0.022, -0.0171] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bear's body and arm are between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 249
assistant
agent noteReading is low (0.035) but the wrist view shows the bear's arm pinched in the jaws — plush compresses. Lifting to test the grasp.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9874, 2.1014, 1.4124, -0.7635, -0.5095, -0.9215, 0.0349, 0.1783, 1.2362, 1.1236, -1.1233, 0.0151, 0.1123, 0.9954] state[eef_state]: left_x=0.2992 left_y=-0.2904 left_z=0.0077 left_yaw=0.107 left_pitch=-0.499 left_roll=0.2374 left_gripper=0.0349 right_x=0.2602 right_y=0.0478 right_z=0.1606 right_yaw=0.072 right_pitch=-0.6499 right_roll=0.0316 right_gripper=0.9954 state[joint_eff]: [-0.0752, -12.3282, 5.559, 0.5446, -0.3443, 0.0317, 0.9792, 0.0068, -4.8615, 6.6803, 1.2186, 0.022, -0.0269, -0.0171] camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.08}, "note": "Reading is low (0.035) but the wrist view shows the bear's arm pinched in the jaws \u2014 plush compresses. Lifting to test the grasp."})
tool
executing move_to over 5 steps (0.5s)
step 254
assistant
agent noteBear's arm stays pinched as the gripper rises, so it looks held. Lifting high to clear the safe wall.
move_to
left_z0.2400left_x0.3800left_y-0.3100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.9874, 2.0708, 1.5368, -0.9733, -0.5018, -0.9291, 0.0356, 0.1783, 1.2037, 1.0729, -1.1015, 0.0162, 0.112, 0.9954] state[eef_state]: left_x=0.2954 left_y=-0.2868 left_z=0.0463 left_yaw=0.1368 left_pitch=-0.5292 left_roll=0.2859 left_gripper=0.0356 right_x=0.2536 right_y=0.0464 right_z=0.1534 right_yaw=0.0714 right_pitch=-0.6464 right_roll=0.0306 right_gripper=0.9954 state[joint_eff]: [-0.0889, -14.5026, 8.1573, 0.398, -0.4322, 0.0415, 0.9451, 0.1436, -4.7248, 6.5709, 1.1697, 0.0317, -0.0269, -0.0171] camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24, "left_x": 0.38, "left_y": -0.31}, "note": "Bear's arm stays pinched as the gripper rises, so it looks held. Lifting high to clear the safe wall."})
tool
executing move_to over 13 steps (1.3s)
step 267
assistant
agent noteBig bear is hanging from the left gripper. Carrying it forward over the open safe.
move_to
left_z0.2400left_x0.4600left_y-0.3400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8452, 2.2696, 2.368, -1.5658, -0.4828, -0.7845, 0.0356, 0.1783, 1.1721, 1.0271, -1.0782, 0.0151, 0.112, 0.9954] state[eef_state]: left_x=0.3633 left_y=-0.2806 left_z=0.1728 left_yaw=0.163 left_pitch=-0.5502 left_roll=0.31 left_gripper=0.0356 right_x=0.2484 right_y=0.0457 right_z=0.1475 right_yaw=0.0733 right_pitch=-0.6374 right_roll=0.0331 right_gripper=0.9954 state[joint_eff]: [0.2256, -15.1043, 7.747, 0.4713, -0.3248, 0.232, 0.9402, 0.0752, -4.1094, 6.6667, 1.1355, 0.0611, -0.0513, -0.0171] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24, "left_x": 0.46, "left_y": -0.34}, "note": "Big bear is hanging from the left gripper. Carrying it forward over the open safe."})
tool
executing move_to over 8 steps (0.8s)
step 275
assistant
agent noteThe arm stalled short of the target (x 0.40, y -0.27), with the bear still in front of the safe. Asking for a slightly lower height so it can reach further forward over the safe.
move_to
left_z0.1900left_x0.4800left_y-0.3500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7647, 2.3985, 2.5599, -1.586, -0.4671, -0.7044, 0.0374, 0.1802, 1.1488, 0.9924, -1.066, 0.0154, 0.1123, 0.9954] state[eef_state]: left_x=0.4036 left_y=-0.272 left_z=0.164 left_yaw=0.1654 left_pitch=-0.5522 left_roll=0.2998 left_gripper=0.0374 right_x=0.2432 right_y=0.0452 right_z=0.1422 right_yaw=0.0746 right_pitch=-0.6366 right_roll=0.033 right_gripper=0.9954 state[joint_eff]: [0.5402, -11.8769, 7.9385, 0.652, -0.359, 0.2125, 0.8523, 0.0615, -3.9863, 6.3521, 1.1258, 0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.19, "left_x": 0.48, "left_y": -0.35}, "note": "The arm stalled short of the target (x 0.40, y -0.27), with the bear still in front of the safe. Asking for a slightly lower height so it can reach further forward over the safe."})
tool
executing move_to over 7 steps (0.7s)
step 282
assistant
agent noteThe bear seems caught on the safe's front wall, which is stopping the arm. Lifting straight up to clear the wall first.
move_to
left_z0.3200left_x0.4000left_y-0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7593, 2.5439, 2.6949, -1.5925, -0.4606, -0.6952, 0.0381, 0.1802, 1.1275, 0.9588, -1.0554, 0.0151, 0.1123, 0.9954] state[eef_state]: left_x=0.4197 left_y=-0.2852 left_z=0.1305 left_yaw=0.1703 left_pitch=-0.569 left_roll=0.3158 left_gripper=0.0381 right_x=0.238 right_y=0.0443 right_z=0.1366 right_yaw=0.0749 right_pitch=-0.6382 right_roll=0.0332 right_gripper=0.9954 state[joint_eff]: [0.253, -12.9299, 8.294, 0.7155, -0.3736, 0.149, 0.7888, 0.0615, -3.8222, 6.3658, 1.1355, 0.0269, -0.0366, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.32, "left_x": 0.4, "left_y": -0.3}, "note": "The bear seems caught on the safe's front wall, which is stopping the arm. Lifting straight up to clear the wall first."})
tool
executing move_to over 13 steps (1.3s)
step 295
assistant
agent noteBear is dangling just in front of the safe's front wall. Pushing forward over the safe at the highest height the arm will hold, also straightening the wrist pitch.
move_to
left_z0.2400left_x0.4700left_y-0.3200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7582, 2.1895, 2.315, -1.5738, -0.4603, -0.6804, 0.04, 0.1822, 1.1015, 0.9249, -1.0439, 0.0147, 0.1123, 0.9954] state[eef_state]: left_x=0.3733 left_y=-0.2405 left_z=0.1908 left_yaw=0.1656 left_pitch=-0.576 left_roll=0.3295 left_gripper=0.04 right_x=0.2328 right_y=0.0439 right_z=0.1319 right_yaw=0.0774 right_pitch=-0.6348 right_roll=0.0341 right_gripper=0.9954 state[joint_eff]: [0.5812, -15.3368, 5.1897, 0.5885, -0.3297, 0.0952, 0.6862, 0.0615, -3.6308, 6.3932, 1.0916, 0.022, 0.0024, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.24, "left_x": 0.47, "left_y": -0.32, "left_pitch": 0.0}, "note": "Bear is dangling just in front of the safe's front wall. Pushing forward over the safe at the highest height the arm will hold, also straightening the wrist pitch."})
tool
executing move_to over 20 steps (2.0s)
step 315
assistant
agent noteThe bear is now over the safe, but its head still hangs over the left wall. Shifting right and forward to centre it over the interior.
move_to
left_y-0.3400left_x0.4600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.844, 2.5866, 2.965, -1.5791, -0.8135, -0.6876, 0.0425, 0.1822, 1.0786, 0.8936, -1.0328, 0.0143, 0.1123, 0.9954] state[eef_state]: left_x=0.4435 left_y=-0.3002 left_z=0.2191 left_yaw=0.1687 left_pitch=-0.153 left_roll=0.3172 left_gripper=0.0425 right_x=0.2283 right_y=0.0431 right_z=0.1272 right_yaw=0.078 right_pitch=-0.6322 right_roll=0.0349 right_gripper=0.9954 state[joint_eff]: [-0.4581, -12.9162, 7.3915, 0.9988, -0.8034, 0.2613, 0.5201, 0.1983, -3.0701, 6.4342, 1.0818, 0.0366, 0.0024, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.34, "left_x": 0.46}, "note": "The bear is now over the safe, but its head still hangs over the left wall. Shifting right and forward to centre it over the interior."})
tool
executing move_to over 4 steps (0.4s)
step 319
assistant
agent noteThe arm is at its reach limit, and the bear's body is over the safe interior. Releasing it into the safe.
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]: [-0.844, 2.5866, 2.965, -1.5791, -0.8173, -0.6842, 0.0444, 0.1841, 1.0573, 0.8646, -1.021, 0.0158, 0.1123, 0.9954] state[eef_state]: left_x=0.4437 left_y=-0.2998 left_z=0.2195 left_yaw=0.1686 left_pitch=-0.1506 left_roll=0.3217 left_gripper=0.0444 right_x=0.2244 right_y=0.0426 right_z=0.1229 right_yaw=0.0787 right_pitch=-0.6279 right_roll=0.0337 right_gripper=0.9954 state[joint_eff]: [-0.2803, -12.8889, 7.1726, 0.9597, -0.7302, 0.2369, 0.1832, 0.0889, -3.1795, 6.4752, 1.1013, 0.0317, -0.0366, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The arm is at its reach limit, and the bear's body is over the safe interior. Releasing it into the safe."})
tool
executing move_to over 10 steps (1.0s)
step 329
assistant
agent noteThe big bear fell off the front of the safe and is lying just in front of it. Going back down to grab it again.
move_to
left_x0.3400left_y-0.3100left_z0.0100left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.844, 2.5866, 2.9498, -1.5761, -0.8124, -0.6922, 0.9952, 0.1841, 1.0397, 0.8429, -1.0138, 0.0154, 0.1123, 0.9954] state[eef_state]: left_x=0.4434 left_y=-0.3004 left_z=0.2149 left_yaw=0.1723 left_pitch=-0.1596 left_roll=0.3237 left_gripper=0.9952 right_x=0.2212 right_y=0.0421 right_z=0.1198 right_yaw=0.0793 right_pitch=-0.6249 right_roll=0.0345 right_gripper=0.9954 state[joint_eff]: [-0.3077, -14.3248, 5.0393, 0.8864, -0.486, 0.0171, -0.1001, 0.1709, -2.8786, 6.1744, 1.1062, 0.0171, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.31, "left_z": 0.01, "left_pitch": 0.0}, "note": "The big bear fell off the front of the safe and is lying just in front of it. Going back down to grab it again."})
tool
executing move_to over 14 steps (1.4s)
step 343
assistant
agent noteAll three objects now appear inside the safe (the big bear at the front). Raising the left arm toward the top edge of the upright lid so it can grab it and pull it shut.
move_to
left_x0.5200left_y-0.3300left_z0.2000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0832, 3.0566, 3.1367, -1.5703, -1.0191, -1.1038, 0.9963, 0.181, 1.0245, 0.8101, -1.0668, 0.0456, 0.112, 0.9954] state[eef_state]: left_x=0.3869 left_y=-0.4008 left_z=0.0519 left_yaw=0.2227 left_pitch=-0.0076 left_roll=0.3332 left_gripper=0.9963 right_x=0.2027 right_y=0.0326 right_z=0.1079 right_yaw=0.0382 right_pitch=-0.6914 right_roll=-0.0125 right_gripper=0.9954 state[joint_eff]: [-3.8769, -11.0564, 6.0786, 0.4322, -0.1245, 0.0904, 0.1001, 0.294, -2.865, 7.1863, 1.8584, -0.2662, -0.0415, -0.0122] camera 'top_cam' (step 343): [image omitted: streamed camera frame] camera 'left_cam' (step 343): [image omitted: streamed camera frame] camera 'right_cam' (step 343): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.52, "left_y": -0.33, "left_z": 0.2, "left_gripper": 1.0}, "note": "All three objects now appear inside the safe (the big bear at the front). Raising the left arm toward the top edge of the upright lid so it can grab it and pull it shut."})
tool
executing move_to over 11 steps (1.1s)
step 354
assistant
agent noteI only got part of the task done: the objects appear to be in the safe, but the safe is still open. The small teddy bear and the lemon are in it, and the big teddy bear seems to be inside at the front edge, possibly hanging over the front rim. When I first released the big bear I thought it had fallen off the front, but the later overhead and wrist views show it inside. I ran out of call budget before closing the lid. It stands upright at the back of the safe, and the left arm can only reach the hinge area at about z 0.14–0.22 when extended to x ≈ 0.45–0.50. It could not get behind or above the lid to swing it shut.
done
hindsight- The safe is an open red case near the table centre line, about left-frame (0.40–0.50, −0.33) or right-frame y ≈ 0.33. Its lid stands upright at the back (the hinge is about 0.50 m out). The arms can't reach high and far at the same time: at x ≈ 0.44–0.50 the readback won't go above about z = 0.14–0.22, and targets are tracked slowly or held. Plan the lid close first, or right after the first object. Going in from the side, or hooking the lid's top edge while it is still reachable, may be the only way; budget for it. - A plush toy gripped by a limb reads about 0.035–0.045 after closing, which looks empty, but it can still be held. Check by lifting and watching the wrist camera. - Lifting the big bear by one arm leaves it dangling about 15 cm below the gripper, and it snags on the safe's front wall. Grab it near the head/torso and put it in from above the back part of the safe. - A lemon pressed against the safe's outer wall: two closes with jaws along the arm's y axis came up empty, because one finger landed on the wall. Turning yaw to 1.57 so the jaws close parallel to the wall worked (reading 0.45). - The top camera's scale near the table centre is about 2–3 px/cm. The left arm at (0.30, −0.05) appears at image (45, 125); at (0.41, −0.26) it appears near (110, 110). - Targets that cross over to y ≤ −0.3 on the left arm can produce odd IK results. One commanded (0.34, −0.31) ended at (0.39, −0.40).
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.812, 2.6888, 2.7567, -1.2404, -0.939, -0.6689, 0.9983, 0.1951, 0.9333, 0.7345, -1.0286, 0.0639, 0.1158, 0.9954] state[eef_state]: left_x=0.495 left_y=-0.3097 left_z=0.1434 left_yaw=0.2417 left_pitch=-0.0422 left_roll=0.3674 left_gripper=0.9983 right_x=0.1955 right_y=0.0308 right_z=0.1028 right_yaw=0.0368 right_pitch=-0.6356 right_roll=-0.0226 right_gripper=0.9954 state[joint_eff]: [0.3761, -18.7692, 9.1966, 1.0818, -0.5885, 0.2027, -0.1832, -0.0205, -1.5658, 6.8444, 1.1746, 0.0024, 0.0122, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]
assistant
done({"summary": "I only got part of the task done: the objects appear to be in the safe, but the safe is still open. The small teddy bear and the lemon are in it, and the big teddy bear seems to be inside at the front edge, possibly hanging over the front rim. When I first released the big bear I thought it had fallen off the front, but the later overhead and wrist views show it inside. I ran out of call budget before closing the lid. It stands upright at the back of the safe, and the left arm can only reach the hinge area at about z 0.14\u20130.22 when extended to x \u2248 0.45\u20130.50. It could not get behind or above the lid to swing it shut.", "hindsight": "- The safe is an open red case near the table centre line, about left-frame (0.40\u20130.50, \u22120.33) or right-frame y \u2248 0.33. Its lid stands upright at the back (the hinge is about 0.50 m out). The arms can't reach high and far at the same time: at x \u2248 0.44\u20130.50 the readback won't go above about z = 0.14\u20130.22, and targets are tracked slowly or held. Plan the lid close first, or right after the first object. Going in from the side, or hooking the lid's top edge while it is still reachable, may be the only way; budget for it.\n- A plush toy gripped by a limb reads about 0.035\u20130.045 after closing, which looks empty, but it can still be held. Check by lifting and watching the wrist camera.\n- Lifting the big bear by one arm leaves it dangling about 15 cm below the gripper, and it snags on the safe's front wall. Grab it near the head/torso and put it in from above the back part of the safe.\n- A lemon pressed against the safe's outer wall: two closes with jaws along the arm's y axis came up empty, because one finger landed on the wall. Turning yaw to 1.57 so the jaws close parallel to the wall worked (reading 0.45).\n- The top camera's scale near the table centre is about 2\u20133 px/cm. The left arm at (0.30, \u22120.05) appears at image (45, 125); at (0.41, \u22120.26) it appears near (110, 110).\n- Targets that cross over to y \u2264 \u22120.3 on the left arm can produce odd IK results. One commanded (0.34, \u22120.31) ended at (0.39, \u22120.40)."})
tool
done: I only got part of the task done: the objects appear to be in the safe, but the safe is still open. The small teddy bear and the lemon are in it, and the big teddy bear seems to be inside at the front edge, possibly hanging over the front rim. When I first released the big bear I thought it had fallen off the front, but the later overhead and wrist views show it inside. I ran out of call budget before closing the lid. It stands upright at the back of the safe, and the left arm can only reach the hinge area at about z 0.14–0.22 when extended to x ≈ 0.45–0.50. It could not get behind or above the lid to swing it shut.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 11.31 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6083, -0.4004, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4291, 10.1812, 1.9609, -0.0757, 0.2076, -0.0904, -0.2393, -1.5385, 9.6615, 2.0098, -0.0415, 0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f162453c019dbf26e467669be3ee6d68ce847f7765a10f3e2dadcdfe826ddf43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db094046cbbe25d9a10c4ca69305e5bd48baf0ed16f14dcbc9a0009924c1f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91df90c6609936ba414bf34f4b71fcb4c909754dd0fa02127853e2d4c19fb87c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.547 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6083, -0.4004, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4291, 10.1812, 1.9609, -0.0757, 0.2076, -0.0904, -0.2393, -1.5385, 9.6615, 2.0098, -0.0415, 0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f162453c019dbf26e467669be3ee6d68ce847f7765a10f3e2dadcdfe826ddf43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0db094046cbbe25d9a10c4ca69305e5bd48baf0ed16f14dcbc9a0009924c1f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91df90c6609936ba414bf34f4b71fcb4c909754dd0fa02127853e2d4c19fb87c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7w8KEAgSGAI4AUIIdGhpbmtpbmcSDLmIY255/mFBOVrboRoMk2u/oecAIgmsICVzIjDczPeHA3mthJ+FdpILI2aE7P6YjfssrybLsBx9qrfFOGL3BrTb6vJbTEXuFBPtX1gqjA+xJMY16chippK2cOZMyVojeD8vpvUkSb4vkEWVGjz+FsV0qku3twpRI7uSY/V3RS4CY71x5ZKfdfaHtRLqhOqx5PtXdFFJoVDFmLF/094MehNMrdZCYqn1ORSFePH5UOG4aNI30TdwQyVK4ykbTS09NCXZ2gU8/AZe9TnlptGY3tBnvYJp1TGSlmtjDo9iLgxDQ0CXg5w5jnqVOH3H/NWS9LFwEnvSf/cbar85q+l+kTKmhRLYA8GBbO+0b8lOBNL//sd9hmN0NaQ8b6aeDfCIbE0c1zSa8g0JF2LzCvsKSlNY4f3VOs/XNBQBUqEkEKn2yKd3Wh3PNJrAE/+1KihJmr5D1C7dS7204cLv+x9eq6LpFPzLE05NdeB+8RzdIgYhZvMYRIq7Z6H32+gSPi4ILLQfB0WzB1uYn2x032WGOkjhUAA/6A4o/DKFz7jSp5gPQ9//Hiw4UDWam3ZkJca9DLilMVSPD+wwC7aJ5+uPtwUpLfOYwpvu5eayAjQ7RjVoBEztWS57bec+202AfVbi1w4LBy2/RA88bn1Vju+hWAjQPOZq4jqoANvaDT4Igav1UkCDP6RAz2OnlXCZOipmlfCtqF032vqj8CLhBViecpNP36tkItXOQxO8nVLeNega9ezLXlrQdnrMvJNWONf/WnIItrFLP672SUJizHbHP5HOEclIYcCigu4skTtpS64IO+A1sPOd9Qflv9IjHNMK4LNgGencrSxS1edmbhPIbp/Rzcn0eV0iFks80gwJO7ww5Mjy9UuAQAdxcA09DSZettiloRSUm7UsIXVk9/yfvXHXl0Zs7x9lApEd9PvWzBY9W5eVHpMOYjP6H6T/ynz5l3ag08jxvbFII7T8vYUzsW0yE4S5qKV98q8zOHENXqB8wToDY0nIOc1AdieDS7qfrg/+acvZgZ0f6n6sW7T5eIrRa7xCHyMSEE2rQm0X4ZCDc0VRUzGFtbeUCMH2p9JlLI8QHDp+mZfx9Tu8ynHaHooc2S9F2+pTRMXAwYee6UhbudH0k13UulTD7GOK5KoBAQOpIQETyZ4FjzZZVkwKPbS8F1jqMcZumRg9uyXT2WW+6O6ffEKUeCnxm/Ag8DLawlwy7WEzSopCZ4QJ82Bwkr8RGA68yp+nb6F9ZjiB07UQEnF3BT0Ome+tGjk302CqXj/kmyQeHDoIY2k8asnXHtgkJwqx/tKzZAtm9lb+kZETgALNk+0ZzKsGtZzn8pbfY/dvJljmXhfOei4W+P+FBy5SjtyMyOGjd5sGsOVquCvM1MgCQBlSXifVbvw8KbzOnGooINs+IZBdCD5hHQaxGUa7jr5BYloTELyRfSPbEFww9wePmfEJGTnsAoKAVVhPaBwHwa4CK0qWBc2d4xQ1tJX71uuBaoA2c34gbhJgpNVkHWCt6IZKHFOFVjt/zw8x1rzQH5cTdcUvNecy1f33fKPqAouMEyMD5ZghLE/azQUv0SZR6NHPuH2quhaRr6YgD5i6IDZHWasob4m6YoNW+PkDB+Z1K7wDznQk4Y/KNJ6PZYsejK9c1pzEFvkxkQkFIK7AarQsI6MN0ZGYFeLsXTX364uqFujM1Tiqp9Xb67aW1hFcjNeOLZZqB8KgElW28cj4VsbqjgB9cjAmZkiaWc7weiqM3EPFIVbHojbwEbHUPxiHnD+wFV8xJqYKMkegv52lo0vg5YAzLEmQy3LY93C08JpKbdHPEUE3jQk0hn7Lh8l9J4yEqgNCnHqf1ZdECD1tRl4d2PKtUSwQHoaSoUKTa6EW3BbIlQnb1lt59PPGCS1d+gUKmepT2vV45hztXRy9QzB7FKBjP8xRHhWg+xRLmm4XuSdRg5T/+tg7xEBgW5o+dag2poqg9XgzxV9+nLMNBqId+1dtpJaTGZwwfebcWDJlFR46/yEw7tCzSnq9//3EoCTO/0L8DaUlSqZCf/cczQsaPcQ1VlY0aLU87NgZeRFBH+WpZ/MA9XlAWP6o5LJypSQuCm4FQ1Kc0Sq3yvird6y6Zq9TLpW3Yzijg8rhuXSIYFj7dsstMSpG/VCRx86q9VhlkiKbf24d6EQIMr92Vscd9E4qWOAf6uTK01oKRMU1j6MKnic9qqPzf5jKGqQSN+hyv4/F0gM91J0Be3nw/dS4bk/oW2j20WNl0YA00dxkBW0iukyVv/FJ4l+Bm1aBjqoCyEq3KT8n9+JZp2PHVh+hAqW90PoeOf+fqhGj18moS+XVaft++TqfkF1v4H5PLfQHVv7+0W2xzZgGpFgEN9buCwEq6Yl3U8JK9o/FTYrJH+nSbrED/PQKdEWMM95aHBfenCv7zXOSTmPbRvM0qmb/Zxow7IJYy5EQkyQqnjILbm4loxZXDM7brCXqFr8xr87Dygyd2M8com8N8gIuCnlBTjo86a1hGf8VexrcNZR4pRT7XEX4gxxV1X/TCIGwGaO3TiE1O7Hkf3Z3hkwUg8D3ygC0908rJdT3AZkHKk2dgjilnCYL4toz/tOk7eeNkCNB26aCp3+V1dSN8MTT951Y0AqhHclWlVVB+TV6AyALWQ22MPaRtxVPvKnwtp6U+OPX0OderQ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H7pLEu3kReXLAbYrSRasj2",
      "input": {
        "note": "Scene: open red safe in the centre, small teddy bear left of it, lemon right of it, big teddy bear in front. Moving left arm toward the small bear seen in its wrist cam.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.05,
