adhoc

completed
2026-09-22T20:47:19.451659+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
255.4 s
total steps
290
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 at centre-back, lemon to its right, a cream bear and a brown bear in front of it. Moving the right arm over the lemon first.
move_to
right_x0.4800right_y0.1600right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.4004, -0.0196, -0.0124, 0.9996] state[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6359, -1.4564, 10.3453, 1.9512, -0.0952, 0.1587, -0.0904, -0.335, -1.5111, 9.6479, 2.0, -0.0269, -0.0415, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.16, "right_z": 0.15}, "note": "Scene: open red safe at centre-back, lemon to its right, a cream bear and a brown bear in front of it. Moving the right arm over the lemon first."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteLemon visible in right wrist cam just ahead and slightly right of jaw centre. Advancing ~3 cm and descending to grasp it.
move_to
right_x0.5000right_y0.1480right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4332, 1.7542, 1.1629, -0.0891, 0.334, 0.2268, 0.9996] state[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4669 right_y=0.1561 right_z=0.1359 right_yaw=0.0293 right_pitch=-0.0506 right_roll=-0.0268 right_gripper=0.9996 state[joint_eff]: [-0.1436, -1.5932, 6.8991, 1.8486, -0.0806, -0.0024, -0.022, 0.3487, -8.9915, 8.3624, 1.7216, 0.2808, 0.1783, -0.0122] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.148, "right_z": 0.02}, "note": "Lemon visible in right wrist cam just ahead and slightly right of jaw centre. Advancing ~3 cm and descending to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteLemon still ahead and right of the jaw column; nudging forward 3 cm and right 1 cm while lowering to grasp height.
move_to
right_x0.5250right_y0.1380right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4137, -0.0189, -0.0383, 0.9992, 0.3855, 2.0418, 1.0782, 0.2779, 0.2901, 0.1997, 0.9996] state[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1736 left_yaw=0.0024 left_pitch=-0.024 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.1499 right_z=0.0289 right_yaw=0.032 right_pitch=-0.0661 right_roll=-0.0247 right_gripper=0.9996 state[joint_eff]: [-0.0479, -1.2376, 7.2137, 1.7558, -0.0415, -0.0562, -0.0122, -0.6496, -8.2256, 6.3111, 1.0916, 0.1148, -0.1538, -0.0122] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.525, "right_y": 0.138, "right_z": 0.015}, "note": "Lemon still ahead and right of the jaw column; nudging forward 3 cm and right 1 cm while lowering to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteLemon is close and a bit right of the jaw centre; small shift right and forward to straddle it.
move_to
right_x0.5350right_y0.1300right_z0.0120
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4236, -0.0189, -0.0387, 0.9992, 0.3447, 2.1193, 1.1568, 0.3061, 0.2516, 0.1764, 0.9996] state[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.0347 left_roll=-0.0033 left_gripper=0.9992 right_x=0.5201 right_y=0.1438 right_z=0.0235 right_yaw=0.0361 right_pitch=-0.0463 right_roll=-0.0111 right_gripper=0.9996 state[joint_eff]: [-0.3624, -1.2513, 7.1453, 1.9219, -0.0708, -0.0757, -0.0122, -0.4034, -9.9077, 6.5709, 1.4872, 0.3101, -0.1392, -0.0171] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.535, "right_y": 0.13, "right_z": 0.012}, "note": "Lemon is close and a bit right of the jaw centre; small shift right and forward to straddle it."})
tool
executing move_to over 2 steps (0.2s)
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 noteLemon sits between the open jaws in the right wrist view; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.3183, 2.1399, 1.1725, 0.3229, 0.2207, 0.1661, 0.9996] state[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1703 left_yaw=0.0024 left_pitch=-0.0397 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5282 right_y=0.1371 right_z=0.0212 right_yaw=0.041 right_pitch=-0.0404 right_roll=0.0019 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.7167, -0.0562, -0.0415, -0.0122, -1.1692, -8.5812, 7.3231, 1.5702, 0.2027, -0.1294, -0.0122] 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": {"right_gripper": 0.0}, "note": "Lemon sits between the open jaws in the right wrist view; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteClose was empty: lemon is further forward and to the right. Opening, pitching the tool forward to extend reach, and moving over it.
move_to
right_gripper1.0000right_z0.0500right_y0.1150right_x0.5600right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4362, -0.0189, -0.0387, 0.9992, 0.3058, 2.1582, 1.1866, 0.3393, 0.1944, 0.1387, 0.027] state[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.5342 right_y=0.1366 right_z=0.0196 right_yaw=0.0654 right_pitch=-0.0326 right_roll=-0.0022 right_gripper=0.027 state[joint_eff]: [0.1026, -1.2786, 7.0085, 1.746, -0.0464, -0.0562, -0.0122, -0.5812, -9.894, 6.2974, 1.6044, 0.1538, 0.0366, 1.2283] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.05, "right_y": 0.115, "right_x": 0.56, "right_pitch": 0.4}, "note": "Close was empty: lemon is further forward and to the right. Opening, pitching the tool forward to extend reach, and moving over it."})
tool
executing move_to over 15 steps (1.5s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteLemon is under the right jaw; shifting ~3 cm right so it's centred between the fingers and lowering.
move_to
right_y0.0880right_x0.5650right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4534, -0.0189, -0.0387, 0.9992, 0.2565, 2.2807, 1.0588, 0.9695, 0.1841, 0.0399, 0.9961] state[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1651 left_yaw=0.0026 left_pitch=-0.0656 left_roll=-0.0026 left_gripper=0.9992 right_x=0.5572 right_y=0.1164 right_z=0.0419 right_yaw=0.0687 right_pitch=0.338 right_roll=-0.0073 right_gripper=0.9961 state[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.8779, -0.0611, -0.0562, -0.0122, -0.5128, -9.9624, 4.5607, 2.4493, -0.0073, -0.1099, -0.2222] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.088, "right_x": 0.565, "right_z": 0.015}, "note": "Lemon is under the right jaw; shifting ~3 cm right so it's centred between the fingers and lowering."})
tool
executing move_to over 3 steps (0.3s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent notePrevious step was clamped short; re-targeting slightly further right and lower to straddle the lemon.
move_to
right_y0.0850right_x0.5700right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4591, -0.0189, -0.0387, 0.9992, 0.2073, 2.326, 1.071, 1.0645, 0.1226, 0.0345, 0.9973] state[eef_state]: left_x=0.2842 left_y=0.0016 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.5667 right_y=0.1008 right_z=0.0437 right_yaw=0.0737 right_pitch=0.3969 right_roll=0.012 right_gripper=0.9973 state[joint_eff]: [-0.1846, -1.1966, 7.1316, 1.6874, -0.0366, -0.0708, -0.0122, -1.0735, -8.1026, 4.9162, 1.2967, 0.2173, -0.1441, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.085, "right_x": 0.57, "right_z": 0.01}, "note": "Previous step was clamped short; re-targeting slightly further right and lower to straddle the lemon."})
tool
executing move_to over 3 steps (0.3s)
step 59
top_cam
camera top_cam step 59
left_cam
camera left_cam step 59
right_cam
camera right_cam step 59
assistant
agent noteArm is at reach limit and won't descend; pulling back 1.5 cm so it can lower around the lemon, which sits between the jaws.
move_to
right_x0.5580right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4622, -0.0189, -0.0387, 0.9992, 0.1787, 2.3791, 1.0889, 1.187, 0.0853, 0.0376, 0.9974] state[eef_state]: left_x=0.2838 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5742 right_y=0.0921 right_z=0.0505 right_yaw=0.0727 right_pitch=0.4829 right_roll=0.0328 right_gripper=0.9974 state[joint_eff]: [-0.0615, -1.1692, 7.159, 1.6777, -0.0611, -0.0366, -0.0122, -0.9231, -7.5419, 4.6427, 0.9548, 0.1245, -0.1636, 0.0024] camera 'top_cam' (step 59): [image omitted: streamed camera frame] camera 'left_cam' (step 59): [image omitted: streamed camera frame] camera 'right_cam' (step 59): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.558, "right_z": 0.015}, "note": "Arm is at reach limit and won't descend; pulling back 1.5 cm so it can lower around the lemon, which sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteArm isn't descending further but the lemon fills the space between the jaws; closing to try the grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4732, -0.0189, -0.0383, 0.9992, 0.1726, 2.3943, 1.095, 1.2228, 0.07, 0.041, 0.9974] state[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.161 left_yaw=0.0024 left_pitch=-0.0862 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5759 right_y=0.0915 right_z=0.0529 right_yaw=0.0775 right_pitch=0.5092 right_roll=0.0413 right_gripper=0.9974 state[joint_eff]: [0.0479, -1.1282, 6.9812, 1.746, -0.0611, -0.0122, -0.0122, -0.7863, -8.1846, 4.2872, 1.2772, 0.0952, -0.2125, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Arm isn't descending further but the lemon fills the space between the jaws; closing to try the grasp."})
tool
executing move_to over 10 steps (1.0s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteSecond close empty; jaws seem to have been resting on top of the lemon, which sits slightly nearer and to the right. Opening and lifting to re-approach from above.
move_to
right_gripper1.0000right_z0.1000right_x0.5500right_y0.0850right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0193, -0.0383, 0.9992, 0.178, 2.3974, 1.0977, 1.2617, 0.0536, 0.0444, 0.0087] state[eef_state]: left_x=0.281 left_y=0.0017 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.093 left_roll=-0.0015 left_gripper=0.9992 right_x=0.576 right_y=0.0976 right_z=0.0618 right_yaw=0.0945 right_pitch=0.5474 right_roll=0.0503 right_gripper=0.0087 state[joint_eff]: [-0.3214, -0.9778, 6.9538, 1.6923, -0.0806, -0.0269, -0.0122, -0.7316, -12.2598, 4.3692, 1.5653, 0.1343, -0.0122, 0.7057] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.1, "right_x": 0.55, "right_y": 0.085, "right_pitch": 0.4}, "note": "Second close empty; jaws seem to have been resting on top of the lemon, which sits slightly nearer and to the right. Opening and lifting to re-approach from above."})
tool
executing move_to over 10 steps (1.0s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteLemon now centred between the open jaws in the right wrist view; descending straight onto it.
move_to
right_z0.0200right_y0.0800right_x0.5550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4953, -0.0189, -0.0387, 0.9992, 0.1593, 2.1426, 0.9825, 0.9474, 0.0357, 0.046, 0.9946] state[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.156 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5504 right_y=0.0857 right_z=0.0815 right_yaw=0.0978 right_pitch=0.373 right_roll=0.0404 right_gripper=0.9946 state[joint_eff]: [-0.0752, -1.4427, 6.9812, 1.8144, -0.0611, -0.0611, -0.0122, -0.4308, -13.135, 5.2171, 1.9853, -0.1001, 0.1001, -0.1978] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_y": 0.08, "right_x": 0.555}, "note": "Lemon now centred between the open jaws in the right wrist view; descending straight onto it."})
tool
executing move_to over 4 steps (0.4s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteStill lowering around the lemon (clamped step); continuing the descent.
move_to
right_z0.0150right_y0.0800right_x0.5550
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5106, -0.0189, -0.0383, 0.9992, 0.144, 2.302, 1.0065, 1.1275, 0.0124, 0.0666, 0.9953] state[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1529 left_yaw=0.0025 left_pitch=-0.1274 left_roll=-0.001 left_gripper=0.9992 right_x=0.5581 right_y=0.0823 right_z=0.048 right_yaw=0.0902 right_pitch=0.4166 right_roll=0.0699 right_gripper=0.9953 state[joint_eff]: [-0.1162, -1.2513, 6.9402, 1.7607, -0.0317, -0.0171, -0.0122, -0.1299, -7.8701, 4.6017, 0.8864, 0.1441, -0.2906, 0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015, "right_y": 0.08, "right_x": 0.555}, "note": "Still lowering around the lemon (clamped step); continuing the descent."})
tool
executing move_to over 3 steps (0.3s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteDescent stalls at z≈5 cm: the left finger seems to be landing on the safe's side wall, which the lemon sits against. Lifting and shifting 2 cm right so the finger clears the wall.
move_to
right_z0.0800right_y0.0620
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.1436, 2.323, 1.0103, 1.1851, 0.0097, 0.0643, 0.9953] state[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0026 left_pitch=-0.135 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5598 right_y=0.0828 right_z=0.0521 right_yaw=0.0927 right_pitch=0.4571 right_roll=0.0702 right_gripper=0.9953 state[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.663, -0.0464, -0.0366, -0.0122, -0.1983, -10.0581, 4.2325, 1.7021, -0.0317, -0.0513, -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_z": 0.08, "right_y": 0.062}, "note": "Descent stalls at z\u22485 cm: the left finger seems to be landing on the safe's side wall, which the lemon sits against. Lifting and shifting 2 cm right so the finger clears the wall."})
tool
executing move_to over 2 steps (0.2s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteRight arm stopped responding at this extended pose; backing off in height, reach and pitch to free it.
move_to
right_z0.1200right_x0.5200right_pitch0.2000right_y0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.1436, 2.323, 1.0096, 1.1851, 0.0097, 0.0708, 0.9953] state[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1513 left_yaw=0.0028 left_pitch=-0.1358 left_roll=-0.0011 left_gripper=0.9992 right_x=0.5596 right_y=0.0828 right_z=0.0518 right_yaw=0.0887 right_pitch=0.456 right_roll=0.0773 right_gripper=0.9953 state[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.6435, -0.0757, -0.0659, -0.0122, -0.0752, -10.1675, 4.0821, 1.7216, -0.0464, -0.105, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_x": 0.52, "right_pitch": 0.2, "right_y": 0.07}, "note": "Right arm stopped responding at this extended pose; backing off in height, reach and pitch to free it."})
tool
executing move_to over 9 steps (0.9s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteLemon is pressed against the safe's right wall, blocking the left finger. Rolling the wrist so the left finger rides higher over the wall while the right finger goes low, then descending.
move_to
right_z0.0350right_x0.5530right_pitch0.3500right_y0.0720right_roll0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.527, -0.0189, -0.0383, 0.9992, 0.1257, 2.0735, 0.944, 0.8688, -0.0025, 0.0742, 0.9953] state[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1491 left_yaw=0.0026 left_pitch=-0.1468 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5399 right_y=0.0723 right_z=0.0841 right_yaw=0.0825 right_pitch=0.3235 right_roll=0.0764 right_gripper=0.9953 state[joint_eff]: [-0.0205, -1.0462, 6.9128, 1.6874, -0.0317, -0.0366, -0.0122, -0.1983, -13.3812, 7.1726, 2.801, -0.1294, 0.0562, -0.0073] camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035, "right_x": 0.553, "right_pitch": 0.35, "right_y": 0.072, "right_roll": 0.5}, "note": "Lemon is pressed against the safe's right wall, blocking the left finger. Rolling the wrist so the left finger rides higher over the wall while the right finger goes low, then descending."})
tool
executing move_to over 6 steps (0.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteWith the roll, the arm descended to 3.7 cm and the lemon is centred between the jaws; lowering a bit more before closing.
move_to
right_z0.0220right_x0.5580
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.0238, 2.3032, 0.9962, 1.0939, -0.2699, 0.3305, 0.9954] state[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.164 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5521 right_y=0.0639 right_z=0.0369 right_yaw=0.074 right_pitch=0.3369 right_roll=0.4037 right_gripper=0.9954 state[joint_eff]: [-0.2393, -1.4564, 7.0359, 1.6679, -0.0317, -0.0513, -0.0122, -0.4308, -9.0735, 5.1487, 1.5556, -0.1587, 0.3004, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.022, "right_x": 0.558}, "note": "With the roll, the arm descended to 3.7 cm and the lemon is centred between the jaws; lowering a bit more before closing."})
tool
executing move_to over 1 steps (0.1s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteLemon sits between the jaws, just past the safe wall; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.0181, 2.3215, 1.0035, 1.1477, -0.3279, 0.3935, 0.9954] state[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1636 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5524 right_y=0.0705 right_z=0.0429 right_yaw=0.0886 right_pitch=0.3653 right_roll=0.4767 right_gripper=0.9954 state[joint_eff]: [-0.0479, -1.4838, 6.8991, 1.6825, -0.0122, -0.0708, -0.0122, -0.1162, -9.5932, 5.2718, 1.8681, -0.149, 0.1294, -0.0073] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon sits between the jaws, just past the safe wall; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteThird lemon close was empty: the lemon sits ~4 cm beyond the fingertips' reach, against the safe's right wall. Switching to the brown bear in front of the safe for now.
move_to
right_gripper1.0000right_z0.1300right_x0.3800right_y0.2200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5594, -0.0189, -0.0387, 0.9992, 0.0193, 2.3375, 1.0077, 1.1347, -0.3279, 0.3935, 0.009] state[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1827 left_roll=-0.0001 left_gripper=0.9992 right_x=0.5517 right_y=0.0711 right_z=0.0328 right_yaw=0.0891 right_pitch=0.3406 right_roll=0.4785 right_gripper=0.009 state[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.746, -0.0415, -0.0269, -0.0122, -0.212, -12.7111, 3.9726, 1.9805, -0.0757, -0.0415, 0.6911] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.13, "right_x": 0.38, "right_y": 0.22, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Third lemon close was empty: the lemon sits ~4 cm beyond the fingertips' reach, against the safe's right wall. Switching to the brown bear in front of the safe for now."})
tool
executing move_to over 14 steps (1.4s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteBrown bear is right under the jaws (bottom of wrist view), safe ahead. Descending onto the bear.
move_to
right_z0.0200right_x0.3700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, 0.6941, 1.6264, 0.8967, 0.0811, 0.4305, 0.345, 0.996] state[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1385 left_yaw=0.003 left_pitch=-0.2025 left_roll=0.0004 left_gripper=0.9992 right_x=0.384 right_y=0.2283 right_z=0.1178 right_yaw=0.1479 right_pitch=0.0044 right_roll=0.0317 right_gripper=0.996 state[joint_eff]: [-0.0752, -1.4564, 7.0222, 1.6972, -0.022, -0.0562, -0.0122, 0.0615, -9.265, 8.0889, 1.8291, 0.2662, 0.1197, -0.149] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02, "right_x": 0.37}, "note": "Brown bear is right under the jaws (bottom of wrist view), safe ahead. Descending onto the bear."})
tool
executing move_to over 7 steps (0.7s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteBear's body fills the space 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]: [-0.0189, 0.8162, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.7177, 1.8427, 0.7078, 0.4492, 0.4526, 0.3599, 0.9973] state[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1362 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.3694 right_y=0.2247 right_z=0.0247 right_yaw=0.1457 right_pitch=-0.0199 right_roll=0.0128 right_gripper=0.9973 state[joint_eff]: [-0.0615, -1.306, 7.0359, 1.6142, -0.0562, -0.0415, -0.0122, 0.6359, -6.7897, 4.2598, 1.3895, 0.1294, -0.0122, 0.1197] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Bear's body fills the space between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper closed on the plush bear (reading low because plush compresses). Lifting to check it comes along and to clear the safe wall.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8196, 0.6067, -0.5991, -0.0189, -0.0387, 0.9992, 0.7189, 1.8473, 0.7025, 0.4763, 0.4519, 0.3565, 0.0179] state[eef_state]: left_x=0.2619 left_y=0.002 left_z=0.133 left_yaw=0.0032 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9992 right_x=0.3703 right_y=0.2264 right_z=0.0259 right_yaw=0.1495 right_pitch=-0.0057 right_roll=0.0197 right_gripper=0.0179 state[joint_eff]: [-0.0205, -0.8684, 6.8718, 1.8193, -0.0366, -0.0366, -0.0122, -0.1573, -8.1983, 5.3128, 1.4188, 0.1099, 0.0171, 0.7204] 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_z": 0.18}, "note": "Gripper closed on the plush bear (reading low because plush compresses). Lifting to check it comes along and to clear the safe wall."})
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 noteBrown bear is held and lifted; the open safe is straight ahead in the wrist view. Carrying it forward over the safe interior.
move_to
right_x0.4900right_y0.2350right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6102, -0.0189, -0.0387, 0.9992, 0.7189, 1.5352, 0.9989, -0.181, 0.4446, 0.355, 0.0193] state[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1313 left_yaw=0.0032 left_pitch=-0.2426 left_roll=0.0013 left_gripper=0.9992 right_x=0.3675 right_y=0.2254 right_z=0.1515 right_yaw=0.1553 right_pitch=-0.0494 right_roll=-0.0039 right_gripper=0.0193 state[joint_eff]: [-0.1573, -1.1556, 6.9812, 1.6337, -0.0611, -0.0708, -0.0122, -0.212, -9.1829, 8.9231, 1.8828, 0.232, -0.0269, 0.9548] 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_x": 0.49, "right_y": 0.235, "right_z": 0.18}, "note": "Brown bear is held and lifted; the open safe is straight ahead in the wrist view. Carrying it forward over the safe interior."})
tool
executing move_to over 10 steps (1.0s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteBear is over the safe's red interior; moving a little further in and lower before releasing.
move_to
right_x0.5150right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8234, 0.6067, -0.6159, -0.0189, -0.0383, 0.9992, 0.5449, 1.8832, 1.4708, -0.3233, 0.3126, 0.2371, 0.0216] state[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1292 left_yaw=0.0031 left_pitch=-0.2529 left_roll=0.0018 left_gripper=0.9992 right_x=0.4764 right_y=0.2294 right_z=0.1603 right_yaw=0.1509 right_pitch=-0.1068 right_roll=-0.0274 right_gripper=0.0216 state[joint_eff]: [-0.0205, -1.5795, 6.9538, 1.5116, -0.0562, 0.0073, -0.0122, -0.4308, -10.2085, 9.3197, 1.7607, 0.0171, -0.0269, 0.5006] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.515, "right_z": 0.13}, "note": "Bear is over the safe's red interior; moving a little further in and lower before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 171
top_cam
camera top_cam step 171
assistant
agent noteBear is hanging over the safe's interior; releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6228, -0.0189, -0.0387, 0.9992, 0.5137, 1.9968, 1.523, -0.3073, 0.2821, 0.2119, 0.0207] state[eef_state]: left_x=0.2577 left_y=0.0021 left_z=0.1275 left_yaw=0.0033 left_pitch=-0.262 left_roll=0.0017 left_gripper=0.9992 right_x=0.4969 right_y=0.228 right_z=0.1254 right_yaw=0.1562 right_pitch=-0.1572 right_roll=-0.0436 right_gripper=0.0207 state[joint_eff]: [-0.1846, -1.1556, 6.8581, 1.6044, -0.0659, -0.0611, -0.0122, -0.759, -10.7966, 9.3607, 1.9658, 0.0952, 0.0708, 0.6667] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Bear is hanging over the safe's interior; releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 181
assistant
agent noteBrown bear dropped into the safe. Parking the right arm at home and bringing the left arm over the cream bear in front-left of the safe.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.4000left_y-0.2200left_z0.1300left_pitch0.0000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6338, -0.0189, -0.0387, 0.9992, 0.4999, 2.0506, 1.5261, -0.2966, 0.2718, 0.1978, 0.9947] state[eef_state]: left_x=0.2556 left_y=0.0021 left_z=0.1257 left_yaw=0.0034 left_pitch=-0.2731 left_roll=0.002 left_gripper=0.9992 right_x=0.5017 right_y=0.2241 right_z=0.0997 right_yaw=0.1563 right_pitch=-0.1977 right_roll=-0.0609 right_gripper=0.9947 state[joint_eff]: [-0.1846, -1.0325, 6.8034, 1.5409, -0.0757, -0.0611, -0.0122, -0.4308, -13.2034, 8.9641, 1.9072, 0.1099, 0.0122, -0.1099] camera 'top_cam' (step 181): [image omitted: streamed camera frame] camera 'left_cam' (step 181): [image omitted: streamed camera frame] camera 'right_cam' (step 181): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.4, "left_y": -0.22, "left_z": 0.13, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Brown bear dropped into the safe. Parking the right arm at home and bringing the left arm over the cream bear in front-left of the safe."})
tool
executing move_to over 20 steps (2.0s)
step 201
assistant
agent noteCream bear is slightly left of the jaw column and a bit ahead in the left wrist view; shifting ~2 cm left/forward and descending to grab it.
move_to
left_x0.4050left_y-0.1850left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7216, 1.673, 0.992, -0.1268, -0.5682, -0.4885, 0.9993, -0.0765, 1.0168, 0.841, -0.6186, -0.0963, -0.1825, 0.9953] state[eef_state]: left_x=0.3853 left_y=-0.2076 left_z=0.1089 left_yaw=-0.0046 left_pitch=-0.0761 left_roll=0.036 left_gripper=0.9993 right_x=0.3059 right_y=-0.0028 right_z=0.1774 right_yaw=0.1064 right_pitch=-0.205 right_roll=-0.062 right_gripper=0.9953 state[joint_eff]: [-0.6496, -7.8564, 8.841, 1.8095, -0.525, -0.0024, -0.0904, -0.2256, -3.0838, 6.4889, 1.917, -0.2759, -0.0708, 0.0513] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.185, "left_z": 0.02}, "note": "Cream bear is slightly left of the jaw column and a bit ahead in the left wrist view; shifting ~2 cm left/forward and descending to grab it."})
tool
executing move_to over 6 steps (0.6s)
step 207
assistant
agent noteCream bear sits between the left 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]: [-0.6392, 1.8744, 0.8371, 0.1955, -0.519, -0.4313, 0.9992, -0.078, 1.0203, 0.841, -0.6571, -0.1047, -0.2005, 0.9954] state[eef_state]: left_x=0.3948 left_y=-0.1798 left_z=0.017 left_yaw=0.0123 left_pitch=-0.1271 left_roll=0.0741 left_gripper=0.9992 right_x=0.2992 right_y=-0.0013 right_z=0.1701 right_yaw=0.124 right_pitch=-0.2456 right_roll=-0.0603 right_gripper=0.9954 state[joint_eff]: [0.5949, -8.2803, 4.7658, 1.5849, -0.1001, 0.0415, -0.022, -0.0752, -2.9333, 6.7897, 1.8291, 0.0122, 0.1734, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.0}, "note": "Cream bear sits between the left jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 217
assistant
agent noteClose was empty — the bear is still fully visible ahead of the jaws. Opening and advancing ~4 cm to get the jaws around it.