          "left_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_01H7pLEu3kReXLAbYrSRasj2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2382, 1.198, 0.5476, -0.0486, -0.178, -0.1482, 0.9992, -0.0212, 0.7982, 0.6128, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0468 left_z=0.1004 left_yaw=-0.023 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9992 right_x=0.2887 right_y=0.001 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -4.3692, 7.8701, 1.7802, -0.2466, 0.0073, -0.0171, -0.0068, -1.4291, 6.6393, 1.9951, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be4c08098b31ecceaaf11d8b9732405fded485880906c6283dcad388cb846b2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d755f2ed657060d28f3ba502625119c2f92907fad71b944b5b12063a342eeb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a63d68625257006eab6704ad11e9c39e91bf69f64ec70c2cba2ba0c01ab4227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.27 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6083, -0.4004, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4291, 10.1812, 1.9609, -0.0757, 0.2076, -0.0904, -0.2393, -1.5385, 9.6615, 2.0098, -0.0415, 0.1001, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2382, 1.198, 0.5476, -0.0486, -0.178, -0.1482, 0.9992, -0.0212, 0.7982, 0.6128, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0468 left_z=0.1004 left_yaw=-0.023 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9992 right_x=0.2887 right_y=0.001 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -4.3692, 7.8701, 1.7802, -0.2466, 0.0073, -0.0171, -0.0068, -1.4291, 6.6393, 1.9951, -0.0366, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be4c08098b31ecceaaf11d8b9732405fded485880906c6283dcad388cb846b2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d755f2ed657060d28f3ba502625119c2f92907fad71b944b5b12063a342eeb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a63d68625257006eab6704ad11e9c39e91bf69f64ec70c2cba2ba0c01ab4227",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxwgKEAgSGAI4AUIIdGhpbmtpbmcSDFT2ZCiPaih5GltMNxoMp4CMTv5EOfUtroXYIjCnckY3nbo1bq0BJ8cmuzJTD4Zv6Jvc4f0VFnN3WLhiU+s2+t1ZEDxoktWBPfuRUnsq5AdM7FHFDyi8zuFcgNfd1CMGCF8PQ4OIPl2s6GTsdbJzBc9CEHklfxCPMbLWqvVNlFfTf1/hXEbanxt6kvBwkdLdPkhIN908ebc8HlROm/hgxKNM+JXCiurL3eVDoLhlwiYotc5oZdfoT36ac7iQjioN8KTh8n4rl9Zm3TGRM/YGe23KN7DHhhLE2uyWXnp0MtkqOqKmBy5gPQQXH92iPB+qYqBeYVkxrDFZypbvI2RYtOD63rjyQqLEjWImm8GsrMMNVL9v4/4V1gK4/0MwjHI2VA1xKRBK2fl0I31tdl+sNjWVq5bj4Zd3S2TvoiyJKiX9Z7ckoVKXcISVP1vc6HjMv4ciKyHYBMScQmPdVDhisqrdMpcQQrYLPcuTvjBtXytA5VU4OYgurtMMo8ZT1Z8PhVXJJCvimPuEVQ4QS5/6/qVQKaQ7lZdAp3RF3SrZQ/O3hNjvSDFS63gVAezTVo40qqlL6EHfdR7wnSihiv1COF55K73XMrFIFxm6n3N0Sg2LfW9vX1nsqz5LRXwUZbs3I7F7/nsdSqTk04Y4c+d1pODZaKA1wvDIcaeMIoRPvkn7zr4yHj72aAUmkdzO5h3o1J3mNc8JJW3v3UK3vH6Gp0nq+YDfLwbhxIuwIiuJrXt7gpDiyCqN89ChsUAdRSZwkrzbxYmiOKHNBaeNkVymKr14AY2Bqrz3V+H9uS3pprafHdhePWMlBLNVESWvM77r4nyf6olxroC8b2cfjW2ORk+BeVMqAXd2JWyuG1V2VwvlwMXz9YJsxU3YkAHSuV3ZBBCijfO5NEUXEFYCGQFT1Bc+6YrkMCWrOnY6NJiwETxaXYAMX2vYbZlxhNlH+lVV4l3SMJO9qyuOQLpY1oFyMbjWLjTwX1Xe6FXlrmR318M6jv/A+UVlACyBlqrEJ1AwQ+1znMOPIfjauAv+4xAkNXNYT+okZQaradYn+R7gXskG8o6w00Hwy909Vab+flooqrQPpwhcfSIp6QiLUWkRNYc4Z/LbhGSXY+kvmoM80xiqeTInLnpaabnHgzaEUOFKbWw+O2/u62d5+ahxYocR+qT5sn8Cq+gly9SzdfjADn9r/g2DAhW7jgG4JoAfTE+9e1yIr2Alv5oyHomk/jozE/fwOsxNXFX9POSlB+3pnsOPLapreFAdxoJOK10MLpYPt3iFTad+VoFLGvnR1gzr9wEIoXIjo+1sWyaE97iD4ifY9fMM5tV/uEiM29dtQqQOAlaDHTRXVodmienuuvG6/m0THQtTCKF8VPINDMBs7fmvhQUtJi8SzaBg9AbMmj4/fONx9ua/6iBZZ/qdUWu/hhCGscYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QLptSQoWvCcLdgGqh1szed",
      "input": {
        "note": "Small bear is ~8 cm right of and slightly ahead of the left gripper. Positioning above it.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.12,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QLptSQoWvCcLdgGqh1szed",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4561, 1.4616, 0.7193, -0.049, -0.3206, -0.2897, 0.9992, -0.0212, 0.8024, 0.6094, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3668 left_y=-0.1139 left_z=0.0841 left_yaw=-0.0411 left_pitch=-0.1624 left_roll=0.0294 left_gripper=0.9992 right_x=0.2853 right_y=0.0011 right_z=0.1649 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7094, 8.4718, 1.7705, -0.3639, -0.0317, -0.0122, -0.0342, -1.4701, 7.241, 1.8632, -0.0562, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b867380faf8841d268467afa1a9804a0850aca8d1b5301e8dc7258f4726be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7ed67e2472237b0cdb72d078f8e5f49aa4b6972ac5c3fe698be423a27d9411a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2f8133f630108c026fc4778669a8dea1bb47bef3accabbcabcdded49b2115c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 2.698 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7929, 0.6044, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7944, 0.6083, -0.4004, -0.0196, -0.0261, 0.9996]\nstate[eef_state]: left_x=0.2933 left_y=0.0013 left_z=0.1782 left_yaw=-0.0004 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2926 right_y=0.0009 right_z=0.1776 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -1.4291, 10.1812, 1.9609, -0.0757, 0.2076, -0.0904, -0.2393, -1.5385, 9.6615, 2.0098, -0.0415, 0.1001, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2382, 1.198, 0.5476, -0.0486, -0.178, -0.1482, 0.9992, -0.0212, 0.7982, 0.6128, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0468 left_z=0.1004 left_yaw=-0.023 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9992 right_x=0.2887 right_y=0.001 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -4.3692, 7.8701, 1.7802, -0.2466, 0.0073, -0.0171, -0.0068, -1.4291, 6.6393, 1.9951, -0.0366, -0.0464, -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]: [-0.4561, 1.4616, 0.7193, -0.049, -0.3206, -0.2897, 0.9992, -0.0212, 0.8024, 0.6094, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3668 left_y=-0.1139 left_z=0.0841 left_yaw=-0.0411 left_pitch=-0.1624 left_roll=0.0294 left_gripper=0.9992 right_x=0.2853 right_y=0.0011 right_z=0.1649 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7094, 8.4718, 1.7705, -0.3639, -0.0317, -0.0122, -0.0342, -1.4701, 7.241, 1.8632, -0.0562, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58b867380faf8841d268467afa1a9804a0850aca8d1b5301e8dc7258f4726be1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7ed67e2472237b0cdb72d078f8e5f49aa4b6972ac5c3fe698be423a27d9411a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2f8133f630108c026fc4778669a8dea1bb47bef3accabbcabcdded49b2115c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wYKEAgSGAI4AUIIdGhpbmtpbmcSDDp4B+kl7rZMmoMzJRoMyg4f+r/WOuiqmIpwIjCFGqnRaX95rKpOIk+BeE+2lL99zOLQ3J1AyMBmu/3H/oXuIR+5G4a59QIn5N50lT8qgAYGeFxDBZIQCSKldL4x3aEGaV4CRTHm8ZSVcZosH+VQweVbK0g46+Pq9STyM/8UsWO6Lj09HiB9PHY2fU3Yr+uQj/gJfu6+jAeRBOuee5khCo8vEmoPzxUwtvrqY2xNNzOvGlAsJnLKOWRTUYy10I9vnz+YHGl6/xjJQxFG5MNh09K5PKbvHbtLeNnjfgWASmCzsG8iiwNkHlnx3WxH7Ir1VEy32XezRg8TiV5/7LAczhmhXZ/fbdjJTsFuT2DwFBvB4sOjSKdLUPqtf6Xj31N5I0Ui8XkQ3urSrdHkX4/9LNjbUb7T1/B4UwoHAOkKRyxPyrKc0V7OAR2HBtZHOGEbwiaAwQkHbnT+HXAjt5MuKeit34v7SvjSvYA3Nu7WWMEQQ6ylYIInbs4u784FxsIWiLDrDxpndiQ7MG8UMPxKJFvi0LmEujqaoaWTzN7f9hk2O2S1j2Qnv5LCioil0GKu3FJwYUBxRxO+DkCI88xv4baSdF2pFbSFRkQ7XqGOcXUv42d96I9Ilu2bBc/4ORfAFV3c6GHu+7t9Eae4FVD1rDxk1XJMrcjvDZprt88r8i088WiC19sl+ukzzxUpb9dmQxXfZADjCAVuVmtxEmDRKllJ1PmtdhZNEGRzJWwZt/tLhFpA0+ETZraJ11hNKzRGM0s5mZFwGkWdWmJrqoyb4pR83wQvezV/RNOzkozrContA0SSKg7GcnCa6/RE9lgqeCg5HVI/mi48oLw9lhbOPEoq3SKChYO3gv7DV+E6FjRSxmcenZM2NisASl5IdCXw5oxTHmIGswWnwhPEw4PFypVha1xrYaUvLbj/MQrz9r53Vp9rz3oEGCJhSVXKgK1aB/G5tnEuI+uyqSIXrsTK+lhlyUKUFkBeBgMImXk5jeOqegeM1JfqGFLwsP6jqkoiAiFjqWz32Jjczsn5XrUfFAD8EcN0Ruxk5bXOc/05ao3pW2VUJFu/HLEFF8bN6YTuW7VnrZek3I6+8e5d9NfduQxGTVf09Ha6xwHZt7Ifrh0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T58q23Zp48cBWRaTTwpQP6",
      "input": {
        "note": "Bear centred on jaw column in the wrist view; advancing slightly and descending to grasp it.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.115,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01T58q23Zp48cBWRaTTwpQP6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4294, 1.7107, 0.672, 0.173, -0.3099, -0.2813, 0.9992, -0.0212, 0.8062, 0.6094, -0.4786, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3761 left_y=-0.109 left_z=0.0114 left_yaw=-0.0218 left_pitch=-0.2339 left_roll=0.0584 left_gripper=0.9992 right_x=0.282 right_y=0.0011 right_z=0.1594 right_yaw=-0.0 right_pitch=-0.0889 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.3915, 5.0393, 1.8046, -0.022, 0.149, -0.0122, -0.1709, -1.5521, 7.0632, 1.8681, -0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f58f24a69a9f865f2a0f372dc991705f980b8f4304b466786c44e0f7bc86efbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e295237a5b7262012c937245a9f7c89d2b0b0a9c2b32b56a3b0c61c4a75711f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a7f90c9a6772d5ea7ef485389509ea0637a30b5bf1cba8685ad1d12ac6bcbdd",
        "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 · 8.612 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]: [-0.2382, 1.198, 0.5476, -0.0486, -0.178, -0.1482, 0.9992, -0.0212, 0.7982, 0.6128, -0.4335, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3406 left_y=-0.0468 left_z=0.1004 left_yaw=-0.023 left_pitch=-0.1069 left_roll=0.0157 left_gripper=0.9992 right_x=0.2887 right_y=0.001 right_z=0.1719 right_yaw=0.0002 right_pitch=-0.0324 right_roll=0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -4.3692, 7.8701, 1.7802, -0.2466, 0.0073, -0.0171, -0.0068, -1.4291, 6.6393, 1.9951, -0.0366, -0.0464, -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]: [-0.4561, 1.4616, 0.7193, -0.049, -0.3206, -0.2897, 0.9992, -0.0212, 0.8024, 0.6094, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3668 left_y=-0.1139 left_z=0.0841 left_yaw=-0.0411 left_pitch=-0.1624 left_roll=0.0294 left_gripper=0.9992 right_x=0.2853 right_y=0.0011 right_z=0.1649 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7094, 8.4718, 1.7705, -0.3639, -0.0317, -0.0122, -0.0342, -1.4701, 7.241, 1.8632, -0.0562, -0.0122, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4294, 1.7107, 0.672, 0.173, -0.3099, -0.2813, 0.9992, -0.0212, 0.8062, 0.6094, -0.4786, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3761 left_y=-0.109 left_z=0.0114 left_yaw=-0.0218 left_pitch=-0.2339 left_roll=0.0584 left_gripper=0.9992 right_x=0.282 right_y=0.0011 right_z=0.1594 right_yaw=-0.0 right_pitch=-0.0889 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.3915, 5.0393, 1.8046, -0.022, 0.149, -0.0122, -0.1709, -1.5521, 7.0632, 1.8681, -0.0269, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f58f24a69a9f865f2a0f372dc991705f980b8f4304b466786c44e0f7bc86efbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e295237a5b7262012c937245a9f7c89d2b0b0a9c2b32b56a3b0c61c4a75711f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7f90c9a6772d5ea7ef485389509ea0637a30b5bf1cba8685ad1d12ac6bcbdd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bear is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BMxeMBHH6vxHygWQneiu7S",
      "input": {
        "note": "Bear sits between the jaws at table level; closing gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BMxeMBHH6vxHygWQneiu7S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4305, 1.7241, 0.6697, 0.1783, -0.3119, -0.2901, 0.1995, -0.0212, 0.8062, 0.6094, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3749 left_y=-0.1086 left_z=0.0066 left_yaw=-0.0155 left_pitch=-0.2425 left_roll=0.0579 left_gripper=0.1995 right_x=0.2786 right_y=0.0012 right_z=0.1552 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3214, 5.4496, 1.3504, -0.1392, 0.0317, 0.6813, -0.0205, -1.2376, 7.0222, 1.8584, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ff8671f575eda15480c3f5c906887fbbbdfeb6f6026de79fda09dce57e4ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11db0be3d0f8bb8afae205932a71a1a38c1e2865eff53ff8fea147913c36a0bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c422008bbf93167d14b19357790c2cf080e58ffd6e014fa98108ecfd4aec173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.296 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]: [-0.4561, 1.4616, 0.7193, -0.049, -0.3206, -0.2897, 0.9992, -0.0212, 0.8024, 0.6094, -0.4553, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3668 left_y=-0.1139 left_z=0.0841 left_yaw=-0.0411 left_pitch=-0.1624 left_roll=0.0294 left_gripper=0.9992 right_x=0.2853 right_y=0.0011 right_z=0.1649 right_yaw=0.0003 right_pitch=-0.0618 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -5.7094, 8.4718, 1.7705, -0.3639, -0.0317, -0.0122, -0.0342, -1.4701, 7.241, 1.8632, -0.0562, -0.0122, -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]: [-0.4294, 1.7107, 0.672, 0.173, -0.3099, -0.2813, 0.9992, -0.0212, 0.8062, 0.6094, -0.4786, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3761 left_y=-0.109 left_z=0.0114 left_yaw=-0.0218 left_pitch=-0.2339 left_roll=0.0584 left_gripper=0.9992 right_x=0.282 right_y=0.0011 right_z=0.1594 right_yaw=-0.0 right_pitch=-0.0889 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.3915, 5.0393, 1.8046, -0.022, 0.149, -0.0122, -0.1709, -1.5521, 7.0632, 1.8681, -0.0269, -0.0562, -0.0073]",
      "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]: [-0.4305, 1.7241, 0.6697, 0.1783, -0.3119, -0.2901, 0.1995, -0.0212, 0.8062, 0.6094, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3749 left_y=-0.1086 left_z=0.0066 left_yaw=-0.0155 left_pitch=-0.2425 left_roll=0.0579 left_gripper=0.1995 right_x=0.2786 right_y=0.0012 right_z=0.1552 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3214, 5.4496, 1.3504, -0.1392, 0.0317, 0.6813, -0.0205, -1.2376, 7.0222, 1.8584, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ff8671f575eda15480c3f5c906887fbbbdfeb6f6026de79fda09dce57e4ec3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11db0be3d0f8bb8afae205932a71a1a38c1e2865eff53ff8fea147913c36a0bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c422008bbf93167d14b19357790c2cf080e58ffd6e014fa98108ecfd4aec173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015rU61dk2bfJJi6RaPAeC12",
      "input": {
        "note": "Bear grasped (gripper 0.20). Lifting and carrying it toward the open safe to the right.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.25,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_015rU61dk2bfJJi6RaPAeC12",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7033, 1.8709, 1.6665, -0.7647, -0.4549, -0.5301, 0.2021, -0.0212, 0.8104, 0.6075, -0.5247, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2482 left_z=0.1847 left_yaw=-0.029 left_pitch=-0.2556 left_roll=0.0409 left_gripper=0.2021 right_x=0.2745 right_y=0.0013 right_z=0.1487 right_yaw=0.0004 right_pitch=-0.1411 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.7983, 8.9778, 1.2137, -0.4957, 0.0464, 0.2564, -0.1846, -1.4701, 7.2821, 1.8193, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08188fba5cb30bd56c15edea8fbd1bc8e578686cf11e2a5cb34623472b263891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:580059826e6c85505d069843e6191e3acc0f44dfaceb02efdceeeb8b0209c766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:458ff65cdce745eebb1fd9d445a871f5a9ad67873d109135c16c22d2a610e1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 2.645 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]: [-0.4294, 1.7107, 0.672, 0.173, -0.3099, -0.2813, 0.9992, -0.0212, 0.8062, 0.6094, -0.4786, -0.0196, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3761 left_y=-0.109 left_z=0.0114 left_yaw=-0.0218 left_pitch=-0.2339 left_roll=0.0584 left_gripper=0.9992 right_x=0.282 right_y=0.0011 right_z=0.1594 right_yaw=-0.0 right_pitch=-0.0889 right_roll=0.0013 right_gripper=0.9996\nstate[joint_eff]: [0.2803, -7.3915, 5.0393, 1.8046, -0.022, 0.149, -0.0122, -0.1709, -1.5521, 7.0632, 1.8681, -0.0269, -0.0562, -0.0073]",
      "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]: [-0.4305, 1.7241, 0.6697, 0.1783, -0.3119, -0.2901, 0.1995, -0.0212, 0.8062, 0.6094, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3749 left_y=-0.1086 left_z=0.0066 left_yaw=-0.0155 left_pitch=-0.2425 left_roll=0.0579 left_gripper=0.1995 right_x=0.2786 right_y=0.0012 right_z=0.1552 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3214, 5.4496, 1.3504, -0.1392, 0.0317, 0.6813, -0.0205, -1.2376, 7.0222, 1.8584, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7033, 1.8709, 1.6665, -0.7647, -0.4549, -0.5301, 0.2021, -0.0212, 0.8104, 0.6075, -0.5247, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2482 left_z=0.1847 left_yaw=-0.029 left_pitch=-0.2556 left_roll=0.0409 left_gripper=0.2021 right_x=0.2745 right_y=0.0013 right_z=0.1487 right_yaw=0.0004 right_pitch=-0.1411 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.7983, 8.9778, 1.2137, -0.4957, 0.0464, 0.2564, -0.1846, -1.4701, 7.2821, 1.8193, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08188fba5cb30bd56c15edea8fbd1bc8e578686cf11e2a5cb34623472b263891",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:580059826e6c85505d069843e6191e3acc0f44dfaceb02efdceeeb8b0209c766",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:458ff65cdce745eebb1fd9d445a871f5a9ad67873d109135c16c22d2a610e1aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygcKEAgSGAI4AUIIdGhpbmtpbmcSDCnWJM5YH/ACyKaRmRoMBBGpO5Ajp1m8Fk43IjBLZLe2/O9jKGPtw/rgBK7nULp6m/KIzFm14jZx4k5zNb6GrCR8rf1EV6W+59HtOlMq5wbChuBtIcV3aJsFv2FtHNieXOPDXSZjZ1hEUEQ0DaXDkIdLVxE101Viq7QrlE4LJHTo5m4fbyaGu0EdDqDwu9ZLdT3a6Ba3hEU5Y98kdCHkRtTm25FFdQmpZok4MtLaPDQJ5zB3Lfajpu0jxSfToe0DrJH5UIpIvFoAWEs+VGCtmtS+CVHJnUpw6Pl8RR7q5fNpY/0hfGWnWHyrqbDGY48R/vpN4sWdMahYm2mV3I5QSah4Y4D81MlkDXukYQ0msbbAZhNkJJa1IkSdoT1Q05rXL+FgNSU/lrwrvPJS4r14/hnShDYQVHequ7J1gbCnLl1PcPf7lgXp7b212xEQHEtlybTteJ13VtipGpUA0Ulj0fSzPosjjHc/z5aDk90TYce1ZpgxeyGwu2p2Q7VzWf7cMDN8VD49s/XbhdIdEy/Ta1VmTxqyoGJxnYLrXSslteG4UJ0IbSJEBGOeJ1Insi0LWhfAQU/nt2iGY/i9tjpPvdhZk0tiB6VqeekeqabGsP2FS3sigHgxYLq2uo0BIzFJ0bG3rBPNO7jDPG9X9PHcY0SZ1PhQTEdxwq71yItUKRjUzekm3ePsrrQwfy8XssllizPFteMk8XhYzrRM3CZsZIi/iOqtu/y84VL4PaULlJZtW3vUxR7EyJo8rBA1stkenD56CcM7XBnbStQnK8dQFVs+bOGIJNlqsNaY63gANuaQSSkn1PBzMsp191IwJq3u9EjIQnI37dO20GXNu//OcI7Ctoqw4g8YHvJ3Qb96y2a1HHkY4DVpDVdUyQ0hHjLDfYuzxio3VxfZVJx3RqhNEZ+nf8gv4oIHhj+ADWOBcAsyaPhagUemqTuIG8GnJsfUOuADI/X4fqUKECEutHYpkd5yfpeIyWfxTYEyBJYXexyF8tC+ymyQoqPsmuqcP9qGegbDQ1+I3TxAQy3apAdiwRDqulqBrjebVQmy2tXVEN0YDHPppaPa2BfmRbcoIJT8kM/6ccaD2SxBgP1DA4OIVYcl9jTt2MQyCeAdl8h+ufh4msOygic4D1PT6i6QpzoX59E3CozaxCv3ZmeaS2MntwjV991J4b4J+JsywfciIWAm/kAC+wSXSarhqNT/tHJJwe2M6WZZQUXrfEJhwvn9S6zMmXnkUYdfWbLBdftGQjxRnyvKNcFlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011R7mcgi7Kbn3Kia6M8epNw",
      "input": {
        "note": "Gripper with bear is above the red safe interior; lowering into it.",
        "targets": {
          "left_y": -0.27,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011R7mcgi7Kbn3Kia6M8epNw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7391, 1.9575, 1.4734, -0.5549, -0.4622, -0.5594, 0.2043, -0.0212, 0.812, 0.6075, -0.5541, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4103 left_y=-0.2625 left_z=0.099 left_yaw=-0.0301 left_pitch=-0.3045 left_roll=0.0721 left_gripper=0.2043 right_x=0.2697 right_y=0.0014 right_z=0.143 right_yaw=0.0005 right_pitch=-0.172 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -10.0991, 6.2427, 1.3407, -0.4029, -0.0855, 0.2125, -0.0889, -0.8684, 7.0906, 1.8877, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc28eb9508e016c276bf84248412ba04ad2df60869033c44db7ff9e57e9d3ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72daf244df0e2c951ae470de7c9bdae9f8ebb7b67384e8f802e1afe0addb9900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cdd005a34307f80e985a0382a419da147fc69b26ec35c86e03f2b5946619b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 6.136 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]: [-0.4305, 1.7241, 0.6697, 0.1783, -0.3119, -0.2901, 0.1995, -0.0212, 0.8062, 0.6094, -0.5003, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3749 left_y=-0.1086 left_z=0.0066 left_yaw=-0.0155 left_pitch=-0.2425 left_roll=0.0579 left_gripper=0.1995 right_x=0.2786 right_y=0.0012 right_z=0.1552 right_yaw=0.0003 right_pitch=-0.1106 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -8.3214, 5.4496, 1.3504, -0.1392, 0.0317, 0.6813, -0.0205, -1.2376, 7.0222, 1.8584, -0.0415, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7033, 1.8709, 1.6665, -0.7647, -0.4549, -0.5301, 0.2021, -0.0212, 0.8104, 0.6075, -0.5247, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2482 left_z=0.1847 left_yaw=-0.029 left_pitch=-0.2556 left_roll=0.0409 left_gripper=0.2021 right_x=0.2745 right_y=0.0013 right_z=0.1487 right_yaw=0.0004 right_pitch=-0.1411 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.7983, 8.9778, 1.2137, -0.4957, 0.0464, 0.2564, -0.1846, -1.4701, 7.2821, 1.8193, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7391, 1.9575, 1.4734, -0.5549, -0.4622, -0.5594, 0.2043, -0.0212, 0.812, 0.6075, -0.5541, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4103 left_y=-0.2625 left_z=0.099 left_yaw=-0.0301 left_pitch=-0.3045 left_roll=0.0721 left_gripper=0.2043 right_x=0.2697 right_y=0.0014 right_z=0.143 right_yaw=0.0005 right_pitch=-0.172 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -10.0991, 6.2427, 1.3407, -0.4029, -0.0855, 0.2125, -0.0889, -0.8684, 7.0906, 1.8877, -0.0366, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc28eb9508e016c276bf84248412ba04ad2df60869033c44db7ff9e57e9d3ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72daf244df0e2c951ae470de7c9bdae9f8ebb7b67384e8f802e1afe0addb9900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cdd005a34307f80e985a0382a419da147fc69b26ec35c86e03f2b5946619b43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwYKEAgSGAI4AUIIdGhpbmtpbmcSDCUGvilWtuOuMy3wQhoM1arVIUEJeUew2sr6IjBSmgYXieYXJN50dQd4fWS/SaoA/RC1YzrpUlhOEDYpJsC2F82e8G2XqwZ+7NrF6H8q5AWWZql98dENmB3zVU63GVu8Vh1BaHCZE+QJ5TjPkBFjVJPgGnV5QxkrDAgX0G0nXs4MULUoDR14I7I3rjfIs9OYwPo164G/KSQ9G4eSjG2RfuNkKrZFgwN5aMRr3DF6Zk8dppeWuaa4UzG4P0Jz6kKuE3TavgflSJ/XFRb/npGd5gQH3xkiwRdmDx+iWcNkKG2XdZbXaibq+WQPapQRxd2P1lIwEXfyL4U+mxHXnkjIQnnhMjSoTlbzB3cvkjS6RHVT2jEoQ+sIMcKA6jb3BYKIJO+pzLZ2yj14V7m+S1wK7dM2RVFwxY4VgmKp0SRI0gB4yOniAionZvqN+sdHKreGbfJ+2RjpUHmIAS4Lt84XpwIMtbLpPnhJr1FdkuVbO/ePARH9AP93Y2Z8WFmHQoG/uuQErIKGdzcduevseINZ54LnAnQfwSdVS0rwWnM+xYm/jO9tWp8eACWON0gv1bjHf/HGKSicDW+8LQX6VEiydIr90C9iQB83AzNp7BUfAMDOmgT6V6WEatmmugQeqlf6O6VJ79lw6mTzM+otUoK3LLGS4iklF5+O6GVgtEWOS8enVNXfdwYSzcZDfoOpGjbuKTpAu8e1yykff5DzEJkuTqvjommuyaNiHDxlKhaj0Vo8p9rcsB9KaaSNGe4X3yVr5lY/9Zm2m3shzAtXuGG6/twkOm4LOREC/KQSOUh4htyvwIVcARHF+RDjCgsnl65k+JFD5uTJM6hTK06eh2coPDAFGhFl4Z2aAD77hb4XgzjIUzP+51JbWXJZ2SPldbTd5ZTyXZvZ/zFcv8cAQg91BRpg0OEo9tHnxiYlpBAHq4rPvl0NmGLSaiUdoEubUqD5/rlQaSNThsJpiTJCyipEgnZyYGmEqXsUJp6X/Rw9VtWV4kG4eJOxyrM/hMJb+BTzxk+z5ldkXGRD3OlsS8y+TOWrriTvhS6WteT0ac8tOWJVRaVwTqgoOiFQnYMT2W/e9k37LhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ea11MkqeuG5anvSNFrnKwB",
      "input": {
        "note": "Bear is inside the safe walls; releasing.",
        "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_01Ea11MkqeuG5anvSNFrnKwB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7437, 1.9736, 1.4628, -0.5617, -0.461, -0.5629, 0.9952, -0.0212, 0.8165, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4057 left_y=-0.2615 left_z=0.0871 left_yaw=-0.0263 left_pitch=-0.3304 left_roll=0.0922 left_gripper=0.9952 right_x=0.263 right_y=0.0016 right_z=0.1346 right_yaw=0.0007 right_pitch=-0.2155 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.9863, 7.4188, 1.2039, -0.2711, 0.0024, -0.1392, -0.0752, -1.4291, 7.0906, 1.8486, -0.0464, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544c07d2b3312e611d0eb57a2daca36b38cbdefe3dfd07110a2580f5f5db095c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:707bb38ea472d5fc7590775c1cf2f9580bd078631cd67f67c8a8265e51f939fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e20ab8e20f2896af81ea17dc13c815be17a559279e75012294e0e444b3b9f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.864 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]: [-0.7033, 1.8709, 1.6665, -0.7647, -0.4549, -0.5301, 0.2021, -0.0212, 0.8104, 0.6075, -0.5247, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4183 left_y=-0.2482 left_z=0.1847 left_yaw=-0.029 left_pitch=-0.2556 left_roll=0.0409 left_gripper=0.2021 right_x=0.2745 right_y=0.0013 right_z=0.1487 right_yaw=0.0004 right_pitch=-0.1411 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -9.7983, 8.9778, 1.2137, -0.4957, 0.0464, 0.2564, -0.1846, -1.4701, 7.2821, 1.8193, -0.0562, -0.0269, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7391, 1.9575, 1.4734, -0.5549, -0.4622, -0.5594, 0.2043, -0.0212, 0.812, 0.6075, -0.5541, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4103 left_y=-0.2625 left_z=0.099 left_yaw=-0.0301 left_pitch=-0.3045 left_roll=0.0721 left_gripper=0.2043 right_x=0.2697 right_y=0.0014 right_z=0.143 right_yaw=0.0005 right_pitch=-0.172 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -10.0991, 6.2427, 1.3407, -0.4029, -0.0855, 0.2125, -0.0889, -0.8684, 7.0906, 1.8877, -0.0366, -0.0464, -0.0122]",
      "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]: [-0.7437, 1.9736, 1.4628, -0.5617, -0.461, -0.5629, 0.9952, -0.0212, 0.8165, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4057 left_y=-0.2615 left_z=0.0871 left_yaw=-0.0263 left_pitch=-0.3304 left_roll=0.0922 left_gripper=0.9952 right_x=0.263 right_y=0.0016 right_z=0.1346 right_yaw=0.0007 right_pitch=-0.2155 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.9863, 7.4188, 1.2039, -0.2711, 0.0024, -0.1392, -0.0752, -1.4291, 7.0906, 1.8486, -0.0464, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544c07d2b3312e611d0eb57a2daca36b38cbdefe3dfd07110a2580f5f5db095c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:707bb38ea472d5fc7590775c1cf2f9580bd078631cd67f67c8a8265e51f939fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e20ab8e20f2896af81ea17dc13c815be17a559279e75012294e0e444b3b9f46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgoKEAgSGAI4AUIIdGhpbmtpbmcSDGHYFSD0N2/Qs71cVBoMBENJMAlHKnKLYjCmIjCS418k56y5gxVTDipXfgiwCJ+BmOC1Go2qrzaJfUu9gvoN3KwwUs9QL59v+yIiSbMq0wlufXCZWVmg7anryfXWf/poBPAhjKWf6tMcpjSuV4K3PGJE6HKJDD4loD9zvEdyO0aIVLiD4rahDqB5XYkeb65HvvwMrglgmIjxhJ8pW24Ldy1vTpvYP/vzouB+n6svNQrQJmu1JSMycEuVJLNp4TITBHkY3g2ILa4Teo8q866gOHY8cOqootIi1wQ/bQTbsaAKmA/7d/kNkuSywC0YPS3WioEbsKIYos2sjz/RXO9Lckuuy5IL6VK6/IGgbbOim52KKflPuKTGOck7AB2//qTELK0Bb8oxgYLV+0aIXsKrRsVRADWVOoThd6g+oT2PCybpq+J8fHGPs+/D5igMIVzxtvNm+BPPnio2hmFT9uLxbFDOC9O63NH1WpOzN+2szK29RQ0yV04ZESHSZd4VwYg2ldMdjPfSQOzu43Ys9BwjS8HaoZGWUo2QKzGqrvCHTSj6pCADjCIvqE5q5QKEvTDKs2QKdQ147DSTY0AV+WJ5iUAtwggDWLQj0Psxuww00r31nUkUlWNHhu4T8mfdON5aeh9MHFavuzy9TeP5IPP6CxUkPq9HiK1xgFLSHX25+tT5Dec9+lPHF9Y9ydIBSkeSTvKipwVExKhCo/8bjMJT0axap1/xFGBN+oMM9vzffT9So8QjLX6YOt2+oxfmZp7y0NpyvE31A6imqcuzDFPHjMDWN/LPx9J9kksfwrsbRojsLvq26M4PzFBJX5DafKUGXYo3fR18Go+7XngQNvdeKm1kXeWu6eJk5O5WyKJEJAlcXdXm1R/9PQdBssRya0+BosDCicUiWVT3IMwMLrhvhW90TrlWKpETbQToQ7H6gonImGtQJL8aYlNafgs66TsnfF4bsbv8Mx2XzZSdanshPTU/IS1qn962aMa47t6TWI2LWnZOpMPsLAFX8FBVCa6CoQMwi+Q72Qd2zoQM2vqvrmTTvJz+xH65mO74jCbBPER51Qi+e1AKmESvx6jSrueNzzLoTS/aYYpROVb5TFxOb2W4EvxzwcanVe9zwGKUP8apqMeDkX/Wq7kyYHFYZdUF2MS65jeI2Qf27RsLM7R9lHKVCIxaRZJWeTokxtl8veTxUn82x8E/iVkGOYCZJMsQkHr6xkLHorF+Yx2OQIB18wbN7FQLQeGv26aEa+O731ivikRFIil+1aLSW/oSthtQBbpRhEZKMR4auI3Is8xVFtzFIuA5ybeghe0BHwkaSO8kfrgneARie3dFMlAyRg4WrfBfvMsXAJcyHZK6zliMkkqAVitrGEVnExINlfLyj2Y9EBVkpIhl4yCIvBJqOCsjok+e/umwPfVWv+HhflnR2/YeaxZ9Tca/8ErkAEUaQXP0iKfnzMNtCYpTpZDeuBCyIjG8LyDofZvmsyS2fblPO+aNcbDUsF9F/EAB1Xqj4k7RfXCiWGPB7wn0s+Kk3JTa/uMZYilOi+WSiEjT+fFsTYQLlhVFHz+BbTndzzmLU7aJokkxgx9hTfbNhKZIzMBc6Ly29MT5LHyRhphGoEwtJEWf0PwFP1ayD1YGIlBKFlJQRBKuchop1bSPcPZxa35q2LfEkhmfQ7j16INOgdY30ozpJIOzey22RdznD+qtICPg/IzpOX3yVgjqCswxuU4ARScYf1DuJ+W/0O1TyYADgMFPThgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Xr8cHgTPRspYzEtiRGhZB",
      "input": {
        "note": "Small bear dropped inside the safe. Lifting left arm out and parking it away from the centre.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_013Xr8cHgTPRspYzEtiRGhZB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3237, 1.1637, 1.071, -0.8474, -0.2516, -0.2199, 0.9963, -0.0212, 0.8185, 0.6029, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3064 left_y=-0.0526 left_z=0.1968 left_yaw=0.0083 left_pitch=-0.3224 left_roll=0.0838 left_gripper=0.9963 right_x=0.2586 right_y=0.0017 right_z=0.1293 right_yaw=0.0009 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -4.3692, 6.694, 1.4969, -0.0659, 0.1001, 0.105, -0.0479, -1.2103, 7.0359, 1.6874, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78f2f88a13d64c8244e32e994ac20086066a1b8a7d82d87f2fae68b521e6087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a5a129a01f9d1a6d1aab480c7265d8760ca810444684c617dde256b86ce36ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13f34fcb5999306d66a6ff13bad36340f902c0b0a0fd77c5ec1f4883b2eca96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.957 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]: [-0.7391, 1.9575, 1.4734, -0.5549, -0.4622, -0.5594, 0.2043, -0.0212, 0.812, 0.6075, -0.5541, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4103 left_y=-0.2625 left_z=0.099 left_yaw=-0.0301 left_pitch=-0.3045 left_roll=0.0721 left_gripper=0.2043 right_x=0.2697 right_y=0.0014 right_z=0.143 right_yaw=0.0005 right_pitch=-0.172 right_roll=0.0034 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -10.0991, 6.2427, 1.3407, -0.4029, -0.0855, 0.2125, -0.0889, -0.8684, 7.0906, 1.8877, -0.0366, -0.0464, -0.0122]",
      "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]: [-0.7437, 1.9736, 1.4628, -0.5617, -0.461, -0.5629, 0.9952, -0.0212, 0.8165, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4057 left_y=-0.2615 left_z=0.0871 left_yaw=-0.0263 left_pitch=-0.3304 left_roll=0.0922 left_gripper=0.9952 right_x=0.263 right_y=0.0016 right_z=0.1346 right_yaw=0.0007 right_pitch=-0.2155 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.9863, 7.4188, 1.2039, -0.2711, 0.0024, -0.1392, -0.0752, -1.4291, 7.0906, 1.8486, -0.0464, -0.0415, -0.0073]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3237, 1.1637, 1.071, -0.8474, -0.2516, -0.2199, 0.9963, -0.0212, 0.8185, 0.6029, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3064 left_y=-0.0526 left_z=0.1968 left_yaw=0.0083 left_pitch=-0.3224 left_roll=0.0838 left_gripper=0.9963 right_x=0.2586 right_y=0.0017 right_z=0.1293 right_yaw=0.0009 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -4.3692, 6.694, 1.4969, -0.0659, 0.1001, 0.105, -0.0479, -1.2103, 7.0359, 1.6874, -0.0415, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a78f2f88a13d64c8244e32e994ac20086066a1b8a7d82d87f2fae68b521e6087",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a5a129a01f9d1a6d1aab480c7265d8760ca810444684c617dde256b86ce36ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13f34fcb5999306d66a6ff13bad36340f902c0b0a0fd77c5ec1f4883b2eca96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsQkKEAgSGAI4AUIIdGhpbmtpbmcSDPNjOXho6eo60HRH3hoMjVfrAy6SwYOJ0Y4OIjBjlBhJlK+dvdfnSoHCGqXMPlZCAuKhMghn/CGCsKh9TYQMf5rpyhnrfObAcv/WRgIqzgh+52rw9sA9kVb2o5VWqAdRqLXXYwgFZfAWZ033hUI9SAqaY5XAJBpedNB9RqFdeXjG9ABKHoyFRIantEbM4uMwq5hZOXUIXhJduL5EVlA/Z/mWIb6wl7fMLFyeTvZtd0niW2YUJdtQ0QnGOQiq1xXNUmP9mgc0JqBrSDlWFBj8X9WbyKZMi6TsX4T0el3iAwn0fqx5O7v8o722cDxV6UsVENtVOxZoBNcKhT0uEXsc9nsn4Isg7Ro2GNqvnfZitvXNhJEptaeAF8FERFfs15rB+yyPjvI4z160WflXoJNGgVERUyIaWuPaI4mRJ/JOdYpj+6JcbueXqBOX+lD8skWaFboc914qUwMAwl4rZssd5y4RjbHrVTWDK9X2M/S5/OzMlaTLyMdOc3iF9f47DUd9ZF6cNaxTMUoeUuUmwVb1Zgos+z8ZvkMQaHZprKi6NyrnKC46nY8MyS9fXBC48hLY0GqPHEIxnVkkbm/1FPaN7HtgMIfwOm+ViMwBxsf4qVHjCOP3ZDOWTLtqFymlO7Xp6KrROpBEgFcF7W5NScEGB2zUJp4iAIBnXNBl8nzqP/5+j0fA+zquHXyDA4eSw6I8+36fpsHbLVOppZgjH9HMgSI314Srukd4KfmE5kLjQNjDs2o1bOgeIZExwauqT2q41qoREK2kuSFmUC2lmOWKr4h2V4PCPQ+d/TOojgNoM5wh6V/JWWgL28tH8irE/FMABEnQKG9FHpS8sjN7NHYvBFBSCrpyn8QndF5Ck0doD+NTjxQGxeNRmVuCSGkaTbHONSlqPVcztoKwbl3bXg1adF1fsdsF459xEKbnMGCX995PZEQLkolsQO/JvhX7owouYRadZlMSKOsrmRA5t2AVHUZhCbwSSi8j2VKhu53j94Txcfo/XhozxCaY1Y5sGfTEhVHkuRtJ6OmSopZ0kCez8L8EJItv6Q5E5ZmzyQkZmicf22zUbnGBfwQSK2K+XWtHQJu0toA2aTVbctzIMdK05FJGElgyiogQVTEAxPyNq5aZ15WjEYhPSj+577Qfs2YP7frrL3ECHnFbuvh445Ej8ILLa1hPV1jfG9PySQ8cwVvBuK8j70SpgXen96vjWf6bcS8ry4eKvG1IEeyae1jhI1+weomraYSW4pYadoNvFfHs9ZiA+wc1nHHzKIsxvsOMLzSQ4Yx72EGZNIWkuW7TTqpTVw7F5EcbnFeSZ2DQr7Msk1Z74C1cv4ncAbwxdzW3UHMV5Xuq/dVyiHqUB6Ma0nTrIy1qYAFyB46KUhJ1V2IHs0n504KKo9CrnLZNRkUpm+XezJjcUjwH/gsP4uOAons5xu/XU+e5ayRFY4cOeKFazGWeqJirrtJexwfJbfLSEmNd+jeazkplY8YlPwE0oJHsYoKd8yN5IHTesK4c53WdEObKcCDL2HLbIaB1K/2g/ElAWCO/VoA14XnBqMFF7UVhMY9lAVncCeheJ9olGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9mxMza3K2YGKhwNHaPwjW",
      "input": {
        "note": "Bear is in the safe. Now moving the right arm toward the lemon sitting just right of the safe.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01K9mxMza3K2YGKhwNHaPwjW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1652, 1.071, -0.8692, -0.2436, -0.2214, 0.9964, 0.4976, 1.6936, 1.1545, -0.4, 0.3004, 0.342, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.0522 left_z=0.1931 left_yaw=0.0065 left_pitch=-0.3465 left_roll=0.0842 left_gripper=0.9964 right_x=0.405 right_y=0.1646 right_z=0.1072 right_yaw=0.0286 right_pitch=-0.2939 right_roll=-0.0204 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.7128, 6.5573, 1.4774, -0.1978, -0.0073, 0.0073, 0.1162, -8.294, 8.2393, 1.4969, 0.2564, 0.1929, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90e3990183c835cd0b8d324482d03572e6035673c73b1f541e4f6db13c6a917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:654e0497175f0dbd50de1d398c773fb31def82f17fd51e08bab06be0aa590c3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd4a1eab53a100351aa48fd507fb6f36c290f8225d52c38471be49d1f7d3e41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 3.563 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]: [-0.7437, 1.9736, 1.4628, -0.5617, -0.461, -0.5629, 0.9952, -0.0212, 0.8165, 0.6056, -0.5911, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.4057 left_y=-0.2615 left_z=0.0871 left_yaw=-0.0263 left_pitch=-0.3304 left_roll=0.0922 left_gripper=0.9952 right_x=0.263 right_y=0.0016 right_z=0.1346 right_yaw=0.0007 right_pitch=-0.2155 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.3897, -11.9863, 7.4188, 1.2039, -0.2711, 0.0024, -0.1392, -0.0752, -1.4291, 7.0906, 1.8486, -0.0464, -0.0415, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3237, 1.1637, 1.071, -0.8474, -0.2516, -0.2199, 0.9963, -0.0212, 0.8185, 0.6029, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3064 left_y=-0.0526 left_z=0.1968 left_yaw=0.0083 left_pitch=-0.3224 left_roll=0.0838 left_gripper=0.9963 right_x=0.2586 right_y=0.0017 right_z=0.1293 right_yaw=0.0009 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -4.3692, 6.694, 1.4969, -0.0659, 0.1001, 0.105, -0.0479, -1.2103, 7.0359, 1.6874, -0.0415, -0.0611, -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]: [-0.3222, 1.1652, 1.071, -0.8692, -0.2436, -0.2214, 0.9964, 0.4976, 1.6936, 1.1545, -0.4, 0.3004, 0.342, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.0522 left_z=0.1931 left_yaw=0.0065 left_pitch=-0.3465 left_roll=0.0842 left_gripper=0.9964 right_x=0.405 right_y=0.1646 right_z=0.1072 right_yaw=0.0286 right_pitch=-0.2939 right_roll=-0.0204 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.7128, 6.5573, 1.4774, -0.1978, -0.0073, 0.0073, 0.1162, -8.294, 8.2393, 1.4969, 0.2564, 0.1929, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90e3990183c835cd0b8d324482d03572e6035673c73b1f541e4f6db13c6a917",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:654e0497175f0dbd50de1d398c773fb31def82f17fd51e08bab06be0aa590c3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4a1eab53a100351aa48fd507fb6f36c290f8225d52c38471be49d1f7d3e41a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AcKEAgSGAI4AUIIdGhpbmtpbmcSDJu+iQVCG2zgtKk1wxoMme0OBYSpLLz2asYqIjDNu2yDjhWuXDBZia9xDzHnjnUdPqc/UDd5izhmZ1rlLQIeApvq1fp6MMLvSf+P/0EqlQdFBriFTUfHZmYGvnOOncn0YERllmahJ0B6A3oMmz2Ckbkl7/bVOYS9D5RMu/Nz9GC01z3HLr6GlqaOllh86aY2WcAZxdZGOAur31PCb7e+DaXfY5OzLP6Oftfy6FMnDUOJ7JTdVk1eZJpmxOosz1UOIDVljLoO5kc04likaTP8rYEfPsBz96xtYbVMV2+c/jTV+M5qUs4SyQpKwreiNhy3XyYOcddw3bsMU9OPc4SxXS69fiv9vNtlRXCKRuum3stzNFrvgeZldoZ7RHdUG7gJ7xYPeNtjXnN4KV+LqDcQLAYIjPBZ8qtKvp46DeKQbpUYtNeropYTT3w4EhoTpbnRWl5fPtt5n26KmTbAM25+M2feQG4gNJV5/WjpyhvH3UWvm1uqFXLd6JpIYi9U9mfXdeQeHq8ag6PdIDjJll4GmHNe0ZmUpRWjHw6IVt7t+dylECbf4GugQSEQvwwHIeEDWcLDOqTdh6Cvyu/bJB728PHnF15b/kxvple9aKZKpenmCtDBLuGu4f/0279OVEEwvrOTmgLJ850wlDOqQtob2OZmBAENY1YQRaNpjOJ1ePRAMbzUkFPbAKHiRzDBIThpUBvMX+VPoCA9p1Dwh1/xjWVTpn+P6/CSYFkuvqYSE27bbf/1YC3FKd7ve/LBdWNMWop8/aBt0qGluChARf3r3Tqhjuh35F7vQ/rTe50rs2fBaZnxvVVpjcwz/mzZhpoMhf1hfVydZxvhrLd1UBGfSDo8I3QbVH9z4hX0D/V10PaA9Dwuf+mlLyKB9HF3nfvo+0xNkKjryppGyxOVhMesAEQZZl8UFP9B/eSuHaCWh8tdUNyIXoSVJJ/wgss6hlkbjjcEIsmAGU2ZrQLRDn9SqyKXGWftUvxvLqzPDW4G155/ZQ9Nt+5XirJo7QzFe1x5k+upbUrBPbLRGQHBYrj+Az8Yniq4na5poM+CEhEsmCs3nUqU1/M+Qt+TQkElTtii1qvo/j31tlx3+h2OwSiaSf9qEXxbYzgcCdaWIctqBpllWropZRqPeKjIziUh8qAHNJU8PFjKh6lqzBnmpCPHdFLASAb4joK8+MAFbp4SEP3yIYJrGpChZQDHUEgWqvSe/TbtypJw31UfuLGrFA6hRwkaXw2HUDL83HN1vDTGwCwBU4mbN6i6p42u4i2DRacMjjHMhjYlMpsHc6YoG6CPMxYeKouYVOQLFW4G0a/o4mc7IDBmghgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017LXK8jPpW3BUvVDZ1RyMti",
      "input": {
        "note": "Lemon centred on the jaw column a few cm ahead; advancing and descending to grasp across its width.",
        "targets": {
          "right_x": 0.445,
          "right_y": 0.165,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017LXK8jPpW3BUvVDZ1RyMti",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8764, -0.2432, -0.2218, 0.9965, 0.4511, 1.9347, 1.1107, -0.1562, 0.2691, 0.3103, 0.9996]\nstate[eef_state]: left_x=0.3009 left_y=-0.0517 left_z=0.1921 left_yaw=0.0076 left_pitch=-0.3534 left_roll=0.0862 left_gripper=0.9965 right_x=0.4313 right_y=0.1607 right_z=0.0202 right_yaw=0.0201 right_pitch=-0.3425 right_roll=-0.0356 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.6034, 6.8308, 1.3651, -0.1245, -0.0611, -0.0073, -0.6769, -8.5675, 6.5573, 1.1893, 0.1587, -0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f3a7fe95654a2a46068fde094cbf60a715d266fd43087ea5e02923becd9b8f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:566125ea958ad2e300223386fe603a5225e3284707b626847392b17aeeb2a99f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77e190530cdecb0e710fc773e450eac3600b593eadcd394592550d8d3cc38101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.891 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]: [-0.3237, 1.1637, 1.071, -0.8474, -0.2516, -0.2199, 0.9963, -0.0212, 0.8185, 0.6029, -0.6132, -0.02, -0.0265, 0.9996]\nstate[eef_state]: left_x=0.3064 left_y=-0.0526 left_z=0.1968 left_yaw=0.0083 left_pitch=-0.3224 left_roll=0.0838 left_gripper=0.9963 right_x=0.2586 right_y=0.0017 right_z=0.1293 right_yaw=0.0009 right_pitch=-0.2422 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.1846, -4.3692, 6.694, 1.4969, -0.0659, 0.1001, 0.105, -0.0479, -1.2103, 7.0359, 1.6874, -0.0415, -0.0611, -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]: [-0.3222, 1.1652, 1.071, -0.8692, -0.2436, -0.2214, 0.9964, 0.4976, 1.6936, 1.1545, -0.4, 0.3004, 0.342, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.0522 left_z=0.1931 left_yaw=0.0065 left_pitch=-0.3465 left_roll=0.0842 left_gripper=0.9964 right_x=0.405 right_y=0.1646 right_z=0.1072 right_yaw=0.0286 right_pitch=-0.2939 right_roll=-0.0204 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.7128, 6.5573, 1.4774, -0.1978, -0.0073, 0.0073, 0.1162, -8.294, 8.2393, 1.4969, 0.2564, 0.1929, -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]: [-0.3218, 1.1652, 1.071, -0.8764, -0.2432, -0.2218, 0.9965, 0.4511, 1.9347, 1.1107, -0.1562, 0.2691, 0.3103, 0.9996]\nstate[eef_state]: left_x=0.3009 left_y=-0.0517 left_z=0.1921 left_yaw=0.0076 left_pitch=-0.3534 left_roll=0.0862 left_gripper=0.9965 right_x=0.4313 right_y=0.1607 right_z=0.0202 right_yaw=0.0201 right_pitch=-0.3425 right_roll=-0.0356 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.6034, 6.8308, 1.3651, -0.1245, -0.0611, -0.0073, -0.6769, -8.5675, 6.5573, 1.1893, 0.1587, -0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f3a7fe95654a2a46068fde094cbf60a715d266fd43087ea5e02923becd9b8f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:566125ea958ad2e300223386fe603a5225e3284707b626847392b17aeeb2a99f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77e190530cdecb0e710fc773e450eac3600b593eadcd394592550d8d3cc38101",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwcKEAgSGAI4AUIIdGhpbmtpbmcSDGgYKV8gv3OHBrTwDRoM1uCdfJzeXSyLp/t/IjDGCUqNadzG1g79KPSTG9NJxpAIHHksHYxonP+8y/kAW3EKJqLZxqSrl0vrq+01vQ4qrAZtzIO2RVszVo5CgLn3kMw9DivT+fnAb9h3ylW25tQ70yJJdGG51PUvKDVeCAOvhpJZLs9eMS+kD1wWLHc6NXrJ/idwlUegZnEzZ1WIrciGRq8EgeCTAjM8xhpw8/jwphy2X+ePpWB/MS7OAjq3WHII1LLcoxItq83VAGdfeib9WxRLGHoZOAMKKImPhIBct0Udt4txCejqQ5EPFpfpTc8NZpxBJnePCf2jPKnXFQcDR2wr52myJxS79gKKDTxQBPAWVRydT4JQsLJZA+0oJZPEViI42xbf8MVsHox9+Oc/u7vdpY/g5HVDo3OH1p/JH8cg7nFWbl2X5DsDFrUwl4hlFyla1A+K7wtDDeVWpLB7HHf0hNxeCsyvbPNQA7DiWADRpRctjD2PMQcNkakbF8THsHWnbYo/3Fn4qK+QM/H0hmgvu9kwybbirYuF8ZYAFBuwDxJKZDf6+e9o+2AQewE8p0E5SgZzcy7yeAh7eHxJ+VA/jq+oDpKBK1/m2j6SgaUOxFqCPQBs3A8FS5kezlVWU3Bu0sXHaVROdUqdBWIk1TVWof5EC8Pvez8igf9ny/MlPB4a1G38jVo8Fo2HVby3g+9yeTOLD3dP12Ojj4uq1UhKEUmwJCclnyR4v3P2LqRA3gl0EsGKgfvYD80u9Mq+MqY4UMMIzC89N512KFKNp0EpjPM9mIKllifeSJjmxP5iexWg9xX3pxmKI+bvCL/0CKTGWN5Oi5IWe1rKm4BVbrc0tPfIYXP9cJ6wDmpqsZWBPhCpiVWO+AcCiCewHQdza8HZ3zJUbuA0dk+rpku8KlmfOCOxxrcohZjNV5JJrbi1IE+h8ttXslzIGqTNq0DO1LR6islbKIQRJ2LLbMvKYFZqzLb37vgGZQeoWnr5BTXMHciWypCHJKXz4+9kTQs9eiIVpg5CgQa450ot/Os6qhkBLo/1c/UC4uUhIPMmrV8iUxZ2+Vqju2KU9bA2FYB0hepOGQWQndLpFfoLrB6kS43Fbg41RrMDPjrKCl1RF1swwL1BlP/QLT/ngnl1rlLkDyGDrCYBH5Wqd9ts4ToIa9I5gc/aQgv69qQmmhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0141HVep1GnhhN8RrpjxS8MN",
      "input": {