move_to
left_gripper1.0000left_x0.4300left_y-0.1850left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6399, 1.8961, 0.8272, 0.1879, -0.5133, -0.4313, 0.0102, -0.078, 1.0203, 0.841, -0.6762, -0.1024, -0.2024, 0.9954] state[eef_state]: left_x=0.3888 left_y=-0.1768 left_z=0.0036 left_yaw=0.0108 left_pitch=-0.161 left_roll=0.0947 left_gripper=0.0102 right_x=0.2957 right_y=-0.0014 right_z=0.1669 right_yaw=0.1241 right_pitch=-0.2647 right_roll=-0.0594 right_gripper=0.9954 state[joint_eff]: [-0.1436, -10.441, 5.7915, 1.5067, -0.2808, -0.0317, 0.8718, -0.0889, -2.6188, 6.7487, 1.6044, -0.105, -0.0366, -0.0122] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_x": 0.43, "left_y": -0.185, "left_z": 0.015}, "note": "Close was empty \u2014 the bear is still fully visible ahead of the jaws. Opening and advancing ~4 cm to get the jaws around it."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent noteBear is now just ahead but left of the jaw column; shifting ~3 cm left to centre it between the fingers.
move_to
left_y-0.1500left_x0.4300left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5953, 1.9671, 0.9726, 0.1005, -0.4911, -0.4084, 0.9954, -0.078, 1.0203, 0.841, -0.688, -0.102, -0.2028, 0.9954] state[eef_state]: left_x=0.419 left_y=-0.1788 left_z=0.0069 left_yaw=0.0277 left_pitch=-0.183 left_roll=0.1055 left_gripper=0.9954 right_x=0.2935 right_y=-0.0013 right_z=0.165 right_yaw=0.1247 right_pitch=-0.2763 right_roll=-0.0575 right_gripper=0.9954 state[joint_eff]: [0.5128, -8.6085, 8.1026, 1.5018, -0.1929, 0.1587, -0.1294, -0.1846, -2.6188, 6.8581, 1.5409, -0.0952, -0.0464, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.15, "left_x": 0.43, "left_z": 0.01}, "note": "Bear is now just ahead but left of the jaw column; shifting ~3 cm left to centre it between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 230
assistant
agent noteBear still sits left of the jaw centre; shifting another 3 cm left.
move_to
left_y-0.1200left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5301, 1.9659, 0.9588, 0.1307, -0.4583, -0.3756, 0.9963, -0.078, 1.0203, 0.841, -0.7021, -0.102, -0.2024, 0.9954] state[eef_state]: left_x=0.4291 left_y=-0.1567 left_z=0.0052 left_yaw=0.0483 left_pitch=-0.1848 left_roll=0.0982 left_gripper=0.9963 right_x=0.2909 right_y=-0.0011 right_z=0.1628 right_yaw=0.1253 right_pitch=-0.2902 right_roll=-0.0542 right_gripper=0.9954 state[joint_eff]: [0.2256, -11.3573, 4.2872, 1.3651, -0.0855, 0.232, 0.0904, -0.1436, -2.5778, 6.9265, 1.5653, -0.0806, -0.022, -0.0122] camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.12, "left_z": 0.01}, "note": "Bear still sits left of the jaw centre; shifting another 3 cm left."})
tool
executing move_to over 4 steps (0.4s)
step 234
assistant
agent noteArm dragged on the table and barely moved; lifting to 4 cm (bear is sitting upright, ~10 cm tall) and shifting left to centre it.
move_to
left_y-0.1200left_z0.0400left_x0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9965, -0.078, 1.0203, 0.841, -0.72, -0.102, -0.2024, 0.9954] state[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9965 right_x=0.2874 right_y=-0.0008 right_z=0.16 right_yaw=0.1264 right_pitch=-0.3077 right_roll=-0.0504 right_gripper=0.9954 state[joint_eff]: [-0.1709, -10.5231, 4.3692, 1.3993, -0.1587, -0.0171, 0.0024, -0.1709, -2.6051, 6.694, 1.6532, -0.0855, -0.0366, -0.0122] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.12, "left_z": 0.04, "left_x": 0.43}, "note": "Arm dragged on the table and barely moved; lifting to 4 cm (bear is sitting upright, ~10 cm tall) and shifting left to centre it."})
tool
executing move_to over 3 steps (0.3s)
step 237
assistant
agent noteLeft arm is frozen at the table surface; commanding a clear lift and resetting wrist tilt to free it before re-approaching the upright bear.
move_to
left_z0.1200left_x0.4000left_y-0.1300left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9966, -0.078, 1.0203, 0.841, -0.7311, -0.1024, -0.2024, 0.9954] state[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9966 right_x=0.2853 right_y=-0.0006 right_z=0.1584 right_yaw=0.1275 right_pitch=-0.3185 right_roll=-0.0478 right_gripper=0.9954 state[joint_eff]: [-0.2803, -10.5231, 4.3556, 1.3455, -0.1783, -0.0073, -0.0073, -0.0342, -2.4957, 6.7487, 1.4969, -0.105, -0.0415, -0.0122] camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12, "left_x": 0.4, "left_y": -0.13, "left_pitch": 0.0, "left_roll": 0.0}, "note": "Left arm is frozen at the table surface; commanding a clear lift and resetting wrist tilt to free it before re-approaching the upright bear."})
tool
executing move_to over 8 steps (0.8s)
step 245
assistant
agent noteArm is free again and the cream bear is centred on the jaw column a few cm ahead; advancing 3 cm and lowering around its body.
move_to
left_x0.4300left_y-0.1300left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5163, 1.5497, 0.8051, 0.0525, -0.4679, -0.3717, 0.997, -0.078, 1.0252, 0.841, -0.7467, -0.102, -0.2024, 0.9954] state[eef_state]: left_x=0.3983 left_y=-0.1304 left_z=0.1088 left_yaw=0.0566 left_pitch=-0.0266 left_roll=0.0061 left_gripper=0.997 right_x=0.2825 right_y=-0.0004 right_z=0.1547 right_yaw=0.1286 right_pitch=-0.3387 right_roll=-0.0436 right_gripper=0.9954 state[joint_eff]: [-0.0205, -4.1915, 7.1316, 1.5653, -0.2662, 0.0073, 0.0317, -0.0205, -2.4137, 6.8855, 1.5604, -0.0806, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.13, "left_z": 0.035}, "note": "Arm is free again and the cream bear is centred on the jaw column a few cm ahead; advancing 3 cm and lowering around its body."})
tool
executing move_to over 5 steps (0.5s)
step 250
assistant
agent noteBear lies centred with its legs at the fingertips; closing to grab its lower body.
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]: [-0.4725, 1.8309, 0.7712, 0.2867, -0.4408, -0.3519, 0.9971, -0.078, 1.0279, 0.841, -0.7624, -0.102, -0.2028, 0.9954] state[eef_state]: left_x=0.4141 left_y=-0.1229 left_z=0.0224 left_yaw=0.0712 left_pitch=-0.1051 left_roll=0.0495 left_gripper=0.9971 right_x=0.2795 right_y=-0.0002 right_z=0.1518 right_yaw=0.1301 right_pitch=-0.3566 right_roll=-0.0399 right_gripper=0.9954 state[joint_eff]: [0.3761, -8.3487, 5.9692, 1.79, -0.1343, 0.1685, -0.0073, -0.1162, -2.7829, 6.653, 1.5214, -0.105, -0.0513, -0.0171] camera 'top_cam' (step 250): [image omitted: streamed camera frame] camera 'left_cam' (step 250): [image omitted: streamed camera frame] camera 'right_cam' (step 250): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Bear lies centred with its legs at the fingertips; closing to grab its lower body."})
tool
executing move_to over 10 steps (1.0s)
step 260
assistant
agent noteGripper closed on the cream bear's legs; lifting and carrying it over the safe interior in one move to save budget.
move_to
left_z0.2000left_x0.4700left_y-0.3300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4717, 1.853, 0.7708, 0.2779, -0.4381, -0.3527, 0.0103, -0.078, 1.0302, 0.841, -0.7845, -0.102, -0.2028, 0.9954] state[eef_state]: left_x=0.4108 left_y=-0.1214 left_z=0.0118 left_yaw=0.0723 left_pitch=-0.1328 left_roll=0.0636 left_gripper=0.0103 right_x=0.2751 right_y=0.0001 right_z=0.1481 right_yaw=0.1321 right_pitch=-0.3805 right_roll=-0.0344 right_gripper=0.9954 state[joint_eff]: [-0.1299, -10.0308, 5.053, 1.5751, -0.2076, -0.0464, 0.8474, -0.1846, -2.7282, 6.6256, 1.5556, -0.1197, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 260): [image omitted: streamed camera frame] camera 'left_cam' (step 260): [image omitted: streamed camera frame] camera 'right_cam' (step 260): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.47, "left_y": -0.33}, "note": "Gripper closed on the cream bear's legs; lifting and carrying it over the safe interior in one move to save budget."})
tool
executing move_to over 19 steps (1.9s)
step 279
assistant
agent noteThe cream bear is hanging over the red interior of the safe; releasing it.
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]: [-0.7982, 2.2944, 2.2681, -0.9073, -0.6296, -0.6559, 0.0131, -0.078, 1.0321, 0.841, -0.794, -0.102, -0.2024, 0.9954] state[eef_state]: left_x=0.4735 left_y=-0.3316 left_z=0.1924 left_yaw=0.0632 left_pitch=-0.128 left_roll=0.0284 left_gripper=0.0131 right_x=0.2732 right_y=0.0003 right_z=0.1463 right_yaw=0.1329 right_pitch=-0.3917 right_roll=-0.0316 right_gripper=0.9954 state[joint_eff]: [-0.6496, -13.135, 8.0889, 0.6716, -0.5348, 0.1001, 0.5592, -0.3214, -2.6735, 6.5983, 1.3748, -0.0806, -0.0415, -0.0122] camera 'top_cam' (step 279): [image omitted: streamed camera frame] camera 'left_cam' (step 279): [image omitted: streamed camera frame] camera 'right_cam' (step 279): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The cream bear is hanging over the red interior of the safe; releasing it."})
tool
executing move_to over 10 steps (1.0s)
step 289
assistant
agent notePartial completion only; the task is not finished. The cream bear is inside the safe. The brown bear was dropped in but is lying over the safe's front rim, partly outside. The lemon is still outside the safe, pressed against its right outer wall, and the lid is still open. I tried to grasp the lemon three times with the right arm and every close came up empty, because it sits a few cm past the arm's reach at table height. I ran out of budget before I could close the lid.
done
hindsight- Layout: the safe's interior is at about right x≈0.50, y≈0.23 (left x≈0.47, y≈-0.33). Dropping from z≈0.13–0.19 over it works, but let go further in (right x≈0.53), or a plush toy lands on the front rim. - Lemon: it sat at about right x≈0.58–0.60, y≈0.07, against the safe's right outer wall. Table-level grasps can't reach past x≈0.55–0.57, even with the tool pitched forward. Near that limit the arm silently stops tracking (the readback freezes), so recognise out-of-reach early instead of spending calls on retries. - Wall blocking a finger: when an object is against a wall, the near finger lands on the wall top and the descent stalls at z≈5 cm. Rolling the wrist about 0.5 rad lifts that finger and lets the arm descend. - Plush toys: they compress to a gripper reading of ≈0.01–0.02 even when held, so the reading can't tell you if you have them; check the wrist view instead. The cream bear was grasped by its legs and carried fine. - Stuck arm: an arm pressed at z≈0.005 can freeze. Lift to z 0.1 and reset pitch/roll to unstick it. - Budget: set aside calls for closing the lid. The lid is hinged at the back and stands upright at about x≈0.6, so closing it probably means hooking its top edge and pulling toward the base, which takes several calls. Consider doing the reachable objects and the lid first.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8036, 2.3169, 2.2688, -0.934, -0.6289, -0.6674, 0.995, -0.078, 1.0325, 0.841, -0.7959, -0.102, -0.2028, 0.9954] state[eef_state]: left_x=0.4696 left_y=-0.3321 left_z=0.1771 left_yaw=0.0691 left_pitch=-0.1596 left_roll=0.0566 left_gripper=0.995 right_x=0.2728 right_y=0.0003 right_z=0.1459 right_yaw=0.1333 right_pitch=-0.394 right_roll=-0.0313 right_gripper=0.9954 state[joint_eff]: [0.3624, -15.0632, 6.3932, 1.5067, -0.3443, 0.0659, -0.0073, -0.0615, -2.6051, 6.653, 1.2821, -0.1099, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
done({"summary": "Partial completion only; the task is not finished. The cream bear is inside the safe. The brown bear was dropped in but is lying over the safe's front rim, partly outside. The lemon is still outside the safe, pressed against its right outer wall, and the lid is still open. I tried to grasp the lemon three times with the right arm and every close came up empty, because it sits a few cm past the arm's reach at table height. I ran out of budget before I could close the lid.", "hindsight": "- Layout: the safe's interior is at about right x\u22480.50, y\u22480.23 (left x\u22480.47, y\u2248-0.33). Dropping from z\u22480.13\u20130.19 over it works, but let go further in (right x\u22480.53), or a plush toy lands on the front rim.\n- Lemon: it sat at about right x\u22480.58\u20130.60, y\u22480.07, against the safe's right outer wall. Table-level grasps can't reach past x\u22480.55\u20130.57, even with the tool pitched forward. Near that limit the arm silently stops tracking (the readback freezes), so recognise out-of-reach early instead of spending calls on retries.\n- Wall blocking a finger: when an object is against a wall, the near finger lands on the wall top and the descent stalls at z\u22485 cm. Rolling the wrist about 0.5 rad lifts that finger and lets the arm descend.\n- Plush toys: they compress to a gripper reading of \u22480.01\u20130.02 even when held, so the reading can't tell you if you have them; check the wrist view instead. The cream bear was grasped by its legs and carried fine.\n- Stuck arm: an arm pressed at z\u22480.005 can freeze. Lift to z 0.1 and reset pitch/roll to unstick it.\n- Budget: set aside calls for closing the lid. The lid is hinged at the back and stands upright at about x\u22480.6, so closing it probably means hooking its top edge and pulling toward the base, which takes several calls. Consider doing the reachable objects and the lid first."})
tool
done: Partial completion only; the task is not finished. The cream bear is inside the safe. The brown bear was dropped in but is lying over the safe's front rim, partly outside. The lemon is still outside the safe, pressed against its right outer wall, and the lid is still open. I tried to grasp the lemon three times with the right arm and every close came up empty, because it sits a few cm past the arm's reach at table height. I ran out of budget before I could close the lid.
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 · 16.64 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.4004, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4564, 10.3453, 1.9512, -0.0952, 0.1587, -0.0904, -0.335, -1.5111, 9.6479, 2.0, -0.0269, -0.0415, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98da07b03d370db9f910e7a5b3cefadc56f40f868a0d6cecf9f130a0e4ecc6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b492fe38ef15eeca5da08e9ad68b518f5427992e47195d92239e764fc976e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2280d04f22acba34c5811c2e6173323fab55868b5fb336809d50c8bd0f23799",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.313 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.4004, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4564, 10.3453, 1.9512, -0.0952, 0.1587, -0.0904, -0.335, -1.5111, 9.6479, 2.0, -0.0269, -0.0415, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98da07b03d370db9f910e7a5b3cefadc56f40f868a0d6cecf9f130a0e4ecc6b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b492fe38ef15eeca5da08e9ad68b518f5427992e47195d92239e764fc976e57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2280d04f22acba34c5811c2e6173323fab55868b5fb336809d50c8bd0f23799",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014uwMDuwjvSXQH7JCSLEfQi",
      "input": {
        "note": "Scene: open red safe at centre-back, lemon to its right, a cream bear and a brown bear in front of it. Moving the right arm over the lemon first.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.16,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_014uwMDuwjvSXQH7JCSLEfQi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4332, 1.7542, 1.1629, -0.0891, 0.334, 0.2268, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4669 right_y=0.1561 right_z=0.1359 right_yaw=0.0293 right_pitch=-0.0506 right_roll=-0.0268 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5932, 6.8991, 1.8486, -0.0806, -0.0024, -0.022, 0.3487, -8.9915, 8.3624, 1.7216, 0.2808, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1452f2cae5a4e6a65a6ed28bf1c820004d16e06d814ef2a30734668e7fa2b2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5603413f048b91322f77f8084f152b3deefe3529c93b0db033723837d495d419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0f262ef329a30aa2be5790b4cdabc468599b7ab97d2a4a66c9c0a83c25a1aac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.895 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.4004, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4564, 10.3453, 1.9512, -0.0952, 0.1587, -0.0904, -0.335, -1.5111, 9.6479, 2.0, -0.0269, -0.0415, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4332, 1.7542, 1.1629, -0.0891, 0.334, 0.2268, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4669 right_y=0.1561 right_z=0.1359 right_yaw=0.0293 right_pitch=-0.0506 right_roll=-0.0268 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5932, 6.8991, 1.8486, -0.0806, -0.0024, -0.022, 0.3487, -8.9915, 8.3624, 1.7216, 0.2808, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1452f2cae5a4e6a65a6ed28bf1c820004d16e06d814ef2a30734668e7fa2b2e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5603413f048b91322f77f8084f152b3deefe3529c93b0db033723837d495d419",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0f262ef329a30aa2be5790b4cdabc468599b7ab97d2a4a66c9c0a83c25a1aac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QcKEAgSGAI4AUIIdGhpbmtpbmcSDCpk/N6XJJXZwhMTUhoMLNVYq5ni1N29GcC8IjBnwdsAyLcN58iog8FtK9V9zyqRNhbuV9r4Ydef5CM/SLJx/gGVouyj2dx40Gd7T2gqigdw19gAzldBt5liX5FkSFMEfq84z71ddxpZj3PHPI1QxsCMYhZ0HZn/xgkekhqqQzKrv8OuW28BUuAPkE5gAWT307llwWHeZThCLfzzrC+872V2PCk/l3sILGUIeqcZBRPr7WNMcFZbQ8GToDlJgww3EC8Dj18XNXjUz9VjU+6jKZ0HSoDSytXcGIkoEe8Me0jYYZyDWVGN2RmgVhlbeayE5ro+r/7VmvQLFq9ezGK9Ye/3DHbjKlzkHsv99VVIKwTt1HDo7GPu+M5P9uPMgRra5olRSYp23c7tcKCtHTrkjVUz7sHzfhQ4yK9H1+J6M7mdNOU65LiZdHZNIw8XA6bMDdgrfgVohtiBPwd/Dr7hctO3KnYHZPQAmEKTyEzXZiQRmtTa5yrkkohuVq3Tdga3uTSEvMYJCmIbMhWCTmByVQjAAatwYw6z9zPFP94Cri/cpcVIL00d7d91Mbp6VeQTNoPz7i4oj0H0zIpCyU84dPbNYWf9RIvejLADupIAGriH3v3M8A1zHzQmB1z/FmvgPCWLBa6i+Y2YC2UOfK/+13p3VX+c/3bLNvO9FPousbCs2zWm3qSxdiv1AXyoUOnDYSeCLvRTbMVIQs13SHYz+juEgxWUzjUdNCOJlSfnzNa0gft9+e+ZnBXoR1PBN6U8Z08mMNdpov1NeuZuHqKXJ2WV+AdI77oQwDRL9SVCFvfgAYx4A4zkTC+aDLK8Nmy6mci68AUx0bWGgU/hoG1HOmRAipzFvaGPywIS79xgpAA2vAHThOaKpY5u0eS27uQHaw6MVN90yXVyEOS8lfx4eJ4DqrnBAC/9t3h/loiLpSKK84IdpEqg9xBSBQETu3xzp9X/+TuKVEE5txuemBGsYw2ufBqXh+wndOMmf8wDPewJf+zwsF6NALpRLOkZ/iR1R70mgD3J02EP06stYzq31AtOqepK71sUaE3qnw0OnImjGEHl6qxaSCvzym/mRnhs2h8Cjp7DOFPorCdsoG2b92aQF24r9z+3aiZ9U+VXKr3ZmD8rj9IaRrdpPdFNb3nMbCZ9SZmxFWNmaoFZ1UonkVp5WKASqokqQiu022QsMgBlXlzCGtC6Ouk22OyHsyXO5lKP0PMVHbAsRuPsfnTqvUghUlmuLhysFrDtYhiGvubvXn4IGvWJB5i9odVD1CsXs5TsYiKMtWVmC5xre6+m/JnoNHFy55gqLhwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019zREzJtB7wZBPrBKnXHrJh",
      "input": {