        "note": "Lemon fills the view right between the jaws; 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_0141HVep1GnhhN8RrpjxS8MN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8768, -0.2432, -0.2218, 0.9965, 0.4572, 1.9476, 1.1103, -0.152, 0.2501, 0.3088, 0.0326]\nstate[eef_state]: left_x=0.3008 left_y=-0.0517 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3538 left_roll=0.0863 left_gripper=0.9965 right_x=0.4289 right_y=0.1663 right_z=0.0142 right_yaw=0.0416 right_pitch=-0.3574 right_roll=-0.0252 right_gripper=0.0326\nstate[joint_eff]: [-0.0615, -3.6034, 6.8034, 1.2772, -0.188, -0.0317, -0.0122, -0.4034, -10.9333, 5.7504, 1.2088, 0.0269, -0.2955, 0.5495]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce2f97ce28f6e62c13139243d79835e7915e70ab497469dd756e87d739e5c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f15ab13022fb8728a4ae723a412531ee071eccb05226e0824490cab98a9f5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:57646485bb2c86e48b077bb336757156b83e51bdc1c4d3edbfeea76709655e0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 6.654 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]: [-0.3222, 1.1652, 1.071, -0.8692, -0.2436, -0.2214, 0.9964, 0.4976, 1.6936, 1.1545, -0.4, 0.3004, 0.342, 0.9996]\nstate[eef_state]: left_x=0.3023 left_y=-0.0522 left_z=0.1931 left_yaw=0.0065 left_pitch=-0.3465 left_roll=0.0842 left_gripper=0.9964 right_x=0.405 right_y=0.1646 right_z=0.1072 right_yaw=0.0286 right_pitch=-0.2939 right_roll=-0.0204 right_gripper=0.9996\nstate[joint_eff]: [-0.2667, -3.7128, 6.5573, 1.4774, -0.1978, -0.0073, 0.0073, 0.1162, -8.294, 8.2393, 1.4969, 0.2564, 0.1929, -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]: [-0.3218, 1.1652, 1.071, -0.8764, -0.2432, -0.2218, 0.9965, 0.4511, 1.9347, 1.1107, -0.1562, 0.2691, 0.3103, 0.9996]\nstate[eef_state]: left_x=0.3009 left_y=-0.0517 left_z=0.1921 left_yaw=0.0076 left_pitch=-0.3534 left_roll=0.0862 left_gripper=0.9965 right_x=0.4313 right_y=0.1607 right_z=0.0202 right_yaw=0.0201 right_pitch=-0.3425 right_roll=-0.0356 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.6034, 6.8308, 1.3651, -0.1245, -0.0611, -0.0073, -0.6769, -8.5675, 6.5573, 1.1893, 0.1587, -0.1343, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8768, -0.2432, -0.2218, 0.9965, 0.4572, 1.9476, 1.1103, -0.152, 0.2501, 0.3088, 0.0326]\nstate[eef_state]: left_x=0.3008 left_y=-0.0517 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3538 left_roll=0.0863 left_gripper=0.9965 right_x=0.4289 right_y=0.1663 right_z=0.0142 right_yaw=0.0416 right_pitch=-0.3574 right_roll=-0.0252 right_gripper=0.0326\nstate[joint_eff]: [-0.0615, -3.6034, 6.8034, 1.2772, -0.188, -0.0317, -0.0122, -0.4034, -10.9333, 5.7504, 1.2088, 0.0269, -0.2955, 0.5495]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ce2f97ce28f6e62c13139243d79835e7915e70ab497469dd756e87d739e5c93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f15ab13022fb8728a4ae723a412531ee071eccb05226e0824490cab98a9f5f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57646485bb2c86e48b077bb336757156b83e51bdc1c4d3edbfeea76709655e0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgsKEAgSGAI4AUIIdGhpbmtpbmcSDFNSe8Bm/9O+la3X3RoM4YyFVX/Gc4tOMiV0IjDlxSpHnwohvgtTCu7Jtw6BZtivqEDsbra0TPbNrV573vwp9DTMztaISOmnOfx/2Roq2wrzKB6vUjT9lnaJZba05Aman+1JCkCTLiYbz9y38B8U8pc3A71EPIaJFLjkEC3ZP/7kxRO8vH5U28tdzT4pY8tuAUCy6x6tvU4uTzaqmqVjXpe9UpkI6QWO8JypWpq+MkHuI3CFRYHirGamLc5J/CblnIyLcDGKseKv/syZnLCx5iVPxhCDruAEJ9qDwCic4heohDIGpRitqaiHHHbPrxdjwzsR/GduDid2x3mKC4J9RLYJmPu6yWogKjxfDWKqGHqEAyjQQcmx2jygS6wKE+RiDetOgA3sEof9/4X7AkI64bFZnNGlHiwrrKeR8eNRSsOyToAd04l1TC9kFknnPpIRHZKkTfr4w0/qDw3rL6ajuLN2aRw5TN8mmukdUBPFNwv5SpehDXQvEiV7LRh5Kd0+Z7C2ezDK1M1GI439vnFdmFyYkqBoSnqpZf1rfrzfqif11R4S9aGkXVESpwlZ3BsCl+Ykc7JUlvK1504wDUOlafiYnqp+k1ERaRcjPPz61eI9V7oX608NIaGbYRFsa8AG9uQV0P0p3onLx+iEUlWLcD4eAWR9CgFyNdm1FevQccRVJrlAx1/N6OlocNQxfZPFstBXKIWzJQmx6yfld/CCFu0LHf59Nh12CnTVAbvUhVHwZAgcUbwihiHkzRijpZGERGqNbpJchVKmaxw9BegYaOcJWVErs+mxmZHPqIZmSseWDklg+xrEQkn21wfFZVcn1GbyZJV00EYpvJAVRELohs0etffpDTQDVIzj78rssPZvRfBPCBB0CPfx8SovfoTXBfTd/0knQP+fZ27gqVFakkPbQlKx7/k4teswQkI0EtQdcOxMsEmYpmmgVpEH+3uce0P2+71sEaYG30ZGKrxVX9x30ezsr69zRruL2ubGGlOpiy8kC49TekW0UKjvSGouVyOvitOtJpr5XP3OBq6S5nuL84kwmHk6oALVEgnZhYpKCS2JtthjPtXyVqnw+haMjbfG1KzT4AXm+MVS1h5wwwuCCAu7swOJ1JjcP9L2Bar8zH91BcuCLenleq3pew3EbwOLuHGQ2M+L9NsCmBJ/Zj5aj8mHVFiw64veSCnM6i5qZEMzXmXQYKtPHIMn+ZE5NMILB6RlNjX1iuXY5QDaYPrGy2rTL8Sv2FZes03QlxoVdJWRykUb0iInfggwgxTyU5N8RaL8b/myPO0JREj88fnI8WSEiZvYpRcO6NglMXXf6OgitBBXSA4zfr4O6lhD0uo3m2tDh8D8kYMrK/w11Vqg7bnsAfFloIiO5mF/nuytga5ZRm6x5O2bmk0Kk3U0aKCKGiKu/MJWBR66SxJVhs2idrRvZkMTIe4aWbb5YOyCAB61XKT+YI9K6t23JV9G5LkRyowbyNGGaRpzzWR0m8wlRTqa4HihdCgNSxwdIKwHQq94u+ZMGu/tZKiKOMNXGNDBtbPbCjjqS4JG3hRWhGbEm/BtSfuY2j8v3svYQim898z+F+JtbeA7k56MY3r5zSSq6Cn/wWBe7O01ES5+gQetkzlRpSuvaaJthB0/0vZPcXA5+jRQfZwdvQIM9HvBh//oKT6kD9DFEPKdAP95RGbiHZFDbDaNnTKRN8+AbKINWOVib5a3LGvCBpTRX59qREmJz9MzcAqKvtubhBCY1yJ+nDb2o6LFaVni1JmyGQHVtIa3nf1Qr4AC61dZj+LhnVn2BkYFGCulZxGMgd7dStcDYZyKv/xodWoaX0aikqsquWiBdJveUZwrYLnS5cbn3BfFHaZtr130m5Y7fbVGyeWONtwsyASORu7XVIXCct05wtegbqT2zmCwedGgVZx71/Y2TrkcWXg0TaUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013NkEzQ46SUM8WD9PKpTr8J",
      "input": {
        "note": "Empty close: the jaws came down beside the safe wall with the lemon to their right. Opening and lifting to re-align.",
        "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_013NkEzQ46SUM8WD9PKpTr8J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2432, -0.2218, 0.9965, 0.4522, 1.898, 1.1671, -0.3244, 0.247, 0.3035, 0.9948]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3542 left_roll=0.0864 left_gripper=0.9965 right_x=0.4187 right_y=0.1594 right_z=0.0332 right_yaw=0.0314 right_pitch=-0.4189 right_roll=-0.0548 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -3.6034, 6.7077, 1.2723, -0.1441, -0.0464, -0.0122, 0.253, -12.4513, 8.8, 1.2479, 0.1148, 0.0415, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01993ccc400da99cc12975daa3c87afe8520c9b71e41441593ea767123ce29fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08ff260199d03f023528cf6e0117c63265846051a41b3eb512ed53847cdd9db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfeee510c9a9ad608b3807ad4bea6cd8008c96eaad38adf79fe91b7f672043d1",
        "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 · 4.143 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]: [-0.3218, 1.1652, 1.071, -0.8764, -0.2432, -0.2218, 0.9965, 0.4511, 1.9347, 1.1107, -0.1562, 0.2691, 0.3103, 0.9996]\nstate[eef_state]: left_x=0.3009 left_y=-0.0517 left_z=0.1921 left_yaw=0.0076 left_pitch=-0.3534 left_roll=0.0862 left_gripper=0.9965 right_x=0.4313 right_y=0.1607 right_z=0.0202 right_yaw=0.0201 right_pitch=-0.3425 right_roll=-0.0356 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -3.6034, 6.8308, 1.3651, -0.1245, -0.0611, -0.0073, -0.6769, -8.5675, 6.5573, 1.1893, 0.1587, -0.1343, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8768, -0.2432, -0.2218, 0.9965, 0.4572, 1.9476, 1.1103, -0.152, 0.2501, 0.3088, 0.0326]\nstate[eef_state]: left_x=0.3008 left_y=-0.0517 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3538 left_roll=0.0863 left_gripper=0.9965 right_x=0.4289 right_y=0.1663 right_z=0.0142 right_yaw=0.0416 right_pitch=-0.3574 right_roll=-0.0252 right_gripper=0.0326\nstate[joint_eff]: [-0.0615, -3.6034, 6.8034, 1.2772, -0.188, -0.0317, -0.0122, -0.4034, -10.9333, 5.7504, 1.2088, 0.0269, -0.2955, 0.5495]",
      "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]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2432, -0.2218, 0.9965, 0.4522, 1.898, 1.1671, -0.3244, 0.247, 0.3035, 0.9948]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3542 left_roll=0.0864 left_gripper=0.9965 right_x=0.4187 right_y=0.1594 right_z=0.0332 right_yaw=0.0314 right_pitch=-0.4189 right_roll=-0.0548 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -3.6034, 6.7077, 1.2723, -0.1441, -0.0464, -0.0122, 0.253, -12.4513, 8.8, 1.2479, 0.1148, 0.0415, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01993ccc400da99cc12975daa3c87afe8520c9b71e41441593ea767123ce29fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e08ff260199d03f023528cf6e0117c63265846051a41b3eb512ed53847cdd9db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfeee510c9a9ad608b3807ad4bea6cd8008c96eaad38adf79fe91b7f672043d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NTU34HZRp7Mrwkaruzk31L",
      "input": {
        "note": "Lemon is right of and ahead of the jaws, next to the safe wall. Shifting right and forward to centre on it.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.12,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NTU34HZRp7Mrwkaruzk31L",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2436, -0.2214, 0.9965, 0.3283, 1.919, 1.1995, -0.3634, 0.189, 0.2157, 0.9966]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0078 left_pitch=-0.3541 left_roll=0.087 left_gripper=0.9965 right_x=0.4337 right_y=0.1164 right_z=0.0288 right_yaw=0.0067 right_pitch=-0.4656 right_roll=-0.0635 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -3.3983, 6.5436, 1.2527, -0.1832, 0.0122, -0.0073, 0.335, -8.9504, 8.5402, 1.4383, -0.0024, 0.0073, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1ef3d59095ff1512fa58e5bdaf87e2de73a1d95587b8a95006d46db9935480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed13cc655e6d072ea6fd3581fee692a60011f8e7d880809927ea145f3b4174e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:324f43ad05d85ccbcdf2aba9372603f5e10f36e023838a351cdb2d65263fc135",
        "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 · 7.168 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]: [-0.3218, 1.1652, 1.071, -0.8768, -0.2432, -0.2218, 0.9965, 0.4572, 1.9476, 1.1103, -0.152, 0.2501, 0.3088, 0.0326]\nstate[eef_state]: left_x=0.3008 left_y=-0.0517 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3538 left_roll=0.0863 left_gripper=0.9965 right_x=0.4289 right_y=0.1663 right_z=0.0142 right_yaw=0.0416 right_pitch=-0.3574 right_roll=-0.0252 right_gripper=0.0326\nstate[joint_eff]: [-0.0615, -3.6034, 6.8034, 1.2772, -0.188, -0.0317, -0.0122, -0.4034, -10.9333, 5.7504, 1.2088, 0.0269, -0.2955, 0.5495]",
      "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]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2432, -0.2218, 0.9965, 0.4522, 1.898, 1.1671, -0.3244, 0.247, 0.3035, 0.9948]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3542 left_roll=0.0864 left_gripper=0.9965 right_x=0.4187 right_y=0.1594 right_z=0.0332 right_yaw=0.0314 right_pitch=-0.4189 right_roll=-0.0548 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -3.6034, 6.7077, 1.2723, -0.1441, -0.0464, -0.0122, 0.253, -12.4513, 8.8, 1.2479, 0.1148, 0.0415, -0.2271]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2436, -0.2214, 0.9965, 0.3283, 1.919, 1.1995, -0.3634, 0.189, 0.2157, 0.9966]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0078 left_pitch=-0.3541 left_roll=0.087 left_gripper=0.9965 right_x=0.4337 right_y=0.1164 right_z=0.0288 right_yaw=0.0067 right_pitch=-0.4656 right_roll=-0.0635 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -3.3983, 6.5436, 1.2527, -0.1832, 0.0122, -0.0073, 0.335, -8.9504, 8.5402, 1.4383, -0.0024, 0.0073, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee1ef3d59095ff1512fa58e5bdaf87e2de73a1d95587b8a95006d46db9935480",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ed13cc655e6d072ea6fd3581fee692a60011f8e7d880809927ea145f3b4174e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:324f43ad05d85ccbcdf2aba9372603f5e10f36e023838a351cdb2d65263fc135",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AcKEAgSGAI4AUIIdGhpbmtpbmcSDJimGYVYc8HT0IJAnhoM29e4W0qXG7aOzz/nIjBoYu8M530JEAIhB3j+ulwDoyIzTzbec7wZLlK/CPsYUuWtly4Z4IDERVMsMLgmlLcqjQfauqvLgQOCt3sfg76TKRnKpK7xHVnHPbGl5tlVw6jaLnIeF3Bp2pFLIKistgxyk/TTSGQLzKih3kdzOcsyuLWgUdo6qk28s5MclnhQQM3diupM6qDkOZrjKnnEg6kDinUMS6a+zJTKe0t9cVODg1p/20OKBOGM9uqSE8p4XhntF3nxJhTbAbVvnTFxkDzZOgkuQLC7ArQPfg630J1g7apKYWwqhEWxSxWvZ/MCFniDsobiu/vW13fCM+XrW9HNyy/L621Y34itemwBPlItu63Iacs/GHQ3WqrzwB5zGDeqSwqYjBYPnFky2IMpbhm2LsRzVhABNx4faghUfOr63CNjNg2S+OFJ/GkctyNmEOb22vniDEH3K5btkwFTxK3hpq2xw+m3vJXWmWsAOBqmAxKdsFU6mX6DphAJItv+DZifgyb/YIq4QdUDLfUhX9+wQK+u1ccNtE+7Zeg8r5e53duZ6teKeci/EduabhthcI0kgnzMk/8ZIQY9/kI2i6Fli7fugrhIvEQu3ElOrcW/onx0NnRYspzfmGGeEf2RSPPMq9k/UNO+tGkb/5vCozTg9qjKWbHDg9+NGiXim038v+VUYKp4KRxys80kPdP7iwA8SwEFiRwVIH7qqEiIwrUxwdAzdTqU9D2/hw9BRspBjz9rdDCA1w2y5MGC7iv5UE0/ecOqRzCYYXqKcyW6HLNnsZraCb7IBDfw19yt6ZnQ3zG8FSgCIfwg5iS95QyzeGq0d8kj3vsfcLhadSam70cfqZacXIzAA+Zu06sk4gKbMnCA2Y5aI6jch4EeD6zj5qOmwhwD2z7uvjxG3JJGwPu3ChHNCK04izYiop7zSIaqauHlMCrHU1PIUHf2Eh5DzTiQ8QA9AsoJ2Rf0Yqp9yEk/qBvW5bqFEqu3wf/CSn8E1f7P+9pmI0gXP8wDiZpVwCqnyUutC9dJ2L0D7GsO3r/4jzlnPj818CDndEkGvUBBVsuV0nkyRP/yuyjhD6AFpRcOGqBvH4sz7cLWik7LDxcwkNA5Ig3ktTa3AYeZULMcWgBAaek9jznfDLW3UbSGoJPuHgsp5m09knUvGV7d6OeajB478ElalMFoFNO0FjLz6zS2lAxMRqW8DPvm+l89aTVfIANDVzpkZFk2adjJ+Q1RqrikQ8s2Req+WxsesK0E15MGYkWM5Ylxayl1wONDk4GOk4OYprlOlmV+iqVIomcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016JZZSFJgwrThnvPeTG1STW",
      "input": {
        "note": "Lemon now on the jaw column but still ahead; advancing and dropping to table level.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.125,
          "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_016JZZSFJgwrThnvPeTG1STW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1667, 1.071, -0.8783, -0.2432, -0.2218, 0.9965, 0.321, 2.0449, 1.3182, -0.379, 0.1761, 0.194, 0.9968]\nstate[eef_state]: left_x=0.3007 left_y=-0.0516 left_z=0.1914 left_yaw=0.008 left_pitch=-0.3567 left_roll=0.0874 left_gripper=0.9965 right_x=0.4574 right_y=0.1233 right_z=0.011 right_yaw=0.021 right_pitch=-0.4917 right_roll=-0.0709 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -3.2615, 6.8034, 1.2674, -0.1343, -0.0464, -0.0122, -0.4034, -8.759, 6.8308, 1.3114, 0.3053, 0.1294, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3659f425b9470158ba6ae03e5636e306865eac81c00ca97d85db463832ca545a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32eeae4749e2a238a40d60347e5bffebf022a2651e4c51c71bd88abd36a0e710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a59598ef388dfcf3f354dfa5d0c6fe2e8857f789716104d241ed50ff929ec119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 15.97 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]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2432, -0.2218, 0.9965, 0.4522, 1.898, 1.1671, -0.3244, 0.247, 0.3035, 0.9948]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0077 left_pitch=-0.3542 left_roll=0.0864 left_gripper=0.9965 right_x=0.4187 right_y=0.1594 right_z=0.0332 right_yaw=0.0314 right_pitch=-0.4189 right_roll=-0.0548 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -3.6034, 6.7077, 1.2723, -0.1441, -0.0464, -0.0122, 0.253, -12.4513, 8.8, 1.2479, 0.1148, 0.0415, -0.2271]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2436, -0.2214, 0.9965, 0.3283, 1.919, 1.1995, -0.3634, 0.189, 0.2157, 0.9966]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0078 left_pitch=-0.3541 left_roll=0.087 left_gripper=0.9965 right_x=0.4337 right_y=0.1164 right_z=0.0288 right_yaw=0.0067 right_pitch=-0.4656 right_roll=-0.0635 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -3.3983, 6.5436, 1.2527, -0.1832, 0.0122, -0.0073, 0.335, -8.9504, 8.5402, 1.4383, -0.0024, 0.0073, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1667, 1.071, -0.8783, -0.2432, -0.2218, 0.9965, 0.321, 2.0449, 1.3182, -0.379, 0.1761, 0.194, 0.9968]\nstate[eef_state]: left_x=0.3007 left_y=-0.0516 left_z=0.1914 left_yaw=0.008 left_pitch=-0.3567 left_roll=0.0874 left_gripper=0.9965 right_x=0.4574 right_y=0.1233 right_z=0.011 right_yaw=0.021 right_pitch=-0.4917 right_roll=-0.0709 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -3.2615, 6.8034, 1.2674, -0.1343, -0.0464, -0.0122, -0.4034, -8.759, 6.8308, 1.3114, 0.3053, 0.1294, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3659f425b9470158ba6ae03e5636e306865eac81c00ca97d85db463832ca545a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32eeae4749e2a238a40d60347e5bffebf022a2651e4c51c71bd88abd36a0e710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a59598ef388dfcf3f354dfa5d0c6fe2e8857f789716104d241ed50ff929ec119",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ddwryg3hbrRPGkC26rN7tL",
      "input": {
        "note": "Lemon is centred between the jaws right down to the bottom of the wrist view; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Ddwryg3hbrRPGkC26rN7tL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1671, 1.071, -0.8803, -0.2432, -0.2222, 0.9965, 0.3313, 2.0552, 1.3254, -0.3767, 0.149, 0.1925, 0.0402]\nstate[eef_state]: left_x=0.3003 left_y=-0.0515 left_z=0.191 left_yaw=0.0085 left_pitch=-0.3588 left_roll=0.0879 left_gripper=0.9965 right_x=0.4566 right_y=0.1331 right_z=0.0083 right_yaw=0.0568 right_pitch=-0.4993 right_roll=-0.0456 right_gripper=0.0402\nstate[joint_eff]: [-0.212, -3.412, 6.7077, 1.3211, -0.1783, -0.0659, -0.0073, -0.5265, -11.7538, 5.2855, 0.9939, 0.1245, -0.1636, 0.7692]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60783a77a6f797e575b2d6428f7d5d976bd000b4d1777964d63ec2537f5ea88d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5269edbe3e20755ff7d4ba9002bfb582108949cbcd0318c47f2f7fc9a97cea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:525a09fc68ba86862343965f250711919dd6199da00decb82e2d551670c909cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 7.282 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]: [-0.3218, 1.1652, 1.071, -0.8772, -0.2436, -0.2214, 0.9965, 0.3283, 1.919, 1.1995, -0.3634, 0.189, 0.2157, 0.9966]\nstate[eef_state]: left_x=0.3008 left_y=-0.0516 left_z=0.192 left_yaw=0.0078 left_pitch=-0.3541 left_roll=0.087 left_gripper=0.9965 right_x=0.4337 right_y=0.1164 right_z=0.0288 right_yaw=0.0067 right_pitch=-0.4656 right_roll=-0.0635 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -3.3983, 6.5436, 1.2527, -0.1832, 0.0122, -0.0073, 0.335, -8.9504, 8.5402, 1.4383, -0.0024, 0.0073, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1667, 1.071, -0.8783, -0.2432, -0.2218, 0.9965, 0.321, 2.0449, 1.3182, -0.379, 0.1761, 0.194, 0.9968]\nstate[eef_state]: left_x=0.3007 left_y=-0.0516 left_z=0.1914 left_yaw=0.008 left_pitch=-0.3567 left_roll=0.0874 left_gripper=0.9965 right_x=0.4574 right_y=0.1233 right_z=0.011 right_yaw=0.021 right_pitch=-0.4917 right_roll=-0.0709 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -3.2615, 6.8034, 1.2674, -0.1343, -0.0464, -0.0122, -0.4034, -8.759, 6.8308, 1.3114, 0.3053, 0.1294, 0.0073]",
      "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]: [-0.3218, 1.1671, 1.071, -0.8803, -0.2432, -0.2222, 0.9965, 0.3313, 2.0552, 1.3254, -0.3767, 0.149, 0.1925, 0.0402]\nstate[eef_state]: left_x=0.3003 left_y=-0.0515 left_z=0.191 left_yaw=0.0085 left_pitch=-0.3588 left_roll=0.0879 left_gripper=0.9965 right_x=0.4566 right_y=0.1331 right_z=0.0083 right_yaw=0.0568 right_pitch=-0.4993 right_roll=-0.0456 right_gripper=0.0402\nstate[joint_eff]: [-0.212, -3.412, 6.7077, 1.3211, -0.1783, -0.0659, -0.0073, -0.5265, -11.7538, 5.2855, 0.9939, 0.1245, -0.1636, 0.7692]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60783a77a6f797e575b2d6428f7d5d976bd000b4d1777964d63ec2537f5ea88d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5269edbe3e20755ff7d4ba9002bfb582108949cbcd0318c47f2f7fc9a97cea1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:525a09fc68ba86862343965f250711919dd6199da00decb82e2d551670c909cf",
        "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_017svN5EQpqtJZH6eHxd6ZpY",
      "input": {
        "note": "Second empty close: the lemon is pressed against the safe's outer wall and the left finger landed on the wall, squeezing the lemon out. Re-trying with the gripper yawed 90° so the jaws close front-to-back along the lemon's length, parallel to the wall.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.46,
          "right_y": 0.1,
          "right_yaw": 1.57,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017svN5EQpqtJZH6eHxd6ZpY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1687, 1.071, -0.8871, -0.2432, -0.2222, 0.9965, 0.0357, 2.2917, 2.1021, -1.1778, -0.437, -1.3476, 0.9946]\nstate[eef_state]: left_x=0.2991 left_y=-0.0512 left_z=0.1897 left_yaw=0.0092 left_pitch=-0.3668 left_roll=0.0908 left_gripper=0.9965 right_x=0.4894 right_y=0.0959 right_z=0.0978 right_yaw=1.3324 right_pitch=-0.5117 right_roll=-0.1159 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -3.5077, 6.694, 1.4188, -0.1294, -0.0659, -0.0073, -0.3487, -12.2872, 6.5573, -0.1099, -0.4274, -0.0708, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58922dfdc6e0b78186bdc6ef1630b7cdfa685d3ddf177edf3f3dd3650dcf2ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16504fd987d1657a23e527e93e643845a142ea8bb86c9b0e196bc0026ee0f99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11819d44730f89848fca036539fda6be810efc16c5335640f1e4a3c30ba9a12a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 3.404 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]: [-0.3218, 1.1667, 1.071, -0.8783, -0.2432, -0.2218, 0.9965, 0.321, 2.0449, 1.3182, -0.379, 0.1761, 0.194, 0.9968]\nstate[eef_state]: left_x=0.3007 left_y=-0.0516 left_z=0.1914 left_yaw=0.008 left_pitch=-0.3567 left_roll=0.0874 left_gripper=0.9965 right_x=0.4574 right_y=0.1233 right_z=0.011 right_yaw=0.021 right_pitch=-0.4917 right_roll=-0.0709 right_gripper=0.9968\nstate[joint_eff]: [-0.2667, -3.2615, 6.8034, 1.2674, -0.1343, -0.0464, -0.0122, -0.4034, -8.759, 6.8308, 1.3114, 0.3053, 0.1294, 0.0073]",
      "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]: [-0.3218, 1.1671, 1.071, -0.8803, -0.2432, -0.2222, 0.9965, 0.3313, 2.0552, 1.3254, -0.3767, 0.149, 0.1925, 0.0402]\nstate[eef_state]: left_x=0.3003 left_y=-0.0515 left_z=0.191 left_yaw=0.0085 left_pitch=-0.3588 left_roll=0.0879 left_gripper=0.9965 right_x=0.4566 right_y=0.1331 right_z=0.0083 right_yaw=0.0568 right_pitch=-0.4993 right_roll=-0.0456 right_gripper=0.0402\nstate[joint_eff]: [-0.212, -3.412, 6.7077, 1.3211, -0.1783, -0.0659, -0.0073, -0.5265, -11.7538, 5.2855, 0.9939, 0.1245, -0.1636, 0.7692]",
      "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]: [-0.3222, 1.1687, 1.071, -0.8871, -0.2432, -0.2222, 0.9965, 0.0357, 2.2917, 2.1021, -1.1778, -0.437, -1.3476, 0.9946]\nstate[eef_state]: left_x=0.2991 left_y=-0.0512 left_z=0.1897 left_yaw=0.0092 left_pitch=-0.3668 left_roll=0.0908 left_gripper=0.9965 right_x=0.4894 right_y=0.0959 right_z=0.0978 right_yaw=1.3324 right_pitch=-0.5117 right_roll=-0.1159 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -3.5077, 6.694, 1.4188, -0.1294, -0.0659, -0.0073, -0.3487, -12.2872, 6.5573, -0.1099, -0.4274, -0.0708, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58922dfdc6e0b78186bdc6ef1630b7cdfa685d3ddf177edf3f3dd3650dcf2ceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16504fd987d1657a23e527e93e643845a142ea8bb86c9b0e196bc0026ee0f99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11819d44730f89848fca036539fda6be810efc16c5335640f1e4a3c30ba9a12a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HrFo12M3xK6Sy98bBnfzDU",
      "input": {
        "note": "With 90° yaw the lemon sits on the jaw column just below the safe edge, with fingers on either side clear of the wall. Descending.",
        "targets": {