        "note": "Lemon visible in right wrist cam just ahead and slightly right of jaw centre. Advancing ~3 cm and descending to grasp it.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.148,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019zREzJtB7wZBPrBKnXHrJh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4137, -0.0189, -0.0383, 0.9992, 0.3855, 2.0418, 1.0782, 0.2779, 0.2901, 0.1997, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1736 left_yaw=0.0024 left_pitch=-0.024 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.1499 right_z=0.0289 right_yaw=0.032 right_pitch=-0.0661 right_roll=-0.0247 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 7.2137, 1.7558, -0.0415, -0.0562, -0.0122, -0.6496, -8.2256, 6.3111, 1.0916, 0.1148, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7876b04fb7d9db072a37e2d8c6072586b9d9033dfbd5b7f964778dc10b578e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b544b4c46be16acd543468484abfe0f13bc19c3444479ca95dfe435cd30053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb200e61bf382e66cffc1ac995cb0692800cec8808edc253f0db3b099849808c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.277 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7921, 0.6037, -0.3912, -0.0193, -0.0341, 0.9993, -0.0212, 0.7933, 0.6075, -0.4004, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.2931 left_y=0.0013 left_z=0.178 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2924 right_y=0.0009 right_z=0.1776 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6359, -1.4564, 10.3453, 1.9512, -0.0952, 0.1587, -0.0904, -0.335, -1.5111, 9.6479, 2.0, -0.0269, -0.0415, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4332, 1.7542, 1.1629, -0.0891, 0.334, 0.2268, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4669 right_y=0.1561 right_z=0.1359 right_yaw=0.0293 right_pitch=-0.0506 right_roll=-0.0268 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5932, 6.8991, 1.8486, -0.0806, -0.0024, -0.022, 0.3487, -8.9915, 8.3624, 1.7216, 0.2808, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4137, -0.0189, -0.0383, 0.9992, 0.3855, 2.0418, 1.0782, 0.2779, 0.2901, 0.1997, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1736 left_yaw=0.0024 left_pitch=-0.024 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.1499 right_z=0.0289 right_yaw=0.032 right_pitch=-0.0661 right_roll=-0.0247 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 7.2137, 1.7558, -0.0415, -0.0562, -0.0122, -0.6496, -8.2256, 6.3111, 1.0916, 0.1148, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7876b04fb7d9db072a37e2d8c6072586b9d9033dfbd5b7f964778dc10b578e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5b544b4c46be16acd543468484abfe0f13bc19c3444479ca95dfe435cd30053",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb200e61bf382e66cffc1ac995cb0692800cec8808edc253f0db3b099849808c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQcKEAgSGAI4AUIIdGhpbmtpbmcSDDM1bHbmudmC97wnexoM+H+ae1dApYOu+XIVIjARBKoRGZ15bO4mF+1A4qAdl/Bw6oeWEWNYmXUGFxgn0PsdHBhleJwBYMj9jXfBVZMqogY/wOiMpGxquCcEMxy/CT7K367V02mo1MJzX8B4OjGsnjJnUZw7pwDkSzFhIqeUC9I/q1hQ0fCvZ4qk4dZtuzdqexyUaPA8UYewK0o+1yyj9Zv+QU24Y1XYDKDgoKH7FobYmI43+VUZ0LBoFZvUSjnj9PadmC0tsIEm0o1tDUDfAwdmLAbXBdDFs81CiUyZhECtSY2n9jkc9BgftRSMgRKTJ6krdKNOWQ+MxEL9HJGxRkxXjbaBbS8eRlbISJ9czK4PrQltEDgLWW89RegKoC/G36B6zc0anELAcbr8j2w+dNXKSRJ25JZxXEw0yRyzgHLHlBR2VRrNBt5ViCOm7+937SU5oy2xVQnPh2HwAEDuNyusThQIx33bOJLXcD/NHZ8987EJH18eoDplxUzLyOWZ1n8DpsHhP9b5QszYEUOTd3Uo4rAHTJQXl2VWQ3Wj7xan2PswGwXQHtny0+bxyOGKLcSamjqzo6/k8buU6Lsz7XmHJqg8xiOlaG5Q1tIvf2R6UlSfICef7Q5mPlQ5OrJH7VgUMvC3bxC+82lOWgFVRsjW9rzmFrCLVMF16CkX/YJUQQsZZw1If0UGIsGA7LTC0fs7HkLhLA/fR65VNql2OzoQUULMdTwOZima6ZSoB84q2FZ1oSf9r11zLCIZbB/utw6ZPRX0M5IWRgDIYy9JRtyMUh1Ac1s5JNYYPUAe6+SNLVh2DzNP1L6zhZiJ7jPvTU8UdBukVmCqEypJqy06YxNZBRx+znZ+8wsCmr40WZ8R8BX4N/E7+xW9f4qfZlSgmlIq20uOjiwLch8fCbeaTe/4E5mVNLnVzslHA9+yvWU3vEM0V7yNCY+Z2dSABwmuFlmfHnOj4z6MUiYokLvuev7PNwUQYUTbIIYNuNF+ogp+l6JWavL97H63Cc7aDfC08m/OOumsWT46omrYR1XChccNgzLDSG+H1ITLBsn6I0A24bT6e1H4cdsV6BiEGYpNgdhA9Gos7ofRZg7n0CnhanN9ouKDvSE/pEjMG/S4k+KkYap9ODqlplFlYUtHeAA/Z9qgGVagKzqkmLXNGdpslsIHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFi88AQa9ecCb8HNLZx3H7",
      "input": {
        "note": "Lemon still ahead and right of the jaw column; nudging forward 3 cm and right 1 cm while lowering to grasp height.",
        "targets": {
          "right_x": 0.525,
          "right_y": 0.138,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GFi88AQa9ecCb8HNLZx3H7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4236, -0.0189, -0.0387, 0.9992, 0.3447, 2.1193, 1.1568, 0.3061, 0.2516, 0.1764, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.0347 left_roll=-0.0033 left_gripper=0.9992 right_x=0.5201 right_y=0.1438 right_z=0.0235 right_yaw=0.0361 right_pitch=-0.0463 right_roll=-0.0111 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2513, 7.1453, 1.9219, -0.0708, -0.0757, -0.0122, -0.4034, -9.9077, 6.5709, 1.4872, 0.3101, -0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67885019d859d7e487691d54c38f65c41772b869aad3ad726cbf3c97677d9cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d40e9b87fc4bba7fd63b9e9fb3b15c72a1e220bad9cc4418ac29166f71d1f75e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8670ff6820309a217316deef3e81e832606d6ca61fda34defe3a6bad68bb34c1",
        "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 · 4.273 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7963, 0.6067, -0.4061, -0.0193, -0.0383, 0.9992, 0.4332, 1.7542, 1.1629, -0.0891, 0.334, 0.2268, 0.9996]\nstate[eef_state]: left_x=0.2917 left_y=0.0015 left_z=0.1752 left_yaw=0.0027 left_pitch=-0.016 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4669 right_y=0.1561 right_z=0.1359 right_yaw=0.0293 right_pitch=-0.0506 right_roll=-0.0268 right_gripper=0.9996\nstate[joint_eff]: [-0.1436, -1.5932, 6.8991, 1.8486, -0.0806, -0.0024, -0.022, 0.3487, -8.9915, 8.3624, 1.7216, 0.2808, 0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4137, -0.0189, -0.0383, 0.9992, 0.3855, 2.0418, 1.0782, 0.2779, 0.2901, 0.1997, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1736 left_yaw=0.0024 left_pitch=-0.024 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.1499 right_z=0.0289 right_yaw=0.032 right_pitch=-0.0661 right_roll=-0.0247 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 7.2137, 1.7558, -0.0415, -0.0562, -0.0122, -0.6496, -8.2256, 6.3111, 1.0916, 0.1148, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4236, -0.0189, -0.0387, 0.9992, 0.3447, 2.1193, 1.1568, 0.3061, 0.2516, 0.1764, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.0347 left_roll=-0.0033 left_gripper=0.9992 right_x=0.5201 right_y=0.1438 right_z=0.0235 right_yaw=0.0361 right_pitch=-0.0463 right_roll=-0.0111 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2513, 7.1453, 1.9219, -0.0708, -0.0757, -0.0122, -0.4034, -9.9077, 6.5709, 1.4872, 0.3101, -0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67885019d859d7e487691d54c38f65c41772b869aad3ad726cbf3c97677d9cbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d40e9b87fc4bba7fd63b9e9fb3b15c72a1e220bad9cc4418ac29166f71d1f75e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8670ff6820309a217316deef3e81e832606d6ca61fda34defe3a6bad68bb34c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3AcKEAgSGAI4AUIIdGhpbmtpbmcSDKyAGHvVjy4csWxo6RoMoF8LNgO+8x0hDjTsIjDBWlS71cBh88VaYKrpCBGKxmiY8Rti7JkydPBV3Trs3dRTXeDQ0CPNcG51sZV+gTIq+Qa2I/AwVr2OmU329n7HA7uT9LJfS9tY+r9OsKdNDbniXbzwltdRrhUi8+b9BAYi48EYA1YE9DWf90j/6sb3LQoKi0AjmviCAqawNA5vAODp5v750KWlZNU7lsJVZ9i2MP+NgdTQ0NiB1Z0bmiXlyD8W/4ETvVvJw0504Uip/ePuJyUzAPlkPyflLPShVnFXs66vp82+e5xTCjiwf/42+IKeWKiPO0I8oHbFegMCTvKnYGShJuoM4Biw0Rk6z/cfg1DQpthbfZCTAvEd/dxvxou6Feltqv3TRu/eDziUPYS3ycvW333b/kk7/1+1kAuWyJ9fvK8jlHRMuHxrr3szBGzg6SV2IMeZMSSkQbI6b+MIMywlS0bXSxT6x7Fok3pe70taC8nFlpR0Z6RyxLkRailuQFW2wua71ogEQ9vl8JZJ1sDxSk1s9TWa4rXnPkrsq4NJVD+MVUkLCCp6XioLDT6oCbDRMZjYrY1BeIYbtKspiphVGNbHfhYzwrQ2QmizBBMgAFM8DbEoW87sXLCarSPaA4YPZa2iBiVqzPu3ItuY+Np6IWgogHFXwMcFrnkCP9IbYgNkxogplnxo6Khdo+D4WJWOwb07Ys4sXXXWAfyP4Shc7vmWsrtZzH3XeelHFPAgWikaeJc4PY+LRRDi4F69emewqwNAWkolA4wg2W2RLa+fWxtAtcvSxdeKYRkkPq3u60pWgKLT58YVp6mA6hTml0bGegt+c9u6wDQRxI79ia2sS7W6xFA0/XdkI4A2VcsMk0QmXziNbHVzr6RlYA5JBa2zYxAAQRqR84IvtImowyIrib4rg5aLytH3JXS4K02twfLju1/7ePN+pTJBN4r6viM3vp9O0dMEfY4dWZm+w0cCq5f+3571ofri69HU52FajVk7CDFgaNo26gIiCb7GjVZQjIatzDOQtRWMcVqOrfTDdO/CgCDM8NGAFnDUEeEJ825AKrfZVnFnuBfqhfgYYWGLvCwz5UKFbk+AbsowPxfP3TPGiV14i2hUkU3Wzyt2gJNC6YKd3GbIlvvqlPAmdwOoaULNbYbb4jVkzSyElLvsYQe2w9jBL7YBj/hdU1amBBHDN7R3ZQPjYo00KE7n40gSA5ibSahlo/orn1PSvRftkmUWKmRXaQ+HGM504CmfkBjKGl1c6aefDCb/MLPikRLg+EKa34LiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AQR95wxRWuWpgFAmoXRFwC",
      "input": {
        "note": "Lemon is close and a bit right of the jaw centre; small shift right and forward to straddle it.",
        "targets": {
          "right_x": 0.535,
          "right_y": 0.13,
          "right_z": 0.012
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AQR95wxRWuWpgFAmoXRFwC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.3183, 2.1399, 1.1725, 0.3229, 0.2207, 0.1661, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1703 left_yaw=0.0024 left_pitch=-0.0397 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5282 right_y=0.1371 right_z=0.0212 right_yaw=0.041 right_pitch=-0.0404 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.7167, -0.0562, -0.0415, -0.0122, -1.1692, -8.5812, 7.3231, 1.5702, 0.2027, -0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cfa12a70d23a3ee4750490edbe6eb99b67f97dde25248cc2712ff3b1f7adef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5965e6a3ece71e7ba70e6a398a34e4685c17627dca150fb223dedded471c561a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7507a280edc45ec9aa6b5a16da8123417ec59b301d48d11513902d2a3edbe0a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 7.142 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6067, -0.4137, -0.0189, -0.0383, 0.9992, 0.3855, 2.0418, 1.0782, 0.2779, 0.2901, 0.1997, 0.9996]\nstate[eef_state]: left_x=0.2907 left_y=0.0014 left_z=0.1736 left_yaw=0.0024 left_pitch=-0.024 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4941 right_y=0.1499 right_z=0.0289 right_yaw=0.032 right_pitch=-0.0661 right_roll=-0.0247 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -1.2376, 7.2137, 1.7558, -0.0415, -0.0562, -0.0122, -0.6496, -8.2256, 6.3111, 1.0916, 0.1148, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4236, -0.0189, -0.0387, 0.9992, 0.3447, 2.1193, 1.1568, 0.3061, 0.2516, 0.1764, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.0347 left_roll=-0.0033 left_gripper=0.9992 right_x=0.5201 right_y=0.1438 right_z=0.0235 right_yaw=0.0361 right_pitch=-0.0463 right_roll=-0.0111 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2513, 7.1453, 1.9219, -0.0708, -0.0757, -0.0122, -0.4034, -9.9077, 6.5709, 1.4872, 0.3101, -0.1392, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.3183, 2.1399, 1.1725, 0.3229, 0.2207, 0.1661, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1703 left_yaw=0.0024 left_pitch=-0.0397 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5282 right_y=0.1371 right_z=0.0212 right_yaw=0.041 right_pitch=-0.0404 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.7167, -0.0562, -0.0415, -0.0122, -1.1692, -8.5812, 7.3231, 1.5702, 0.2027, -0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cfa12a70d23a3ee4750490edbe6eb99b67f97dde25248cc2712ff3b1f7adef9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5965e6a3ece71e7ba70e6a398a34e4685c17627dca150fb223dedded471c561a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 28):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7507a280edc45ec9aa6b5a16da8123417ec59b301d48d11513902d2a3edbe0a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQgKEAgSGAI4AUIIdGhpbmtpbmcSDM2Hhw7DA7FUp6Ob7BoM/WKZYvXzrEJWVPaWIjDHcn6SSaN2+iAKNOWtECfRTYtXQQjf9yPtVM9zcm/jtN4I3lRzouA+y6Rw89EhBTkqvgfxmjtx3sjqxt4Y6HD4MVmy8/AjRrLAsxhap3stpT48RpzwJRYRJvmT41Dc9pj9IZV3yesIWNZ0fWCqueQXWu+6s6aqMB1lnU83N92cXJ9fTNkE6eyKbJqx5N4Fa5180fmhEtEBaRpcyqU88uhKuRSUld+8nq/ieabUs9nR+pvFuj4EvpKICxPeWnz+vTbshNhteiOLm0FKrSbugizw/q+nOvx6ktJQkSFTmWceUUbvGkBkrAmlNmKmVJyIvZT01ogBqFdjfmu24a5ctkjigwnBMR6U7OZqmo72cnGujtt8HQCJWPBbwcBpklpZduEC91g5wtEHT6oMbnSUeNac7rOvnDbPB/4oCq7u0LHh1UZzzpxibJGdEtI6WHoDtvqogX1czqhDLUC3m/kbd4JGuZSQirtgk41y94ZbDLj/vGMWKM+T1NIAAbAMUdrwkMC5EXgK3hQXpgW0fCOeBIbpELxFqZtt1aNYqZUeXmwp00WtnIty2uZhel0tICgtDIfwOVK9F5tlq2jv45ublX1Wb1b7gO9fiQu1/WhnR6cxJ0dBQkepqFEpulb6P70psutvrk5vNycxPJWKFgMeasv0T7N5M97ePV9WO2HHC/R38/kmEDdcuoWZHAmnIoDE7b+84X/Vsb3VZ+l1OysDF7pSzZydZ9OE7dW1LMnm0viubRuReOI/okicTvdAX5UhjdnDCg+AJ+nV7BwBDnXNsLiqH7WFVv9fccA7HdtZnLRpUa8G4rHerWCiWHI3QeWjZTm4EZttNUNYOJxKWGxcX3tkyXVvx2V/NY9WmS3DVG9xyWY7v/b6u1aNv9Er+Yo1D26jGJ35aTrxFSYkyyJ1O/9WwlvhdlvfY7+eoBDf5Dzc7LwtCL36ra/A8ioNX7ZdgfchxyOYcWiT57ARsHdJVKoAVX1kF4QUCRwfk/pCq+iLIutfAuGs2q5/BBOmkcEiZNktbvxKCUi03RTJCupyxUrqC36k2yn++BZL5d/de+gkNPwxRbK33aF0h3maNIL6vzHUcawh06AOMQ4qNhxWyeeaUyZrdHQuQBFti03xYSC1XL1Du8E7mjPDY5liTrtzkxclCQdIwEurv4LxnID19atxBwTwKUsGaiAD2qP9kOJ+wFp/7aE16LlpYGJjLgQkLNwCHr1zOj1GGTDTFopKPT8Csu6KGyIxcELsG507SEcKakKsI4i0r5P8mQ53Z9orEmBPHGaS5x7qM1Bvgf7yPtvK8ZO0s2LYiZcodL/bvRYnCfjDDvAqee6matyw6iEqIQK6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NWbWDARqTAXJXLYr2NyeyJ",
      "input": {
        "note": "Lemon sits between the open jaws in the right wrist view; closing to grasp.",
        "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_01NWbWDARqTAXJXLYr2NyeyJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4362, -0.0189, -0.0387, 0.9992, 0.3058, 2.1582, 1.1866, 0.3393, 0.1944, 0.1387, 0.027]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.5342 right_y=0.1366 right_z=0.0196 right_yaw=0.0654 right_pitch=-0.0326 right_roll=-0.0022 right_gripper=0.027\nstate[joint_eff]: [0.1026, -1.2786, 7.0085, 1.746, -0.0464, -0.0562, -0.0122, -0.5812, -9.894, 6.2974, 1.6044, 0.1538, 0.0366, 1.2283]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18559c1f7fc3c689b7a5dcd42269ff6615b1838abc2dad0d03b91921b75e89d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214fd389a0de22beca0ccabe919388a6262f3e3976f8fac4f399d8fd35440e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:248b95c475451ea57fddbf798e331beaddc0dd09d834428e65130573aa9c7f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.203 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4236, -0.0189, -0.0387, 0.9992, 0.3447, 2.1193, 1.1568, 0.3061, 0.2516, 0.1764, 0.9996]\nstate[eef_state]: left_x=0.2893 left_y=0.0015 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.0347 left_roll=-0.0033 left_gripper=0.9992 right_x=0.5201 right_y=0.1438 right_z=0.0235 right_yaw=0.0361 right_pitch=-0.0463 right_roll=-0.0111 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2513, 7.1453, 1.9219, -0.0708, -0.0757, -0.0122, -0.4034, -9.9077, 6.5709, 1.4872, 0.3101, -0.1392, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.3183, 2.1399, 1.1725, 0.3229, 0.2207, 0.1661, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1703 left_yaw=0.0024 left_pitch=-0.0397 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5282 right_y=0.1371 right_z=0.0212 right_yaw=0.041 right_pitch=-0.0404 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.7167, -0.0562, -0.0415, -0.0122, -1.1692, -8.5812, 7.3231, 1.5702, 0.2027, -0.1294, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4362, -0.0189, -0.0387, 0.9992, 0.3058, 2.1582, 1.1866, 0.3393, 0.1944, 0.1387, 0.027]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.5342 right_y=0.1366 right_z=0.0196 right_yaw=0.0654 right_pitch=-0.0326 right_roll=-0.0022 right_gripper=0.027\nstate[joint_eff]: [0.1026, -1.2786, 7.0085, 1.746, -0.0464, -0.0562, -0.0122, -0.5812, -9.894, 6.2974, 1.6044, 0.1538, 0.0366, 1.2283]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18559c1f7fc3c689b7a5dcd42269ff6615b1838abc2dad0d03b91921b75e89d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:214fd389a0de22beca0ccabe919388a6262f3e3976f8fac4f399d8fd35440e9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:248b95c475451ea57fddbf798e331beaddc0dd09d834428e65130573aa9c7f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSyAsKEAgSGAI4AUIIdGhpbmtpbmcSDHXvR5RPO3oG3i1/bhoMjeodXPk8NRc9ANuYIjAmGiuDcHUc/WInOr3RlsuV76NSthg53DldWlWCR+rTXDe/Czl5fhdgIzAdpRH5qwAq5QpdOAy3LMmv1VyPiSzSZAf7BxOgW8yPkR3Q5G+2xldjV9lmj34FuuGcScSq+p4Y5eQFWbX3467n4uPt+RxEkWiZwSc5pZc81DevL7/oWXsD0sK3KyM6EGes+WnvA5QuKquEEdGBjAbVBgxMZipTZCzpT3e3MyrsDGMBvfHjQ5TAJ7CPL6m7gSdnKNpRpVZ3hT6J90+zY340udOzBkYE7WllI09TMxaVSb8ac7PLXg5whY+0jSmFHGRdxgGQ54jrUrGDFPCTglg/deYh2iZuOwponISSitQ1FyTYbAvIYBziSPSQe4Kl1Qc4ScAbbMJsHc9yjgYSSygvst5AswQ4cOu1hnev/26NovGFvm7ak9zOJtGsolPZ1VD8G1+0vRxyPZd23lVcqjPXJjnQenGxIEt1fwScnFrmzv/t5KzLMkHExIUU707UL08qRXzatV0vY8QOj1nOZYytzu4spioo3z2k6d7CxDKUCNM8eZR6K8/prhFhnF5CzuiBG/jn5Fv+coOWcFx5F7OWKZDu/EGU1UNNZZUGptafULPMRLyHD7K32b3iZ6+GqfbdniMCHZBS4nejzza0XtkaKdRTDNT2huVnxGTWt4YJil9gzOR8T8nqURNK3XiLuOJvGuD7OzSZlQlH+rHUJhGhnG9PdLCCfV703XJP+a7cVO21qO7B09dWUTPtAXrLTEzSyG4KPhAPbMNIQvhF5TIHqDDmY69W+hWqb9FV2vcrj8EHzgvbY4uCOhW57Ud9dc0vJbOGkFHufSi+Yw5/Z/Z4Bk5XgTm0hryI0N6pFF0qBCfPMURbvIvmtVdqw3dc9uWqS2kZx6titlp/8S5UG8q4PEmQKDNd2BevvSZVPadsj2X26ihyI+em1NFRnpIL2kG7qGQ7V8hD8P6XAu8p9wNg6pMDnDn4iz1T3rF4LzCdom1cdxujodtiuCzS+vZVXvo2cIFVDK/jvhfcNOEeNKQ3LCZ8s3lW5H6oNy72ujf9u1pJcbD18AVSlawypaC7E6BLKOt2px8UZuffEdi5SfDJPMM5EX9rhc/YH+9eizgKNbYpGY1Wyhej2TkgFJok/md9SKJH54On0v/sPD/9jUa+bYe6o3Ynak5y3pgodIu1+W1rAWNDD7RmQU99mN49O38ALCfk/7iVB71Vp8evsPm4QkXZ7ko1uG5Vr91tXo/MBKyJjGQvWWubNEjGkvonRZVdgHXJXOt6szd5t2WQ3/orjFop3sAHDRxlxBljTv8O238MUZWkBYXFdAn1+U6q01U19U5Pdq1QH5L6jHMlubATJHlHtaldlIMo/iQP+28OC0tdWIiUSb44Lc/tO+1GtlkHE1pdplNligOeEhsGmqyjG+LpiQcCkjO80ck0HnoRCPF4u8u5cs6yWFyNX4uQvcOleDT/zJlfV6HxEHf9Sm9ttrFJCvTGhZ6XaOdv16QacrYQw0Qvu7TqpaMJ98as2vVmawDQfmBMfcqZzoiprF3pWL0RP8KucL7ZzFMk8HpmM4g5JRu7PG5/+YcQ1vfrjkiaUbd/rumARshFdrBRCXItWlH2/fiJXTWGOmYyamv6ynAyZ+blD2URr//2IKPNgU/k0lsS74QQycLXqcminCMO5et1HkURxLnf0uWnJzwB742eugigyuWEmzuz8q00Cnd5CqjiDbuhAZlwLC+kTPXU95MWc7uA5auw1x/4hUyfjJ+EuSH4AvSnKTc1LE+sI9jxXVbbe+qo6tIKQahW9Ha7cXq8rUUumvr5tAZZJWm+PfzVmF9XoqPkcTMRsDrloOY4WnCOyWyaxyTCnz8nDFaOyglxpX85udfQ//BfX+FH0SMJqdX7uwcosj09hHqEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TW4otSB5EnqiAwAgsYpeUa",
      "input": {
        "note": "Close was empty: lemon is further forward and to the right. Opening, pitching the tool forward to extend reach, and moving over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.56,