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HrFo12M3xK6Sy98bBnfzDU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.169, 1.071, -0.8982, -0.2432, -0.2218, 0.9965, 0.0254, 2.299, 1.8595, -0.9802, -0.4683, -1.356, 0.9953]\nstate[eef_state]: left_x=0.297 left_y=-0.0504 left_z=0.1881 left_yaw=0.0108 left_pitch=-0.3776 left_roll=0.0951 left_gripper=0.9965 right_x=0.4748 right_y=0.0954 right_z=0.0342 right_yaw=1.365 right_pitch=-0.4954 right_roll=-0.0538 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -3.0701, 6.5162, 1.3504, -0.188, -0.0513, -0.0122, 0.8274, -9.6752, 3.959, 1.4969, 0.2808, -0.0171, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d346b84dbe9c6e565311b73a41203e68bc2ae85f563ce69cb77bc4b3baa32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:853aee19fb1b99320028a2341d120eb3482c4bfe08da62afa259e7bab282f18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd56ced485b30a3c553103706d91c7bc221b32fd4cb8952535e5f5fa8491f21b",
        "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 · 6.409 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]: [-0.3218, 1.1671, 1.071, -0.8803, -0.2432, -0.2222, 0.9965, 0.3313, 2.0552, 1.3254, -0.3767, 0.149, 0.1925, 0.0402]\nstate[eef_state]: left_x=0.3003 left_y=-0.0515 left_z=0.191 left_yaw=0.0085 left_pitch=-0.3588 left_roll=0.0879 left_gripper=0.9965 right_x=0.4566 right_y=0.1331 right_z=0.0083 right_yaw=0.0568 right_pitch=-0.4993 right_roll=-0.0456 right_gripper=0.0402\nstate[joint_eff]: [-0.212, -3.412, 6.7077, 1.3211, -0.1783, -0.0659, -0.0073, -0.5265, -11.7538, 5.2855, 0.9939, 0.1245, -0.1636, 0.7692]",
      "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]: [-0.3222, 1.1687, 1.071, -0.8871, -0.2432, -0.2222, 0.9965, 0.0357, 2.2917, 2.1021, -1.1778, -0.437, -1.3476, 0.9946]\nstate[eef_state]: left_x=0.2991 left_y=-0.0512 left_z=0.1897 left_yaw=0.0092 left_pitch=-0.3668 left_roll=0.0908 left_gripper=0.9965 right_x=0.4894 right_y=0.0959 right_z=0.0978 right_yaw=1.3324 right_pitch=-0.5117 right_roll=-0.1159 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -3.5077, 6.694, 1.4188, -0.1294, -0.0659, -0.0073, -0.3487, -12.2872, 6.5573, -0.1099, -0.4274, -0.0708, -0.0513]\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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.169, 1.071, -0.8982, -0.2432, -0.2218, 0.9965, 0.0254, 2.299, 1.8595, -0.9802, -0.4683, -1.356, 0.9953]\nstate[eef_state]: left_x=0.297 left_y=-0.0504 left_z=0.1881 left_yaw=0.0108 left_pitch=-0.3776 left_roll=0.0951 left_gripper=0.9965 right_x=0.4748 right_y=0.0954 right_z=0.0342 right_yaw=1.365 right_pitch=-0.4954 right_roll=-0.0538 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -3.0701, 6.5162, 1.3504, -0.188, -0.0513, -0.0122, 0.8274, -9.6752, 3.959, 1.4969, 0.2808, -0.0171, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42d346b84dbe9c6e565311b73a41203e68bc2ae85f563ce69cb77bc4b3baa32b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:853aee19fb1b99320028a2341d120eb3482c4bfe08da62afa259e7bab282f18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd56ced485b30a3c553103706d91c7bc221b32fd4cb8952535e5f5fa8491f21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AcKEAgSGAI4AUIIdGhpbmtpbmcSDOKhlsIQbvmzQW3eHRoMz1xSojzNK8Nzff4LIjAgsfhZuDgWioKrLZhqniVUUaBwbbdaoT+nTHmoyoMpRhero2fhv0w4O4WdcxI3cXMq8QbaSIS63dumhEfGeOk7TwMkVeqJo26c5rnM21aqg4JKcxaUN6Y9zFgqgTtQ0HiZcYt/v1+DDQp9VWmbbKd99kdHHZOsMT6B9jja6j5KHkSv+BPnlfav5cL4PJ2RONbR4jorOCs+BfUVTf7Mi6zBBJazhC7/hX+u1z+kga00DFaMsrDsvJd4AgTpGGAiUAqfp4RqMPCJgkw9dMWBsu5iyKdrYFkYSmox9Ru2jxrltlCP7AUrhVc53hYXomqG54x4lcwFKqdAcLjWvQAzFssO0YuZveBIp2XyiuCRrFjFVyqJNoOJ8KsJFM+UYDi5btOuo3DK0EVpaPnNKNSqwKixKhkBbVPgarDPdpgrlVg4EaMe8opmzvBWXZ523YoPUVewy1sWxm8UQL4Yk9XlloNfWyiM+hnH4djjsSyf52SgGKuW6iplWNUov8Af/6rAtzt7jsDwlCdZKi6INDRwAjG+UPiajDRBp6jIDaPGwW8uF6p97kDr2qQFDE+OJeYJy10dduexerBvWQw87qVgTWYfqGSZa9yMsFbE0By25lrnDuYPOMFe0w24FDtyLQKX/mt0sudjohisjDCWyw30R9SwfRhct7lTzDEE2p3/k7GypAabSpolcEqgcHmCHciGJE7j3fsEtsPybai8MDGcoCehKDQS2EAIiuc5aMt/Wwv0Mem1LcnILxJjlCiR4uYIQq0W3pyzoNOV2rSkOxp9hjfJhcrjzn996aYrhAtz7TjENd+DhmHbIWJufRrx1Qi6+iQ0GczpbM5fE4kwxsdOX2AYL+y+Ucf5iyEhps83jSHRSqS20tLXDasFKH6KRpRBZ1akSswAZji8OLPvE+qghsCA2X3+UatWvJVwrrVpe3gpAmaJPgI1XcpWyLquPLsjXQCCNLhv3q8nSX2sMLUUUkwwYwsbYzL8vpe8dtw1wBvUPlbjD3CvWAhpBfUCrcn5mGo2dswPngC1qQ2bJvdHDbo6Z7sPqqZZe9BAScUezD3ELkPhjDZ+xARhhj5Lg1Ac7jUerzrTFegiLriRTPnXBk8maWF61idGpMjiVzkn+v2Qz6v31xMoru4qAr3SOnq9mMo8SiUf6sbz/8qR59u2O9vrj6P5OASN+ucphbpx3i2zCnh7XfYDNcLxwI1Y9k4uNDM+vrNDE8DGVu4hhBRIHipIDD23mhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NCu6THXMYKXJSxiwV5Cst1",
      "input": {
        "note": "Lemon centred between the jaws at the bottom of the wrist view; 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_01NCu6THXMYKXJSxiwV5Cst1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.169, 1.071, -0.8989, -0.2432, -0.2249, 0.9965, 0.0288, 2.3322, 1.8343, -0.9718, -0.45, -1.3571, 0.4451]\nstate[eef_state]: left_x=0.2969 left_y=-0.0503 left_z=0.188 left_yaw=0.0127 left_pitch=-0.3782 left_roll=0.0934 left_gripper=0.9965 right_x=0.4665 right_y=0.0939 right_z=0.011 right_yaw=1.3919 right_pitch=-0.524 right_roll=-0.0031 right_gripper=0.4451\nstate[joint_eff]: [-0.0205, -3.3709, 6.5026, 1.2723, -0.1685, -0.0024, -0.0073, -0.294, -15.5419, 8.0479, 0.3834, -0.5104, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c96cd317f20737e9d117ab3f53f505785c79597625923b1bb213bd4063640669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07be7d277eacaa27ec9652d0b366db92602f65ffd0a844cbf893aea59c652fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fa7543dfe9dee32652d7d1cb5e7882e6089b44bbd42c5fffe091ed281322535",
        "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 · 5.198 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]: [-0.3222, 1.1687, 1.071, -0.8871, -0.2432, -0.2222, 0.9965, 0.0357, 2.2917, 2.1021, -1.1778, -0.437, -1.3476, 0.9946]\nstate[eef_state]: left_x=0.2991 left_y=-0.0512 left_z=0.1897 left_yaw=0.0092 left_pitch=-0.3668 left_roll=0.0908 left_gripper=0.9965 right_x=0.4894 right_y=0.0959 right_z=0.0978 right_yaw=1.3324 right_pitch=-0.5117 right_roll=-0.1159 right_gripper=0.9946\nstate[joint_eff]: [-0.1162, -3.5077, 6.694, 1.4188, -0.1294, -0.0659, -0.0073, -0.3487, -12.2872, 6.5573, -0.1099, -0.4274, -0.0708, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.3218, 1.169, 1.071, -0.8982, -0.2432, -0.2218, 0.9965, 0.0254, 2.299, 1.8595, -0.9802, -0.4683, -1.356, 0.9953]\nstate[eef_state]: left_x=0.297 left_y=-0.0504 left_z=0.1881 left_yaw=0.0108 left_pitch=-0.3776 left_roll=0.0951 left_gripper=0.9965 right_x=0.4748 right_y=0.0954 right_z=0.0342 right_yaw=1.365 right_pitch=-0.4954 right_roll=-0.0538 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -3.0701, 6.5162, 1.3504, -0.188, -0.0513, -0.0122, 0.8274, -9.6752, 3.959, 1.4969, 0.2808, -0.0171, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3218, 1.169, 1.071, -0.8989, -0.2432, -0.2249, 0.9965, 0.0288, 2.3322, 1.8343, -0.9718, -0.45, -1.3571, 0.4451]\nstate[eef_state]: left_x=0.2969 left_y=-0.0503 left_z=0.188 left_yaw=0.0127 left_pitch=-0.3782 left_roll=0.0934 left_gripper=0.9965 right_x=0.4665 right_y=0.0939 right_z=0.011 right_yaw=1.3919 right_pitch=-0.524 right_roll=-0.0031 right_gripper=0.4451\nstate[joint_eff]: [-0.0205, -3.3709, 6.5026, 1.2723, -0.1685, -0.0024, -0.0073, -0.294, -15.5419, 8.0479, 0.3834, -0.5104, -0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c96cd317f20737e9d117ab3f53f505785c79597625923b1bb213bd4063640669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07be7d277eacaa27ec9652d0b366db92602f65ffd0a844cbf893aea59c652fdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa7543dfe9dee32652d7d1cb5e7882e6089b44bbd42c5fffe091ed281322535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011PE3UfgFLsKJ599CPsK4eW",
      "input": {
        "note": "Lemon grasped (gripper 0.45). Lifting over the safe wall and moving toward the safe interior.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.2,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_011PE3UfgFLsKJ599CPsK4eW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1687, 1.071, -0.9012, -0.2432, -0.2253, 0.9966, 0.2623, 2.3318, 2.5355, -1.5322, -0.4114, -1.1313, 0.4479]\nstate[eef_state]: left_x=0.2964 left_y=-0.0502 left_z=0.1878 left_yaw=0.0132 left_pitch=-0.3799 left_roll=0.0939 left_gripper=0.9966 right_x=0.4496 right_y=0.1975 right_z=0.1864 right_yaw=1.3912 right_pitch=-0.5118 right_roll=-0.0545 right_gripper=0.4479\nstate[joint_eff]: [-0.2256, -3.494, 6.7761, 1.2527, -0.1294, -0.0366, -0.0073, 0.1436, -13.0667, 6.5299, 0.7497, -0.2369, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e1f48e517866bd7cbcc951a4d9e49edb4e72e62fb86d6d7683a6002cecd236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9044c5b32211d667a9908dfe91d481ba79fb69c2a5d4a7ab3a60cba8be6e7d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6bfb9e457d6fd4fb80a38b9d772b89737721951fe628f600bcb56a792d2ec525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 2.673 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]: [-0.3218, 1.169, 1.071, -0.8982, -0.2432, -0.2218, 0.9965, 0.0254, 2.299, 1.8595, -0.9802, -0.4683, -1.356, 0.9953]\nstate[eef_state]: left_x=0.297 left_y=-0.0504 left_z=0.1881 left_yaw=0.0108 left_pitch=-0.3776 left_roll=0.0951 left_gripper=0.9965 right_x=0.4748 right_y=0.0954 right_z=0.0342 right_yaw=1.365 right_pitch=-0.4954 right_roll=-0.0538 right_gripper=0.9953\nstate[joint_eff]: [-0.1573, -3.0701, 6.5162, 1.3504, -0.188, -0.0513, -0.0122, 0.8274, -9.6752, 3.959, 1.4969, 0.2808, -0.0171, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3218, 1.169, 1.071, -0.8989, -0.2432, -0.2249, 0.9965, 0.0288, 2.3322, 1.8343, -0.9718, -0.45, -1.3571, 0.4451]\nstate[eef_state]: left_x=0.2969 left_y=-0.0503 left_z=0.188 left_yaw=0.0127 left_pitch=-0.3782 left_roll=0.0934 left_gripper=0.9965 right_x=0.4665 right_y=0.0939 right_z=0.011 right_yaw=1.3919 right_pitch=-0.524 right_roll=-0.0031 right_gripper=0.4451\nstate[joint_eff]: [-0.0205, -3.3709, 6.5026, 1.2723, -0.1685, -0.0024, -0.0073, -0.294, -15.5419, 8.0479, 0.3834, -0.5104, -0.0073, 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]: [-0.3218, 1.1687, 1.071, -0.9012, -0.2432, -0.2253, 0.9966, 0.2623, 2.3318, 2.5355, -1.5322, -0.4114, -1.1313, 0.4479]\nstate[eef_state]: left_x=0.2964 left_y=-0.0502 left_z=0.1878 left_yaw=0.0132 left_pitch=-0.3799 left_roll=0.0939 left_gripper=0.9966 right_x=0.4496 right_y=0.1975 right_z=0.1864 right_yaw=1.3912 right_pitch=-0.5118 right_roll=-0.0545 right_gripper=0.4479\nstate[joint_eff]: [-0.2256, -3.494, 6.7761, 1.2527, -0.1294, -0.0366, -0.0073, 0.1436, -13.0667, 6.5299, 0.7497, -0.2369, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30e1f48e517866bd7cbcc951a4d9e49edb4e72e62fb86d6d7683a6002cecd236",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9044c5b32211d667a9908dfe91d481ba79fb69c2a5d4a7ab3a60cba8be6e7d5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6bfb9e457d6fd4fb80a38b9d772b89737721951fe628f600bcb56a792d2ec525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwoKEAgSGAI4AUIIdGhpbmtpbmcSDLcoTEWcZ9goh9qkohoMkyRaQEIs8XFPnsnLIjCk66Z12CUKjjea3zNunoaDl5T1OUaPPTBd2XoXaa2txvW0PBTi2NX0ZaoCspx+GvkqyAnUYDbIogFAGA8H0jm2YzwCZdVJhg3kij291aRGpxgB7qhFb5qfCrrHYZhGa/Ljxli73TzevKijCbddMYz6izYjWOI4MrbAlZo78v1EDI6KIJys6NwXsF95TQpsoR5qTm37GMiJMo1FCfu73qNvINmVyhKu4LFcm5Ueb1gpLcJRv5sUQaGInXCZRg07O84yC3QpSxiJ4/2SVNw9cHemb9TPh1qo7lc3/NtC4biWlU+rmRA+pL4ztiOFaqbPDjwlrLS4p1rJ17PkT3PJttQn/JK5BedSKu6RKK+QZNibM2wbYGXEFkcQsJiqw5G5AMjNhRIm561lcM3TxQjpeohy8ChF2W/GvIT3S1mdaoB8dlEAsJqQ+o5HVGA7ecECN2WrTJZ4UTWnaUXlMPKx3tj3ewhZ0GF8BQeP/HvuxghO2OaibwktDu33Be9rUWirVgNVnNeZACjGnio4Fp16qQFoogV8iVyIR5aY1mnFd+RS+K/PFwMf5IKFArLv2SgtjRz6kK/YMpKhRWQsLbVi1VtHawXolGvRbw57+mvM6E4h4jeQmiTOAIqDFHLA8QpN63Kg6ytIRGKPFxf3whsX89xJSbACCVtPK/ArFmhNabf4sI1pRAkSNO/ZOa9BUfdIeBpCq9KoOpZOptSkt7kly7c4cllA+7ZIIGJXpGfX2GDuM1tu+pxDGeOsDoVmgwGW/pdly5Pd2XC4JgpbaL5B6tZnP9Vom/xJnqPCTPkk1qqT5jDow26B8Y2NFNwrQ4HddAKqkg36v6q0UeLFmpaxITZg8Bc8Wjmv7iz05hs0KUpxzX6PaxQ6Fz3xEJPP+PfTZa9mFOSCF1b/lwYlLN7U5VO4K8SkVLOgS1xNIjWSv+ZzYC5lUI2r95lWw8vA3skZzstPmoz+xLsMu0GHpyFeuXTeFK3W85j4X7hOgK+A/fzUcGEfutqVTTWyVIpJwOzAFJ9elkIf7BF/upfhb43yl/lqnSkQipSX0qwsTRjL/iwDe2R70lvz6dVZ9tGkalxdD0splDHgsOTSw9C9OGBtQbAJeywia455ICF9aNVhaG39/zgy5oQ564x4HY6npe6XPpJUhNty3ZPm8kG8KJe8VKvJIsbNuGzhrG2h7SYVzF1nHubTDn/NwujvSQafSYWqWUxa2EM0aUqOVEoanDlLAh5ch33ri+2R3ObfxchOZOzNnWa6Ljfl8oSr0VWxdld8IiROo/JkOT3tx9LTqD3r270/jJj/4y9mjZyqx72UpZ5CV18Bmu15YOGQ4RhzDxxHf8RyXX/Fa5Q7TJplZwzMDRWg8lb5ILLlEFtnTgGXm2Mfoe0RO95xL1qC/1+vOcT89SQ8IpZCfZY8z09WnUv09jt0czWfir3rpOB6NLBeKDyzy9ZW0Tgn9w4jJq26VVZFBeF8cD3KuQXko2MXxTa4UnqS72p96wPdWcSSLSixtRnraLndkhwJmwVIOwE2HMqR+QKL4Ts8F9iKmIKvrYvNS+8mUXzdegq7p4/SaKWJwfZPB6+94ENqYNG2ayCr751sIpKM6UWh+UIJL6hP4CKghPKH8wYkAP83jnbu5ZJJ57l+LRKhC442s09wwRMNL3Kk5KiUoNiJs5JIzJQkanpNNkNY7osGjlr3AtNHh0cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DZHwH1DYHpTUYW6YCKB5sa",
      "input": {
        "note": "Lemon is hanging above the safe interior next to the bear; lowering into the safe.",
        "targets": {
          "right_y": 0.22,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01DZHwH1DYHpTUYW6YCKB5sa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1725, 1.0664, -0.9051, -0.2432, -0.2253, 0.9966, 0.3077, 2.2627, 1.9873, -1.129, -0.4, -1.0954, 0.4479]\nstate[eef_state]: left_x=0.2952 left_y=-0.0499 left_z=0.1845 left_yaw=0.0144 left_pitch=-0.3915 left_roll=0.0982 left_gripper=0.9966 right_x=0.4345 right_y=0.214 right_z=0.077 right_yaw=1.449 right_pitch=-0.5539 right_roll=0.038 right_gripper=0.4479\nstate[joint_eff]: [-0.1709, -3.9316, 6.8718, 1.3309, -0.1636, -0.0415, -0.0122, 0.2667, -14.8171, 6.8034, 0.7839, -0.315, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17454af735aab538136cb398fbfdc74e26f9eb84d516068c78ede1506db47662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4794e618d1affbc272cecc748b3c7b6682fd2f4ca939a1f381e6aae5c9a40e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3345e3f731b16947add1bb1e2c7bdfd1a47e9a3afd6b521dbdbe445b983cab89",
        "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 · 8.445 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]: [-0.3218, 1.169, 1.071, -0.8989, -0.2432, -0.2249, 0.9965, 0.0288, 2.3322, 1.8343, -0.9718, -0.45, -1.3571, 0.4451]\nstate[eef_state]: left_x=0.2969 left_y=-0.0503 left_z=0.188 left_yaw=0.0127 left_pitch=-0.3782 left_roll=0.0934 left_gripper=0.9965 right_x=0.4665 right_y=0.0939 right_z=0.011 right_yaw=1.3919 right_pitch=-0.524 right_roll=-0.0031 right_gripper=0.4451\nstate[joint_eff]: [-0.0205, -3.3709, 6.5026, 1.2723, -0.1685, -0.0024, -0.0073, -0.294, -15.5419, 8.0479, 0.3834, -0.5104, -0.0073, 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]: [-0.3218, 1.1687, 1.071, -0.9012, -0.2432, -0.2253, 0.9966, 0.2623, 2.3318, 2.5355, -1.5322, -0.4114, -1.1313, 0.4479]\nstate[eef_state]: left_x=0.2964 left_y=-0.0502 left_z=0.1878 left_yaw=0.0132 left_pitch=-0.3799 left_roll=0.0939 left_gripper=0.9966 right_x=0.4496 right_y=0.1975 right_z=0.1864 right_yaw=1.3912 right_pitch=-0.5118 right_roll=-0.0545 right_gripper=0.4479\nstate[joint_eff]: [-0.2256, -3.494, 6.7761, 1.2527, -0.1294, -0.0366, -0.0073, 0.1436, -13.0667, 6.5299, 0.7497, -0.2369, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3222, 1.1725, 1.0664, -0.9051, -0.2432, -0.2253, 0.9966, 0.3077, 2.2627, 1.9873, -1.129, -0.4, -1.0954, 0.4479]\nstate[eef_state]: left_x=0.2952 left_y=-0.0499 left_z=0.1845 left_yaw=0.0144 left_pitch=-0.3915 left_roll=0.0982 left_gripper=0.9966 right_x=0.4345 right_y=0.214 right_z=0.077 right_yaw=1.449 right_pitch=-0.5539 right_roll=0.038 right_gripper=0.4479\nstate[joint_eff]: [-0.1709, -3.9316, 6.8718, 1.3309, -0.1636, -0.0415, -0.0122, 0.2667, -14.8171, 6.8034, 0.7839, -0.315, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17454af735aab538136cb398fbfdc74e26f9eb84d516068c78ede1506db47662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4794e618d1affbc272cecc748b3c7b6682fd2f4ca939a1f381e6aae5c9a40e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3345e3f731b16947add1bb1e2c7bdfd1a47e9a3afd6b521dbdbe445b983cab89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gh9yLuXyVsdGf2sCKLgddV",
      "input": {
        "note": "Lemon is just above the red floor inside the safe; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Gh9yLuXyVsdGf2sCKLgddV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3218, 1.1725, 1.0664, -0.9058, -0.2432, -0.2253, 0.9966, 0.3103, 2.2627, 1.9652, -1.1259, -0.3996, -1.0985, 0.9947]\nstate[eef_state]: left_x=0.2951 left_y=-0.0497 left_z=0.1844 left_yaw=0.0149 left_pitch=-0.3922 left_roll=0.0985 left_gripper=0.9966 right_x=0.4295 right_y=0.2137 right_z=0.0707 right_yaw=1.4644 right_pitch=-0.562 right_roll=0.0569 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -3.6034, 6.735, 1.2381, -0.1538, -0.0708, -0.0122, -0.335, -12.6291, 7.7333, 0.4957, -0.1978, 0.022, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b656187009d584fb5c4575d36c6cec09d1d9c974b2eab5a878ae6c6bfb17ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd86be8bd580d3366a4d849f22c1e5bea5160bc7fd0497e87f539be7e71010c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2135d0f642ac20ac694e404b0a5f8d87ef9cd0817bd9c5ee9bd7239df5c85b33",
        "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 · 5.641 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]: [-0.3218, 1.1687, 1.071, -0.9012, -0.2432, -0.2253, 0.9966, 0.2623, 2.3318, 2.5355, -1.5322, -0.4114, -1.1313, 0.4479]\nstate[eef_state]: left_x=0.2964 left_y=-0.0502 left_z=0.1878 left_yaw=0.0132 left_pitch=-0.3799 left_roll=0.0939 left_gripper=0.9966 right_x=0.4496 right_y=0.1975 right_z=0.1864 right_yaw=1.3912 right_pitch=-0.5118 right_roll=-0.0545 right_gripper=0.4479\nstate[joint_eff]: [-0.2256, -3.494, 6.7761, 1.2527, -0.1294, -0.0366, -0.0073, 0.1436, -13.0667, 6.5299, 0.7497, -0.2369, 0.1294, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3222, 1.1725, 1.0664, -0.9051, -0.2432, -0.2253, 0.9966, 0.3077, 2.2627, 1.9873, -1.129, -0.4, -1.0954, 0.4479]\nstate[eef_state]: left_x=0.2952 left_y=-0.0499 left_z=0.1845 left_yaw=0.0144 left_pitch=-0.3915 left_roll=0.0982 left_gripper=0.9966 right_x=0.4345 right_y=0.214 right_z=0.077 right_yaw=1.449 right_pitch=-0.5539 right_roll=0.038 right_gripper=0.4479\nstate[joint_eff]: [-0.1709, -3.9316, 6.8718, 1.3309, -0.1636, -0.0415, -0.0122, 0.2667, -14.8171, 6.8034, 0.7839, -0.315, 0.0415, 1.0281]",
      "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]: [-0.3218, 1.1725, 1.0664, -0.9058, -0.2432, -0.2253, 0.9966, 0.3103, 2.2627, 1.9652, -1.1259, -0.3996, -1.0985, 0.9947]\nstate[eef_state]: left_x=0.2951 left_y=-0.0497 left_z=0.1844 left_yaw=0.0149 left_pitch=-0.3922 left_roll=0.0985 left_gripper=0.9966 right_x=0.4295 right_y=0.2137 right_z=0.0707 right_yaw=1.4644 right_pitch=-0.562 right_roll=0.0569 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -3.6034, 6.735, 1.2381, -0.1538, -0.0708, -0.0122, -0.335, -12.6291, 7.7333, 0.4957, -0.1978, 0.022, -0.1587]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b656187009d584fb5c4575d36c6cec09d1d9c974b2eab5a878ae6c6bfb17ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd86be8bd580d3366a4d849f22c1e5bea5160bc7fd0497e87f539be7e71010c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2135d0f642ac20ac694e404b0a5f8d87ef9cd0817bd9c5ee9bd7239df5c85b33",
        "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_017GeXLZtK9FXZem2CGDNqZw",
      "input": {
        "note": "Lemon and small bear are in the safe. Moving the right arm out of the way and bringing the left arm above the big teddy bear in front of the safe.",
        "targets": {
          "left_x": 0.27,
          "left_y": -0.3,
          "left_z": 0.15,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_017GeXLZtK9FXZem2CGDNqZw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0698, 1.8053, 1.5223, -1.0668, -0.5247, -0.9688, 0.9969, 0.1791, 1.3758, 1.3762, -1.2064, 0.009, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=-0.2909 left_z=0.1406 left_yaw=0.0134 left_pitch=-0.4334 left_roll=0.1166 left_gripper=0.9969 right_x=0.2966 right_y=0.0557 right_z=0.2007 right_yaw=0.0798 right_pitch=-0.621 right_roll=0.0435 right_gripper=0.9953\nstate[joint_eff]: [-0.4718, -8.7043, 8.3214, 0.6764, -0.6081, -0.0562, 0.0269, -0.3897, -6.5573, 9.347, 1.3065, 0.0269, 0.2173, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca7f9c08970a63008fa4ca0129706b76094e8cf2d25189b07a14d8cf48bf1bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b0747578cedbfd476bc289a515ae1223d907cccf1479ce08cb99dabe94ba3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2eeb5130b4bc6335dbc380de01262bb55ec7a114f04fba4ccf5e9e343243843c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.413 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]: [-0.3222, 1.1725, 1.0664, -0.9051, -0.2432, -0.2253, 0.9966, 0.3077, 2.2627, 1.9873, -1.129, -0.4, -1.0954, 0.4479]\nstate[eef_state]: left_x=0.2952 left_y=-0.0499 left_z=0.1845 left_yaw=0.0144 left_pitch=-0.3915 left_roll=0.0982 left_gripper=0.9966 right_x=0.4345 right_y=0.214 right_z=0.077 right_yaw=1.449 right_pitch=-0.5539 right_roll=0.038 right_gripper=0.4479\nstate[joint_eff]: [-0.1709, -3.9316, 6.8718, 1.3309, -0.1636, -0.0415, -0.0122, 0.2667, -14.8171, 6.8034, 0.7839, -0.315, 0.0415, 1.0281]",
      "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]: [-0.3218, 1.1725, 1.0664, -0.9058, -0.2432, -0.2253, 0.9966, 0.3103, 2.2627, 1.9652, -1.1259, -0.3996, -1.0985, 0.9947]\nstate[eef_state]: left_x=0.2951 left_y=-0.0497 left_z=0.1844 left_yaw=0.0149 left_pitch=-0.3922 left_roll=0.0985 left_gripper=0.9966 right_x=0.4295 right_y=0.2137 right_z=0.0707 right_yaw=1.4644 right_pitch=-0.562 right_roll=0.0569 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -3.6034, 6.735, 1.2381, -0.1538, -0.0708, -0.0122, -0.335, -12.6291, 7.7333, 0.4957, -0.1978, 0.022, -0.1587]",