          "right_y": 0.115,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01TW4otSB5EnqiAwAgsYpeUa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4534, -0.0189, -0.0387, 0.9992, 0.2565, 2.2807, 1.0588, 0.9695, 0.1841, 0.0399, 0.9961]\nstate[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1651 left_yaw=0.0026 left_pitch=-0.0656 left_roll=-0.0026 left_gripper=0.9992 right_x=0.5572 right_y=0.1164 right_z=0.0419 right_yaw=0.0687 right_pitch=0.338 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.8779, -0.0611, -0.0562, -0.0122, -0.5128, -9.9624, 4.5607, 2.4493, -0.0073, -0.1099, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36937131f9d64941ec42cd3031ca6cc7975f823cabb6c8f8176c6011bd1e146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:397f9c2fac20f88968e6c67a5d33ca15f8006eb350a4d80d7bbe451e2cafabb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08897550e1a0689c9cff9011ea14073fd2407cbb7659870ba7bb67fcac0f95ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.55 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4286, -0.0189, -0.0383, 0.9992, 0.3183, 2.1399, 1.1725, 0.3229, 0.2207, 0.1661, 0.9996]\nstate[eef_state]: left_x=0.2886 left_y=0.0015 left_z=0.1703 left_yaw=0.0024 left_pitch=-0.0397 left_roll=-0.0029 left_gripper=0.9992 right_x=0.5282 right_y=0.1371 right_z=0.0212 right_yaw=0.041 right_pitch=-0.0404 right_roll=0.0019 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.7167, -0.0562, -0.0415, -0.0122, -1.1692, -8.5812, 7.3231, 1.5702, 0.2027, -0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4362, -0.0189, -0.0387, 0.9992, 0.3058, 2.1582, 1.1866, 0.3393, 0.1944, 0.1387, 0.027]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.5342 right_y=0.1366 right_z=0.0196 right_yaw=0.0654 right_pitch=-0.0326 right_roll=-0.0022 right_gripper=0.027\nstate[joint_eff]: [0.1026, -1.2786, 7.0085, 1.746, -0.0464, -0.0562, -0.0122, -0.5812, -9.894, 6.2974, 1.6044, 0.1538, 0.0366, 1.2283]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4534, -0.0189, -0.0387, 0.9992, 0.2565, 2.2807, 1.0588, 0.9695, 0.1841, 0.0399, 0.9961]\nstate[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1651 left_yaw=0.0026 left_pitch=-0.0656 left_roll=-0.0026 left_gripper=0.9992 right_x=0.5572 right_y=0.1164 right_z=0.0419 right_yaw=0.0687 right_pitch=0.338 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.8779, -0.0611, -0.0562, -0.0122, -0.5128, -9.9624, 4.5607, 2.4493, -0.0073, -0.1099, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36937131f9d64941ec42cd3031ca6cc7975f823cabb6c8f8176c6011bd1e146",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:397f9c2fac20f88968e6c67a5d33ca15f8006eb350a4d80d7bbe451e2cafabb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08897550e1a0689c9cff9011ea14073fd2407cbb7659870ba7bb67fcac0f95ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywcKEAgSGAI4AUIIdGhpbmtpbmcSDAT1rgCNyLbyycQ/UBoMUa4QKt6kUxjp0pGhIjAdAejSqh6+4GbzzWf3ZPfFh2d4QIskx3Jcuyzys1NsOJTegNgKVKzE6ZtdvzMfmZ0q6Aa85lRTzuI2lcZUUC9K3vqDtPgqgHxZQQs9hB6uSLMRUVO8IPLZzcBeWFw51zXSGO/Q6BhZUk5E8CqEOFIbWVmAbKFoqF/O+YUfkFDNSFLuAxK6sBYOWW5BBwEI/XHGELIVRDw8uexeXcpJUb0VlJczXRlNY63hiavjuS6728iXjKK95KeIO5jWXPYgO5+9Sb27GMuVRrSDKEIpNKDk1JfH38FyFOHSyw1UWDzZwlRxSz7pcbusw0Uq4HjpMm9yJxNnKPJJEQCNpvybfZXZ5h+HUoIi4hIQODBaGBLhkDmwcqr6faLk5EHiQP09eE32Xmhd+E5NtM8ASBeEmCW8TS/Q8FQQulbpFi6ldKV3xl8Hyh+DxfbiuH9OJSXLbdOCJHG1RwoY/gpSliK3m7H40vBHVMu9Rw7wy2135ZEWyrYWJ+L0fjTdrr2hZqg5Dd8zeTj2FKodd+XCM2zgTv+l1GRjfR49gpD+a8k7AXLV8OvfyIUMhvgFrZnQcmLfKmaBYbgSnHnW+iX3U8pT45yMNBTl16IggNqC8U94o4yYVeNWJIG5sH6SvScLLNPoltYc/ewFrZDjQhJ6T7OEU9D8AazqZekvnV+rFHgPNbqcgZxL2Z8jRrLtaba6bOUnCHkOm0LR8m1MDfWTA/W56clxhOZmc/NkVQRtMR/pPxzHur/38exS2yh5ElIfkliw4TfE7EpphcPCDCHmht1giqHmvpY9dNJWMveqca0gD+Pvglj+daei9vlVlh78YgwlFAZrVSgC0XU76Cc3qUWTc7khYAO+qTRjevfb1cD+s6mK9GJ7uk9cNWF/qUPNWyoGv1hGmQfTOesOSAJKvP6hNP9Ivenma/V23GmyDNVt2cTpwWgyn6fRw6bCpPZuJf65bGd//SZ/C1phuYbJu5bxLLaI/vKrV7NASr4VqQD7J06TE22My1pLECH5zrjo4ZEB1vUWRMz4CPoMkrsM6vuwvA+vz6nAntgvM9pIv4GuiPhus1dRaU/2Gf8qPEH5UnogMQM1jO33yxE3CVAOUMP7WKcPaYOrjB6kRKiYfSW7VjCYKsXktgDe2ds44Hm9JUPJ9HbRSk9x1pE3AOVmLosT8ShV+gtffoYkIYWgtgBZJ6a52Lz+1zuhQFEv8Q9sd3H1ZbUam2TSpuC5BfWRQxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N8QW7jp7ecsRDxKKw9Ckrf",
      "input": {
        "note": "Lemon is under the right jaw; shifting ~3 cm right so it's centred between the fingers and lowering.",
        "targets": {
          "right_x": 0.565,
          "right_y": 0.088,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01N8QW7jp7ecsRDxKKw9Ckrf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4591, -0.0189, -0.0387, 0.9992, 0.2073, 2.326, 1.071, 1.0645, 0.1226, 0.0345, 0.9973]\nstate[eef_state]: left_x=0.2842 left_y=0.0016 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.5667 right_y=0.1008 right_z=0.0437 right_yaw=0.0737 right_pitch=0.3969 right_roll=0.012 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.1966, 7.1316, 1.6874, -0.0366, -0.0708, -0.0122, -1.0735, -8.1026, 4.9162, 1.2967, 0.2173, -0.1441, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6757368d26906f6e6766a766f5103e37b524f0bf97768f4a517609990f7d4dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af1cb0f24ce6910bd27d9d389a118c4e847653c5ec9eedbb5748a471b5c911f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ac8b288e08cfc6d03e5979b6bc681854196523b95cf78e6d3341ae4ab87ea2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.634 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4362, -0.0189, -0.0387, 0.9992, 0.3058, 2.1582, 1.1866, 0.3393, 0.1944, 0.1387, 0.027]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1685 left_yaw=0.0026 left_pitch=-0.0484 left_roll=-0.003 left_gripper=0.9992 right_x=0.5342 right_y=0.1366 right_z=0.0196 right_yaw=0.0654 right_pitch=-0.0326 right_roll=-0.0022 right_gripper=0.027\nstate[joint_eff]: [0.1026, -1.2786, 7.0085, 1.746, -0.0464, -0.0562, -0.0122, -0.5812, -9.894, 6.2974, 1.6044, 0.1538, 0.0366, 1.2283]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4534, -0.0189, -0.0387, 0.9992, 0.2565, 2.2807, 1.0588, 0.9695, 0.1841, 0.0399, 0.9961]\nstate[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1651 left_yaw=0.0026 left_pitch=-0.0656 left_roll=-0.0026 left_gripper=0.9992 right_x=0.5572 right_y=0.1164 right_z=0.0419 right_yaw=0.0687 right_pitch=0.338 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.8779, -0.0611, -0.0562, -0.0122, -0.5128, -9.9624, 4.5607, 2.4493, -0.0073, -0.1099, -0.2222]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4591, -0.0189, -0.0387, 0.9992, 0.2073, 2.326, 1.071, 1.0645, 0.1226, 0.0345, 0.9973]\nstate[eef_state]: left_x=0.2842 left_y=0.0016 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.5667 right_y=0.1008 right_z=0.0437 right_yaw=0.0737 right_pitch=0.3969 right_roll=0.012 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.1966, 7.1316, 1.6874, -0.0366, -0.0708, -0.0122, -1.0735, -8.1026, 4.9162, 1.2967, 0.2173, -0.1441, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6757368d26906f6e6766a766f5103e37b524f0bf97768f4a517609990f7d4dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7af1cb0f24ce6910bd27d9d389a118c4e847653c5ec9eedbb5748a471b5c911f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8b288e08cfc6d03e5979b6bc681854196523b95cf78e6d3341ae4ab87ea2e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/AYKEAgSGAI4AUIIdGhpbmtpbmcSDIb63OWrtsTOVV41dRoM9TgGUQ/1p8D3FlWAIjAF45VmsXmZCeNRtWXUm+T1TR0QRBBKOlo/EciGb8GpMJ0AhIRO9DUoex4M6yh48PUqmQZL0kPjObPJsqCmfgulyk9txKI0BULMzhL9E5FiY9hmf8TEkYCgBw7AjPDDJe2O93SXYjona/h/Hgp2DiPjOtrhNKJ+1mUFQJaSdITZ7V/7y2mjp8IQUOjN2rsCll676x+TsjjMVrNSWNifPNVQ7iRwIso8hVRE1fTtkQYq3zfmIqLkoEnR+hbRa56oHXZZfwkmqJZKeVf/ZSA9IaYQAaTrX/aP0DhKgEcEg+Bt5IsfU6VvnKYuokiYuyiSxPXzIyIeEd0259n7cDAOHGvti3EzCXM87JQR6PeEZcMts/o9Ey1PLqr41Q/frGY/nLVwHfpVtxbBbDGaFnckHaU7Y8cBeM1w+yzp/Mc0EVKvbeJUDYngqG/0juVVMNRfQg87yWayGRpxX+P0nCO+PhgHxj8OgfzRBg2AnrLaLNoWykyWH8dXeGNv944eaPp1L8P1WFvxjqRYgBH2+O7b7S614+KPFOsk0ZHWG2Jgs8BoPrm8jI9f34ySFXeKPzTP8sDTtokzV66UpjhkWRZNNdBkBmOKQM5xU37ccsGeh8nkksiKeTfaP+EW1jfqQGDjUlyYsRXD+JRYDpCL+3MbbjWIad8O5uKJ6JST/cgbpzXgLW4m+cfVBoeRi6Fexy/xDbWn6Ma7CvsYCoA4Nc+84GQPwy8lbtvB+Ld/+GW8KRgARuF26gEPtQJH3ywdfWoVkVl1OvcXWRFegEoI7vMOB7l+K/vJXE1AG/S5Y3Bsu2hszyrnZHMbHL+49vfDJ1isEylhVT6clXBMFRuqWlz4rix51n10wb/q3HrO111igtlTJLgDfSv0Ye4R5PAdlEos3uBDUtFtD0C+254G7o24xkWkCuIvNZkKVU0ZxsSZwEZl+VTvw9b1G0tOFxrP8DvPMvUUlnlbNK2FgMH7P4U0cppCfIj2ZMGnLvhf2TwPmXM3TFRQ12/ltE5n5ZSqStIaP4/OwVNj7dqPFqEFd82t/7PfVSfV5VCqu+aBJt1aZfW2t7p+d+cVrqXS1xhLt/4PhZn1/poiIdJSiwbBo6NknJdqrOafQ8KuM3u/2AyMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A6ACQGW3cq93GKYSLm2d1g",
      "input": {
        "note": "Previous step was clamped short; re-targeting slightly further right and lower to straddle the lemon.",
        "targets": {
          "right_x": 0.57,
          "right_y": 0.085,
          "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_01A6ACQGW3cq93GKYSLm2d1g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4622, -0.0189, -0.0387, 0.9992, 0.1787, 2.3791, 1.0889, 1.187, 0.0853, 0.0376, 0.9974]\nstate[eef_state]: left_x=0.2838 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5742 right_y=0.0921 right_z=0.0505 right_yaw=0.0727 right_pitch=0.4829 right_roll=0.0328 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.1692, 7.159, 1.6777, -0.0611, -0.0366, -0.0122, -0.9231, -7.5419, 4.6427, 0.9548, 0.1245, -0.1636, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c579c8d7e6d5e203e0c0a10a6e81115c4b9b46a99d5f5dd8e331bba6c8cd74a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be52956d7065b3755d76c5fbf19cfee1e68dbf31f024261dd6b342bbecf1f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d40da43e3ccd76db0c6a276da390503f5e1157c62b476b36eb545d5c3643345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.187 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4534, -0.0189, -0.0387, 0.9992, 0.2565, 2.2807, 1.0588, 0.9695, 0.1841, 0.0399, 0.9961]\nstate[eef_state]: left_x=0.2851 left_y=0.0015 left_z=0.1651 left_yaw=0.0026 left_pitch=-0.0656 left_roll=-0.0026 left_gripper=0.9992 right_x=0.5572 right_y=0.1164 right_z=0.0419 right_yaw=0.0687 right_pitch=0.338 right_roll=-0.0073 right_gripper=0.9961\nstate[joint_eff]: [-0.0615, -1.2239, 7.0222, 1.8779, -0.0611, -0.0562, -0.0122, -0.5128, -9.9624, 4.5607, 2.4493, -0.0073, -0.1099, -0.2222]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4591, -0.0189, -0.0387, 0.9992, 0.2073, 2.326, 1.071, 1.0645, 0.1226, 0.0345, 0.9973]\nstate[eef_state]: left_x=0.2842 left_y=0.0016 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.5667 right_y=0.1008 right_z=0.0437 right_yaw=0.0737 right_pitch=0.3969 right_roll=0.012 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.1966, 7.1316, 1.6874, -0.0366, -0.0708, -0.0122, -1.0735, -8.1026, 4.9162, 1.2967, 0.2173, -0.1441, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4622, -0.0189, -0.0387, 0.9992, 0.1787, 2.3791, 1.0889, 1.187, 0.0853, 0.0376, 0.9974]\nstate[eef_state]: left_x=0.2838 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5742 right_y=0.0921 right_z=0.0505 right_yaw=0.0727 right_pitch=0.4829 right_roll=0.0328 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.1692, 7.159, 1.6777, -0.0611, -0.0366, -0.0122, -0.9231, -7.5419, 4.6427, 0.9548, 0.1245, -0.1636, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c579c8d7e6d5e203e0c0a10a6e81115c4b9b46a99d5f5dd8e331bba6c8cd74a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0be52956d7065b3755d76c5fbf19cfee1e68dbf31f024261dd6b342bbecf1f20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 59):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d40da43e3ccd76db0c6a276da390503f5e1157c62b476b36eb545d5c3643345",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvAgKEAgSGAI4AUIIdGhpbmtpbmcSDDz695a2ektLjH08PBoMDC/Ise1iiXQDhA6tIjBGNd10ERzmTpZgf3HJyfJmEi6tXDUKo7+YtUkvLoPHU5F0mlKDigHivqpOTunPdXsq2QdplWLuncylMT06zhonPJnpMWH+wQvSpQOMHiLtPIYFOomaz3u4+iuhI5XjPcFQCE6kBwaACgOiPCvOpgvsU4szSFrmddms8xtL//vnN5v8HQzwGIzkljxVXtcu6DMycyyNBF90M+TD1l5VX4z9m1FL3R9eEkp7sfOqOf+CJenRScR6b/ytxHy/MoVx3d2MPn4hp2o5Aj3zq6MYqfwWgUlxxGhbVg5QoHmKk1CIo02Y9OxyU8BX5hDvtaFOnWnWry4KZRWPLQbZb6UzwpUq0IpvAji8adjWhTKVpAX+A59aFhfdaPYg8NUybkYXzs/JCwBvN0igCC73hIOmtizSA9GKJlx9310eAThiK/nBR/HpSwZvY3c+R5Vrh3byPpU2syawvUeJUip4XzvW70UOocdbfmXciTQAKNR59dutDBVzp+CA7EimHZMVKDIi4oHkUl4SJpl6dwy6VzvF/iM4mLgD97DGU6oXRAIOlzD0m3PwKZcT/5Fbpr1CUmTGYKb4FVYU0kHE+7F70vVkFjo7YfHtc4R6dawe8Fc/WMdNBI7WsPXhl0TYdvx8vX9OOkicYg5y49+d5zvK0QQz1Y3Q17GA4QkNf7s/bCA4aoPICcgKH1VObM0xYX3BX1Rx6v6vX/lvGW7xi5TER1ZNDvrGEHhk/n8PRj2WOog4yHiIvyzhkzZEYsZtZqB5F6E8vEQaAljee412ePanbHm/cSfhluPzLR38xIpGgKPU/AegArYOQ9252tz3xKMyZ9iJfDbIi21hi0jq0X/ArJtaiyZGaetalLcICxWB90huK3Kj+MIpQ77DDDCc/Kl0tTHs5msWmCnG86htYgF+DchZjY68zdDuw/aZv/XqOrCQOcfWlLm1UXGgR4HkH9G/TcyEU4DhBb61zKPCf1j7TZ0MHWZeNtYzLu3XI05bK8FtkDpZURA4sZCIi02qdsvII59wZxH85GG1aiNowoFnmcwLeiputbjLFdpnL8Pzo+I1RosyUqgc3u3BcjB36yNq2rMNbC5x6QNt4DEMS2uA0UhXyeZbMWmVvxz+qC8w3ank0w/i0lJn5JgzKbQ/fUHKg0PzRkwTeI3KFeeAgL3EYeZe1l822Ljk2bUhbyaHrsn2j2Q166OOVWG+a85RAc3YYI+Lm3fzaw2thAsPPJG5Pwg9uuR9N50mhPGwF40Wf5fg37w4hv5+G/sr4SSc/YDLQZh5JS1SD/lznp882sOAqbYK8atrDeP62VkHpK4hWMXNxdzsYNVWHxkfVQUh0VsJGDQ9wPCp8423pZYu15zmH+JTdk5a+W2f0w1hWhayohPlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ByA3eFb1GYrpUQHU5X1M6V",
      "input": {
        "note": "Arm is at reach limit and won't descend; pulling back 1.5 cm so it can lower around the lemon, which sits between the jaws.",
        "targets": {
          "right_x": 0.558,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01ByA3eFb1GYrpUQHU5X1M6V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4732, -0.0189, -0.0383, 0.9992, 0.1726, 2.3943, 1.095, 1.2228, 0.07, 0.041, 0.9974]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.161 left_yaw=0.0024 left_pitch=-0.0862 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5759 right_y=0.0915 right_z=0.0529 right_yaw=0.0775 right_pitch=0.5092 right_roll=0.0413 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -1.1282, 6.9812, 1.746, -0.0611, -0.0122, -0.0122, -0.7863, -8.1846, 4.2872, 1.2772, 0.0952, -0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16fd027d7d6c186510f9954ffa3dda2f9c176b9bce3a5786673cadbf34aaea8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c3e4f1e3777c57450e4ea252df0b526f1ab54f5e5a200652a6a1975c7ec7b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4bb66dcacf5eacaa35c57b0150c697d00d9eea484e19f5e843dc31b176343b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 14.72 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4591, -0.0189, -0.0387, 0.9992, 0.2073, 2.326, 1.071, 1.0645, 0.1226, 0.0345, 0.9973]\nstate[eef_state]: left_x=0.2842 left_y=0.0016 left_z=0.1638 left_yaw=0.0026 left_pitch=-0.0721 left_roll=-0.0025 left_gripper=0.9992 right_x=0.5667 right_y=0.1008 right_z=0.0437 right_yaw=0.0737 right_pitch=0.3969 right_roll=0.012 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.1966, 7.1316, 1.6874, -0.0366, -0.0708, -0.0122, -1.0735, -8.1026, 4.9162, 1.2967, 0.2173, -0.1441, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4622, -0.0189, -0.0387, 0.9992, 0.1787, 2.3791, 1.0889, 1.187, 0.0853, 0.0376, 0.9974]\nstate[eef_state]: left_x=0.2838 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5742 right_y=0.0921 right_z=0.0505 right_yaw=0.0727 right_pitch=0.4829 right_roll=0.0328 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.1692, 7.159, 1.6777, -0.0611, -0.0366, -0.0122, -0.9231, -7.5419, 4.6427, 0.9548, 0.1245, -0.1636, 0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4732, -0.0189, -0.0383, 0.9992, 0.1726, 2.3943, 1.095, 1.2228, 0.07, 0.041, 0.9974]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.161 left_yaw=0.0024 left_pitch=-0.0862 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5759 right_y=0.0915 right_z=0.0529 right_yaw=0.0775 right_pitch=0.5092 right_roll=0.0413 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -1.1282, 6.9812, 1.746, -0.0611, -0.0122, -0.0122, -0.7863, -8.1846, 4.2872, 1.2772, 0.0952, -0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16fd027d7d6c186510f9954ffa3dda2f9c176b9bce3a5786673cadbf34aaea8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c3e4f1e3777c57450e4ea252df0b526f1ab54f5e5a200652a6a1975c7ec7b9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4bb66dcacf5eacaa35c57b0150c697d00d9eea484e19f5e843dc31b176343b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShwgKEAgSGAI4AUIIdGhpbmtpbmcSDIBIoNf9lrw7Og8UZBoMTufR3dtGLZxthr25IjCDxr3grYQa27aarVQbAfrjio4InI2l10sk4WYP0WSvvrw+bBfmeJFoGYoyq3Z3LREqpAd4y2voSrjFGz6IrJA8AYOptZVfosTjvE/Y3Q5cPaMZxHvCvy5XSgHiR6S8HeOYkWG+BHZRUW8oIP7H69SyUOYy6sQw9spymMGRhOPRGVs0GxQ4oQAgsqj1pAEaSM+VX7B5aN2kk9AcJyrYCjnKh9Dzs5ELslTXTX/rzEDeshc7WiCFqO+5I0R5+isTh9MbEanRT1cw+KOTi2Jt3XHF1s9yuOaAE/HufDlm6fTzvojcT5kahXevIqbm+57gIxEz5t+Enoyw/QlcKbnVm3DySA4a/YdAi6loLNReYBQbsCU77XCRLmgTqX+zOSIzywYqmIhy+FHWtLS2iFopXCvh3h4VdMFkHF8l0FissnDx4wuwhURb2EbTXIU0fiK6Cc+z4aYHqikUERlcVsTdNgiJUvHZkgOu6LM0xS5W8OvO7takEHLX3vMtLEs77NDSde6ULLNfcVHJA9mK6X6YbFpNcFdZunvxROUz8nZCJkN62x+sSUVbzATawSZwcb2jxHe6gBr8hPQDtMjXGtWN4I1M0wA4MaMmSZ1WOe5biz9Yon/3FPPz9ACHXC7mTJ1UdxFe2S6lgTbxd3lrbud1kssqC0mPks0yEjBZmTqxYM2ayeS51vps77H9ovICY/v0mCL/4UMYC+63wFvsiQzyQbsuuzPhDhHS7QzTsWrjGg9LjIGKq/2viDJTY8oIvdsmbPu7ifqTFGqpffOMEOso7aMSPvFVGIz7TmZLpNROO5uBjKwmC+D1bYlgSNcTiGwdX6hwCZYKFhQKJYZhmM+ilX0YUMd7YDxx6irJBB0V9ScqkYlZ8jWdHwpQuGqoClXNGSsGEiHccDanmhGFblCKzwbxqRvEeQv10GQHeqKdslOpAU1T4qXq4X6ochWdVCu+E1+aZjEIed7rAAdYdpS2anCAW7RZUOZIE35gfz5XKdbb/7es2iGhGv+zsiAgvdRPM/MKD+EpjHLZ7URUxMjH/KrjBfEsfOtTIYpPvsNR6HEaIAyIKgmtIecohL21WqMAWMSzt8UcobXMTROSIb9tHYMhbK4IrhG8oXjd/yhIchykTGILVWdc31MCbtKLEczDKSyIpKQShw23agK8Co/WndhDxx8OCtA2w8rINndApVW0pPcjjU0wKFXoEV6g8Lfom54jmF6TBAX9Xa7WUzPAjB29nGqEJzUHQIunSLY4c6cgglEJRzCa2Mj2SCxNEl1TVzQgljci854OnirIGVcxGjq7wJ6vDKfrkRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EeMgSuJox56VgASZYb337U",
      "input": {
        "note": "Arm isn't descending further but the lemon fills the space between the jaws; closing to try the grasp.",
        "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_01EeMgSuJox56VgASZYb337U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0193, -0.0383, 0.9992, 0.178, 2.3974, 1.0977, 1.2617, 0.0536, 0.0444, 0.0087]\nstate[eef_state]: left_x=0.281 left_y=0.0017 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.093 left_roll=-0.0015 left_gripper=0.9992 right_x=0.576 right_y=0.0976 right_z=0.0618 right_yaw=0.0945 right_pitch=0.5474 right_roll=0.0503 right_gripper=0.0087\nstate[joint_eff]: [-0.3214, -0.9778, 6.9538, 1.6923, -0.0806, -0.0269, -0.0122, -0.7316, -12.2598, 4.3692, 1.5653, 0.1343, -0.0122, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea030462a376137744668581439355e3bf9af96ef0fb086a6c334a8b33bd0855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3402279b1e00de8894bb16e706343400ba4fef57d82703b47b7d62704717f444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ed25491b63ef40e090e3ac35c35d07a8de4aca5c6508402032a9cac4d98d36b",