      "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]: [-1.0698, 1.8053, 1.5223, -1.0668, -0.5247, -0.9688, 0.9969, 0.1791, 1.3758, 1.3762, -1.2064, 0.009, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=-0.2909 left_z=0.1406 left_yaw=0.0134 left_pitch=-0.4334 left_roll=0.1166 left_gripper=0.9969 right_x=0.2966 right_y=0.0557 right_z=0.2007 right_yaw=0.0798 right_pitch=-0.621 right_roll=0.0435 right_gripper=0.9953\nstate[joint_eff]: [-0.4718, -8.7043, 8.3214, 0.6764, -0.6081, -0.0562, 0.0269, -0.3897, -6.5573, 9.347, 1.3065, 0.0269, 0.2173, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ca7f9c08970a63008fa4ca0129706b76094e8cf2d25189b07a14d8cf48bf1bf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b0747578cedbfd476bc289a515ae1223d907cccf1479ce08cb99dabe94ba3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eeb5130b4bc6335dbc380de01262bb55ec7a114f04fba4ccf5e9e343243843c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gkKEAgSGAI4AUIIdGhpbmtpbmcSDMWKVVGZ6HZI0RdWgxoMdPEqVtglKDZnZhGYIjDC9KNT4cJ66vWP30wc6rfiJtRk3KUdLYnXteXsw4KBAIjw3+wF1DQRToJsBimtaW4q8wgrtwGtRNX3A5lreMlG5jkFemaFSKth/fJ3pqaAmnHpGSe3BBmRZDydunoD3Xch/uPMfv/IdsNDwcuE4d9gEfR6DIcL2NTgefeLhjIywhmrhNvB9YzYLuyZ0Id/Sj+0+xc7m5LlGHKiWivyaY3WEDWsFFQQMtX80Xomh0t1miG+tbnBdJ9grM0nrHe/p15UnBTz3BDUsk/GDmBe0yKiLhSrk98/LH49l/8HmM8CNKfB8LnoSd2Xcx6Ao3Tjk1XZknv0qbdWK+rF0aM4+5mmSBHk3GLvNb+cJdy0a2QlI+YerIIhBMt6riB4br1COFRqSIYmkN2Q8tiadq70f0dEDEwrJbBXBqPxBfPPdft3jnrM082rhcz3QRQUasQwHPhJfW+hDaonn7L/GBASCx8AAr+t7OoYyrrjrpc76DsT1aZ6l3piftNIIDAwwXG5LcL6bbN+7WNsJ8q2yBl14DIMUBYk5rl5r0yeS3Rk1Csap/2i6m8RT86dJDcNt6shdaI1zu5d3rEzpAj0f/D8SZuGuPmSl2+ck7hMtW+wK2eGg+efgYY/wbySp88qzsj2yZOSmSZ/arldSy6Gvijf7vd7twT7Q7fxEBMvnKY8Nb3XncCkLBbIB6KqBZpBTVcGEF2KgNhj9h7zNB69LKiK1C2jUdDySslQFbnF69inNEqEsmwBzyRk0S8/S3DHyuGjFCnDyM0EVmGTZ+canRKWUZ+DfYtFKqJudy2kHEFUUbLSHTqV3vEFccxAxVXiiEJzO4ioRUqpxTVHT+Muey+VqS6uukcgRlWkN16Q6kuQP5od0PRhtQh1flPj+gVXBM73c4Kk8wVorZVcM9iN31HIms1jNkTMT+fK+sX56e5E9u4e7kRTZ/MLnF73c9dTCZApBK9m+GsPnLeQHT6ykOkSQGc+brTvwYMwYH/0KhYcP+OmzNUA8m1XKibq4KU+K7XBm2oyuUhdulvw3MpOWZ7w+TeCTowerFGsfCHX1acpwLzRtZhRIL/wkgcrEJ9OFU3TmQgS8NFspqZgNwsVvRMzl5bSkTtiy+p9FYub7jKboRHsuOS3TPFe3xHi/nEaD9LvJ9QR9kOjbcsu8Zu31qVRUTiJw1hTXdn38gqorwgBKcwXjsHWkCWZiHvP00sJivGRwY4dlHOVmp5Tf0bwNGh60OEeSFqWH6Hh3AP7lhzu7xvy4Zvp0de/podxIO4C709nlA79zbo1nhlx6rjpvb2gVeETHsne2+WSlSxpc7bQE1kBImCgOAokAoTGXo3JkxFGO9QNeRDlBqtBpJKmJvbGC76ES7cps9KLVOaWEzx61crNLbQTHgzLIq792Sk5/Pwf68CFNvPyyU8Z1u/mmyGKZLpVp1b6Mday8qP3nrtZwYe99+XzRBbGN7IDEA/jU/TlOtxEGZkxMxcKY8iNgk3Vdhbx2SZlo8WZCjR2boUC/x6/wvQcB+TUs1IZKYUi7ZWSlek5/DWlZJdPJycUiPUcFubDWShdVq7KZQoY4zHc9bm2LTB2fJMrnhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012oJVQf1gx1wXLEm3Lr2mx2",
      "input": {
        "note": "Big bear lies below the left gripper, its head slightly left of the jaw column. Descending to grab the head/upper body.",
        "targets": {
          "left_x": 0.28,
          "left_y": -0.28,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012oJVQf1gx1wXLEm3Lr2mx2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0203, 1.8858, 1.203, -0.6769, -0.5182, -0.9176, 0.997, 0.1772, 1.3651, 1.3518, -1.2213, 0.0177, 0.1154, 0.9954]\nstate[eef_state]: left_x=0.2746 left_y=-0.2731 left_z=0.0365 left_yaw=0.0336 left_pitch=-0.4476 left_roll=0.1526 left_gripper=0.997 right_x=0.2885 right_y=0.0521 right_z=0.1944 right_yaw=0.0661 right_pitch=-0.6486 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -8.7179, 5.4632, 0.8278, -0.2173, 0.0122, -0.0024, 0.1026, -5.5043, 6.2154, 1.243, -0.0806, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bd92a49f5b613970da747270063b30e1840d744c3262c9bf7a374556cd5432",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbc0fc911d411381251a55e13cf41bfd6a0a7ee6a8051a0f9904b96f2a6ffdff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bedcb3a4e4cdd92eed7cd672cd812cdd6f300dbde76b77a00b473c527dfb437b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 6.487 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]: [-0.3218, 1.1725, 1.0664, -0.9058, -0.2432, -0.2253, 0.9966, 0.3103, 2.2627, 1.9652, -1.1259, -0.3996, -1.0985, 0.9947]\nstate[eef_state]: left_x=0.2951 left_y=-0.0497 left_z=0.1844 left_yaw=0.0149 left_pitch=-0.3922 left_roll=0.0985 left_gripper=0.9966 right_x=0.4295 right_y=0.2137 right_z=0.0707 right_yaw=1.4644 right_pitch=-0.562 right_roll=0.0569 right_gripper=0.9947\nstate[joint_eff]: [-0.0479, -3.6034, 6.735, 1.2381, -0.1538, -0.0708, -0.0122, -0.335, -12.6291, 7.7333, 0.4957, -0.1978, 0.022, -0.1587]",
      "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]: [-1.0698, 1.8053, 1.5223, -1.0668, -0.5247, -0.9688, 0.9969, 0.1791, 1.3758, 1.3762, -1.2064, 0.009, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=-0.2909 left_z=0.1406 left_yaw=0.0134 left_pitch=-0.4334 left_roll=0.1166 left_gripper=0.9969 right_x=0.2966 right_y=0.0557 right_z=0.2007 right_yaw=0.0798 right_pitch=-0.621 right_roll=0.0435 right_gripper=0.9953\nstate[joint_eff]: [-0.4718, -8.7043, 8.3214, 0.6764, -0.6081, -0.0562, 0.0269, -0.3897, -6.5573, 9.347, 1.3065, 0.0269, 0.2173, 0.0513]",
      "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]: [-1.0203, 1.8858, 1.203, -0.6769, -0.5182, -0.9176, 0.997, 0.1772, 1.3651, 1.3518, -1.2213, 0.0177, 0.1154, 0.9954]\nstate[eef_state]: left_x=0.2746 left_y=-0.2731 left_z=0.0365 left_yaw=0.0336 left_pitch=-0.4476 left_roll=0.1526 left_gripper=0.997 right_x=0.2885 right_y=0.0521 right_z=0.1944 right_yaw=0.0661 right_pitch=-0.6486 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -8.7179, 5.4632, 0.8278, -0.2173, 0.0122, -0.0024, 0.1026, -5.5043, 6.2154, 1.243, -0.0806, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56bd92a49f5b613970da747270063b30e1840d744c3262c9bf7a374556cd5432",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbc0fc911d411381251a55e13cf41bfd6a0a7ee6a8051a0f9904b96f2a6ffdff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bedcb3a4e4cdd92eed7cd672cd812cdd6f300dbde76b77a00b473c527dfb437b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "text": "Head is right between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H85q4vHvEkpxmMvFuNXhat",
      "input": {
        "note": "Bear head fills the space between the jaws; closing on it.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H85q4vHvEkpxmMvFuNXhat",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0195, 1.8946, 1.1919, -0.6781, -0.5198, -0.9199, 0.0399, 0.1772, 1.3369, 1.2964, -1.1988, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2725 left_y=-0.2689 left_z=0.0305 left_yaw=0.0453 left_pitch=-0.4564 left_roll=0.1724 left_gripper=0.0399 right_x=0.2816 right_y=0.0512 right_z=0.1857 right_yaw=0.0698 right_pitch=-0.6533 right_roll=0.0303 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -9.9077, 6.5846, 0.7546, -0.2906, -0.1099, 0.9255, -0.0479, -5.9966, 6.5846, 1.2039, 0.0952, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b45842db629d17b8699c8e9e8751d2d909d9a06ba5c750e0c751bdcb203b0bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86e24ad2a5eb0c444818bfbc475a66816b95169814690eea605a242c1349b06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d68b7a1eff9ced3f93112cfb142413da5d777f13d7954f1c185e7a3602ae5830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 6.279 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]: [-1.0698, 1.8053, 1.5223, -1.0668, -0.5247, -0.9688, 0.9969, 0.1791, 1.3758, 1.3762, -1.2064, 0.009, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2643 left_y=-0.2909 left_z=0.1406 left_yaw=0.0134 left_pitch=-0.4334 left_roll=0.1166 left_gripper=0.9969 right_x=0.2966 right_y=0.0557 right_z=0.2007 right_yaw=0.0798 right_pitch=-0.621 right_roll=0.0435 right_gripper=0.9953\nstate[joint_eff]: [-0.4718, -8.7043, 8.3214, 0.6764, -0.6081, -0.0562, 0.0269, -0.3897, -6.5573, 9.347, 1.3065, 0.0269, 0.2173, 0.0513]",
      "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]: [-1.0203, 1.8858, 1.203, -0.6769, -0.5182, -0.9176, 0.997, 0.1772, 1.3651, 1.3518, -1.2213, 0.0177, 0.1154, 0.9954]\nstate[eef_state]: left_x=0.2746 left_y=-0.2731 left_z=0.0365 left_yaw=0.0336 left_pitch=-0.4476 left_roll=0.1526 left_gripper=0.997 right_x=0.2885 right_y=0.0521 right_z=0.1944 right_yaw=0.0661 right_pitch=-0.6486 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -8.7179, 5.4632, 0.8278, -0.2173, 0.0122, -0.0024, 0.1026, -5.5043, 6.2154, 1.243, -0.0806, -0.0415, -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]: [-1.0195, 1.8946, 1.1919, -0.6781, -0.5198, -0.9199, 0.0399, 0.1772, 1.3369, 1.2964, -1.1988, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2725 left_y=-0.2689 left_z=0.0305 left_yaw=0.0453 left_pitch=-0.4564 left_roll=0.1724 left_gripper=0.0399 right_x=0.2816 right_y=0.0512 right_z=0.1857 right_yaw=0.0698 right_pitch=-0.6533 right_roll=0.0303 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -9.9077, 6.5846, 0.7546, -0.2906, -0.1099, 0.9255, -0.0479, -5.9966, 6.5846, 1.2039, 0.0952, 0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b45842db629d17b8699c8e9e8751d2d909d9a06ba5c750e0c751bdcb203b0bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86e24ad2a5eb0c444818bfbc475a66816b95169814690eea605a242c1349b06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d68b7a1eff9ced3f93112cfb142413da5d777f13d7954f1c185e7a3602ae5830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gz312FHQC6KyEXL6gQNjMk",
      "input": {
        "note": "Empty close – the plush slid out to the right. Opening and shifting right/forward over the bear's body for another try.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.29,
          "left_y": -0.29,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Gz312FHQC6KyEXL6gQNjMk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0122, 1.9102, 1.4063, -0.8772, -0.5129, -0.9257, 0.9956, 0.1776, 1.3041, 1.2377, -1.1725, 0.0162, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=-0.2859 left_z=0.0754 left_yaw=0.0533 left_pitch=-0.4619 left_roll=0.1659 left_gripper=0.9956 right_x=0.2746 right_y=0.05 right_z=0.1772 right_yaw=0.0698 right_pitch=-0.6529 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -7.9385, 8.3077, 0.5739, -0.3492, 0.1001, -0.149, 0.3077, -5.7094, 6.5436, 1.1551, 0.0415, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3a4659e25a78210de080acd97b6cc448c2ac76f6009205dc7a8beeaae5e2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05261037e90798d85632919ea734dacaaeba261cacdf69d9bf17aacb153484d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2f001397cbfef833608cf48e95bd39f33df73d3e4b2a9292df6e2ff9bdcf675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.122 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]: [-1.0203, 1.8858, 1.203, -0.6769, -0.5182, -0.9176, 0.997, 0.1772, 1.3651, 1.3518, -1.2213, 0.0177, 0.1154, 0.9954]\nstate[eef_state]: left_x=0.2746 left_y=-0.2731 left_z=0.0365 left_yaw=0.0336 left_pitch=-0.4476 left_roll=0.1526 left_gripper=0.997 right_x=0.2885 right_y=0.0521 right_z=0.1944 right_yaw=0.0661 right_pitch=-0.6486 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.3214, -8.7179, 5.4632, 0.8278, -0.2173, 0.0122, -0.0024, 0.1026, -5.5043, 6.2154, 1.243, -0.0806, -0.0415, -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]: [-1.0195, 1.8946, 1.1919, -0.6781, -0.5198, -0.9199, 0.0399, 0.1772, 1.3369, 1.2964, -1.1988, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2725 left_y=-0.2689 left_z=0.0305 left_yaw=0.0453 left_pitch=-0.4564 left_roll=0.1724 left_gripper=0.0399 right_x=0.2816 right_y=0.0512 right_z=0.1857 right_yaw=0.0698 right_pitch=-0.6533 right_roll=0.0303 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -9.9077, 6.5846, 0.7546, -0.2906, -0.1099, 0.9255, -0.0479, -5.9966, 6.5846, 1.2039, 0.0952, 0.0024, -0.0171]",
      "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]: [-1.0122, 1.9102, 1.4063, -0.8772, -0.5129, -0.9257, 0.9956, 0.1776, 1.3041, 1.2377, -1.1725, 0.0162, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=-0.2859 left_z=0.0754 left_yaw=0.0533 left_pitch=-0.4619 left_roll=0.1659 left_gripper=0.9956 right_x=0.2746 right_y=0.05 right_z=0.1772 right_yaw=0.0698 right_pitch=-0.6529 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -7.9385, 8.3077, 0.5739, -0.3492, 0.1001, -0.149, 0.3077, -5.7094, 6.5436, 1.1551, 0.0415, -0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3a4659e25a78210de080acd97b6cc448c2ac76f6009205dc7a8beeaae5e2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05261037e90798d85632919ea734dacaaeba261cacdf69d9bf17aacb153484d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2f001397cbfef833608cf48e95bd39f33df73d3e4b2a9292df6e2ff9bdcf675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowoKEAgSGAI4AUIIdGhpbmtpbmcSDFVP/lCfIbpbvZyIexoM75RTZyt9P2r4KDZXIjDRdGYHS18Lt1fmUcOM8DLrpNp/KfLU0m7SbxAtunCm8jbs9m6QIkIifelflu5Soh0qwAnJqP7w7DDutA0FSo4j2nj3eSgH31Zzh0fEUwDvXFd0YjDZQCRyZBrKAf3v7GrhaS+0pS4kp5oMwPAGJY/NNF1QedQqzdgR2feDZNs9wQVBLbZJvoWU12OzJqQ/B+Obvw/K/Do4lxQOc6cK2QHYzKCA+G2VhUxhBj5Q+dfstbUkEdQu/XJVJURPLMED0ulpMjpVhr75yqOhl63VaiCNrdSqXX89VzSH4MD4YQxWwZH06+Z8GXDOHnq4zU91He90h7WycdfQMB/3Vw7MBzKx+GmCp19rR+MuWrG4QKOtyn82Qk2skiJB82LBSXx6jxDSG+ZGfZzb1ajE3At0AGadQNlQv28x+9SuhDIijOofyNIPSAqFJbxWcXd7bHPAdn12Sg9hm3HGXOv3yHt4QljwXEwFJW5SWnrPBszUP7tcOjz2z1ETcYRXvxiukoEXKm/i9iHbZ2iJ7fJ/wkXQA+TMS/kEBMP/DACwPQJY3d4/BR/v9m2Z+XzFRjHZ3IPo8lJ4Z3gY855Nv4m3AN/rZsSacwkLlPPibnfZkLXvd7zNc6XqUf4gl1IGs5IJiwbKQZbch4qsaYEKJSk3vTDbp6VdwiajDkPdFFECp+rCUGOQnljp1CuACxDwr097ZiHhGJYHmwyspM6TIjhTE8EHv+vyOeiZsxJHtpcuRyD2o5P1KFHBOYwVh2fwedfHUqwtMvtWPA35z3TcPsyJ/9jNwwjKP8DO4lwMQmP361I57Ny0HWzFKb4g+JRXkPHI8L+NbARgzXm1nBtoO8ThKSsMLNMhPDuqXV9pgP35zIMEFEgGBoPhD9e95itJqshOdE6+ThE5wrFUe1A/omlc4H6xWETlX4wcJqA1eamQIxT5HAIoSCP96BYTS1/MiW6FVuKigBuajfU8TmTzQU0rBCwyAgwYHDldP7AHWysFNs42yhMdV2nuE/hHdPoFSLY5qxdjY3/VNEHEP2tEoo1TzU2rYTQFTL0zEBoXiLd95MaMckONaOAkgqNMI0FlBVXTo//G9Rg8C+MgRiLPK4W2piQeCiIbOfYMfZl/E70sO36DRB6kpz7M+u37vbTGSQR8Q9aE5ZvOgsdKAj3blVIjk4vcoxVlWLjUyrrTCqPDUSdjVh0UFiiElzLTn7HtxPPQhmFwJhy5KY/rdMYG31I7lLp9Vh+YGfNss2oTaL/oYtqP7PaKCLXn0dFLLi6tf9gEjJ8i06+wc+z8RQMq05ZUSwg1uBPPPLMW4ipRpZQ9cMo30Qlm21ayu6x6rG22RanlEyrFrTlLFZguPNHng0fFhXQbsC0rERJxx6XJty3pxaMLqCvOeaKYAXi4VDoM854mxY2k0P7NtXtFx0h5pqtDNUSQIYnGopRRJj14b9yqigr6q1x3gEYakWr7J0KwniRdLA6SjpxWziuSA0BfgIi/ZdR7ZUmVCioSa71NCyf5d+DUXRGEeLgIPqsN3PtLfArwvIVCysQwniuAVpgf9LjY9D08uro7c8gLtAPn262WiONSNM5QyRw0XxLGfpfH7mzpCIJE7UvmhQxV1UuAIvIM/ALyXgRbWgkyJrCtPgW2KmnBUEjVwbLsTpPQ46B9IvcrYEmMZjZtS/TUcPMyA2Uee9D+ScSYdqLcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GzbviAKtXRiP4UjcvcdeM8",
      "input": {
        "note": "The bear's raised arm/body is ahead and right of the jaws; moving there and descending to grab the narrower arm/torso.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.305,
          "left_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_01GzbviAKtXRiP4UjcvcdeM8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9882, 2.0808, 1.4124, -0.757, -0.5087, -0.9173, 0.9969, 0.1783, 1.2713, 1.1786, -1.1458, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.2936 left_z=0.0159 left_yaw=0.0905 left_pitch=-0.4876 left_roll=0.2121 left_gripper=0.9969 right_x=0.2675 right_y=0.049 right_z=0.1682 right_yaw=0.071 right_pitch=-0.6525 right_roll=0.0304 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -11.3846, 5.8462, 0.7448, -0.2711, 0.2369, 0.1197, 0.1983, -5.1761, 6.735, 1.1648, 0.0952, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220be6f35858255ffc291d202b1db44df7ec49929f1f15e55194af564558118d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a6fa0180dc321a3f74bd893e40161a0490b2f9abddcd8825aa1ade5a706220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4110a775993ae73fff53287bc39d8079e3f0970518c2f78e6443dafa59be49ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 3.378 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]: [-1.0195, 1.8946, 1.1919, -0.6781, -0.5198, -0.9199, 0.0399, 0.1772, 1.3369, 1.2964, -1.1988, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2725 left_y=-0.2689 left_z=0.0305 left_yaw=0.0453 left_pitch=-0.4564 left_roll=0.1724 left_gripper=0.0399 right_x=0.2816 right_y=0.0512 right_z=0.1857 right_yaw=0.0698 right_pitch=-0.6533 right_roll=0.0303 right_gripper=0.9954\nstate[joint_eff]: [-0.212, -9.9077, 6.5846, 0.7546, -0.2906, -0.1099, 0.9255, -0.0479, -5.9966, 6.5846, 1.2039, 0.0952, 0.0024, -0.0171]",
      "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]: [-1.0122, 1.9102, 1.4063, -0.8772, -0.5129, -0.9257, 0.9956, 0.1776, 1.3041, 1.2377, -1.1725, 0.0162, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=-0.2859 left_z=0.0754 left_yaw=0.0533 left_pitch=-0.4619 left_roll=0.1659 left_gripper=0.9956 right_x=0.2746 right_y=0.05 right_z=0.1772 right_yaw=0.0698 right_pitch=-0.6529 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -7.9385, 8.3077, 0.5739, -0.3492, 0.1001, -0.149, 0.3077, -5.7094, 6.5436, 1.1551, 0.0415, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9882, 2.0808, 1.4124, -0.757, -0.5087, -0.9173, 0.9969, 0.1783, 1.2713, 1.1786, -1.1458, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.2936 left_z=0.0159 left_yaw=0.0905 left_pitch=-0.4876 left_roll=0.2121 left_gripper=0.9969 right_x=0.2675 right_y=0.049 right_z=0.1682 right_yaw=0.071 right_pitch=-0.6525 right_roll=0.0304 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -11.3846, 5.8462, 0.7448, -0.2711, 0.2369, 0.1197, 0.1983, -5.1761, 6.735, 1.1648, 0.0952, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220be6f35858255ffc291d202b1db44df7ec49929f1f15e55194af564558118d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71a6fa0180dc321a3f74bd893e40161a0490b2f9abddcd8825aa1ade5a706220",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4110a775993ae73fff53287bc39d8079e3f0970518c2f78e6443dafa59be49ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgYKEAgSGAI4AUIIdGhpbmtpbmcSDA+b5mo29jiVC0jTxRoMiHCVzF/QjUnDdjxiIjCL9YBIyybiWs0w4qAQdl8ja6kWNcc2bHB4P+QEKlgqcCwj6OG3C7B/6v2/ZPOJ2zUq6wUOren6+KLM4jD68B3FRjtnZv4pvE6pclDgrONbFLLq22OgaIdlswSzrxgSOQl9QqNMSf87N7hlz34ZrJ67t0tUrnQTJUzOashdfTFN5jWNFBUIC1TZCzEtsSXQaIQPlO6gG2zx9EQQLF7DRQ1qJV9CFT8SnPQL7H6Nkf3537fNIrd2W6LPfawP4pjrsU5uEMMJ7nqPoCnwwk9LrapDdeCu8xHChIrCzzLNzUut7LF3EnEAvrKs5J9s5180zqaYZ7f5ql2j75YUOSH3Ii9RlLlw3Hr+5Hyp1wrPe8Nq6xu+KSH68uacD5Igv2w7eIiayke/uJyZPHgUx/bbmMKBFi8MiY7LYlhKNwe3A6e5Nd5zAIoFWadRnKoefkKDU+Lf9Y1xU0E8yj/YVLgJ0tRn/V2iSdRrdMNSaZPM9g9M7+ecDeic6RaZEPcUv/ksL3wVDzAkpd/5U6lYqLS2hxRnfqb65O0EtXa59BSAjHYx5XB5nej/K5VWp1ErF83XSfH0R7lnzaGRpiC6YsAw/tpo706T/Ut4V/+N3frn81mCT4IeCBt9k/6s/z7zm/2tjTfOUJTDHDfFEn9qKMH79Nw2P2ZEE3C1k8chC05SpI/mVv8j9yUOnpW+tz9LWANAq3H6XR1Hgf7iFjd68TH5q5WSNFgkcKO1r37jrTz4lsqFZkFGOkwevk6tkO7fTtw3Sge+SXMo0bxioedOClmRfnYH68nGZ1OYoUddCux8AutkUgIi6Qi0OA4f1RBjPhsD30zQy2DBMpSznhxPMnBnZb8PNrgPzvRjVoImw+lQibjPgdqCpd78eNwmCxoZcD2nG0B4TphcvkFLSCUIrM5R/PrnGBcOS7tR7gp5AHC8n+aA34xm56rbmCQpRO4u0Gcu5sHQwR58aoK4TtOCl1wvB/gNG+0iXKGea1BvatIIm48c5c7OHfeXY+t2gVgkThru2XXIHggQgp/W0GxcRVOUVl2rAHLEoebTb2rMcxG5OvgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TpxSW6RuSVaAQXEcMKeMoR",
      "input": {
        "note": "Bear's body and arm are 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_01TpxSW6RuSVaAQXEcMKeMoR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9874, 2.1014, 1.4124, -0.7635, -0.5095, -0.9215, 0.0349, 0.1783, 1.2362, 1.1236, -1.1233, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2992 left_y=-0.2904 left_z=0.0077 left_yaw=0.107 left_pitch=-0.499 left_roll=0.2374 left_gripper=0.0349 right_x=0.2602 right_y=0.0478 right_z=0.1606 right_yaw=0.072 right_pitch=-0.6499 right_roll=0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -12.3282, 5.559, 0.5446, -0.3443, 0.0317, 0.9792, 0.0068, -4.8615, 6.6803, 1.2186, 0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb19d17e9d39422d106f2228249919b09b318529788df57d30151cf8879dd68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d537797640aea16f2272357ab4dda2bcbec0f6a9414e9c15a77fc4e7e4c268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9ef66bfc3c836e6e3297f1517072e2137a767f9cb433ba8bfa7df501d691d7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.688 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]: [-1.0122, 1.9102, 1.4063, -0.8772, -0.5129, -0.9257, 0.9956, 0.1776, 1.3041, 1.2377, -1.1725, 0.0162, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2851 left_y=-0.2859 left_z=0.0754 left_yaw=0.0533 left_pitch=-0.4619 left_roll=0.1659 left_gripper=0.9956 right_x=0.2746 right_y=0.05 right_z=0.1772 right_yaw=0.0698 right_pitch=-0.6529 right_roll=0.0299 right_gripper=0.9954\nstate[joint_eff]: [0.2667, -7.9385, 8.3077, 0.5739, -0.3492, 0.1001, -0.149, 0.3077, -5.7094, 6.5436, 1.1551, 0.0415, -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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9882, 2.0808, 1.4124, -0.757, -0.5087, -0.9173, 0.9969, 0.1783, 1.2713, 1.1786, -1.1458, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.2936 left_z=0.0159 left_yaw=0.0905 left_pitch=-0.4876 left_roll=0.2121 left_gripper=0.9969 right_x=0.2675 right_y=0.049 right_z=0.1682 right_yaw=0.071 right_pitch=-0.6525 right_roll=0.0304 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -11.3846, 5.8462, 0.7448, -0.2711, 0.2369, 0.1197, 0.1983, -5.1761, 6.735, 1.1648, 0.0952, -0.022, -0.0171]",