        "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 · 3.893 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4622, -0.0189, -0.0387, 0.9992, 0.1787, 2.3791, 1.0889, 1.187, 0.0853, 0.0376, 0.9974]\nstate[eef_state]: left_x=0.2838 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0751 left_roll=-0.0024 left_gripper=0.9992 right_x=0.5742 right_y=0.0921 right_z=0.0505 right_yaw=0.0727 right_pitch=0.4829 right_roll=0.0328 right_gripper=0.9974\nstate[joint_eff]: [-0.0615, -1.1692, 7.159, 1.6777, -0.0611, -0.0366, -0.0122, -0.9231, -7.5419, 4.6427, 0.9548, 0.1245, -0.1636, 0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4732, -0.0189, -0.0383, 0.9992, 0.1726, 2.3943, 1.095, 1.2228, 0.07, 0.041, 0.9974]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.161 left_yaw=0.0024 left_pitch=-0.0862 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5759 right_y=0.0915 right_z=0.0529 right_yaw=0.0775 right_pitch=0.5092 right_roll=0.0413 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -1.1282, 6.9812, 1.746, -0.0611, -0.0122, -0.0122, -0.7863, -8.1846, 4.2872, 1.2772, 0.0952, -0.2125, -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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0193, -0.0383, 0.9992, 0.178, 2.3974, 1.0977, 1.2617, 0.0536, 0.0444, 0.0087]\nstate[eef_state]: left_x=0.281 left_y=0.0017 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.093 left_roll=-0.0015 left_gripper=0.9992 right_x=0.576 right_y=0.0976 right_z=0.0618 right_yaw=0.0945 right_pitch=0.5474 right_roll=0.0503 right_gripper=0.0087\nstate[joint_eff]: [-0.3214, -0.9778, 6.9538, 1.6923, -0.0806, -0.0269, -0.0122, -0.7316, -12.2598, 4.3692, 1.5653, 0.1343, -0.0122, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea030462a376137744668581439355e3bf9af96ef0fb086a6c334a8b33bd0855",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3402279b1e00de8894bb16e706343400ba4fef57d82703b47b7d62704717f444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ed25491b63ef40e090e3ac35c35d07a8de4aca5c6508402032a9cac4d98d36b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2xcKEAgSGAI4AUIIdGhpbmtpbmcSDJ9iBNMIUeBBsLKevRoMElOydQjCxtq/aMTpIjDE40q0GYD/K/pQllLICFiAtieA76X/cPA7Hqzn/DpR8Rk529bDaIFThq4WWXis8y8q+BY9WC2lUqQs4a2ozf9ENUcygTTwBiLg+ag0qsl1Xb5ANS/xzvzbLa65FehNnALJ4FtpBAaOaL0wVn77PeiJZTFgWKpnC4MHJETQquZzxOv0gdgeS3Qcq4oFfDHoJxrDCyAmXw0SiJEXyoIemnB1Na2XfaPFjC7iFh197qu5VTwuLEXbqAz/JQRtYeBEiWibbrigZj0VaRiNz6bHLoABg6Sn2iANFBV9h1MwCtzx/MvaVoYsL3gpmHMIXZEtOUt1m7pN5AxvG2OqKbkG8aUFBEX53tg3jnJP1+HyPh04osgLiPymqFg/o+HQaGuiVk9zp/fFHF3VZQXbEh65MSmpaC7lc8qcUpg5qWUXtDAPR1h7CEkr/qk0y2LmBEieMljwnWZ1Q6hEGVBrl4kNUxnaho4dNZvv2fbyK203GDCn//hYaFzjjTojlqBqWAIktkKJtJT6Tci1xbjCRUx1SNe2SJhaILcYjnqbIxxBRBzdn43ID7HX9kWboSzq4YiYByJLdaYBURkZcOLK0CSNXULnyeNCi+2ncO2BOq+y29EgnIafz/0ZiuFQUeg0nXk2lnYnnszDwPqBQfr+53XZz9p9fWdY1QMf5w3M7cAV9KJmypmjL0A7nswGuigzz+2UpXe58kkMhJs0Nzm/zJ3T9zdCP5qttIo6I79Y4RjKVdhlwaJ/hf5vVJl6Nlbytut2vNoP/aEFqFXnfycmG7amkNcv9dJFeJjA1XqpOZBjwUOLZfG9U78j4MtHs92Zo/8Qn8MExFwcyud9HQPkoqjI/dBz8VZfcFKRybrqfVi53JJvxq46mjQguKDMCFR+CbVPBMVwLQBtOMTcYN4vXop02q/NjkcYYYXdUC0u3bTA2cStiWdovAyBwuPX4K4N4bXUShohTugS8R25rbdz0sbQRS8JTWbLucTEUmENK2m72PYJOsxFnVO6FKRulMYMSyVLSfRm4oLeHeuPhKUdNQFQ7HYZe8Fw9zCOed6CgK4tOtEIzi9t9B+wrxIC7muQk8FffKAjpomNZgim289Lz8NaB8+H1J0eJzHil3SQDjgbf9yUntPN2zu6OEKGJcnzMzm870l/LFWWg1ljsUoAZ0w1q27/psd3frA35ahHpcTseu3ESuygoK1bDGoaFSC03qzJsZkSdoM3KOYtelH766jOa3+ZQubxE7WO2XTybQUZN9RufakUpzCno2EdEGkhbZoXfZDaHHnJJJRWfVnmuHvxzErKERhdD2KaOAPuV3SO6LwHynOLreWWAR8hYTRrmAqAXf6XPFZKYHIbfp9mTtEF9sNMARzJMAB8k8IwUpWi7FHkS0Juj/ENbPO5UNT3Oglo4RfzOwPa6a5K4j6qwCeokLETN1RQbBLHpYM4vS2K3C6HDVGrZsJ+91haS58oOKdO69LdGR8kikKe841WP3m3xswOT8HFzdDindIUdRl7SUFN3kJYYVLn1v1LzQN7eieaItfdDcBZMRFuHldCc35ZsXquJNvhWersmtaD+FsgKFPbq1sPyn+Y1yPWoTwh8a5xizoQdZK7jODVmxISTd00CotggdIZylgobQGILcOWLg5bqssR9YNszRGaPDmiFTG+HGHsi7ON2TcEFRKi0jQDOdhCl8cEKrU1b/ve5/8gx1p4fECAqC9niVvjLYwL0QvzALAEz3a8IDOrZEdY9EKu2ChUhR5Tbkz3tYoGygih0zNc5lTL0M9LQhbeYz9JhWnXAzAHiHcfDfGMdLTo9HJK6TOgozMmAPGnXcNH4svpAeiiIrYuYxA6Rv08ciHy38ZRHnlptrqlsivz9oSoGVgKY5molXLRr/KVOSwNkzyI3MGN5EgHH5cLvQT8xcpimPLcMilQRWeZh2xBkcOJY152z7YNsieGO3cMWVUG2rZotzsu9B9DWtaVMOZc4YL4VZDQneg4DYzOBr9r9SVQgQKFCHhg3HId+pLEeXX0/2yihhQUcxXVH351C6uXj0x6cmz0AvyIrTxKUWGI0TGFu/IH38ygTDnbkhPd73Vr18UCEDxz59ijzytj+t49tUuOUjNxZ1rd16prrtbe4WbPpEuoqo/GvHiDbgMehuC1uXyTfiRrOOV5adsGikhXtNqf85RMRRLa5dmTGqTvNokQ4Bq4y3+ZQqyxdZ6DRx2Ws7JBPNA7io3LM34BnhAB72XU7abEHoRwCzHc9RFB98uoGdFa6q1cBHYwDrvBE0BbFWHkO8voPDJOV7n3SOjMP/0ES7V+M7HgfczO85C2y7/D4JRbrvL98cWpFgfIAb9scM1UxWFWjt0G/bAPmaTBTfIhIZEJ/S/pep6VnmCZV5ISIE7vG7qKU5mYICsdT20pGA+UXjL/fW+6S3eH+ltoEpygaXaYWXjlCfmXh3RuwVEb8ZDDQ/+lovywkbR/1ONSDSvjPcsWq7lNA+21ag2SWDNMCXymI7V2esded5jTJNMJSBB9TVcJuNwSX7JhDqVDgCRBTqyI64mAF9adBtX/l0+b0A3J6FTlbOJ3eIpZVpBnMYPW8wzrszMy4rYrJaQoS5OATSjMVooOSAmgknz1Z9qD0kt9N/U78PFGmIDyOuDKbg/kDchfmo0xUH0BV5uJGbgeO6sbaIPjlP0ihWt/+ifEWSBpd/whqgX3693uNZsyvixBbCX3T7KgkP/lzimXofLs2q73xlXpyIGanVwd12/IfBwgngITNXCFczyj2HZbAfPSzJrWdZTfVPqybTF9tkq7Wyy1aOksSn9+1q1vpO1iL2etuhQo9Z89Igvj5u4mrslcidcRsr1U5gdRZoNqyZScEHcUSKkE8CfXBbPvxVQPX8NZGg5ermNsUHN9DwSPRMuqBeIAo7dNkUyskUvbXrBnoynmTIrqZQLSHwW7HoWyRNsgCty25S64J87fcvwUMrNvWADZJg7R4RJmY3dVaSdg2LnmysXpwj8hef32Kv3hd0NsJey9esz7pJIVCAufWbnXjP7kzBwDt2CByw1r5Ewo/agl8kqm+0VWLRwzrXH0OrWyNqoi7hnVWbfBuazr3pcyIr9wMvdLCarnVxgMAYBpVC9ZtAjJliWkYx4KgDuBGkUgLXnejnMJfZn2YdciguKCmKljAuf67UzvKNn2A/TwsVTWOY8sLf8tuwWinmK0ZdzLSl4SCkd+O6ECoIFNZMns8+AIFS0yYmlJyVqWg+ehfaXAfjwchhtyBZkBjNrDk/098C9kS/zsjLn70y0ICoXDv5ybD6Ssf1yiJMptVeAyvPglej14ZlrO51mvQ3y/eZWnPUgHKPei1y2yrfRDPA9AyJmjg1QSbQEve/6Xtxt/+QEl1/1oRppYuObYkUhtcFBoFYML9j8Xp/785K6Ndyf8dFv43vJ/8iCoRTWpo5+/pAN2lLKr4TzYtP8f/LIBauFVZEK19VevJ7GK5NHzbjr5KYpRtF7AMZRCesXZ7/En30DVcxINjZIFoV5UH68aG8dKOBu0Sj2VReuPJQR6xiCzYrCrmSZl7YsMWVWd2VWVgW5K/lAcnaUYMPIJ0pOG9LAktVpx+1/hL61068fzEAeH34wrigr0HlVJDuarvtf22zlOZ8FP0QAzegOZ9liIrDUGYLIltg5S99IsKauamsKR3eLMrohMsnoPvtrepLyYEc6CZQHQT5JNmNKWgLCHN8QMRdR40D0xgZa0wBuc1RbIe/h3QPdusdz5ITz7rFNbRLBUM6Nrq3SYsI8CFYQc8Yc/tOTmdo8jM/kJAwJjwsyRn7EwHwFu1Zc9tvmuVH5pmL3ZpLu2QmVYQCLTR4mqotCQhoTbD6gvPr1g9+G1UkCqeIw/CcYLnsmoY/nFHGFPRAwhE9oU9CxCdqIopxA8Iv8XlsHYqSmqzOLWWahaxX2lgRgfXMZhMjrgoBejywOqNANuQVC4+d59/rO/gKrOPMO1MLTCQbu9uUWX+G+IMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EcwC9KRooYKMvzAfsHSb1b",
      "input": {
        "note": "Second close empty; jaws seem to have been resting on top of the lemon, which sits slightly nearer and to the right. Opening and lifting to re-approach from above.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.55,
          "right_y": 0.085,
          "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_01EcwC9KRooYKMvzAfsHSb1b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4953, -0.0189, -0.0387, 0.9992, 0.1593, 2.1426, 0.9825, 0.9474, 0.0357, 0.046, 0.9946]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.156 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5504 right_y=0.0857 right_z=0.0815 right_yaw=0.0978 right_pitch=0.373 right_roll=0.0404 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4427, 6.9812, 1.8144, -0.0611, -0.0611, -0.0122, -0.4308, -13.135, 5.2171, 1.9853, -0.1001, 0.1001, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cabdbdf65e6808a00a2f431d54b2e82d22f216c46b44f9b68d193e92c07e7a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69bbb103bb2f02f5b049e893d16fd5013264a6b0e55473b24eae0efb71ad1a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c5f89b9b429712ab11ba0d3e9da300528819a0a62898b32d282a2ff24bc24da",
        "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 · 3.349 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4732, -0.0189, -0.0383, 0.9992, 0.1726, 2.3943, 1.095, 1.2228, 0.07, 0.041, 0.9974]\nstate[eef_state]: left_x=0.2821 left_y=0.0016 left_z=0.161 left_yaw=0.0024 left_pitch=-0.0862 left_roll=-0.0019 left_gripper=0.9992 right_x=0.5759 right_y=0.0915 right_z=0.0529 right_yaw=0.0775 right_pitch=0.5092 right_roll=0.0413 right_gripper=0.9974\nstate[joint_eff]: [0.0479, -1.1282, 6.9812, 1.746, -0.0611, -0.0122, -0.0122, -0.7863, -8.1846, 4.2872, 1.2772, 0.0952, -0.2125, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0193, -0.0383, 0.9992, 0.178, 2.3974, 1.0977, 1.2617, 0.0536, 0.0444, 0.0087]\nstate[eef_state]: left_x=0.281 left_y=0.0017 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.093 left_roll=-0.0015 left_gripper=0.9992 right_x=0.576 right_y=0.0976 right_z=0.0618 right_yaw=0.0945 right_pitch=0.5474 right_roll=0.0503 right_gripper=0.0087\nstate[joint_eff]: [-0.3214, -0.9778, 6.9538, 1.6923, -0.0806, -0.0269, -0.0122, -0.7316, -12.2598, 4.3692, 1.5653, 0.1343, -0.0122, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4953, -0.0189, -0.0387, 0.9992, 0.1593, 2.1426, 0.9825, 0.9474, 0.0357, 0.046, 0.9946]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.156 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5504 right_y=0.0857 right_z=0.0815 right_yaw=0.0978 right_pitch=0.373 right_roll=0.0404 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4427, 6.9812, 1.8144, -0.0611, -0.0611, -0.0122, -0.4308, -13.135, 5.2171, 1.9853, -0.1001, 0.1001, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cabdbdf65e6808a00a2f431d54b2e82d22f216c46b44f9b68d193e92c07e7a2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69bbb103bb2f02f5b049e893d16fd5013264a6b0e55473b24eae0efb71ad1a0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c5f89b9b429712ab11ba0d3e9da300528819a0a62898b32d282a2ff24bc24da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gcKEAgSGAI4AUIIdGhpbmtpbmcSDMeuegs4+K6ksOQFIBoM7J79YkxPO9ixIhkrIjDXpGV0AeDcDdz+8K6AHhp5CYtmXDPHUW3JJ4Xjwy/6/K2zsMqFUGXUBxtTqTpls+Qq+wZVIwyvl9WWx4ON0H9TVKJWta7ZEG0wtyB/ZJftKTbK1NLlm5lRmx9hMsT+y14UkNhSOHVwXgGP4s15QMDtH2V+h1JQVyOxClQTqyQwa1zAfT/Sxp4hD+r+ibd+S830Z5quFnxftEN4jaSnCznEYFdQQl9A3j0EDwM3ncfVqGiw0kQnNaS1/y65WUx18n7JadL1Be2uLnXEufdDiALH5Hm8V3ufBBHZDE+PGhoM+q02rVXWgkBBivMhf/1MnV/cO7Uy96i17Is949IIoFyrs9ML5QJAITAUWpdIMiULYAgWOGN0bCnpr/+LzqzeJpmyIO1OZhpWNjx6fp6QJA/di7dhAM66IsOl9CYBesAuPx+TRcbQv+3WxiuMW38SYIqWKddN0KHkwq5a1TQDh+e77UJqgM8LsB0Aosn7zzngsQq9SP4NSAMWzPMg5rfe1SHSYOyTFzuA0IlXBUqjA4zr6quIehjaZTEYn4Mltw5NqxZEfS2VKB/g1kT9FZODCpW3rvxtbfB2D2I4J7scuwyD+DDzzIPZoA47w2/WYkCs9/tiaMYZayw0m4zo4hJT/hsvfiTt5awrvLPk0w6TtWlTnWQO99NebMymKE3JPoeebGp86fDZ9lB5dXDqu/7ls0lCQU4m13MrT+NIkNrLodKrEMt9kecJAMYFSzQfSBSP10JlI/uore+uwL7ZUhytGL/UMmLieZsQXcVaSI2ZPFT0IimJ1j0D8HncZjcwxGhHFs5Dvcr1Dm3ObqQ8fbysAwYW7Bd/9ieVChdg5PXBnG8mXTjyMGsmSaHWXodH/jH/jJhbuD2nPB7ywZo4oSN5B88Z4jQ8oMQJNyAKgF/XlniAZ5xH260oPm8hjdNPEWm3DHx8Kxgn52g9vdKDmH72XtJpHCMMFHx74wePxlCFeJ9siu969SZ834ctLIgRQeptyW0kQl3ekSR37lIzAI1TCaSrLfpvr4fxYU2u68Mv1hSUV8NvJdWtqOF6Oe+uUhAQrsr/OwLj5gsBqMNeaZ5R1w2mqkhDGfUILtLzsmLOcCWouY1JaWkEUDRJt0Yrg4IOeJvtvMXNCduy51PNY4AjmmVmjKhjddMmfqLvrHbfAKZhOcVRv2Xu/JyDzT815MWFV4C7fJlJw6q/0rcE5uxpUVwJFuJGfQFK+/7nZh88GNJF2w9qLXkEfLsPb+92tIsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XZAUW3MUw1SymwFiA5Yk7Z",
      "input": {
        "note": "Lemon now centred between the open jaws in the right wrist view; descending straight onto it.",
        "targets": {
          "right_x": 0.555,
          "right_y": 0.08,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XZAUW3MUw1SymwFiA5Yk7Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5106, -0.0189, -0.0383, 0.9992, 0.144, 2.302, 1.0065, 1.1275, 0.0124, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1529 left_yaw=0.0025 left_pitch=-0.1274 left_roll=-0.001 left_gripper=0.9992 right_x=0.5581 right_y=0.0823 right_z=0.048 right_yaw=0.0902 right_pitch=0.4166 right_roll=0.0699 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.2513, 6.9402, 1.7607, -0.0317, -0.0171, -0.0122, -0.1299, -7.8701, 4.6017, 0.8864, 0.1441, -0.2906, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bc59be639ebc43074baf5a19e07cb586bf296ca1a19526c8028660f490d582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff531c8c88308e0350d7f8a4dc6c600875a1ac29f13016668ce98a8f551d9254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1f6177c2b62c785679aba6c9fd1cc4dbe9c55edd80e2194e7f37d7bc31d1848",
        "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 · 9.671 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7994, 0.6067, -0.4801, -0.0193, -0.0383, 0.9992, 0.178, 2.3974, 1.0977, 1.2617, 0.0536, 0.0444, 0.0087]\nstate[eef_state]: left_x=0.281 left_y=0.0017 left_z=0.1597 left_yaw=0.0028 left_pitch=-0.093 left_roll=-0.0015 left_gripper=0.9992 right_x=0.576 right_y=0.0976 right_z=0.0618 right_yaw=0.0945 right_pitch=0.5474 right_roll=0.0503 right_gripper=0.0087\nstate[joint_eff]: [-0.3214, -0.9778, 6.9538, 1.6923, -0.0806, -0.0269, -0.0122, -0.7316, -12.2598, 4.3692, 1.5653, 0.1343, -0.0122, 0.7057]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4953, -0.0189, -0.0387, 0.9992, 0.1593, 2.1426, 0.9825, 0.9474, 0.0357, 0.046, 0.9946]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.156 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5504 right_y=0.0857 right_z=0.0815 right_yaw=0.0978 right_pitch=0.373 right_roll=0.0404 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4427, 6.9812, 1.8144, -0.0611, -0.0611, -0.0122, -0.4308, -13.135, 5.2171, 1.9853, -0.1001, 0.1001, -0.1978]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5106, -0.0189, -0.0383, 0.9992, 0.144, 2.302, 1.0065, 1.1275, 0.0124, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1529 left_yaw=0.0025 left_pitch=-0.1274 left_roll=-0.001 left_gripper=0.9992 right_x=0.5581 right_y=0.0823 right_z=0.048 right_yaw=0.0902 right_pitch=0.4166 right_roll=0.0699 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.2513, 6.9402, 1.7607, -0.0317, -0.0171, -0.0122, -0.1299, -7.8701, 4.6017, 0.8864, 0.1441, -0.2906, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4bc59be639ebc43074baf5a19e07cb586bf296ca1a19526c8028660f490d582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff531c8c88308e0350d7f8a4dc6c600875a1ac29f13016668ce98a8f551d9254",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1f6177c2b62c785679aba6c9fd1cc4dbe9c55edd80e2194e7f37d7bc31d1848",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wYKEAgSGAI4AUIIdGhpbmtpbmcSDCdI3tz9hOkMcSaywhoMNCxiD2xx3D8y9I8JIjAdEkm4QVoGnPHS7g4WKB+a6xNmCLSjADnirJMZAHEQdClPXOoYPUPnB7A84MAiXXoqkAYdYox02HUKtfDu2uXIS+vxTpyLz6AmKd9B7Ioo79at3wtzqr+JC5dcD6dlYIDRb2Imar/NPPsLQCqHFCuv6cSlGBoMfp+VBra1Ur5cUPoE8+hYXCQEXwjD30bDoYBnQ+CehkWAv7UBqw28sn6+1ZWVRqsIU7n0yYWD+CpW6iI97F39EkjpCqxjT/GyUo9xqYvbU6rsJfE9aehfnEZEGkDnwtHGfJEIEXsqCJoLylOhsL22w2jXDc5KzgOyx9AZkq13nMHOCvfPP5DVgszC1IIqwIAGUevbUjG+5e1FyAmLJHrI+n7L101cDpbUbujekTgxZjYOTJzEYxpb9AcHu0zHiyONBfhk/MAkoFL+4zkyxbs7iGX6OBDznwECsbjFp7bfaA2hNBX+s6L1ElKhyEk2/fD9XO3lHp1eNmPKHW3+J8Jf7rW4Qdm1YJ3lDaXg2K+BAvOHDdXh6ijS5QBiwMDjg2YAgUOZu5Wao5Y5kPtl1hTvDJ8iWXsDd/X+AAz8xGpeM0sKn2oQqpNVdx4J/DktnQ9H4Cl4syff11lIycFZELr9chZlc4aXIYKmxP99zusieN0dPoqH4STB0at2dZWeU9lYaaxY2fr0glvLFxK9OK8mb4T5h/80vuyiF0VCpUI/Id9zwIR/P2jU9UxqrlOcoU5nrpD75CbmMGBcI7pakcnIdvOdla9nsFh1mF/UX5yxXZaxG8rqtiqQ0gpLTSlSYTRd34yxTgc3KClfbQm9PXuM2SHDMguYSi89qukKBUd7MbeNTdQjGF4OqXM0HopZSccA62ST0bwt87SGo8dDK74/q7jX1sd8m2GyQp2FHa8x2T4mZzG4MNR0fjRYhyUBw6plk9aQXp4lt0WMaHQUcSS+VWmLw4jNGgbeQBoi+cordsw0GezQ18L+d6L6EfJguFkDHw/d4CwqZUtHcRP11ufkX+5F9vby40KX5maS2MeL3DduUyD7vb0a9T5vFvIrtVI0w2s5fh3YPnU/6XuDehLLCvrozxX98V+3lkwK81auf/89SC8viPtXEmxDjyvgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DseRsYqEDFM7p9ckrFgcVb",
      "input": {
        "note": "Still lowering around the lemon (clamped step); continuing the descent.",
        "targets": {
          "right_x": 0.555,
          "right_y": 0.08,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DseRsYqEDFM7p9ckrFgcVb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.1436, 2.323, 1.0103, 1.1851, 0.0097, 0.0643, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0026 left_pitch=-0.135 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5598 right_y=0.0828 right_z=0.0521 right_yaw=0.0927 right_pitch=0.4571 right_roll=0.0702 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.663, -0.0464, -0.0366, -0.0122, -0.1983, -10.0581, 4.2325, 1.7021, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87fabebc4355b2c0ed823b854c3faf7cd6cc4fe77bcef1f2bb77d94c83d3d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c6d798dc11923254ad918f8f5d8b89c3929491ad12938e45a9bc1e977eda9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01f3a51cd8173b8fbb0d6b737fe2ed2659ca3cdd7a8cc19885963936216a4b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 3.834 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8024, 0.6067, -0.4953, -0.0189, -0.0387, 0.9992, 0.1593, 2.1426, 0.9825, 0.9474, 0.0357, 0.046, 0.9946]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.156 left_yaw=0.0027 left_pitch=-0.1114 left_roll=-0.0016 left_gripper=0.9992 right_x=0.5504 right_y=0.0857 right_z=0.0815 right_yaw=0.0978 right_pitch=0.373 right_roll=0.0404 right_gripper=0.9946\nstate[joint_eff]: [-0.0752, -1.4427, 6.9812, 1.8144, -0.0611, -0.0611, -0.0122, -0.4308, -13.135, 5.2171, 1.9853, -0.1001, 0.1001, -0.1978]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5106, -0.0189, -0.0383, 0.9992, 0.144, 2.302, 1.0065, 1.1275, 0.0124, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1529 left_yaw=0.0025 left_pitch=-0.1274 left_roll=-0.001 left_gripper=0.9992 right_x=0.5581 right_y=0.0823 right_z=0.048 right_yaw=0.0902 right_pitch=0.4166 right_roll=0.0699 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.2513, 6.9402, 1.7607, -0.0317, -0.0171, -0.0122, -0.1299, -7.8701, 4.6017, 0.8864, 0.1441, -0.2906, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.1436, 2.323, 1.0103, 1.1851, 0.0097, 0.0643, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0026 left_pitch=-0.135 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5598 right_y=0.0828 right_z=0.0521 right_yaw=0.0927 right_pitch=0.4571 right_roll=0.0702 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.663, -0.0464, -0.0366, -0.0122, -0.1983, -10.0581, 4.2325, 1.7021, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a87fabebc4355b2c0ed823b854c3faf7cd6cc4fe77bcef1f2bb77d94c83d3d06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c6d798dc11923254ad918f8f5d8b89c3929491ad12938e45a9bc1e977eda9c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f3a51cd8173b8fbb0d6b737fe2ed2659ca3cdd7a8cc19885963936216a4b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WxwMTkQx1NGNkRQ7vhKZmP",
      "input": {
        "note": "Descent stalls at z≈5 cm: the left finger seems to be landing on the safe's side wall, which the lemon sits against. Lifting and shifting 2 cm right so the finger clears the wall.",
        "targets": {
          "right_y": 0.062,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01WxwMTkQx1NGNkRQ7vhKZmP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.1436, 2.323, 1.0096, 1.1851, 0.0097, 0.0708, 0.9953]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1513 left_yaw=0.0028 left_pitch=-0.1358 left_roll=-0.0011 left_gripper=0.9992 right_x=0.5596 right_y=0.0828 right_z=0.0518 right_yaw=0.0887 right_pitch=0.456 right_roll=0.0773 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.6435, -0.0757, -0.0659, -0.0122, -0.0752, -10.1675, 4.0821, 1.7216, -0.0464, -0.105, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff20c34815574d15201a7d022c83039467eafad858d67facece2f2e8ec371e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead6ec0585ba26473e15a7ab23c5bd3b8f442ed24e13069b88ef399ccc5cad88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7272eb60dc8a27a73f67c77f78006feb9fa97255631e5b19bbeee6fea26fb09b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 19.71 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5106, -0.0189, -0.0383, 0.9992, 0.144, 2.302, 1.0065, 1.1275, 0.0124, 0.0666, 0.9953]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1529 left_yaw=0.0025 left_pitch=-0.1274 left_roll=-0.001 left_gripper=0.9992 right_x=0.5581 right_y=0.0823 right_z=0.048 right_yaw=0.0902 right_pitch=0.4166 right_roll=0.0699 right_gripper=0.9953\nstate[joint_eff]: [-0.1162, -1.2513, 6.9402, 1.7607, -0.0317, -0.0171, -0.0122, -0.1299, -7.8701, 4.6017, 0.8864, 0.1441, -0.2906, 0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.1436, 2.323, 1.0103, 1.1851, 0.0097, 0.0643, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0026 left_pitch=-0.135 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5598 right_y=0.0828 right_z=0.0521 right_yaw=0.0927 right_pitch=0.4571 right_roll=0.0702 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.663, -0.0464, -0.0366, -0.0122, -0.1983, -10.0581, 4.2325, 1.7021, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.1436, 2.323, 1.0096, 1.1851, 0.0097, 0.0708, 0.9953]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1513 left_yaw=0.0028 left_pitch=-0.1358 left_roll=-0.0011 left_gripper=0.9992 right_x=0.5596 right_y=0.0828 right_z=0.0518 right_yaw=0.0887 right_pitch=0.456 right_roll=0.0773 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.6435, -0.0757, -0.0659, -0.0122, -0.0752, -10.1675, 4.0821, 1.7216, -0.0464, -0.105, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cff20c34815574d15201a7d022c83039467eafad858d67facece2f2e8ec371e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead6ec0585ba26473e15a7ab23c5bd3b8f442ed24e13069b88ef399ccc5cad88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7272eb60dc8a27a73f67c77f78006feb9fa97255631e5b19bbeee6fea26fb09b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsgcKEAgSGAI4AUIIdGhpbmtpbmcSDDpsSveFyNDbQiDzbBoMD51UpLkP8RIpBsnZIjDPmhGe6aqcoeneTub3itIDFK/I09teX77dEkyAkWsbm1MKGJWXcGCeKCVteOBx9HwqzwYJ/sbbj0OXBSlZiuK9bMje5T1oFGaOSv9fbOmYUL07OULEHZeZLJh5aRiQhaUYgBnNmv3ReetJh+zFFQKBs+kiphsvJs8oPQSa0ytkKIK0FwOqmn6f6KgWrdmLBBcOwqJyVhZLMUFrH+ti9Dl0m/M6andNPVy6+SEhxS3zmwtSi4Ff4QARyy8H4Y5f6kjI3mRcoQGsSgqa3FPVErs9HSuyQHkIBaEc8rxTRxhu9COj6eKKCu0UGrOYPqigQ0k2FdyrSCpSbuPXVDClDdPqXLpJEF5av1YPz1k+tCwlBl9muVk1Tx72m9U/J6Xg/b0wEjthDbkgHI9K0tSFNBUdzSO3gWMre9vzeo6O7L3s14aajFEmp/uJ0kWKzJ64Uy3QxKMNc/dRo2qiFy0OAL2dbUHi582iAM+2sccNTtj71f+wLPih+56j6SOqGCTLoKvdkjVWq1o5fZeJCNGTkSlGTmampjxUIfe/jBXbZWhoBidQCHJ/mr6DDV5UzLraT8P4YbwvdZsfPkjTRBYJisIyF1gdBVKHBtp7AGizKv2tsfwFsow5Sx167D3u/GAbQtnrHkHGjM+NO8i3AFZsE94zQPZhw4hk6O6fGxcO3ILKklnsQwtdn3E5N2hPCaCOimK3larl5aLDxt/Z9owa5NWT5yoQWrplVu1lOcuA/2LPX4gGXTJStKfBp29a/eMWKlygMrF+b/zIiI3XJcNqu2vgrnNMTdp91fT+WqT2Ty3fXf6wyCl1xHbrIpYrnJkY+wLmc1sP7pmFW3w22wYJ9HVCnr+PG0taHUnvVu9eSNo/5QkI4yJdcC/+QkvicY8vXivu+in7mo0L4D4CKbUMcdsKXCSuYCfpAYQ0UY2VieEJB4UnJ5R6dn4Cd5WRNPh5y2CJ7jZNDeuoN1wJA6YGBf+jN8ubMKpRfz98m9BJFJbxaayUj4FWH7L29ewT4k8a1IOwJWGuYpbn87Sd1j9An9QaZyF6jQWHrVmEcO3wn269Ll2wW2MRiRfIzT6wAoK8VXwaZuY5G8/Ej4ldoFRcgoTu/fUtcVYoWS85tHQIh2ncDjieFlOv480z8MqbtH4K1sknxUm33VWVC8Jgygpf6/6Ht48t9Xs2u+i36c3cSIp9b6Z9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WgodJoAoZrWGZXuk1omFn",
      "input": {
        "note": "Right arm stopped responding at this extended pose; backing off in height, reach and pitch to free it.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.52,
          "right_y": 0.07,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015WgodJoAoZrWGZXuk1omFn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.527, -0.0189, -0.0383, 0.9992, 0.1257, 2.0735, 0.944, 0.8688, -0.0025, 0.0742, 0.9953]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1491 left_yaw=0.0026 left_pitch=-0.1468 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5399 right_y=0.0723 right_z=0.0841 right_yaw=0.0825 right_pitch=0.3235 right_roll=0.0764 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0462, 6.9128, 1.6874, -0.0317, -0.0366, -0.0122, -0.1983, -13.3812, 7.1726, 2.801, -0.1294, 0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02e65732c65d07568b0a74a268d2163e60fec314be0b8db12ff0044ec241784c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8561d410952229ab3ee973db9de14f4a8be073f5a7921025c9d55d64736926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47f28478b08d3bfd2646fd12ae8e8d7b33f957d82ff4c3a44bd142e01a6c3f96",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 4.682 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5182, -0.0189, -0.0383, 0.9992, 0.1436, 2.323, 1.0103, 1.1851, 0.0097, 0.0643, 0.9953]\nstate[eef_state]: left_x=0.2752 left_y=0.0017 left_z=0.1515 left_yaw=0.0026 left_pitch=-0.135 left_roll=-0.0008 left_gripper=0.9992 right_x=0.5598 right_y=0.0828 right_z=0.0521 right_yaw=0.0927 right_pitch=0.4571 right_roll=0.0702 right_gripper=0.9953\nstate[joint_eff]: [-0.0752, -1.1829, 7.0359, 1.663, -0.0464, -0.0366, -0.0122, -0.1983, -10.0581, 4.2325, 1.7021, -0.0317, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.1436, 2.323, 1.0096, 1.1851, 0.0097, 0.0708, 0.9953]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1513 left_yaw=0.0028 left_pitch=-0.1358 left_roll=-0.0011 left_gripper=0.9992 right_x=0.5596 right_y=0.0828 right_z=0.0518 right_yaw=0.0887 right_pitch=0.456 right_roll=0.0773 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.6435, -0.0757, -0.0659, -0.0122, -0.0752, -10.1675, 4.0821, 1.7216, -0.0464, -0.105, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.527, -0.0189, -0.0383, 0.9992, 0.1257, 2.0735, 0.944, 0.8688, -0.0025, 0.0742, 0.9953]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1491 left_yaw=0.0026 left_pitch=-0.1468 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5399 right_y=0.0723 right_z=0.0841 right_yaw=0.0825 right_pitch=0.3235 right_roll=0.0764 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0462, 6.9128, 1.6874, -0.0317, -0.0366, -0.0122, -0.1983, -13.3812, 7.1726, 2.801, -0.1294, 0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02e65732c65d07568b0a74a268d2163e60fec314be0b8db12ff0044ec241784c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef8561d410952229ab3ee973db9de14f4a8be073f5a7921025c9d55d64736926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47f28478b08d3bfd2646fd12ae8e8d7b33f957d82ff4c3a44bd142e01a6c3f96",
        "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_01BnWaR5YNM18MyLNHGV5xHW",
      "input": {
        "note": "Lemon is pressed against the safe's right wall, blocking the left finger. Rolling the wrist so the left finger rides higher over the wall while the right finger goes low, then descending.",
        "targets": {
          "right_pitch": 0.35,
          "right_roll": 0.5,
          "right_x": 0.553,
          "right_y": 0.072,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01BnWaR5YNM18MyLNHGV5xHW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.0238, 2.3032, 0.9962, 1.0939, -0.2699, 0.3305, 0.9954]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.164 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5521 right_y=0.0639 right_z=0.0369 right_yaw=0.074 right_pitch=0.3369 right_roll=0.4037 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.4564, 7.0359, 1.6679, -0.0317, -0.0513, -0.0122, -0.4308, -9.0735, 5.1487, 1.5556, -0.1587, 0.3004, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede4fbd41b3c991eccbf502e9b10fd8fdba0eaac50d7e1d637b60d5c906c376b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45acf514f79d82121fc945351021ccfbea422f225c9bf36fe4c6023710f39a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7aad3a94726ba42119245f6737dd8bf942272ac454479291db3622160e129684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 3.243 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.519, -0.0189, -0.0387, 0.9992, 0.1436, 2.323, 1.0096, 1.1851, 0.0097, 0.0708, 0.9953]\nstate[eef_state]: left_x=0.2751 left_y=0.0017 left_z=0.1513 left_yaw=0.0028 left_pitch=-0.1358 left_roll=-0.0011 left_gripper=0.9992 right_x=0.5596 right_y=0.0828 right_z=0.0518 right_yaw=0.0887 right_pitch=0.456 right_roll=0.0773 right_gripper=0.9953\nstate[joint_eff]: [-0.1436, -1.1829, 6.9812, 1.6435, -0.0757, -0.0659, -0.0122, -0.0752, -10.1675, 4.0821, 1.7216, -0.0464, -0.105, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.527, -0.0189, -0.0383, 0.9992, 0.1257, 2.0735, 0.944, 0.8688, -0.0025, 0.0742, 0.9953]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1491 left_yaw=0.0026 left_pitch=-0.1468 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5399 right_y=0.0723 right_z=0.0841 right_yaw=0.0825 right_pitch=0.3235 right_roll=0.0764 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0462, 6.9128, 1.6874, -0.0317, -0.0366, -0.0122, -0.1983, -13.3812, 7.1726, 2.801, -0.1294, 0.0562, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.0238, 2.3032, 0.9962, 1.0939, -0.2699, 0.3305, 0.9954]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.164 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5521 right_y=0.0639 right_z=0.0369 right_yaw=0.074 right_pitch=0.3369 right_roll=0.4037 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.4564, 7.0359, 1.6679, -0.0317, -0.0513, -0.0122, -0.4308, -9.0735, 5.1487, 1.5556, -0.1587, 0.3004, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ede4fbd41b3c991eccbf502e9b10fd8fdba0eaac50d7e1d637b60d5c906c376b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45acf514f79d82121fc945351021ccfbea422f225c9bf36fe4c6023710f39a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aad3a94726ba42119245f6737dd8bf942272ac454479291db3622160e129684",
        "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/QcKEAgSGAI4AUIIdGhpbmtpbmcSDLgzF3jHooudwGc9/xoMxge+WpnwnUUgacQYIjBRI6/VOCSqGDVm++zZXbPcRJnM3Y1rTpBKgdxy/uZsyFeDlFQBvzuk1Gor2yaHyjgqmgeRyF1o4X+1aMHG823sx/y/rrQ+x0EaYbQxFFoySD+LRX9v/xmaZsalz3arovXpROH4ggaQOm4z0u84gWSO/SGBfPCMwKua7G/LxaqbzKSsmy0+GAR8J0eeO1QdSJacoPn+lz/GRBvzOdO+5gyUk5Po3ejcUybAb+0D/Uhh65jLwkLBpFSoRIIlninEMaB3BJmf80sScJ7YvyFxapPIJgq3TfdktGDfUuQs3jz0Y4+Q1ADx5gIEXknR40hm4ZEtA/9zaQ+J6whWuVfYd3MKE8V6HOST6xM7nBNh5HIYwfGuYX7V+PvztnVbwPNPUrXrK3RjNNgGpbAOm3l0/Fe7lHKkIBNc+upa31nC60t1awNgL6Vhh3y0m4KM1luc3mCUD1Zm5cLO8j8xZ0ggObNuBwlt6szjX3UT8OI4QfcqxaT7DjIc/o0gsBcLohjGypYSLqvSWTZFc6FjQHo1vNuVK+ziRDe88WKjRTyFsM0+TlZiDprEiWSnsFvm/4HoFmusxtsSfiexcKP0bdJDyVBPyywZ2yff75FpeMLCEAbHqfIZ/5XIj7F8QDqgzNYRsJb6gt/5dlPvhqR3Lu1sr2+L6tEBtxoizW/bWHZrOx/I2B1GFiUXyiN6YCnofoL/wgyLevN+XfdAXqD5FOo4WQ0WTT79Il+d3J6Ybuim9NZ/FhOZDeRmsjuOrIlaZeWsaKExy8PR6zqBLZU8z5pNx4oETmLsapVKPg+rScIH6aqYxxhKb+t8YEQ3osrCQR7P2JE+7AuFswXq2LlSDPZ9hxK4tR7EP8qKfegR3vQa5/oHGcqzd4pC5QXRIvRDu8ifonHnoQS02o+RjADMYbwlQIPg98tFRwCmnY5dAOFiqSPFr9h+kGVXGHGQ7DTvTTXfhs+EWI0BqOmp1vE0MhxaPUj7Jf1+howv/b3QoqDBAPQ9vfvH36MOA6n2/OZMkNXFJmZwXvpcHhWdxi3YVx7XKOghvvvyTKskQ7acFcuXzN74KVZr94YWW8qUf0sWK8LTtSF5ujK79PlhfNylFoq55ielL/CsFsQnllCe3t+iF8A7WaL6Vdk29fRVuxtFOS37a9hG3ewCmEtHq0R9mhaAemq8Nh/hzX4ap7IzR95CGD7wY1k4d4EzGcMpaeSXY8IMpEe2Scv87vrtdHVLaJYZ/cgQCPQr5+wjHtN21mfRXk2Mf6L1Pc1xPWaMGv0ookYazYWvYJiVX2B41ye8BwSRGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Crj7SQcvecFdTAxjYjJxpF",
      "input": {
        "note": "With the roll, the arm descended to 3.7 cm and the lemon is centred between the jaws; lowering a bit more before closing.",
        "targets": {
          "right_x": 0.558,
          "right_z": 0.022
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01Crj7SQcvecFdTAxjYjJxpF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.0181, 2.3215, 1.0035, 1.1477, -0.3279, 0.3935, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1636 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5524 right_y=0.0705 right_z=0.0429 right_yaw=0.0886 right_pitch=0.3653 right_roll=0.4767 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4838, 6.8991, 1.6825, -0.0122, -0.0708, -0.0122, -0.1162, -9.5932, 5.2718, 1.8681, -0.149, 0.1294, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70df1bc4730c538260ddef2ba4dcc7901c71481d199e3f39eb32d4a683da4c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab7efa1498a06bea5ac1d00ce1d07b001d44cb71ee9876ce6b7b6248a78807a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d02eec379c530cc59583c945863b311041d2d1866db3666cd334d5f8c3dbd37",
        "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 · 10.21 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8062, 0.6067, -0.527, -0.0189, -0.0383, 0.9992, 0.1257, 2.0735, 0.944, 0.8688, -0.0025, 0.0742, 0.9953]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.1491 left_yaw=0.0026 left_pitch=-0.1468 left_roll=-0.0006 left_gripper=0.9992 right_x=0.5399 right_y=0.0723 right_z=0.0841 right_yaw=0.0825 right_pitch=0.3235 right_roll=0.0764 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -1.0462, 6.9128, 1.6874, -0.0317, -0.0366, -0.0122, -0.1983, -13.3812, 7.1726, 2.801, -0.1294, 0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.0238, 2.3032, 0.9962, 1.0939, -0.2699, 0.3305, 0.9954]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.164 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5521 right_y=0.0639 right_z=0.0369 right_yaw=0.074 right_pitch=0.3369 right_roll=0.4037 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.4564, 7.0359, 1.6679, -0.0317, -0.0513, -0.0122, -0.4308, -9.0735, 5.1487, 1.5556, -0.1587, 0.3004, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.0181, 2.3215, 1.0035, 1.1477, -0.3279, 0.3935, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1636 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5524 right_y=0.0705 right_z=0.0429 right_yaw=0.0886 right_pitch=0.3653 right_roll=0.4767 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4838, 6.8991, 1.6825, -0.0122, -0.0708, -0.0122, -0.1162, -9.5932, 5.2718, 1.8681, -0.149, 0.1294, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70df1bc4730c538260ddef2ba4dcc7901c71481d199e3f39eb32d4a683da4c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab7efa1498a06bea5ac1d00ce1d07b001d44cb71ee9876ce6b7b6248a78807a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d02eec379c530cc59583c945863b311041d2d1866db3666cd334d5f8c3dbd37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wYKEAgSGAI4AUIIdGhpbmtpbmcSDJ6impZKAg2NpDE49BoMqi3h9MfULSNsSCPoIjAIm0Ct5JpzC8RMAWS/MOyNW3eoqtBgbpebUVib43yh0pXyZC2h7A+6JQzTLmt2uhMqgAZon4H2kFqWnt7rWE9HSh1aeTNSBF4uMtyFf9Xpbeys53T1gur+7rT52/ZF53yC6/HD3HW1fpvZCU6Gvq1laQGzjFN7Hwn13Om3kEPKjB4KSPWDj3bqYZ4IaZdcI/peY7+tH5gORHKRnNYqLTh118kVS8CSDarMMsrbcVoeo4nvVO21yDSaScibnlNXLh4RKT5FhEyyxTq3MWcHqjxvmuKCohh4sQ10gEGa+drT+vnSf8UhR6TSKe13bANpR1wEmaK+ZS6VtJQ1TqO6P2oFXdK/KRTAm/NmIdZee8JgQShwcXG0Z/hTuqGKTrrQzl3lO8Yaau0e65H0wE7NG2ugnjc/BGE7KzuyLLi82x1Alw3St2opwLvZY6vScWOFzHOdhd28xk+mzRe6worrFxCHQ6JToYZepCGlBpzgxWSqp6xBVLOh+7Ib/n+U5SorN3/0qe10lBS3Fis7x58DzBF5115/7peDN2KOTin82eC5QQ2Ifc9fGFcn8UUkM5rm+eVFjYO7/mlKnvJXQI/a+lmsqYolMnxVEuXwPl0mXRKSUvNvOd0cCsi4sGvc9QauEYFqpxly19G56ObQ5Mw/eyvacrfkO99WYqU8Mtp7OWYprUFs6cNrkfqhCFMlwrbctdM/Exk2+LI3jiKTBJ/WQNptzWZgOsSxZ8iZWIGf12dYrZJtVpd+tuusprJO6wAFuMSpc7jQgGBmNz0uMsMg1Trme53hNeZxHU9tPBcEfJTgNm7keKp8ZFzzjHiyjV25hmlmIlLPeQxiJFygAarD9/k0fe/ry5S7rvIClPsYMwWij1rxMYiGUoLVmNpzPnwTuWHCOH/yGQ5NWSkvd8/ukBmlTW1g9xfCadyd213UtcAJlkG+yWMb/P1oPlvFmXOuox+eDJAZQ2WkYarcgkMpKucu0YZI2XbSo7ITof5nZTTsXzoGXxgAz+PyNjDI066d/9f/t16Dlb4lfNitLO2kWnr8clcE6ZqelyUI+qbfU0UOeO8IegMqr9UZ2j/afZL3zAhyOJsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012F1taHzJ7mDPjbFcwtPkVj",
      "input": {
        "note": "Lemon sits between the jaws, just past the safe wall; closing to grasp.",
        "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_012F1taHzJ7mDPjbFcwtPkVj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5594, -0.0189, -0.0387, 0.9992, 0.0193, 2.3375, 1.0077, 1.1347, -0.3279, 0.3935, 0.009]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1827 left_roll=-0.0001 left_gripper=0.9992 right_x=0.5517 right_y=0.0711 right_z=0.0328 right_yaw=0.0891 right_pitch=0.3406 right_roll=0.4785 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.746, -0.0415, -0.0269, -0.0122, -0.212, -12.7111, 3.9726, 1.9805, -0.0757, -0.0415, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a637c7f9e8badeb7453b3650f79fdb07346c1ca7b1b72cf57612c4033ecc7954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dce6f1d1a7c50fce6730f235a7651e6d6559ee10142d6eadbd44fd2dbe6757b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bd5537da32e997c3db513f8975f5e7809601ec649ac7b95cf2c8d1dc6fbb8d20",
        "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 · 3.811 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5407, -0.0189, -0.0387, 0.9992, 0.0238, 2.3032, 0.9962, 1.0939, -0.2699, 0.3305, 0.9954]\nstate[eef_state]: left_x=0.2717 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.164 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5521 right_y=0.0639 right_z=0.0369 right_yaw=0.074 right_pitch=0.3369 right_roll=0.4037 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -1.4564, 7.0359, 1.6679, -0.0317, -0.0513, -0.0122, -0.4308, -9.0735, 5.1487, 1.5556, -0.1587, 0.3004, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.0181, 2.3215, 1.0035, 1.1477, -0.3279, 0.3935, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1636 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5524 right_y=0.0705 right_z=0.0429 right_yaw=0.0886 right_pitch=0.3653 right_roll=0.4767 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4838, 6.8991, 1.6825, -0.0122, -0.0708, -0.0122, -0.1162, -9.5932, 5.2718, 1.8681, -0.149, 0.1294, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5594, -0.0189, -0.0387, 0.9992, 0.0193, 2.3375, 1.0077, 1.1347, -0.3279, 0.3935, 0.009]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1827 left_roll=-0.0001 left_gripper=0.9992 right_x=0.5517 right_y=0.0711 right_z=0.0328 right_yaw=0.0891 right_pitch=0.3406 right_roll=0.4785 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.746, -0.0415, -0.0269, -0.0122, -0.212, -12.7111, 3.9726, 1.9805, -0.0757, -0.0415, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a637c7f9e8badeb7453b3650f79fdb07346c1ca7b1b72cf57612c4033ecc7954",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5dce6f1d1a7c50fce6730f235a7651e6d6559ee10142d6eadbd44fd2dbe6757b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd5537da32e997c3db513f8975f5e7809601ec649ac7b95cf2c8d1dc6fbb8d20",
        "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_01VziXRgP5z58N8JFRt3wHBB",
      "input": {
        "note": "Third lemon close was empty: the lemon sits ~4 cm beyond the fingertips' reach, against the safe's right wall. Switching to the brown bear in front of the safe for now.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.38,
          "right_y": 0.22,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01VziXRgP5z58N8JFRt3wHBB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, 0.6941, 1.6264, 0.8967, 0.0811, 0.4305, 0.345, 0.996]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1385 left_yaw=0.003 left_pitch=-0.2025 left_roll=0.0004 left_gripper=0.9992 right_x=0.384 right_y=0.2283 right_z=0.1178 right_yaw=0.1479 right_pitch=0.0044 right_roll=0.0317 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -1.4564, 7.0222, 1.6972, -0.022, -0.0562, -0.0122, 0.0615, -9.265, 8.0889, 1.8291, 0.2662, 0.1197, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f177a77f2c44356782c5c7491e964e978ceeb93308025c9a7279822ecda9e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4275183929ef8ad69c5aeb9de8ea4c65732a01213b4c40bc4cba89d3402eed85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4736a7bd5a2e9c8e19c2542bbaa8c21ac7f9a28fd8970bb7c1d2c93cb663f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 2.813 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5404, -0.0189, -0.0387, 0.9992, 0.0181, 2.3215, 1.0035, 1.1477, -0.3279, 0.3935, 0.9954]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1457 left_yaw=0.0029 left_pitch=-0.1636 left_roll=-0.0005 left_gripper=0.9992 right_x=0.5524 right_y=0.0705 right_z=0.0429 right_yaw=0.0886 right_pitch=0.3653 right_roll=0.4767 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -1.4838, 6.8991, 1.6825, -0.0122, -0.0708, -0.0122, -0.1162, -9.5932, 5.2718, 1.8681, -0.149, 0.1294, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5594, -0.0189, -0.0387, 0.9992, 0.0193, 2.3375, 1.0077, 1.1347, -0.3279, 0.3935, 0.009]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1827 left_roll=-0.0001 left_gripper=0.9992 right_x=0.5517 right_y=0.0711 right_z=0.0328 right_yaw=0.0891 right_pitch=0.3406 right_roll=0.4785 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.746, -0.0415, -0.0269, -0.0122, -0.212, -12.7111, 3.9726, 1.9805, -0.0757, -0.0415, 0.6911]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, 0.6941, 1.6264, 0.8967, 0.0811, 0.4305, 0.345, 0.996]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1385 left_yaw=0.003 left_pitch=-0.2025 left_roll=0.0004 left_gripper=0.9992 right_x=0.384 right_y=0.2283 right_z=0.1178 right_yaw=0.1479 right_pitch=0.0044 right_roll=0.0317 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -1.4564, 7.0222, 1.6972, -0.022, -0.0562, -0.0122, 0.0615, -9.265, 8.0889, 1.8291, 0.2662, 0.1197, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31f177a77f2c44356782c5c7491e964e978ceeb93308025c9a7279822ecda9e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4275183929ef8ad69c5aeb9de8ea4c65732a01213b4c40bc4cba89d3402eed85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4736a7bd5a2e9c8e19c2542bbaa8c21ac7f9a28fd8970bb7c1d2c93cb663f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDA5FOCnPdep5NcRoARoM8bKCviQ8MIxV25X9IjCa8Snc5d3gGiZFKEbQV3tdDEJD6brBbH5Xrs4GMVzc8dONRQgDmxx9GGYRbPdKKjIq9Qaa6LE3PKyeUlwFq8AgxVCjFNpBfNJGbgu72v7Qd6u8756ugDCkzO0pkLp9uiQGTJuux4+R9fMowJlMKIcA0aZsww5VDWzu6Aa3bhPe+VuQA+kQ4RnwyFTzll5NP9uccLo8CYzOE3dBk574X5SsEwrLLA6aDNwN6LdjWWrcPDaqnAdzmPI4lK4LmHj1yK9WnR6pfrAJLk2oW63HHMaichIOqu9DxWkeUkjzysyyuFgZm7UhATDDI5XQli6NnaM3s5m4/fpjY7m3sePUbA1G4oscDquBrViR1jUizbc6VjehDbZoLntzPzKw7pww7zAxzfu/sGCg920v/6NRDS0muToZ+DLsNfr8SrUE6qunsEp4x39bb27UD9ssRdNSt4CnmInlLJ0Bg5j3yW4ADKe2MK8H3714Nu9ING1G+R2UkUcalqoZp6GshKCj7SnJ5LKlyyIdUsqGfVKl4dbSgxQh5h1a52jekV/0u+Q4ob9DUII9pZ12GidSlNqYeOqlpcIyYtHNocrVqG2bPsEqQPRBo53n2b43yDVCWKJIInEZE7SAjjYMV64dep6unRrD4mdtHEAd01LePBew1plxUuj4OZCAJzdz4M6v9uvQS5D47OKu/JwSI15fQDij384zCxzJI7Mexg/1xsELHRNBdmzfd2YSvQfr4mNG+IOLYHXaMNx1sJJbr8VMhxc/bMV39yWE+uTX5kXMpLsE42SF5fGMhi9tenU+feql9cG0uBoFHIsaWw5+c9wln3P61xKuB/N7WruZoJkKYg4guINmAxdcrJu0l3p3IHcy/ZYQriic7aa3EV8HcWZiVbvE0UpUq1c8WfXYQJOioUu3zONvtW/LzhHGZ8VFViwz1BZwUvTqjPufvVhXaHIUKEzyRuIpOy2T1RM2mqpgPpZX4xBUkZkajMKao5sVqigVnR3Kh2I2HhOmqGtW7VGZs6wo6CpPLo8P/sNuR+nywLDuoomAzZjbNMWEUapjlJ2E2+Ra71iEKeXwrKXRoDsUbV+smuZ2vKbPNcX07xDcJbbdcLfFjDbv0ZDiTNt3DyEGOLR6FU9sOih6pOpSQXTev4KUWcwnrRe99OJTrwiCnF9ykmLzb96qz9pNPsGn/NNndbLSAmeococR09BS0EqDlqTZRzgskj7k7nRxty6oUGp+QdGtyjpvuP0EV/ZDQbkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LHUkvxd12gDfe28bTMtjuV",