      "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]: [-0.9874, 2.1014, 1.4124, -0.7635, -0.5095, -0.9215, 0.0349, 0.1783, 1.2362, 1.1236, -1.1233, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2992 left_y=-0.2904 left_z=0.0077 left_yaw=0.107 left_pitch=-0.499 left_roll=0.2374 left_gripper=0.0349 right_x=0.2602 right_y=0.0478 right_z=0.1606 right_yaw=0.072 right_pitch=-0.6499 right_roll=0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -12.3282, 5.559, 0.5446, -0.3443, 0.0317, 0.9792, 0.0068, -4.8615, 6.6803, 1.2186, 0.022, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb19d17e9d39422d106f2228249919b09b318529788df57d30151cf8879dd68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d537797640aea16f2272357ab4dda2bcbec0f6a9414e9c15a77fc4e7e4c268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ef66bfc3c836e6e3297f1517072e2137a767f9cb433ba8bfa7df501d691d7d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDEg4JEC0/2axf6xioBoMJL0IV+zN0VFPGu78IjAG8OOEhPF5HGZL8Uo1Rexu+td2wq+hB/4/eFELxw+CWjAv//71X3T+kD2ScHhsA+4qwwY+0taczzK01UKAbIksBaDtnyLEpXduynD8SjfU/KUtlpx3BM980ayV7As5JTj40LiKdLh4rU673jGTN0Idk0EwZzdC11oYafz3S/VpCmW1BODEJ9ecqWKdBSBCs6jWILdh3dQYn/Y0JaLTpOn7ySnI0YmN86tmQemXitjjfrdsEh6RNcFdZcItQdXhzQoPo/h3LhYjmZXSloLq+H1fLruTF0F0tt64W+nCoi7LVUsPImTCVpI7rnPNCH26gEbXWBlZo6/M44LEbGnr+u6yl4Yfc1TsfLKYYW3PcEG++dh4gXBrcLd+cDluCJeuBDBx7l/eTY/jI75yaC+cG9q6MDb9BSuHmj+1N5DWC2IHFYg56hUeOSltrNpMDq389rOwSXyL6+H2FxOB6Soiv2T6lbZsXufeEaw5/QB3u80Od8BAyB4/MViWaUxR1SDXkCpgxN99Qi2G6FF6ulWOz9YyUSnsCZgxvN75Bq3fXJIlEJT7nbom8EIvH1GpbE3AJAvd+kgRQ8l9Hv2HjI6ipOzFhwfhV1mV/UfnVRcA+gPhrPcSWWHzJjBOHflAgY2JLhCnqZ+fPk4gkC+qQcmkOvp/kvS8TYkC0mC2+LlV7pHfQxdVeItIBkTSvy5kXJyTpM0eLCWaI1qkRYOzzx5qFTA2yjLqiyN3jOZEJpo9YEG7lTD1vlEVbvZtPIYii8pMJX+3zxp56aGevPzCUro0MhML+4PYaIhTJGuhuDmk37u1aEFjzcgB8cWre2aojGm6TZtHUZhJH993j1ETLxuZ3np2ts20+uAsaElxE3PrHCDaCTti9kV/Md5kCs29l0XPLtdu5A4JL9XXAMN3To8u+AIdyWCIQjDpd2wrZSC4hQfuvFG8m3pa49kf2ZlTLpVTk2dJ7UeN44grKC8X0TEedHOMyVeKSLFv25b6KLdXgJ1zvlUTbKZXJs1XZt+vf4FljuYgaphi4L0FJGHquBPRuSyoxLyO95CqlRxtTfcn02dhA/LpvFmKSpnIyQn7QMm2aOpjs+o120Rsw1/cOv23SFXOX1ALiA1cbGiCVRzGH1d6iVTY0xTYj9+CLAemyf/L6quVZznqZRz9zZVJJKTAcnvTtFl+PeE1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QA8EZGxWRwGYYGgTqqK2PE",
      "input": {
        "note": "Reading is low (0.035) but the wrist view shows the bear's arm pinched in the jaws — plush compresses. Lifting to test the grasp.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QA8EZGxWRwGYYGgTqqK2PE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.9874, 2.0708, 1.5368, -0.9733, -0.5018, -0.9291, 0.0356, 0.1783, 1.2037, 1.0729, -1.1015, 0.0162, 0.112, 0.9954]\nstate[eef_state]: left_x=0.2954 left_y=-0.2868 left_z=0.0463 left_yaw=0.1368 left_pitch=-0.5292 left_roll=0.2859 left_gripper=0.0356 right_x=0.2536 right_y=0.0464 right_z=0.1534 right_yaw=0.0714 right_pitch=-0.6464 right_roll=0.0306 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -14.5026, 8.1573, 0.398, -0.4322, 0.0415, 0.9451, 0.1436, -4.7248, 6.5709, 1.1697, 0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:599f8b6ff8c7c9b4d7066465eebd6fb85b753bbfa1bd6f90c908d01a2d4b4da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168e61cb343b79fbd26ddc604c6d9d01560e2eb1764a94cd0e2142b83be9b3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79efe49804c5092725653d83ada427f257211ad74a2a1f2cb492ed951293497e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.938 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]: [-0.9882, 2.0808, 1.4124, -0.757, -0.5087, -0.9173, 0.9969, 0.1783, 1.2713, 1.1786, -1.1458, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3008 left_y=-0.2936 left_z=0.0159 left_yaw=0.0905 left_pitch=-0.4876 left_roll=0.2121 left_gripper=0.9969 right_x=0.2675 right_y=0.049 right_z=0.1682 right_yaw=0.071 right_pitch=-0.6525 right_roll=0.0304 right_gripper=0.9954\nstate[joint_eff]: [0.1162, -11.3846, 5.8462, 0.7448, -0.2711, 0.2369, 0.1197, 0.1983, -5.1761, 6.735, 1.1648, 0.0952, -0.022, -0.0171]",
      "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]: [-0.9874, 2.1014, 1.4124, -0.7635, -0.5095, -0.9215, 0.0349, 0.1783, 1.2362, 1.1236, -1.1233, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2992 left_y=-0.2904 left_z=0.0077 left_yaw=0.107 left_pitch=-0.499 left_roll=0.2374 left_gripper=0.0349 right_x=0.2602 right_y=0.0478 right_z=0.1606 right_yaw=0.072 right_pitch=-0.6499 right_roll=0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -12.3282, 5.559, 0.5446, -0.3443, 0.0317, 0.9792, 0.0068, -4.8615, 6.6803, 1.2186, 0.022, -0.0269, -0.0171]",
      "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]: [-0.9874, 2.0708, 1.5368, -0.9733, -0.5018, -0.9291, 0.0356, 0.1783, 1.2037, 1.0729, -1.1015, 0.0162, 0.112, 0.9954]\nstate[eef_state]: left_x=0.2954 left_y=-0.2868 left_z=0.0463 left_yaw=0.1368 left_pitch=-0.5292 left_roll=0.2859 left_gripper=0.0356 right_x=0.2536 right_y=0.0464 right_z=0.1534 right_yaw=0.0714 right_pitch=-0.6464 right_roll=0.0306 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -14.5026, 8.1573, 0.398, -0.4322, 0.0415, 0.9451, 0.1436, -4.7248, 6.5709, 1.1697, 0.0317, -0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:599f8b6ff8c7c9b4d7066465eebd6fb85b753bbfa1bd6f90c908d01a2d4b4da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168e61cb343b79fbd26ddc604c6d9d01560e2eb1764a94cd0e2142b83be9b3c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79efe49804c5092725653d83ada427f257211ad74a2a1f2cb492ed951293497e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSxwgKEAgSGAI4AUIIdGhpbmtpbmcSDBhhkiBKkc64Io1e9hoMAyXht/C728tQ5gbcIjC1+yZNhsNoMk4LxMgn7lS4qFp6OlSZwZOqsl5fwl41fwRxwpMLP0n2lUIZ9jdSQAMq5AeZRy0eFhUVNz9PWXdTCZLCT/Istrlz9ad6EM9YI1/6odoYcDgauNTWzJIFDwOIOJfVmgB8iEmDTdhed8Mm2oNAEYji/Juf+2XHlsgruyge6y40Fa1ef/ril+osFP6xdP+CS5qOPLOrL/FCUw9ajYqQbY1iZd/QBV4LIIBT3JEiu82cM4qWeO1mlqcNWNEQCWrVR8B/uJrWAFoMU3lEsw5u0KNzM2aCAIOdzLgl9UqDvh/NUymyMARShRgmzK1KHsRyVenXTR8MLY6A0kaDS7TaYHi4Mz6FGhCyYq5WUazVDHj6zIrZ49vFgt1/on85/IcgWrZx1NKERyDEaZgcSC2EEA5iO1QEvGQ8n00XD+C1eJUQktn5d+gqV32FV1OTAgfqckQGOHXpZuhdNV4hyVUZZ9cfQv1OhRiuGlXgQjY4+8VVUaA4tqxwey6QTGQOIFBSFXgvnYTRkc6JwxlsvtQ13UXF7x/70o5pyS7z6r0yRNsZjvPMnTs+mVcnWnDiHe6kufv4dqHZ1XFR7PQ0yDPNRlUZaIMWkhdSJbXpfYTYgVB9X9b4HKWbWbcGF+pkFxHLKiCiNHS/cwgthnXc9gs95gRhuRMIyOPi/oLb4GDPM3NHa4RoNNyGMoYowZYKz8YxbthSgdYsTx+NWEkTKVpUVfCG5031P9lNJ+HfhchJRmhh4YAA4MnZcnO4aEWFAI6jYE49U5iJqjbuvnfLvu/ngn52z69Hln8SYmWQRCjjwTVGRXeTVzpJVTi8ykIbc6OwJ9Gs9YYWSyOoiq0LuV/KfMZfOxUzlsGRj4gebobGN9FCH+sQ/UaH6Zzr1qjzysL6SonHXl5XRACwoAhvaXqy9dWp+eoQv1umRREuBKjH1zzEXKka1+i1sukixoJX+3aCUFYP9IwhtK+7li5S/MWtrHUICVUh5srLxkjVkoRW+/yuP3DjC1Kerfc2oCpLe4PViKxsD08KZ79rfnKYX0lwPWulkUpOHS2oyG537zWedDU/CJ6hRib0qtBL9gouIvn1W2k4SRji1ynwyYU0KfDSxUq0QxE5UPGdMVM1fj+MJrpOEii8MCQIy2PrHGhVu2NDpHNWE0jFheyOHonMGpu1TRFtqGnP2q8zcusaeZD5HZTVEm5N2hGixaSnDTb0npZQTMQWeo+ugJm7B4yt80u6No0TFbX4WpZiX2+SD89+pdC3sp+NEry5pSsdtVQLF0N84subu8uzjhMpq184GT3IrmuqcXqJS6yQQRx4EnL3jo9MZARkHp4Q8Gj4H0ORu6rW69QxBG6LElY6hcWhmt6455VMSJZ2NlsGI/87qdZW0ckZxPoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QFBsQK1U9twNVL2ekZnvD4",
      "input": {
        "note": "Bear's arm stays pinched as the gripper rises, so it looks held. Lifting high to clear the safe wall.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.31,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01QFBsQK1U9twNVL2ekZnvD4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8452, 2.2696, 2.368, -1.5658, -0.4828, -0.7845, 0.0356, 0.1783, 1.1721, 1.0271, -1.0782, 0.0151, 0.112, 0.9954]\nstate[eef_state]: left_x=0.3633 left_y=-0.2806 left_z=0.1728 left_yaw=0.163 left_pitch=-0.5502 left_roll=0.31 left_gripper=0.0356 right_x=0.2484 right_y=0.0457 right_z=0.1475 right_yaw=0.0733 right_pitch=-0.6374 right_roll=0.0331 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -15.1043, 7.747, 0.4713, -0.3248, 0.232, 0.9402, 0.0752, -4.1094, 6.6667, 1.1355, 0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ecbd146332f112c1e6f53578bb79c0f1be9cfe9b14b7fc5ed39ff878c7d482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f99a6f4e8d38822f88293137c84fe5e856e3f7bb39de266c2b15f0d316b7464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2baedbfa8e33e300299174720254d43ae3f90a0a1c8aba0d6f3ba48f07636b3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 5.164 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]: [-0.9874, 2.1014, 1.4124, -0.7635, -0.5095, -0.9215, 0.0349, 0.1783, 1.2362, 1.1236, -1.1233, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.2992 left_y=-0.2904 left_z=0.0077 left_yaw=0.107 left_pitch=-0.499 left_roll=0.2374 left_gripper=0.0349 right_x=0.2602 right_y=0.0478 right_z=0.1606 right_yaw=0.072 right_pitch=-0.6499 right_roll=0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.0752, -12.3282, 5.559, 0.5446, -0.3443, 0.0317, 0.9792, 0.0068, -4.8615, 6.6803, 1.2186, 0.022, -0.0269, -0.0171]",
      "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]: [-0.9874, 2.0708, 1.5368, -0.9733, -0.5018, -0.9291, 0.0356, 0.1783, 1.2037, 1.0729, -1.1015, 0.0162, 0.112, 0.9954]\nstate[eef_state]: left_x=0.2954 left_y=-0.2868 left_z=0.0463 left_yaw=0.1368 left_pitch=-0.5292 left_roll=0.2859 left_gripper=0.0356 right_x=0.2536 right_y=0.0464 right_z=0.1534 right_yaw=0.0714 right_pitch=-0.6464 right_roll=0.0306 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -14.5026, 8.1573, 0.398, -0.4322, 0.0415, 0.9451, 0.1436, -4.7248, 6.5709, 1.1697, 0.0317, -0.0269, -0.0171]",
      "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]: [-0.8452, 2.2696, 2.368, -1.5658, -0.4828, -0.7845, 0.0356, 0.1783, 1.1721, 1.0271, -1.0782, 0.0151, 0.112, 0.9954]\nstate[eef_state]: left_x=0.3633 left_y=-0.2806 left_z=0.1728 left_yaw=0.163 left_pitch=-0.5502 left_roll=0.31 left_gripper=0.0356 right_x=0.2484 right_y=0.0457 right_z=0.1475 right_yaw=0.0733 right_pitch=-0.6374 right_roll=0.0331 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -15.1043, 7.747, 0.4713, -0.3248, 0.232, 0.9402, 0.0752, -4.1094, 6.6667, 1.1355, 0.0611, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ecbd146332f112c1e6f53578bb79c0f1be9cfe9b14b7fc5ed39ff878c7d482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f99a6f4e8d38822f88293137c84fe5e856e3f7bb39de266c2b15f0d316b7464",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2baedbfa8e33e300299174720254d43ae3f90a0a1c8aba0d6f3ba48f07636b3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAcKEAgSGAI4AUIIdGhpbmtpbmcSDPd4feSZGYCRx9sm3hoM8A50r2PREzkvFn9JIjDcY2ABt+jF2WUOFo6pDver1tORqiEv1ie8tnlJOAwN9O2GccDSmy+AcF4hzUyxpnMq6QbM9FENyWrn/7/zWsuZaG6dwp2K3B40Jwhwd9ntH3N55GQUfjveHgi1PztaXBb9DWwo6quGiv+axxt3YZC3tiXbfHMvS0FM2vM8dwUr0H/hBVD+DmhM5+GGwJtXrroIWVK5LgUjmiKelFTtrrODftt2RRYl3bW7xwbAJsKPME6IGip8UBLkNhfFcMlS8Fxl38LyxRf4uqBx/KY+GCif1FJyqULtZlwdju85/XRcwRQYvQVRGUAYRe242i0NR3l8KitKl4RRPB5SRnDoFSSoJwPRcoCE/OpNffD+djEZk2GExED1WT78zXzi9BatQ8yKbe2+iBiWDVzIfab5+/xwtc/iaFEMB5AmaLcDVcgMqdfwPqa2mbqkpjiua8Quih4BecJIjozmiRxwI1inT+BMN/aiV+R2zML1hpm6S3ivpwYdjToFVWgvhRlLP3IN062YPImn5k2NDXrCa6mJcVHd6nNtXpFzRcemALAoZ69ymKXlM1ksl8N27NyArnfu5WnrQsV3RnaR3CIMlKO6CA4ruCa9Ds4WbLRARzZk6fSLhzRSst43UFxktQIcVqNyGghkhpSSFmRJlagwzcQWimL+UT7ixlNoYYNUEcA3u084RIcumyuyOJRVAiF8fJyENdWsXkvM/xR6veuNjXqxm5vlPyB707cISoOgQynsHRNsdZeXsM+ONt2DyZ3gj6G8/p56vvQMEOpWNXbnmns1lWigggBe+J3w4g3l5QIuma2Ewb2n9Y2BvG+n7NOq+Wkn1Mwv4vhYTTFti04WPKWLuwWvWIjmwne74ncDMQlSbqN0/4K4UexubWheD/GGlMRANc0nLY36613ovz9RprT6L5D67jAqYdcbU3Nw1xu2XX66lxCTb5k7PBpRJicLDAY8LMvE/WiYv2GDiajalT5z1CJS58iQCzekx3HKBAGG7HtR0j4Ws1HuUjGT6l3LQAgqfxrnlG/+/eyr6fATVgjXU8R0IWzKVWMz7QKvVFyaURu4kflMDJtBXodlTDmSrEbZZFJm3Am5zWlP7NSKsf5phXjfPMF7p88irfFWtmlivA9fB2+oP+q53vgAsVC6UVP1dYRjkpvYARQ5oTi7dgFJN9gMUoFleve/3BaQBbfr9izcHAAIjM7vn0TOGnhoX92D1cXx5C1mciIMa6wGLvwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KmyoH9PQbbcbn8zr334dMq",
      "input": {
        "note": "Big bear is hanging from the left gripper. Carrying it forward over the open safe.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.34,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KmyoH9PQbbcbn8zr334dMq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7647, 2.3985, 2.5599, -1.586, -0.4671, -0.7044, 0.0374, 0.1802, 1.1488, 0.9924, -1.066, 0.0154, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4036 left_y=-0.272 left_z=0.164 left_yaw=0.1654 left_pitch=-0.5522 left_roll=0.2998 left_gripper=0.0374 right_x=0.2432 right_y=0.0452 right_z=0.1422 right_yaw=0.0746 right_pitch=-0.6366 right_roll=0.033 right_gripper=0.9954\nstate[joint_eff]: [0.5402, -11.8769, 7.9385, 0.652, -0.359, 0.2125, 0.8523, 0.0615, -3.9863, 6.3521, 1.1258, 0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a8391b80d72205d802dbd3f3bb0179252236dbba5a461f69cc60b706af1535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2185b887e5dd98e9c514ebc072385e1b8c37990c46a75481a29b9745110b9da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ae5757914b2dcf366059cb1eb4673c96da8d20c18d324fa99bf688b9cd5aaf77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 4.993 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]: [-0.9874, 2.0708, 1.5368, -0.9733, -0.5018, -0.9291, 0.0356, 0.1783, 1.2037, 1.0729, -1.1015, 0.0162, 0.112, 0.9954]\nstate[eef_state]: left_x=0.2954 left_y=-0.2868 left_z=0.0463 left_yaw=0.1368 left_pitch=-0.5292 left_roll=0.2859 left_gripper=0.0356 right_x=0.2536 right_y=0.0464 right_z=0.1534 right_yaw=0.0714 right_pitch=-0.6464 right_roll=0.0306 right_gripper=0.9954\nstate[joint_eff]: [-0.0889, -14.5026, 8.1573, 0.398, -0.4322, 0.0415, 0.9451, 0.1436, -4.7248, 6.5709, 1.1697, 0.0317, -0.0269, -0.0171]",
      "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]: [-0.8452, 2.2696, 2.368, -1.5658, -0.4828, -0.7845, 0.0356, 0.1783, 1.1721, 1.0271, -1.0782, 0.0151, 0.112, 0.9954]\nstate[eef_state]: left_x=0.3633 left_y=-0.2806 left_z=0.1728 left_yaw=0.163 left_pitch=-0.5502 left_roll=0.31 left_gripper=0.0356 right_x=0.2484 right_y=0.0457 right_z=0.1475 right_yaw=0.0733 right_pitch=-0.6374 right_roll=0.0331 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -15.1043, 7.747, 0.4713, -0.3248, 0.232, 0.9402, 0.0752, -4.1094, 6.6667, 1.1355, 0.0611, -0.0513, -0.0171]",
      "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]: [-0.7647, 2.3985, 2.5599, -1.586, -0.4671, -0.7044, 0.0374, 0.1802, 1.1488, 0.9924, -1.066, 0.0154, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4036 left_y=-0.272 left_z=0.164 left_yaw=0.1654 left_pitch=-0.5522 left_roll=0.2998 left_gripper=0.0374 right_x=0.2432 right_y=0.0452 right_z=0.1422 right_yaw=0.0746 right_pitch=-0.6366 right_roll=0.033 right_gripper=0.9954\nstate[joint_eff]: [0.5402, -11.8769, 7.9385, 0.652, -0.359, 0.2125, 0.8523, 0.0615, -3.9863, 6.3521, 1.1258, 0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57a8391b80d72205d802dbd3f3bb0179252236dbba5a461f69cc60b706af1535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2185b887e5dd98e9c514ebc072385e1b8c37990c46a75481a29b9745110b9da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae5757914b2dcf366059cb1eb4673c96da8d20c18d324fa99bf688b9cd5aaf77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDKfJ/da16Bc/bH6HFBoMUUhcA3GP0n75KqjDIjClQ4XZOuJ9Q4nmLFpJKgrRCtIntEmrZEJot12uhDb2q3ptDqOd5U9oQcS3m8ZRgpcq9QeDCM32mhnnkmrlNcQDSWSebWUfputNkETBqjfdkDqAWEzI0MsabAbTW9SK+9PgBcmSlalZ9O5xBfcVgDd9gOUJUX6rCqwMuvCeexYog0VUQYvu55tmSeSl3mjZSDUueHWlvv/9CN8rfgurLPScP/ESJbiVLRIlASzNlIsuoTe5Aj1kgnRQbqePIGCRI80+13V/8tBTw1VYL80QnbgOsVxBIDsa20vZk++OBkZvA9jjBYs/H3ssHbkonN8b/TkTpNWLUhC4UGPUPi/Q2PPYCwsKfr5kz/KsG3saUQ915OYOygw/YY3k34bdjcLUFIbWH8XiObfNjYZScmN/frlC9xTdz3F+7eCBD81WU1LML/QrQdb2saaU4OgyoycRaTEoenjyCR8UfdyyMmRk2STX5TEUG66m++QZWtZlVDm8fftlT8ZIJmCXKMO+gRoheRvsLOskA2iheafqqzvklJW7ThhZieXrs5p0pHqyR8dF+hBvPSoegRGP88KA6j7yxjghH80cQRWNOIbU7MGQb6b0D0krCOoRGA0e2AWSSc93OPDNy4av7c4WsHs+OIt/llnNeDCbCSIfjRr56xOnbFFMzvpoGFmA7l2ShRDSaiNHJhGbC6LSZpeM6cEwXSS8vwcMV0nyZhlBM0EMD4vq5xDY5O9oryRFdt/O1R2jpLlxEnMzSXbnZAuvtf1M8I3H81O7CAlhsdbSCXA0V6qoyekrYfDPvn6T2nUiccc8DDQCa3PEbJk5+s9c8ADKHvr25W4wUdYXlDaOwBqvAjvvMpZHihsVUTmrhctni+ReYHKZ9OFlkXrL2wPg96sqSYU6qpLop3a1bYHtGLjHIsBG6sedx6Fb37lIdEgRsIMcSDYG05uVVztKzwaVtwST1C963ukX/0L7X3h/NCWSZqGTdi/REtZixONbdJn/NDz54DfFz+GgCC5D0ospJdNpD+CFZplp7ZdVRUGG2oFUG/BybytniqgRteYga6WwJky5iXnZNLEYW0kSW05teFsN52BstszBv0N6a5GLuPvsplrRoVFNR5EbXhgcLma+wxR5ZKvmImX+QCd13yxHhnHr8/nco40RbTIl/MxvJEjMIx/wyw4QxQ3nxB/Vh9/XmuLARMd6bH7k1JSaDFnHvqks2vPoU8vgDx0aBi7wIcMA49ZIHZH8tcAdlX3kdQVkEdqQXO4P5xTPqqmjCz6vrYnBb+JKRcvexf+sIz+g63ecVmm/kVv2kdRHlnAQhtEVB/gs9KrPIxLs6jpPMPPExLC/nGnWER4wX0Ss4PB124FyK/5yDYWkUn7VXMVUh42tF1c+QD4fmoDD5KHIseAeVjQ9bvX1pUjULdz1uTsnrBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LB6SgiNgZEXK8JUePst1pW",
      "input": {
        "note": "The arm stalled short of the target (x 0.40, y -0.27), with the bear still in front of the safe. Asking for a slightly lower height so it can reach further forward over the safe.",
        "targets": {
          "left_x": 0.48,
          "left_y": -0.35,
          "left_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LB6SgiNgZEXK8JUePst1pW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7593, 2.5439, 2.6949, -1.5925, -0.4606, -0.6952, 0.0381, 0.1802, 1.1275, 0.9588, -1.0554, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4197 left_y=-0.2852 left_z=0.1305 left_yaw=0.1703 left_pitch=-0.569 left_roll=0.3158 left_gripper=0.0381 right_x=0.238 right_y=0.0443 right_z=0.1366 right_yaw=0.0749 right_pitch=-0.6382 right_roll=0.0332 right_gripper=0.9954\nstate[joint_eff]: [0.253, -12.9299, 8.294, 0.7155, -0.3736, 0.149, 0.7888, 0.0615, -3.8222, 6.3658, 1.1355, 0.0269, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65569a7386d40990eca3c448d9d48a622449e67737795f1026b50f77a2f56e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc91ad1111760e43602b7916c9ca8a4f2262eac43b450a8044e650123df48827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0c8f30d9d29dff7e51fec3f77888ed2c12c37c346b580952db240534ae62aa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 6.962 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]: [-0.8452, 2.2696, 2.368, -1.5658, -0.4828, -0.7845, 0.0356, 0.1783, 1.1721, 1.0271, -1.0782, 0.0151, 0.112, 0.9954]\nstate[eef_state]: left_x=0.3633 left_y=-0.2806 left_z=0.1728 left_yaw=0.163 left_pitch=-0.5502 left_roll=0.31 left_gripper=0.0356 right_x=0.2484 right_y=0.0457 right_z=0.1475 right_yaw=0.0733 right_pitch=-0.6374 right_roll=0.0331 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -15.1043, 7.747, 0.4713, -0.3248, 0.232, 0.9402, 0.0752, -4.1094, 6.6667, 1.1355, 0.0611, -0.0513, -0.0171]",
      "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]: [-0.7647, 2.3985, 2.5599, -1.586, -0.4671, -0.7044, 0.0374, 0.1802, 1.1488, 0.9924, -1.066, 0.0154, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4036 left_y=-0.272 left_z=0.164 left_yaw=0.1654 left_pitch=-0.5522 left_roll=0.2998 left_gripper=0.0374 right_x=0.2432 right_y=0.0452 right_z=0.1422 right_yaw=0.0746 right_pitch=-0.6366 right_roll=0.033 right_gripper=0.9954\nstate[joint_eff]: [0.5402, -11.8769, 7.9385, 0.652, -0.359, 0.2125, 0.8523, 0.0615, -3.9863, 6.3521, 1.1258, 0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7593, 2.5439, 2.6949, -1.5925, -0.4606, -0.6952, 0.0381, 0.1802, 1.1275, 0.9588, -1.0554, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4197 left_y=-0.2852 left_z=0.1305 left_yaw=0.1703 left_pitch=-0.569 left_roll=0.3158 left_gripper=0.0381 right_x=0.238 right_y=0.0443 right_z=0.1366 right_yaw=0.0749 right_pitch=-0.6382 right_roll=0.0332 right_gripper=0.9954\nstate[joint_eff]: [0.253, -12.9299, 8.294, 0.7155, -0.3736, 0.149, 0.7888, 0.0615, -3.8222, 6.3658, 1.1355, 0.0269, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65569a7386d40990eca3c448d9d48a622449e67737795f1026b50f77a2f56e70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc91ad1111760e43602b7916c9ca8a4f2262eac43b450a8044e650123df48827",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c8f30d9d29dff7e51fec3f77888ed2c12c37c346b580952db240534ae62aa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwkKEAgSGAI4AUIIdGhpbmtpbmcSDMxaYltmy3uxwEFiDhoMGFWH76LzokQDt5J6IjCMta654wN0I5stosIxsjv57ziC/ElrTaiZAvXpOEI80nF7SMWBfnv46zuBEPk7Z2YqrAjkPbB5mCchZycxSYEgrR014Al07YglwogUAuW+/h/K23+wqeBLuzElnCUf5cyItLSt+hpWCaWc7aNAo7n1ptWOO+kD6gt4szEHVGYH6iMhldxzcNeYfo0EZIgVFWjr/pMYaAdkOItu1Afz4Ag1bqfFHX1jvdDI+ezXu2YIBAiFHYzSTRx6wjsD2FXg7ZTcPZKIvBT2SDCGe9eek2JvOhQNpUTdsEduPySAr4eXVVYXYTlvs31ppYK4n92dJYHa23onbBfXfmSmH3NI49NtPXNbbXYoml6rMB+AnHvdEV8cpqQ6T1amwevyTJGptAckgegTUyqIcn3RxEBmRB+5GwTetlnWeqS3WuF1dm89vrV57CVde5dPvGajSt3ocq/ILMYufK5Ps61hUXB0lD3uWMlaLXMQxd04TH5ZOEbQZPfuXJ2xJhjrOJemPw7IWHRlw+Yi4Tzg4B7R0NoXVWJMIe8x+fofnw2o7UYU6LLaK1PfMpfZTSIQAnEV6loImQgjVcVVXwdgnJlN2QOJASJTipKhDhMQX6kIcAv6XAtxMgo5EDpmdt71L0g6pbyDptnm4JxomjBItdRvfJQ1pABOkfUEWm83rpu+S3JhTxaYaTaje1ib+soCn1CucGdCVViiQMLbD4ymtWxHFgA3hjjhPuQzqUPL0HvD7M+HzymyHJmdhL1Sujh2qF1pftP/aUjUCHttQm181BlbGS6PoaasAm4uAiky3dSJaNsmc43MitsZZDLJphyxJWXOZBH5P5YJHnz7BgX6gbiRwvuT49hfIDCFcWKCvPGMjp7IdxMqHqzcIBYWIs4sW8P5F0/g8IAd+2vEDhpBJklsMTnzLdORopgyfk9IfRyzH3UxsHUsZX0+OvD6odQyOsji0P/491H0fHIbEWr3JU0iOhwaCyuAT3K7U9cruujMQY9EKwE6VpXeF5vekW3IsZghHSSYzYkMWvmQMVz6skws0zIIItOc2UrIeiC4fQBAk/FQgJp0scotfnE6urfBIMEl8ZHmwmt8LiPZhehUJzxmuvhzLh3Tt2e+Pc+ws1tvvXS+OyGUubfz+jkEwOFiBro12KBZxcEj2PylgeYDghPqdfjyAIKs8+BRfUFf0uFfsVuNTmvB3glFixpj2Agrv/ATaGgoQ0GUfe+NBJ49IhrHhw9LMd5FYDk4U14Eu+eedOnXZWMboa297Jvyirxj0Ng7/dycciJacZqjAziJ3iK2/T7wKbPIf+V5BT/Nw7Z0wKjidDP1DayVFPbYpY0g1tljR9cQ73ZXp/LFxSXa2qPPw4PvveXicZjHVd98smySw5ROI3tBeHUNjN7wkOVfAVHp1FN4z8ycBvyEhpLJPC8GrkLfoJteQ7MfgE7DvljLj93ZBs9ju02V0VyNUUA0FE6gB78gq6WEKVaeHIIdkesTKNAJ+sQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F9d6seUj1syMYWy4Co3as7",
      "input": {
        "note": "The bear seems caught on the safe's front wall, which is stopping the arm. Lifting straight up to clear the wall first.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.3,
          "left_z": 0.32
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01F9d6seUj1syMYWy4Co3as7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7582, 2.1895, 2.315, -1.5738, -0.4603, -0.6804, 0.04, 0.1822, 1.1015, 0.9249, -1.0439, 0.0147, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3733 left_y=-0.2405 left_z=0.1908 left_yaw=0.1656 left_pitch=-0.576 left_roll=0.3295 left_gripper=0.04 right_x=0.2328 right_y=0.0439 right_z=0.1319 right_yaw=0.0774 right_pitch=-0.6348 right_roll=0.0341 right_gripper=0.9954\nstate[joint_eff]: [0.5812, -15.3368, 5.1897, 0.5885, -0.3297, 0.0952, 0.6862, 0.0615, -3.6308, 6.3932, 1.0916, 0.022, 0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f104c498e8d704738f966afb460655592d632345840ed96499e6d6f726c329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447e9d4978cf86f6c95c01b8693740245d87e3dc950c028b76f2cf2dfacec40a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36bebfa25a12b05482850271b085ab3bcca10b4b3fb005bf8886c1654807df0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 6.36 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]: [-0.7647, 2.3985, 2.5599, -1.586, -0.4671, -0.7044, 0.0374, 0.1802, 1.1488, 0.9924, -1.066, 0.0154, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4036 left_y=-0.272 left_z=0.164 left_yaw=0.1654 left_pitch=-0.5522 left_roll=0.2998 left_gripper=0.0374 right_x=0.2432 right_y=0.0452 right_z=0.1422 right_yaw=0.0746 right_pitch=-0.6366 right_roll=0.033 right_gripper=0.9954\nstate[joint_eff]: [0.5402, -11.8769, 7.9385, 0.652, -0.359, 0.2125, 0.8523, 0.0615, -3.9863, 6.3521, 1.1258, 0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7593, 2.5439, 2.6949, -1.5925, -0.4606, -0.6952, 0.0381, 0.1802, 1.1275, 0.9588, -1.0554, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4197 left_y=-0.2852 left_z=0.1305 left_yaw=0.1703 left_pitch=-0.569 left_roll=0.3158 left_gripper=0.0381 right_x=0.238 right_y=0.0443 right_z=0.1366 right_yaw=0.0749 right_pitch=-0.6382 right_roll=0.0332 right_gripper=0.9954\nstate[joint_eff]: [0.253, -12.9299, 8.294, 0.7155, -0.3736, 0.149, 0.7888, 0.0615, -3.8222, 6.3658, 1.1355, 0.0269, -0.0366, -0.0171]\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 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7582, 2.1895, 2.315, -1.5738, -0.4603, -0.6804, 0.04, 0.1822, 1.1015, 0.9249, -1.0439, 0.0147, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3733 left_y=-0.2405 left_z=0.1908 left_yaw=0.1656 left_pitch=-0.576 left_roll=0.3295 left_gripper=0.04 right_x=0.2328 right_y=0.0439 right_z=0.1319 right_yaw=0.0774 right_pitch=-0.6348 right_roll=0.0341 right_gripper=0.9954\nstate[joint_eff]: [0.5812, -15.3368, 5.1897, 0.5885, -0.3297, 0.0952, 0.6862, 0.0615, -3.6308, 6.3932, 1.0916, 0.022, 0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f104c498e8d704738f966afb460655592d632345840ed96499e6d6f726c329",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447e9d4978cf86f6c95c01b8693740245d87e3dc950c028b76f2cf2dfacec40a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36bebfa25a12b05482850271b085ab3bcca10b4b3fb005bf8886c1654807df0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpwsKEAgSGAI4AUIIdGhpbmtpbmcSDABDkul5ayuEYYEKphoMgnebxoASZsDeZefNIjBkzbXd24V2UDWzZn1d1Fbjlfo4ehbFdh5LxGkE+JCu3ZpzyEgQ2AwGimlQO/Oq3VkqxAq0TTnoFc0ZDb1rtlCsau9lg3wE84qYV0QoJMc4o2VOodEjbQSt2obXDYJipZsW0gG+WDIKg4vRXd2X7iYkeATFZ3hA4sg0t72KBxSahRf//dJIlPRuQaX4NNuOB/aCT8KpeNcJfUQHVzvbJmKnYFsIfRM0iZ/P+uRKcQL4gI4j6RThSQStKCoiCU5lDPQtR96KUiC+y9ozK+hNPFR5KNrIc+z2wBImWJ0ftX0RZlJ8Y0rifOt28AvzpwB0Z/fe1vrKi5xrfhHvLyFKqg53BdrUdd/rkGW/b5vuqnMCzGWiRtc3bpmkqldNytJwPAyWrj8QZH2mjBJue1S/Q81X4Pd8pccmA4GItVrGsl9TaLugbd2YaGZhHCiXjKdrdYoL7I4Wh7KAl7mCT3Zg5l2Z7PemdxwGgsBsMjuBOfVhZ/LLzPfnNnPDxwcaAUazEZXUx6GaNdedsLMTRHpvwVqVs6Th89Khm4n5Z3SuU/c9kCAUbfsA3NCyKosEoVy7zYPAPIgmudRR+uBM2ZfZfvHavzKu4xnoiiXS4rj4GPRWmz1KBcptpCrosISF+VOA6g/QMcSs4eP9+uWfIGn0P4+yPZvJXRyKa/sgD/XkeH+ev6hHyJsgwSXxqkoTHrL4oL9Y1aW2cRe64UBRH8cl3xrLYjAFfnDFhja+8r8105QQYyxsYv6acjMsWfeew18U2J7BTEr8Kvlneo9J5KkaTLnLo4kHJ6cALsdQmhcG8s2CQ1btBq9xN8+xMYXlKlpvtIkMjWfVSwv20+lsEwkCuiwcrXG63lKn4wxF48gXb4BlVf/P0y5znsvfs9ntgR6fBZWWx6HQSS3CGRu0QsLrcU54l/2vjYnbXS8vjEglaXkQn35SddXZwVTRU1qX5i2wbRZbY9M3lMr93NqisYZUxlP/+Yrh5zx6yZUgxc/ZAYnNKPtIb170XbKez7j+svQE95/wPbQyF47Erl4UBIYwtrsmgnTOmv43CIwOitYMYJUivv/ZG6i8lbW/eWV/oecbziSWnlxJTNfKQrYv0ndPWzbk9/iFpim9zv9g1gX9wMfv7NlQGtHlN9qlWu6IfLw+GF0jkluELZOnhq8ySHfb8IHMWym+FoGJhgyOuJSva51EjT5/wqebEv788G+tfN++N8xzoPpbdZ1TfBDkucJQwdL0rGiTcN64eKFI5/0Rg1ixmksXzqzns8/bjcLraZXHC+0GgmJMS2yo0LmOfGZZqsQS5IM4EcuaxDSJU4yF+pOB6ftpsZn4VwGKzTKRwZDpMCYrnYGQmMFNB1AwZsSZR//Qc9PiE0K7z4MIOn6vL/R4c+WOZ/jc333Zrtk/r48V0M17dcyI61F/DKQNgxKQFqYNyPZctBDbB6zklX3kYD3+lvj7MSx2CwqONiIoxJLZ8AokfZF7KOseu2+UmxOK/MfWSUGHplK0j2/rZtr7ScpdlJKMmpVlA0fggx6sylAtoRTOUBf6jbDE7EG4LzyWLYIwyB59U2fRDebj4TrHPn0bpp19V2ZmOYR+UusWEqb19KTdc9qkbVrbg+G761puG9XzacrQi3ejKtJe3AUsgni4XjRulKSZX7slVIc4jl+pb15QvSb2+ara4VRwD3TEA4QrBRkPckuR/9Pk8yvq2BwtvOlKD34ZBqFn62VhcTXa4NJFe9/0NZlPyu8YvLt3+XRo6Usr/DVmXeCVZLSivkhh+PZfln7YmHLbfsrnS4RIa8UnK39vBh7ui1ABpHGbwQc7CDvybPcFZE0HPf1RXCjzlg9JgRJ3KlMWgwBd7lTalVkktXf+j77pGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pwq5puazD1JcjVp7McTvBG",
      "input": {
        "note": "Bear is dangling just in front of the safe's front wall. Pushing forward over the safe at the highest height the arm will hold, also straightening the wrist pitch.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.47,
          "left_y": -0.32,
          "left_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01Pwq5puazD1JcjVp7McTvBG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.844, 2.5866, 2.965, -1.5791, -0.8135, -0.6876, 0.0425, 0.1822, 1.0786, 0.8936, -1.0328, 0.0143, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.3002 left_z=0.2191 left_yaw=0.1687 left_pitch=-0.153 left_roll=0.3172 left_gripper=0.0425 right_x=0.2283 right_y=0.0431 right_z=0.1272 right_yaw=0.078 right_pitch=-0.6322 right_roll=0.0349 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -12.9162, 7.3915, 0.9988, -0.8034, 0.2613, 0.5201, 0.1983, -3.0701, 6.4342, 1.0818, 0.0366, 0.0024, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70fc5826b8abadc657bd2fb3a45634328451e2d91b9388a5562e464515f5a7e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63cec0318fcea94607c6e400ac16adc8bf6704782052ff30469af19f45262dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:439ea0931b825410d3da8a756f537bce5a5123db9f96c2f0137399ece26b7e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 3.17 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]: [-0.7593, 2.5439, 2.6949, -1.5925, -0.4606, -0.6952, 0.0381, 0.1802, 1.1275, 0.9588, -1.0554, 0.0151, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4197 left_y=-0.2852 left_z=0.1305 left_yaw=0.1703 left_pitch=-0.569 left_roll=0.3158 left_gripper=0.0381 right_x=0.238 right_y=0.0443 right_z=0.1366 right_yaw=0.0749 right_pitch=-0.6382 right_roll=0.0332 right_gripper=0.9954\nstate[joint_eff]: [0.253, -12.9299, 8.294, 0.7155, -0.3736, 0.149, 0.7888, 0.0615, -3.8222, 6.3658, 1.1355, 0.0269, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7582, 2.1895, 2.315, -1.5738, -0.4603, -0.6804, 0.04, 0.1822, 1.1015, 0.9249, -1.0439, 0.0147, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3733 left_y=-0.2405 left_z=0.1908 left_yaw=0.1656 left_pitch=-0.576 left_roll=0.3295 left_gripper=0.04 right_x=0.2328 right_y=0.0439 right_z=0.1319 right_yaw=0.0774 right_pitch=-0.6348 right_roll=0.0341 right_gripper=0.9954\nstate[joint_eff]: [0.5812, -15.3368, 5.1897, 0.5885, -0.3297, 0.0952, 0.6862, 0.0615, -3.6308, 6.3932, 1.0916, 0.022, 0.0024, -0.0171]\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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.844, 2.5866, 2.965, -1.5791, -0.8135, -0.6876, 0.0425, 0.1822, 1.0786, 0.8936, -1.0328, 0.0143, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.3002 left_z=0.2191 left_yaw=0.1687 left_pitch=-0.153 left_roll=0.3172 left_gripper=0.0425 right_x=0.2283 right_y=0.0431 right_z=0.1272 right_yaw=0.078 right_pitch=-0.6322 right_roll=0.0349 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -12.9162, 7.3915, 0.9988, -0.8034, 0.2613, 0.5201, 0.1983, -3.0701, 6.4342, 1.0818, 0.0366, 0.0024, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70fc5826b8abadc657bd2fb3a45634328451e2d91b9388a5562e464515f5a7e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63cec0318fcea94607c6e400ac16adc8bf6704782052ff30469af19f45262dcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:439ea0931b825410d3da8a756f537bce5a5123db9f96c2f0137399ece26b7e7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Am1omE24JZwTwXhqcVANb",
      "input": {
        "note": "The bear is now over the safe, but its head still hangs over the left wall. Shifting right and forward to centre it over the interior.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.34
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_012Am1omE24JZwTwXhqcVANb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.844, 2.5866, 2.965, -1.5791, -0.8173, -0.6842, 0.0444, 0.1841, 1.0573, 0.8646, -1.021, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4437 left_y=-0.2998 left_z=0.2195 left_yaw=0.1686 left_pitch=-0.1506 left_roll=0.3217 left_gripper=0.0444 right_x=0.2244 right_y=0.0426 right_z=0.1229 right_yaw=0.0787 right_pitch=-0.6279 right_roll=0.0337 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -12.8889, 7.1726, 0.9597, -0.7302, 0.2369, 0.1832, 0.0889, -3.1795, 6.4752, 1.1013, 0.0317, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453a500f155d4c3c50c47a53b0162a4a1749a0bf6f4124e79efa4c622ab5aefa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7302ea3a02a983e8706ab943fd3bef5a2fa7c289300195942c33a17d028019a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e66ebbc9e3d3ed99d8977e1be7979d3e8320a330998c0060af5d528b6ca8df1",
        "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 · 8.764 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7582, 2.1895, 2.315, -1.5738, -0.4603, -0.6804, 0.04, 0.1822, 1.1015, 0.9249, -1.0439, 0.0147, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.3733 left_y=-0.2405 left_z=0.1908 left_yaw=0.1656 left_pitch=-0.576 left_roll=0.3295 left_gripper=0.04 right_x=0.2328 right_y=0.0439 right_z=0.1319 right_yaw=0.0774 right_pitch=-0.6348 right_roll=0.0341 right_gripper=0.9954\nstate[joint_eff]: [0.5812, -15.3368, 5.1897, 0.5885, -0.3297, 0.0952, 0.6862, 0.0615, -3.6308, 6.3932, 1.0916, 0.022, 0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.844, 2.5866, 2.965, -1.5791, -0.8135, -0.6876, 0.0425, 0.1822, 1.0786, 0.8936, -1.0328, 0.0143, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.3002 left_z=0.2191 left_yaw=0.1687 left_pitch=-0.153 left_roll=0.3172 left_gripper=0.0425 right_x=0.2283 right_y=0.0431 right_z=0.1272 right_yaw=0.078 right_pitch=-0.6322 right_roll=0.0349 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -12.9162, 7.3915, 0.9988, -0.8034, 0.2613, 0.5201, 0.1983, -3.0701, 6.4342, 1.0818, 0.0366, 0.0024, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.844, 2.5866, 2.965, -1.5791, -0.8173, -0.6842, 0.0444, 0.1841, 1.0573, 0.8646, -1.021, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4437 left_y=-0.2998 left_z=0.2195 left_yaw=0.1686 left_pitch=-0.1506 left_roll=0.3217 left_gripper=0.0444 right_x=0.2244 right_y=0.0426 right_z=0.1229 right_yaw=0.0787 right_pitch=-0.6279 right_roll=0.0337 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -12.8889, 7.1726, 0.9597, -0.7302, 0.2369, 0.1832, 0.0889, -3.1795, 6.4752, 1.1013, 0.0317, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:453a500f155d4c3c50c47a53b0162a4a1749a0bf6f4124e79efa4c622ab5aefa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7302ea3a02a983e8706ab943fd3bef5a2fa7c289300195942c33a17d028019a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e66ebbc9e3d3ed99d8977e1be7979d3e8320a330998c0060af5d528b6ca8df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgSGAI4AUIIdGhpbmtpbmcSDCShtEeuK08yXs6JQxoMN6HPz+ls+SkkzTK9IjCzpS/zm+FRvj/41YYMGeOOVTrNlBi1O7yKXYrgvM1RsIeoegt8mxLvIuF09WiMVTMqqwY+pEhYXtlD1i/SuEW3CLhpWpRJ2X82X0cW8l0Tp5kGwCkBq/S1UhTwpqrrfWOuBUZGUOLm714PWiKbrSFRIVD8EI/nOQM3NbCrhDTGAFeqTNBxNeRD4RwZmCgFFOEU403ln5J4RH7l0QcQyvCdi1yGXYVN5tJ8fqiFShHOXGOwjQxtFX86XiInIyVipiHFFCS0SAWx5XpgUK7Kyrvbmk5WuLw+NFD2339qEIjs8HONLBNlroQLIvY6Upk2LYT8MP3Crq+N9nIe5PsqzTw7drZklLWxSo+XiLurNNHSpIx/Lq+P/Ym95qzMhOludR1WufUAmGmdZcTiTFzkQBUpzlpbIQvItat3I4KHybZcLGLSNBrNCESYw0UslVKxQprrD58idG5JHz87pJE9BBYe6BfGgAG1o8c0ockQ1AxhaGTvGxtvn4niD+K3/yDARqw0ePkhbk0euU3SuZGPedAktfV1/pFPYFgrvrC9u6IYgDaNy8vfDgggtXL9IzDbYH8CgiRhd8oMzmuaCkYTgJlkeMhLKS+9KBbiukUT7xJQ4koni8xYyNBc9+leHqOuSJEXR3yKjuWzeXLP/fQdcJLasdfw860XehFqvn0FQHwhWqmUc2cWHUlSxfOXfplfViVLrWczeG6JiyqjX1qU/Buz60zQcEqBoqTbCf3HLdF1Fy155xqgjebXJX2os9VykC7u5axE3S9qLccDJmmnPRyoLDavJWmeiUbdpsEsenzXXYcfKokElYqaFnEdsm1Lj74smj6ZnnndSJ6Jl/HXGyyGgjgNaFpfGYNVM3MydxeKVVdKe4IaxdDn+bTfXxcAOefmiqn5mzWpdQKZDZjc2kumw+Akm0Ckmw/0jGcMGC5ssa9LSKJsbwrCdoYe+rsiGttmT8rLlJePET1Mr2ttz5m30AorEYNdsWn5rxC6gXDE8pKD6+H4ZcRh1JDvVFab3ZcOF1Y3st0sv5l8fQeK61IZ8A3aK6oHZWsCvT13K0T9bTCd5NrwIC8/4t0ba+daPXLTTtRSkG4ekrahIWEWp/xD2oIMiQpK4tuvK5XT1CNrfiXi9vkr9QbFMUaDPxxNGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011CPdDzcQuHy53WMWXsJsHH",
      "input": {
        "note": "The arm is at its reach limit, and the bear's body is over the safe interior. Releasing it into the safe.",
        "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_011CPdDzcQuHy53WMWXsJsHH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.844, 2.5866, 2.9498, -1.5761, -0.8124, -0.6922, 0.9952, 0.1841, 1.0397, 0.8429, -1.0138, 0.0154, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4434 left_y=-0.3004 left_z=0.2149 left_yaw=0.1723 left_pitch=-0.1596 left_roll=0.3237 left_gripper=0.9952 right_x=0.2212 right_y=0.0421 right_z=0.1198 right_yaw=0.0793 right_pitch=-0.6249 right_roll=0.0345 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -14.3248, 5.0393, 0.8864, -0.486, 0.0171, -0.1001, 0.1709, -2.8786, 6.1744, 1.1062, 0.0171, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91fc6c01614ac056244a99ae53f80622d2ecbc0b7efe66ba158aaed1d81b83db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b926d23fc13f273aba4b3f79456a171f3d3e2cfa6bc407af8a27639437bafc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c930434a8f848522ae20ea0e10ec375b348b3cb3555d2cc3fdaceed6fb7d92e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /messages · status 200 · 11.09 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]: [-0.844, 2.5866, 2.965, -1.5791, -0.8135, -0.6876, 0.0425, 0.1822, 1.0786, 0.8936, -1.0328, 0.0143, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4435 left_y=-0.3002 left_z=0.2191 left_yaw=0.1687 left_pitch=-0.153 left_roll=0.3172 left_gripper=0.0425 right_x=0.2283 right_y=0.0431 right_z=0.1272 right_yaw=0.078 right_pitch=-0.6322 right_roll=0.0349 right_gripper=0.9954\nstate[joint_eff]: [-0.4581, -12.9162, 7.3915, 0.9988, -0.8034, 0.2613, 0.5201, 0.1983, -3.0701, 6.4342, 1.0818, 0.0366, 0.0024, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.844, 2.5866, 2.965, -1.5791, -0.8173, -0.6842, 0.0444, 0.1841, 1.0573, 0.8646, -1.021, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4437 left_y=-0.2998 left_z=0.2195 left_yaw=0.1686 left_pitch=-0.1506 left_roll=0.3217 left_gripper=0.0444 right_x=0.2244 right_y=0.0426 right_z=0.1229 right_yaw=0.0787 right_pitch=-0.6279 right_roll=0.0337 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -12.8889, 7.1726, 0.9597, -0.7302, 0.2369, 0.1832, 0.0889, -3.1795, 6.4752, 1.1013, 0.0317, -0.0366, -0.0171]\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 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.844, 2.5866, 2.9498, -1.5761, -0.8124, -0.6922, 0.9952, 0.1841, 1.0397, 0.8429, -1.0138, 0.0154, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4434 left_y=-0.3004 left_z=0.2149 left_yaw=0.1723 left_pitch=-0.1596 left_roll=0.3237 left_gripper=0.9952 right_x=0.2212 right_y=0.0421 right_z=0.1198 right_yaw=0.0793 right_pitch=-0.6249 right_roll=0.0345 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -14.3248, 5.0393, 0.8864, -0.486, 0.0171, -0.1001, 0.1709, -2.8786, 6.1744, 1.1062, 0.0171, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91fc6c01614ac056244a99ae53f80622d2ecbc0b7efe66ba158aaed1d81b83db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09b926d23fc13f273aba4b3f79456a171f3d3e2cfa6bc407af8a27639437bafc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c930434a8f848522ae20ea0e10ec375b348b3cb3555d2cc3fdaceed6fb7d92e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DHdA9imkm9yeZeYMzV4YRW",
      "input": {
        "note": "The big bear fell off the front of the safe and is lying just in front of it. Going back down to grab it again.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.34,
          "left_y": -0.31,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01DHdA9imkm9yeZeYMzV4YRW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0832, 3.0566, 3.1367, -1.5703, -1.0191, -1.1038, 0.9963, 0.181, 1.0245, 0.8101, -1.0668, 0.0456, 0.112, 0.9954]\nstate[eef_state]: left_x=0.3869 left_y=-0.4008 left_z=0.0519 left_yaw=0.2227 left_pitch=-0.0076 left_roll=0.3332 left_gripper=0.9963 right_x=0.2027 right_y=0.0326 right_z=0.1079 right_yaw=0.0382 right_pitch=-0.6914 right_roll=-0.0125 right_gripper=0.9954\nstate[joint_eff]: [-3.8769, -11.0564, 6.0786, 0.4322, -0.1245, 0.0904, 0.1001, 0.294, -2.865, 7.1863, 1.8584, -0.2662, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1cc227d4a8681adc118cd40a0e1e97b3f22a4a8568f302d74d6d01217e40aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049cfd90d751d626aeaf28b041fddbf6cbd148c3aac6435b54cd239981fa12f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:badbc7059d2862476081acefe2009ebc8689ce530ae40d0f8b5bf2b9d91c02e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 16.38 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.844, 2.5866, 2.965, -1.5791, -0.8173, -0.6842, 0.0444, 0.1841, 1.0573, 0.8646, -1.021, 0.0158, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4437 left_y=-0.2998 left_z=0.2195 left_yaw=0.1686 left_pitch=-0.1506 left_roll=0.3217 left_gripper=0.0444 right_x=0.2244 right_y=0.0426 right_z=0.1229 right_yaw=0.0787 right_pitch=-0.6279 right_roll=0.0337 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -12.8889, 7.1726, 0.9597, -0.7302, 0.2369, 0.1832, 0.0889, -3.1795, 6.4752, 1.1013, 0.0317, -0.0366, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.844, 2.5866, 2.9498, -1.5761, -0.8124, -0.6922, 0.9952, 0.1841, 1.0397, 0.8429, -1.0138, 0.0154, 0.1123, 0.9954]\nstate[eef_state]: left_x=0.4434 left_y=-0.3004 left_z=0.2149 left_yaw=0.1723 left_pitch=-0.1596 left_roll=0.3237 left_gripper=0.9952 right_x=0.2212 right_y=0.0421 right_z=0.1198 right_yaw=0.0793 right_pitch=-0.6249 right_roll=0.0345 right_gripper=0.9954\nstate[joint_eff]: [-0.3077, -14.3248, 5.0393, 0.8864, -0.486, 0.0171, -0.1001, 0.1709, -2.8786, 6.1744, 1.1062, 0.0171, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0832, 3.0566, 3.1367, -1.5703, -1.0191, -1.1038, 0.9963, 0.181, 1.0245, 0.8101, -1.0668, 0.0456, 0.112, 0.9954]\nstate[eef_state]: left_x=0.3869 left_y=-0.4008 left_z=0.0519 left_yaw=0.2227 left_pitch=-0.0076 left_roll=0.3332 left_gripper=0.9963 right_x=0.2027 right_y=0.0326 right_z=0.1079 right_yaw=0.0382 right_pitch=-0.6914 right_roll=-0.0125 right_gripper=0.9954\nstate[joint_eff]: [-3.8769, -11.0564, 6.0786, 0.4322, -0.1245, 0.0904, 0.1001, 0.294, -2.865, 7.1863, 1.8584, -0.2662, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f1cc227d4a8681adc118cd40a0e1e97b3f22a4a8568f302d74d6d01217e40aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:049cfd90d751d626aeaf28b041fddbf6cbd148c3aac6435b54cd239981fa12f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 343):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:badbc7059d2862476081acefe2009ebc8689ce530ae40d0f8b5bf2b9d91c02e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013jGA1ha5BKdEowAMdEHsPq",
      "input": {
        "note": "All three objects now appear inside the safe (the big bear at the front). Raising the left arm toward the top edge of the upright lid so it can grab it and pull it shut.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.52,
          "left_y": -0.33,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_013jGA1ha5BKdEowAMdEHsPq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.812, 2.6888, 2.7567, -1.2404, -0.939, -0.6689, 0.9983, 0.1951, 0.9333, 0.7345, -1.0286, 0.0639, 0.1158, 0.9954]\nstate[eef_state]: left_x=0.495 left_y=-0.3097 left_z=0.1434 left_yaw=0.2417 left_pitch=-0.0422 left_roll=0.3674 left_gripper=0.9983 right_x=0.1955 right_y=0.0308 right_z=0.1028 right_yaw=0.0368 right_pitch=-0.6356 right_roll=-0.0226 right_gripper=0.9954\nstate[joint_eff]: [0.3761, -18.7692, 9.1966, 1.0818, -0.5885, 0.2027, -0.1832, -0.0205, -1.5658, 6.8444, 1.1746, 0.0024, 0.0122, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f58cf5083540ff2cb439a45305d47b0741bea5b3316af89aef920873d61e292",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc71ebf3b28323d5ead33bd76ad90b4f75ab6385e5d65113be7aeb5e739c1a38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:907fdcc61a6e088d576487f665bba1eb417e88b346d0f31b72f83050a0b02e03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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