      "input": {
        "note": "Brown bear is right under the jaws (bottom of wrist view), safe ahead. Descending onto the bear.",
        "targets": {
          "right_x": 0.37,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LHUkvxd12gDfe28bTMtjuV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.7177, 1.8427, 0.7078, 0.4492, 0.4526, 0.3599, 0.9973]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1362 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.3694 right_y=0.2247 right_z=0.0247 right_yaw=0.1457 right_pitch=-0.0199 right_roll=0.0128 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.306, 7.0359, 1.6142, -0.0562, -0.0415, -0.0122, 0.6359, -6.7897, 4.2598, 1.3895, 0.1294, -0.0122, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e790042dfa0f8a54f97f85d16278bc3e157e8e848067ec316013602d32ccd22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ddf215df3b91e7016451c801f83d72ae022e4e41a0578d19c20f0dbc2bf4e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d16ba2eeded0b4afb158b0e6231c821f9d72ce688784cae19349040726527439",
        "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 · 5.012 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5594, -0.0189, -0.0387, 0.9992, 0.0193, 2.3375, 1.0077, 1.1347, -0.3279, 0.3935, 0.009]\nstate[eef_state]: left_x=0.2686 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1827 left_roll=-0.0001 left_gripper=0.9992 right_x=0.5517 right_y=0.0711 right_z=0.0328 right_yaw=0.0891 right_pitch=0.3406 right_roll=0.4785 right_gripper=0.009\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.746, -0.0415, -0.0269, -0.0122, -0.212, -12.7111, 3.9726, 1.9805, -0.0757, -0.0415, 0.6911]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, 0.6941, 1.6264, 0.8967, 0.0811, 0.4305, 0.345, 0.996]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1385 left_yaw=0.003 left_pitch=-0.2025 left_roll=0.0004 left_gripper=0.9992 right_x=0.384 right_y=0.2283 right_z=0.1178 right_yaw=0.1479 right_pitch=0.0044 right_roll=0.0317 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -1.4564, 7.0222, 1.6972, -0.022, -0.0562, -0.0122, 0.0615, -9.265, 8.0889, 1.8291, 0.2662, 0.1197, -0.149]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.7177, 1.8427, 0.7078, 0.4492, 0.4526, 0.3599, 0.9973]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1362 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.3694 right_y=0.2247 right_z=0.0247 right_yaw=0.1457 right_pitch=-0.0199 right_roll=0.0128 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.306, 7.0359, 1.6142, -0.0562, -0.0415, -0.0122, 0.6359, -6.7897, 4.2598, 1.3895, 0.1294, -0.0122, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e790042dfa0f8a54f97f85d16278bc3e157e8e848067ec316013602d32ccd22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60ddf215df3b91e7016451c801f83d72ae022e4e41a0578d19c20f0dbc2bf4e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d16ba2eeded0b4afb158b0e6231c821f9d72ce688784cae19349040726527439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013nYYYZiXTHsH5P2e9uPGV4",
      "input": {
        "note": "Bear's body fills the space between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013nYYYZiXTHsH5P2e9uPGV4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8196, 0.6067, -0.5991, -0.0189, -0.0387, 0.9992, 0.7189, 1.8473, 0.7025, 0.4763, 0.4519, 0.3565, 0.0179]\nstate[eef_state]: left_x=0.2619 left_y=0.002 left_z=0.133 left_yaw=0.0032 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9992 right_x=0.3703 right_y=0.2264 right_z=0.0259 right_yaw=0.1495 right_pitch=-0.0057 right_roll=0.0197 right_gripper=0.0179\nstate[joint_eff]: [-0.0205, -0.8684, 6.8718, 1.8193, -0.0366, -0.0366, -0.0122, -0.1573, -8.1983, 5.3128, 1.4188, 0.1099, 0.0171, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a84ff87c41249f591d331fab6684712addcb0aa8689bfab2ddca06b58dbcdbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4608788db935b8f91b1792d6ae809bf69cb033dbbe560359edc97c8b42ab98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:856e023da318b28792acf293f893cf937721369d4152f04a3e5559841ff62179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 4.767 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5747, -0.0189, -0.0387, 0.9992, 0.6941, 1.6264, 0.8967, 0.0811, 0.4305, 0.345, 0.996]\nstate[eef_state]: left_x=0.266 left_y=0.0019 left_z=0.1385 left_yaw=0.003 left_pitch=-0.2025 left_roll=0.0004 left_gripper=0.9992 right_x=0.384 right_y=0.2283 right_z=0.1178 right_yaw=0.1479 right_pitch=0.0044 right_roll=0.0317 right_gripper=0.996\nstate[joint_eff]: [-0.0752, -1.4564, 7.0222, 1.6972, -0.022, -0.0562, -0.0122, 0.0615, -9.265, 8.0889, 1.8291, 0.2662, 0.1197, -0.149]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.7177, 1.8427, 0.7078, 0.4492, 0.4526, 0.3599, 0.9973]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1362 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.3694 right_y=0.2247 right_z=0.0247 right_yaw=0.1457 right_pitch=-0.0199 right_roll=0.0128 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.306, 7.0359, 1.6142, -0.0562, -0.0415, -0.0122, 0.6359, -6.7897, 4.2598, 1.3895, 0.1294, -0.0122, 0.1197]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8196, 0.6067, -0.5991, -0.0189, -0.0387, 0.9992, 0.7189, 1.8473, 0.7025, 0.4763, 0.4519, 0.3565, 0.0179]\nstate[eef_state]: left_x=0.2619 left_y=0.002 left_z=0.133 left_yaw=0.0032 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9992 right_x=0.3703 right_y=0.2264 right_z=0.0259 right_yaw=0.1495 right_pitch=-0.0057 right_roll=0.0197 right_gripper=0.0179\nstate[joint_eff]: [-0.0205, -0.8684, 6.8718, 1.8193, -0.0366, -0.0366, -0.0122, -0.1573, -8.1983, 5.3128, 1.4188, 0.1099, 0.0171, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a84ff87c41249f591d331fab6684712addcb0aa8689bfab2ddca06b58dbcdbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c4608788db935b8f91b1792d6ae809bf69cb033dbbe560359edc97c8b42ab98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:856e023da318b28792acf293f893cf937721369d4152f04a3e5559841ff62179",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlAkKEAgSGAI4AUIIdGhpbmtpbmcSDJjoLGNw7JcytgPWrBoMwpJB5PJ0Pu0kWKzCIjCLmGZYzFV7YVBmEbsbYnz52ZuMSIy+BU+tvcA9GtFXV9VLm3yGU1Jc9DsItsoZF8YqsQji73vISba11LyluEhtsCQukYWDSkLDT+MH+kWpVaimJSV4I8GFv4L6IG13xKdesI5Rb0dMYHu7LbAgmN5syTgTnMWyU8Y6nogkmf0ZGRRspAI8vYLk/7Q/y5yDTrwbMTq5Iy+62UE4JNUvbizVoytuvu33pRFPGmWfVeUHGZhQ3JO3eW1gS6m/UGhST+2KB8ku/m0KRi9+T8rNVB7CfB0cBXiLUq5SMbgb1fv2cCTwL2UXazQfKs7k/U7b9BhgGLcib7+hR90MVXIN31QHECDpym55wx+tssdxZtcNdfce82gHXt9OlTwD9Q8w7vErq29MoBTm9HI7SnDzJNAGmyWMITAX38GMxFtOf5EgjtgNJbw7WTUja8Al9ZHWxs4IebiVE6BZ+R3kaT1/FNa3qd2uBMeLSFRoXvysgEKoXHebcvn2O6avbbMFaB9vH/cxqrXnM7jKhuOst6TzUAIo8goTrBrCAldl4c24s9ebAz8C6Xr8IqiRQJYwkhuR/zS+dC81hCiLcdS6PUkQ/JXDdm4WPlQMZSEMm98L2oavO0yg8BVH+h4Ndl55rlxkxyi+/Zi6XZeUPql9j7oGSOGkLZGf/XqmzGAWOusmOcMN245SovRH/8+HALnnw+4OE1Hid6pW7n9fIBsOpKpNGVc3rCp8rvp5lUlCqpCrlwuEcnvTimQoi+9cLbCjS2G206TjhaT9TyWCpJhw7lhRTlKgIC4lTuF96PzbaDbNLZHiwsyZ0yehYisxviV7xYbE2xwRs/RrnQQab+P0dx2oVCKFZr8CVjnkO5BNeEU+0mBQhiLIIKkACQqdA6fjQiRyLO2ami1gMb/qFHg46lrvo67+eN3F/ZMj52eCJOMx02GZ+zS+MMfVg2bPqD5+egl5/nyi7/BnszZ0O4t0SCYFlL1CFvmkHBnI5/nuIobBtpCSON5xTsctvlPEn7B+beLZg1tkimtgkKm6PobUloXFgiqbZ/8UtmWGRwevPepGT0JEigSsX+diOZDl4ZRtC7TsD7rEzXiLNakOaHT7PUDylwE0lm9YrGXO2nw8wVTO65wTQORRBmIL3X16NUPzUsKIOYWE2DPt/ruGFfBS9kj2jw3xDMWFRValiKiR4CXLym+pg/ZSYuazzNl72UeszFbJt5YDpzlfKR1l46VQh0s3gXkP1N/6ff+3GqrUDKhV4PqpFfQVMJrBo2n16HhituO2+Eg4t3BN9Y5XUSVn/EGm819nEnaTIokQGdR+FUciVkvn6cZCR5cvm+x/s2TUiT4zAivElLaWdR+IGa/UOD7EEHE2fSlL37TMoxoIGgpLNoYNcz4rIJqkgWzfbzhjim9sR4m0SG72UxzpxEyHegKSHqTgzOvffMYAnKtKt5I0S1Tw4Z6eQJEHIvkYRhuLbdlUWC7M+utrQLi1Zme8UutGlAUBc19yNxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188GpLLa64BJ8MHNyEuJTAA",
      "input": {
        "note": "Gripper closed on the plush bear (reading low because plush compresses). Lifting to check it comes along and to clear the safe wall.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0188GpLLa64BJ8MHNyEuJTAA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6102, -0.0189, -0.0387, 0.9992, 0.7189, 1.5352, 0.9989, -0.181, 0.4446, 0.355, 0.0193]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1313 left_yaw=0.0032 left_pitch=-0.2426 left_roll=0.0013 left_gripper=0.9992 right_x=0.3675 right_y=0.2254 right_z=0.1515 right_yaw=0.1553 right_pitch=-0.0494 right_roll=-0.0039 right_gripper=0.0193\nstate[joint_eff]: [-0.1573, -1.1556, 6.9812, 1.6337, -0.0611, -0.0708, -0.0122, -0.212, -9.1829, 8.9231, 1.8828, 0.232, -0.0269, 0.9548]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e439be9ac857779f8409f278baf1971c14a7fb03d7ce10dfa093ba013891902e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e94aa539af6ed151c227c1ade63f442635fbd6caabbe21089ec5c7404fd10d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0118bbcd56140d6b053a97d8fe612b8471d859c4650a42acb35498f51c46ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 3.627 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.585, -0.0189, -0.0387, 0.9992, 0.7177, 1.8427, 0.7078, 0.4492, 0.4526, 0.3599, 0.9973]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1362 left_yaw=0.0031 left_pitch=-0.2147 left_roll=0.0006 left_gripper=0.9992 right_x=0.3694 right_y=0.2247 right_z=0.0247 right_yaw=0.1457 right_pitch=-0.0199 right_roll=0.0128 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -1.306, 7.0359, 1.6142, -0.0562, -0.0415, -0.0122, 0.6359, -6.7897, 4.2598, 1.3895, 0.1294, -0.0122, 0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8196, 0.6067, -0.5991, -0.0189, -0.0387, 0.9992, 0.7189, 1.8473, 0.7025, 0.4763, 0.4519, 0.3565, 0.0179]\nstate[eef_state]: left_x=0.2619 left_y=0.002 left_z=0.133 left_yaw=0.0032 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9992 right_x=0.3703 right_y=0.2264 right_z=0.0259 right_yaw=0.1495 right_pitch=-0.0057 right_roll=0.0197 right_gripper=0.0179\nstate[joint_eff]: [-0.0205, -0.8684, 6.8718, 1.8193, -0.0366, -0.0366, -0.0122, -0.1573, -8.1983, 5.3128, 1.4188, 0.1099, 0.0171, 0.7204]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6102, -0.0189, -0.0387, 0.9992, 0.7189, 1.5352, 0.9989, -0.181, 0.4446, 0.355, 0.0193]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1313 left_yaw=0.0032 left_pitch=-0.2426 left_roll=0.0013 left_gripper=0.9992 right_x=0.3675 right_y=0.2254 right_z=0.1515 right_yaw=0.1553 right_pitch=-0.0494 right_roll=-0.0039 right_gripper=0.0193\nstate[joint_eff]: [-0.1573, -1.1556, 6.9812, 1.6337, -0.0611, -0.0708, -0.0122, -0.212, -9.1829, 8.9231, 1.8828, 0.232, -0.0269, 0.9548]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e439be9ac857779f8409f278baf1971c14a7fb03d7ce10dfa093ba013891902e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68e94aa539af6ed151c227c1ade63f442635fbd6caabbe21089ec5c7404fd10d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0118bbcd56140d6b053a97d8fe612b8471d859c4650a42acb35498f51c46ea6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQShAgKEAgSGAI4AUIIdGhpbmtpbmcSDGAWLuYvT/9FU3duFhoMxfsbMnlefldDL6stIjAGrwNhsWhptf4Woj6GR2ZUcBpdeR/aXsPEsQfwFnzJWtTZhZ37+mjRCccDHc6sSNoqoQfhTX0ZUFiok2sSNhkjd3xaJHjO90MM2XLgGCIvnMWInwGcxsLOZsXquxeab1Y/Ai7gQ2RwmINOTNyTYihS+R2dLt4DGu4azLb3/+BQW3tWZYCCi6v55QZPcd8XpRcWTjxCrG8/+2fNLa0RWY7NgByCGd/6ajRWFJSvx1Mwl5d4xOAjpSSqRPZOaDUFMrQbBk40cvEjMiZJr342KWq92t3FRzXef9GgFi+1uM6os9Insp6KnlSDlRZe16JWInQjiq1HP5dYRsyI2xU5NdoJp1zA7xB5zHwruT+8CzEB37v09xQwtZ308fmFofvxL37Q3N+yowDPtW1mSkE25zzgrJ8rPKeNz37VMsgQxoN5UiVUnLtipyP/EjPZFMfjzpUbXXFGXUS2HOgdNNC7l3+sp46rVsULUStiqpIa5JfqngoVyGgc6VYXtAI/dWh0MjvOu7y1JMsB8R+UV7eWWRYci3j7OC3cuiwOz+EdwomAPtT1maum84heNbC/EB3wT3d/pJvVKT3LiSiV9M3LE5M7NucySbi8u6a9ZvDZOdI6H+mL78ytA66jUrjLc+nBdFVVEPTdIe/2KYkREhRzUV6uDm95Y1g1sT7vK9iwEfcZ/5EFaVN647I/JK4IRespPh9PHLYpx27M1an3l39BZbSWjPmwfgJC4z+W9qLM6uFPC+5bY8hr/aWRqzWS/vqALMe8P7PikioEJJDbAHVtAjKXl82o9GKRrHi3r4xiuYgSDZoOJ7OjXzVoBQlawK7LjdL6dwKPrjFY8WyHn//7i/tzkeUJpAAqWdZpIbzUmR1Z3Z5OzpP0iqJ3KzcMRo/cykry+LFXAWFLBcEsgZBbb+VNxngiusmrioIBPHv9D1ZdaMwrY5VXo38RYEDT17ljmEIKxqbB3EO0Ynl1FYH2ssFCnv/bacC5kay9S2nmdwTMW+aTI2wpwPngz8CDSwP1F8kQjEjkKYbNwkub4YX0yZjx17tbyBWVGcYMY45L6nPzLGlMFf4I0cqztVnj3bHks77nirYpZQ7GwnNrqO8iEYL8OUbD03Jx+9pQoV3VL6n/lx20VAthFXTNXl6/merBliRG0FSj7/Py3AG85LeLVlyuIrnX9crliKYc/ywBdRNp2AEi8t2En9TKPmKNAl9FcOydLPRaHEYANTPBNIzFLQRBTEuMu61VRI/bmPSkC2pDhkbkg7LAoYgeHVokjzFJhHTbVX8hTr5wD/22pnbAf1SS/aaMmRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NmavL52dgt2FUMxnDejEyp",
      "input": {
        "note": "Brown bear is held and lifted; the open safe is straight ahead in the wrist view. Carrying it forward over the safe interior.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.235,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NmavL52dgt2FUMxnDejEyp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8234, 0.6067, -0.6159, -0.0189, -0.0383, 0.9992, 0.5449, 1.8832, 1.4708, -0.3233, 0.3126, 0.2371, 0.0216]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1292 left_yaw=0.0031 left_pitch=-0.2529 left_roll=0.0018 left_gripper=0.9992 right_x=0.4764 right_y=0.2294 right_z=0.1603 right_yaw=0.1509 right_pitch=-0.1068 right_roll=-0.0274 right_gripper=0.0216\nstate[joint_eff]: [-0.0205, -1.5795, 6.9538, 1.5116, -0.0562, 0.0073, -0.0122, -0.4308, -10.2085, 9.3197, 1.7607, 0.0171, -0.0269, 0.5006]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:282360e55261103f42c30011c159548a8939700586bb2863bb5ae36b4869a22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1316740567f2e4e4030fb5c9730c274701188641356cae80305f904c09322a8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbc7297fed6d88dcee86bb5c72206367bcb6c92b497f1e47a65e1e6a164339eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 2.764 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8196, 0.6067, -0.5991, -0.0189, -0.0387, 0.9992, 0.7189, 1.8473, 0.7025, 0.4763, 0.4519, 0.3565, 0.0179]\nstate[eef_state]: left_x=0.2619 left_y=0.002 left_z=0.133 left_yaw=0.0032 left_pitch=-0.2323 left_roll=0.001 left_gripper=0.9992 right_x=0.3703 right_y=0.2264 right_z=0.0259 right_yaw=0.1495 right_pitch=-0.0057 right_roll=0.0197 right_gripper=0.0179\nstate[joint_eff]: [-0.0205, -0.8684, 6.8718, 1.8193, -0.0366, -0.0366, -0.0122, -0.1573, -8.1983, 5.3128, 1.4188, 0.1099, 0.0171, 0.7204]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6102, -0.0189, -0.0387, 0.9992, 0.7189, 1.5352, 0.9989, -0.181, 0.4446, 0.355, 0.0193]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1313 left_yaw=0.0032 left_pitch=-0.2426 left_roll=0.0013 left_gripper=0.9992 right_x=0.3675 right_y=0.2254 right_z=0.1515 right_yaw=0.1553 right_pitch=-0.0494 right_roll=-0.0039 right_gripper=0.0193\nstate[joint_eff]: [-0.1573, -1.1556, 6.9812, 1.6337, -0.0611, -0.0708, -0.0122, -0.212, -9.1829, 8.9231, 1.8828, 0.232, -0.0269, 0.9548]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8234, 0.6067, -0.6159, -0.0189, -0.0383, 0.9992, 0.5449, 1.8832, 1.4708, -0.3233, 0.3126, 0.2371, 0.0216]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1292 left_yaw=0.0031 left_pitch=-0.2529 left_roll=0.0018 left_gripper=0.9992 right_x=0.4764 right_y=0.2294 right_z=0.1603 right_yaw=0.1509 right_pitch=-0.1068 right_roll=-0.0274 right_gripper=0.0216\nstate[joint_eff]: [-0.0205, -1.5795, 6.9538, 1.5116, -0.0562, 0.0073, -0.0122, -0.4308, -10.2085, 9.3197, 1.7607, 0.0171, -0.0269, 0.5006]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:282360e55261103f42c30011c159548a8939700586bb2863bb5ae36b4869a22b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1316740567f2e4e4030fb5c9730c274701188641356cae80305f904c09322a8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc7297fed6d88dcee86bb5c72206367bcb6c92b497f1e47a65e1e6a164339eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAcKEAgSGAI4AUIIdGhpbmtpbmcSDA2Q1e0We0MjHFv07RoMML1lt8yf8xj5L88UIjB8Wyvg+RE0fDpvm3KJVc8Zyv356WALSeQIaiDfTsAWgHkJ+nxkeuH4Yvi68ia9NVsq0QagVFoazFtZbDFfCU48ugVesvYYWYpYLJhuHXjfsr7Jhu1OiEb4pn9J4S0YiZfSqkTmuXUAN5e0boPLJ+YMLGs1qDhv2ekxy/fMYuX7Du2lwCllWc6IpsODldB0KdYLgGySg/oCPsEy6JOfJMZLXcMF7KseNJ4bM3BLyhF4/geFQmSKQWJsJxVIkr3f6a38wmmrlLNr15ntIt0ToAjgYSthEvldQz0CgOTGlkrSwztVeTbOQdBBsxnX95Y6telNoCiXaKpDfLhJ8q4v+Jh+1k2pD5Ghe5KV9RPjPmvEsdei97X+rz1/WtkoFvOlZWMbxfFwM7ujYd5Aovw3uBowpdZoc4Ig+RzMVm4AiTLxOupoaXNyz9pr5ZFbQeU59RooQI1NWH57mTEbCgh9Twx0ySTFK4LCJl7WrY1F/yVbc67Jb515TqVI9+REddJot7lMZMRwns3FD9lQ38k2GHwGBJHKfPbWEgFuhUeX5O604Z0qk0fjdMeOYks2mQ3j2XVAEPKgpxZum2f/o9sXv33cO3x+dn5nT3vwB/BmZETOWt9DMrclQX1gtDXELiRcvvwfYaRrzshGR7dqPwbERudcqM1+DNMSqPUjvdnOBnjRChjlNmr9W+6KltCL9nDelNFu8AGV5e5DjHfGgbFtqWFtGUfljT+eglQIhBvQjYvlnOOt57CpyfH13K7LPnThfd0xeurWkwHhj5FkouapZyl+ACqlnyi6MJlNJEmNnCQurGrfDKqfzMcRJWzu+iFCusY28Z3swECUz4eLuMz7x2b4x2BEdTiX+Sh1MMPQ1VPEYbsOF4/U00E0SgRYOglLG2p81gkIQkYMNnZIQWVvd6pbtsaLxsXyQmn/dbJAesD7OIH76C6mGd9w7NtwAdkVOkF+VPgH9vEzGoSzUUPj6MhvkCQy+71yFlC9yKX3i0TO+FaMsdY63vAu0EuVHKvFFNW826Phfx0wbSXUKQvcKDj2afbks1MmtNs2X5bwAj1auMy1FdFVcPpoS/lsq6zl8Kjnn5GfNFaYLU+XCAVsSPuDQh8f68DBP2kb/nH9f34nhYBfioMVHQsbUGjvV8cPix8tav36klsKGS5O4WzqhFrR+fpLT4mMXeoGYq9Z1QLc5UPRxO8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0158KaS2WdThbB3eNQzVT6sX",
      "input": {
        "note": "Bear is over the safe's red interior; moving a little further in and lower before releasing.",
        "targets": {
          "right_x": 0.515,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0158KaS2WdThbB3eNQzVT6sX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6228, -0.0189, -0.0387, 0.9992, 0.5137, 1.9968, 1.523, -0.3073, 0.2821, 0.2119, 0.0207]\nstate[eef_state]: left_x=0.2577 left_y=0.0021 left_z=0.1275 left_yaw=0.0033 left_pitch=-0.262 left_roll=0.0017 left_gripper=0.9992 right_x=0.4969 right_y=0.228 right_z=0.1254 right_yaw=0.1562 right_pitch=-0.1572 right_roll=-0.0436 right_gripper=0.0207\nstate[joint_eff]: [-0.1846, -1.1556, 6.8581, 1.6044, -0.0659, -0.0611, -0.0122, -0.759, -10.7966, 9.3607, 1.9658, 0.0952, 0.0708, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44015fa1edccba23f94a28f0aaea210f5d652a2c233927ceaaf4e10f9344d4ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff59033e0b2a8ea905f0805f0d6da2454df05e8eb19114f845a36badc69753e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:542435f964d8abeed3d34a9edbcf1a620a4b21b91db86c1fb7332118fde69756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.528 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.6102, -0.0189, -0.0387, 0.9992, 0.7189, 1.5352, 0.9989, -0.181, 0.4446, 0.355, 0.0193]\nstate[eef_state]: left_x=0.2598 left_y=0.002 left_z=0.1313 left_yaw=0.0032 left_pitch=-0.2426 left_roll=0.0013 left_gripper=0.9992 right_x=0.3675 right_y=0.2254 right_z=0.1515 right_yaw=0.1553 right_pitch=-0.0494 right_roll=-0.0039 right_gripper=0.0193\nstate[joint_eff]: [-0.1573, -1.1556, 6.9812, 1.6337, -0.0611, -0.0708, -0.0122, -0.212, -9.1829, 8.9231, 1.8828, 0.232, -0.0269, 0.9548]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8234, 0.6067, -0.6159, -0.0189, -0.0383, 0.9992, 0.5449, 1.8832, 1.4708, -0.3233, 0.3126, 0.2371, 0.0216]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1292 left_yaw=0.0031 left_pitch=-0.2529 left_roll=0.0018 left_gripper=0.9992 right_x=0.4764 right_y=0.2294 right_z=0.1603 right_yaw=0.1509 right_pitch=-0.1068 right_roll=-0.0274 right_gripper=0.0216\nstate[joint_eff]: [-0.0205, -1.5795, 6.9538, 1.5116, -0.0562, 0.0073, -0.0122, -0.4308, -10.2085, 9.3197, 1.7607, 0.0171, -0.0269, 0.5006]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6228, -0.0189, -0.0387, 0.9992, 0.5137, 1.9968, 1.523, -0.3073, 0.2821, 0.2119, 0.0207]\nstate[eef_state]: left_x=0.2577 left_y=0.0021 left_z=0.1275 left_yaw=0.0033 left_pitch=-0.262 left_roll=0.0017 left_gripper=0.9992 right_x=0.4969 right_y=0.228 right_z=0.1254 right_yaw=0.1562 right_pitch=-0.1572 right_roll=-0.0436 right_gripper=0.0207\nstate[joint_eff]: [-0.1846, -1.1556, 6.8581, 1.6044, -0.0659, -0.0611, -0.0122, -0.759, -10.7966, 9.3607, 1.9658, 0.0952, 0.0708, 0.6667]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44015fa1edccba23f94a28f0aaea210f5d652a2c233927ceaaf4e10f9344d4ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aff59033e0b2a8ea905f0805f0d6da2454df05e8eb19114f845a36badc69753e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:542435f964d8abeed3d34a9edbcf1a620a4b21b91db86c1fb7332118fde69756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011fdTPbTKPajZt8qsrTYJj5",
      "input": {
        "note": "Bear is hanging over the safe's interior; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011fdTPbTKPajZt8qsrTYJj5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6338, -0.0189, -0.0387, 0.9992, 0.4999, 2.0506, 1.5261, -0.2966, 0.2718, 0.1978, 0.9947]\nstate[eef_state]: left_x=0.2556 left_y=0.0021 left_z=0.1257 left_yaw=0.0034 left_pitch=-0.2731 left_roll=0.002 left_gripper=0.9992 right_x=0.5017 right_y=0.2241 right_z=0.0997 right_yaw=0.1563 right_pitch=-0.1977 right_roll=-0.0609 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0325, 6.8034, 1.5409, -0.0757, -0.0611, -0.0122, -0.4308, -13.2034, 8.9641, 1.9072, 0.1099, 0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9538a0d2e35abbdf4ba3b59d9186f8068b269af76b44743d870ba0cb6bdc0576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b48821f04f54d9924523b02b6ad3f9b0b556cdead459c08a3e3d052f367db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98ff61170398a8ed5bee9f3bbef9d69a05d7a4bd5d41343e16078e6cd8379856",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 4.954 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8234, 0.6067, -0.6159, -0.0189, -0.0383, 0.9992, 0.5449, 1.8832, 1.4708, -0.3233, 0.3126, 0.2371, 0.0216]\nstate[eef_state]: left_x=0.2589 left_y=0.002 left_z=0.1292 left_yaw=0.0031 left_pitch=-0.2529 left_roll=0.0018 left_gripper=0.9992 right_x=0.4764 right_y=0.2294 right_z=0.1603 right_yaw=0.1509 right_pitch=-0.1068 right_roll=-0.0274 right_gripper=0.0216\nstate[joint_eff]: [-0.0205, -1.5795, 6.9538, 1.5116, -0.0562, 0.0073, -0.0122, -0.4308, -10.2085, 9.3197, 1.7607, 0.0171, -0.0269, 0.5006]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6228, -0.0189, -0.0387, 0.9992, 0.5137, 1.9968, 1.523, -0.3073, 0.2821, 0.2119, 0.0207]\nstate[eef_state]: left_x=0.2577 left_y=0.0021 left_z=0.1275 left_yaw=0.0033 left_pitch=-0.262 left_roll=0.0017 left_gripper=0.9992 right_x=0.4969 right_y=0.228 right_z=0.1254 right_yaw=0.1562 right_pitch=-0.1572 right_roll=-0.0436 right_gripper=0.0207\nstate[joint_eff]: [-0.1846, -1.1556, 6.8581, 1.6044, -0.0659, -0.0611, -0.0122, -0.759, -10.7966, 9.3607, 1.9658, 0.0952, 0.0708, 0.6667]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6338, -0.0189, -0.0387, 0.9992, 0.4999, 2.0506, 1.5261, -0.2966, 0.2718, 0.1978, 0.9947]\nstate[eef_state]: left_x=0.2556 left_y=0.0021 left_z=0.1257 left_yaw=0.0034 left_pitch=-0.2731 left_roll=0.002 left_gripper=0.9992 right_x=0.5017 right_y=0.2241 right_z=0.0997 right_yaw=0.1563 right_pitch=-0.1977 right_roll=-0.0609 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0325, 6.8034, 1.5409, -0.0757, -0.0611, -0.0122, -0.4308, -13.2034, 8.9641, 1.9072, 0.1099, 0.0122, -0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9538a0d2e35abbdf4ba3b59d9186f8068b269af76b44743d870ba0cb6bdc0576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86b48821f04f54d9924523b02b6ad3f9b0b556cdead459c08a3e3d052f367db1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 181):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98ff61170398a8ed5bee9f3bbef9d69a05d7a4bd5d41343e16078e6cd8379856",
        "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_01Dg6HfeyTc4rZTGUutMCpPw",
      "input": {
        "note": "Brown bear dropped into the safe. Parking the right arm at home and bringing the left arm over the cream bear in front-left of the safe.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.22,
          "left_z": 0.13,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01Dg6HfeyTc4rZTGUutMCpPw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7216, 1.673, 0.992, -0.1268, -0.5682, -0.4885, 0.9993, -0.0765, 1.0168, 0.841, -0.6186, -0.0963, -0.1825, 0.9953]\nstate[eef_state]: left_x=0.3853 left_y=-0.2076 left_z=0.1089 left_yaw=-0.0046 left_pitch=-0.0761 left_roll=0.036 left_gripper=0.9993 right_x=0.3059 right_y=-0.0028 right_z=0.1774 right_yaw=0.1064 right_pitch=-0.205 right_roll=-0.062 right_gripper=0.9953\nstate[joint_eff]: [-0.6496, -7.8564, 8.841, 1.8095, -0.525, -0.0024, -0.0904, -0.2256, -3.0838, 6.4889, 1.917, -0.2759, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165a724124539ba19ed748b675635769dc199a9ab3678b8fa8b49a19f432d3af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcffaab900984c11bcea47bd8db89503d8aab3e7d1cb725de1a8287056f171a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef373407282cb935183f2392fbe3a81fe67bbc9599205f9b8471f0b0a890325c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 3.092 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6228, -0.0189, -0.0387, 0.9992, 0.5137, 1.9968, 1.523, -0.3073, 0.2821, 0.2119, 0.0207]\nstate[eef_state]: left_x=0.2577 left_y=0.0021 left_z=0.1275 left_yaw=0.0033 left_pitch=-0.262 left_roll=0.0017 left_gripper=0.9992 right_x=0.4969 right_y=0.228 right_z=0.1254 right_yaw=0.1562 right_pitch=-0.1572 right_roll=-0.0436 right_gripper=0.0207\nstate[joint_eff]: [-0.1846, -1.1556, 6.8581, 1.6044, -0.0659, -0.0611, -0.0122, -0.759, -10.7966, 9.3607, 1.9658, 0.0952, 0.0708, 0.6667]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6338, -0.0189, -0.0387, 0.9992, 0.4999, 2.0506, 1.5261, -0.2966, 0.2718, 0.1978, 0.9947]\nstate[eef_state]: left_x=0.2556 left_y=0.0021 left_z=0.1257 left_yaw=0.0034 left_pitch=-0.2731 left_roll=0.002 left_gripper=0.9992 right_x=0.5017 right_y=0.2241 right_z=0.0997 right_yaw=0.1563 right_pitch=-0.1977 right_roll=-0.0609 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0325, 6.8034, 1.5409, -0.0757, -0.0611, -0.0122, -0.4308, -13.2034, 8.9641, 1.9072, 0.1099, 0.0122, -0.1099]",
      "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]: [-0.7216, 1.673, 0.992, -0.1268, -0.5682, -0.4885, 0.9993, -0.0765, 1.0168, 0.841, -0.6186, -0.0963, -0.1825, 0.9953]\nstate[eef_state]: left_x=0.3853 left_y=-0.2076 left_z=0.1089 left_yaw=-0.0046 left_pitch=-0.0761 left_roll=0.036 left_gripper=0.9993 right_x=0.3059 right_y=-0.0028 right_z=0.1774 right_yaw=0.1064 right_pitch=-0.205 right_roll=-0.062 right_gripper=0.9953\nstate[joint_eff]: [-0.6496, -7.8564, 8.841, 1.8095, -0.525, -0.0024, -0.0904, -0.2256, -3.0838, 6.4889, 1.917, -0.2759, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:165a724124539ba19ed748b675635769dc199a9ab3678b8fa8b49a19f432d3af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dcffaab900984c11bcea47bd8db89503d8aab3e7d1cb725de1a8287056f171a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef373407282cb935183f2392fbe3a81fe67bbc9599205f9b8471f0b0a890325c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSiwkKEAgSGAI4AUIIdGhpbmtpbmcSDLYZaA/sr2Kut0nHmRoM6IXhD8lcW1YtCr7RIjAIjnhxc4r8PpYXCb0fVvo7P6h9VkytxzReWzZi8/+92wQbJ1Bb0R9yl0vMsU3tZJoqqAhvN0McSi+3XAO0+42KzOFk0UqPjFWxmDoJypr3oJ8T4wnjZFMgRtuhgvnwk1J10PIXILOQzdRXoGkwZQa+U7eyPnwEwe//xLaO16u8/SsvGt4toTRCkc1fBuszCYHYZmkCMHLcOJfKbIy+wsYFak0l+2JokHl4LwsJjK0I4v+QXMGFFAo6rDfNMoh3Dc7kmbMJnxeFookv+Na5uAoAvEKMERDQanTmbQzoe8ufE8uB8fiJkjmrSGC728HxxAKPJmGqOEum5OFni/0HS+LHSqnSkn6i9Mri6Xih8d0e49Q7kDF2Po6XGoSkYxE8lmVzjxB3c0XehXFj4znCJ0/UuwDqy+wzX2kOJeiHbdFOPfsYBRAyg9NZSL7I2ztb7ZzL6tF7TYytsNDLUxpsXLNhug2/znWJrh7OOrYVxRO7iVzo1IgCssjQhkEhSVyqUlp7VWj/Trh7wYazGuu/3lYE8RJ5PyNVjx3wFsuFeboO3qK/rXbHKw6JKB8DrV6nimgU3DDUaoSQBKZpeRIeCxjMjRXF3PlE66Ag9ufsfCx/YFeGdSEh0/1RDjm9pUPVmdeWgjKaBAbsvAhYT/E7EIq3Gu5ukVhDfYmEcxsuGXM/qwXvS1zJBmmNPZVQtjvExxgr+jdyBu+vTpT8himD+iSYhfqrGOe0F0uUpBCmDTIOimP9tU1oVhmZ1+mLF0g2COu30qR8/tR8NIwObB/y/iuBG4vhegycu7SWQUXhJKF9T947IXTKdm5b3KXDWK9N8X0EzqgqHNayr5ZDsQz0PtXMP4xW7XsFHTI5kYGAGJwmrZI8wWeme1g/ZR1EIVtQPDkDzDTw7YH3hBMJUptOjVhqU4kvIs/a8Ou75eAhhfBBx/coz7ObA4+IJ9RxqxVzY0A4Kavoqubbo6WIR1+3DVQezIHUAxnh9luAtKcJkJEjndEnezib7k0VFaMQOQPHVTybswjtU5O3vNN1DQqc9LUUbU6M5ik4MqmbCoIgx1o9X9+rltY3Zh6fd7ErfVP2kcYaAzmgOyTJKvfjuVSJuAVw0948r2apbW10M/yl8ta0lCy+2nt1yQql7EniFKMOzlAmd8Fse30kbczPYEKuDT6lf+yWcAhnPOhrKnpoteX7jlAs7di+AIfP5Q9xn3R5Ysokbfz3EQjH3gxhciyyx8qsRdNckBsg/yyv/R0P3mWJp+69ACDjOMFTdr8I+s9maju1vQbtxhDX1pjh4wIKZx8qnEufrx+sVd+bqfg6HuHoMeS+Frnrbd+Y9SoIByeuUJDBDIKt2ZAwwbeFUGCvDLKFTZPOQmZcAdPNLVXQGKDWgx5REzFZpImFZkOXQHt0zSzzWV6yuNWwHCdl4WsSm4tDrhDYX6egfq3aitMdJ4T3JQ7i5am3Et14iOlaYeTfgSxYP/kRtyZdAQGoDRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J83KwfnM1Mi13Ucxmx53Ud",
      "input": {
        "note": "Cream bear is slightly left of the jaw column and a bit ahead in the left wrist view; shifting ~2 cm left/forward and descending to grab it.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.185,
          "left_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_01J83KwfnM1Mi13Ucxmx53Ud",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6392, 1.8744, 0.8371, 0.1955, -0.519, -0.4313, 0.9992, -0.078, 1.0203, 0.841, -0.6571, -0.1047, -0.2005, 0.9954]\nstate[eef_state]: left_x=0.3948 left_y=-0.1798 left_z=0.017 left_yaw=0.0123 left_pitch=-0.1271 left_roll=0.0741 left_gripper=0.9992 right_x=0.2992 right_y=-0.0013 right_z=0.1701 right_yaw=0.124 right_pitch=-0.2456 right_roll=-0.0603 right_gripper=0.9954\nstate[joint_eff]: [0.5949, -8.2803, 4.7658, 1.5849, -0.1001, 0.0415, -0.022, -0.0752, -2.9333, 6.7897, 1.8291, 0.0122, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2794c890e786177699aeec665cec80954f7fa4c8ffcd2dd30f667633b135b576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f418f458f92b21db1bfdd5815877886cb2f717ba251fdf424de841877b33e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2beb052897aae996f6c6314ce9f7b22987b7ce9d0e5985361299b13abd74aaac",
        "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 · 4.894 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8257, 0.6067, -0.6338, -0.0189, -0.0387, 0.9992, 0.4999, 2.0506, 1.5261, -0.2966, 0.2718, 0.1978, 0.9947]\nstate[eef_state]: left_x=0.2556 left_y=0.0021 left_z=0.1257 left_yaw=0.0034 left_pitch=-0.2731 left_roll=0.002 left_gripper=0.9992 right_x=0.5017 right_y=0.2241 right_z=0.0997 right_yaw=0.1563 right_pitch=-0.1977 right_roll=-0.0609 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.0325, 6.8034, 1.5409, -0.0757, -0.0611, -0.0122, -0.4308, -13.2034, 8.9641, 1.9072, 0.1099, 0.0122, -0.1099]",
      "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]: [-0.7216, 1.673, 0.992, -0.1268, -0.5682, -0.4885, 0.9993, -0.0765, 1.0168, 0.841, -0.6186, -0.0963, -0.1825, 0.9953]\nstate[eef_state]: left_x=0.3853 left_y=-0.2076 left_z=0.1089 left_yaw=-0.0046 left_pitch=-0.0761 left_roll=0.036 left_gripper=0.9993 right_x=0.3059 right_y=-0.0028 right_z=0.1774 right_yaw=0.1064 right_pitch=-0.205 right_roll=-0.062 right_gripper=0.9953\nstate[joint_eff]: [-0.6496, -7.8564, 8.841, 1.8095, -0.525, -0.0024, -0.0904, -0.2256, -3.0838, 6.4889, 1.917, -0.2759, -0.0708, 0.0513]",
      "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]: [-0.6392, 1.8744, 0.8371, 0.1955, -0.519, -0.4313, 0.9992, -0.078, 1.0203, 0.841, -0.6571, -0.1047, -0.2005, 0.9954]\nstate[eef_state]: left_x=0.3948 left_y=-0.1798 left_z=0.017 left_yaw=0.0123 left_pitch=-0.1271 left_roll=0.0741 left_gripper=0.9992 right_x=0.2992 right_y=-0.0013 right_z=0.1701 right_yaw=0.124 right_pitch=-0.2456 right_roll=-0.0603 right_gripper=0.9954\nstate[joint_eff]: [0.5949, -8.2803, 4.7658, 1.5849, -0.1001, 0.0415, -0.022, -0.0752, -2.9333, 6.7897, 1.8291, 0.0122, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2794c890e786177699aeec665cec80954f7fa4c8ffcd2dd30f667633b135b576",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f418f458f92b21db1bfdd5815877886cb2f717ba251fdf424de841877b33e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2beb052897aae996f6c6314ce9f7b22987b7ce9d0e5985361299b13abd74aaac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAYKEAgSGAI4AUIIdGhpbmtpbmcSDB40or/JoeC8epWGQBoMOb0DuVUoHj1UCOmcIjCa6TwVUg+jevOIbXONjs3ZZFP4KeESyPYnerXALpfLytn+m4fry8/M4JpvfRa/bLgq6QWzTpDt9+xXsFEmDD/WJw4DeXzVrrba2PW7BwAXixrX/XDBaspMGCOMCTcOZn2GL3oAKIIg7rgI4DPkbUOrbLdfi3TaeGT41kAq8Esw61h21wEvjOqkr5Rfx19e8Duc0Lqlo9Rev2wFZHqgEwSADMN0spZ73XTbLgfWNKQU9ho+dFtmrt8rSdO5bW0rrnBuDDMDrFDOPG57cZ51+181TmXLbWe9EBxqhBOwpfUKbka13luHC7za1EB2NQEsxwoHFisAu30fe/iisiHvBVQTk6CwerzrWREYYjVCJj8XwHR5TxSmE5FFR5WVjIrw4ALdPI/ve622h/11ias1XtxgXgZOLBpktSyaKuNdeRGjWh+OHOU9y2lIVDVFH2BH2/k/1ckQpt13UwdI2ZWtYAREXqrWD/21kcXxab6ZWZS6Y29+HAzF7fmxkz7R2g4TVOZINk0iDicoEsCdgPNRUCmEcXsWiL6p8m1cn5c5Yc6w+ml9z8/csXd2xP2OVm3NaP/4MNsOZBliBJvz1kbXR0AyrlRZUmyEvN1egSfZw4R+IQmgEMDb8Zp0H58YRAf2QDpzecw4YXDL8Mn63TXCxkND/F06n9Trb+YCy2hK68C93cLUC/P6F118ukEhFX7xb+5cBlaRhS2yyBgdHFv3DFFISbsKOJRxMrWKo6KkE/v6G+Fu2yBi7RYvG14Xa7P/cnGrbIzNZoad6On7ZR+on++7MqiBkTeJOh/tQfw7VHAfXnsuFO4O4HiJsL1QmXfXyKBBuhf+SFhQ0iKsOKyuFSsKpM+7NFh2kQiYgBidUPJyo2WXIYEaM+R+OIEocYEhnhJfZPpA/Egq2VyuLaJE7J73hkpc/44eQGbRe2pTi/laoFM5U4/8rTFIwz8gp7xDWyaAhJsh2NR1B5ePqh9Snr9abqQy+jgDyIXYKL4KvTwJEoaKpTN0YkG9TTKOIKG5xV1j+OlsjyIICH/vxaFuhZq5dNd0OnKglFjK6oNtGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6kt1SNpWRxJeMF9BqFC2P",
      "input": {
        "note": "Cream bear sits between the left 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_01V6kt1SNpWRxJeMF9BqFC2P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6399, 1.8961, 0.8272, 0.1879, -0.5133, -0.4313, 0.0102, -0.078, 1.0203, 0.841, -0.6762, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3888 left_y=-0.1768 left_z=0.0036 left_yaw=0.0108 left_pitch=-0.161 left_roll=0.0947 left_gripper=0.0102 right_x=0.2957 right_y=-0.0014 right_z=0.1669 right_yaw=0.1241 right_pitch=-0.2647 right_roll=-0.0594 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.441, 5.7915, 1.5067, -0.2808, -0.0317, 0.8718, -0.0889, -2.6188, 6.7487, 1.6044, -0.105, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc14c13b7eba0e13fb605f82f33a4687ce27731ce163009550d5c45054704a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2445a22f9df27cc0e4e540637b20a50c41eab964e6937ec98d5a6d6706177c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e100f835a1d74442beebe9729182ad34170605a1dba1d5c3913be11d491b4e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.908 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]: [-0.7216, 1.673, 0.992, -0.1268, -0.5682, -0.4885, 0.9993, -0.0765, 1.0168, 0.841, -0.6186, -0.0963, -0.1825, 0.9953]\nstate[eef_state]: left_x=0.3853 left_y=-0.2076 left_z=0.1089 left_yaw=-0.0046 left_pitch=-0.0761 left_roll=0.036 left_gripper=0.9993 right_x=0.3059 right_y=-0.0028 right_z=0.1774 right_yaw=0.1064 right_pitch=-0.205 right_roll=-0.062 right_gripper=0.9953\nstate[joint_eff]: [-0.6496, -7.8564, 8.841, 1.8095, -0.525, -0.0024, -0.0904, -0.2256, -3.0838, 6.4889, 1.917, -0.2759, -0.0708, 0.0513]",
      "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]: [-0.6392, 1.8744, 0.8371, 0.1955, -0.519, -0.4313, 0.9992, -0.078, 1.0203, 0.841, -0.6571, -0.1047, -0.2005, 0.9954]\nstate[eef_state]: left_x=0.3948 left_y=-0.1798 left_z=0.017 left_yaw=0.0123 left_pitch=-0.1271 left_roll=0.0741 left_gripper=0.9992 right_x=0.2992 right_y=-0.0013 right_z=0.1701 right_yaw=0.124 right_pitch=-0.2456 right_roll=-0.0603 right_gripper=0.9954\nstate[joint_eff]: [0.5949, -8.2803, 4.7658, 1.5849, -0.1001, 0.0415, -0.022, -0.0752, -2.9333, 6.7897, 1.8291, 0.0122, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6399, 1.8961, 0.8272, 0.1879, -0.5133, -0.4313, 0.0102, -0.078, 1.0203, 0.841, -0.6762, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3888 left_y=-0.1768 left_z=0.0036 left_yaw=0.0108 left_pitch=-0.161 left_roll=0.0947 left_gripper=0.0102 right_x=0.2957 right_y=-0.0014 right_z=0.1669 right_yaw=0.1241 right_pitch=-0.2647 right_roll=-0.0594 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.441, 5.7915, 1.5067, -0.2808, -0.0317, 0.8718, -0.0889, -2.6188, 6.7487, 1.6044, -0.105, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc14c13b7eba0e13fb605f82f33a4687ce27731ce163009550d5c45054704a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2445a22f9df27cc0e4e540637b20a50c41eab964e6937ec98d5a6d6706177c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e100f835a1d74442beebe9729182ad34170605a1dba1d5c3913be11d491b4e43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwkKEAgSGAI4AUIIdGhpbmtpbmcSDFcD0j5HcGp72gzJuBoMoL63zu6hCbJYDbgDIjDt/yztSFEddzF/iHB7rJ0yA4jFATMVI0xvlUMic0mKCb/l32sNwCRFfu+pDwX8JCYqpAhjiF0Hud3B9gKa41IVASsMiua/NeBAkVZzrQ1MRmyR0TZfraD3nNBQqcQxU76yEnZEk9UDWCcrSXepZ3x7bVQHEHZ35Xfgs+mCkYMeHgiFftV/kpoiN4lrFqSt8iNhyjVZMPI/6KSn8vdoNgAo/4NtyKZAMfGLKXPZs6ujgPck+hajnOk3haTPEYvZLg9BCRp0ZDCHpkUO/V7cTKQXtUU4pViWA5ESWgy3aXcih0Uk10GVAC4L5RFshG0pT8o3a2S8ATykdkilafzOKLFVBmXs66wmYdkVL0OPVjBJMTWgC0lUWWc9bGWxoQcWJaoX0g+nTcXWBNR4PZA0WEnHtKevJrWsi6RL4aJPx3si8Ud6JA9mGaRNyNQlYpzTVrvEgRRqLFQFBiCWUMacGp6BFZa5ysAaoWnX24g3AX9po/q/XD34U5mhPEhZ+eo5UBKM1WNI3I30+XAG8Zy34rSf7fqhAtxS3MxLrctcq6jb9J3kRj3NDJuleDphECNyq+sOK931w6T/TqujtzxHg/mWCAWkoF2Fe7AvVVBgobEIrMnxCyxCJdBeLdTyoP98Wm7JVljQ2zCKa10do1Cx6FTozIPhxfiEvbr3KcRCRiRehYAlFw4Q+tV4prgEKzQcC8hGsU98UXXcESjMJYqlqK3P4z5cHI41Esv94AUoujnTO9QKmFk5lQUyqY2HczLURJAoX/VO3JkST9TLxli2jYU+xwkVKLlCPeMceFY0nbQNpMnnzyeKCXcmBKlpT/gaoqHXII6Tei4oigt7Kwie9X/9ij6Nwj4UcWVk02tS6iMZtwmSYDKu4zwfuo+PxY8FZUR6SBf+jncqdzRlKUkCNp1DyeorthZlHs5IGnZ7ZiQqNV73KWRPZ8FTJ822DcppJrixafmCC/A1r5Hc0Jgf49CbTcnBWuff1h/RtWGdi9mUkfNqMQp66KOB5lGDrANZVj04+JaqWY2ZGpvjC+/cvqevp2JytNAstaQ5d/xu59d9cSTxzJkLkp2M0OEuWXL7yD5+GxlZlEeS0NHDf9yueqW+xGPyT0tcq3E1YFSwI5si8WqWDRjCExdSso8FS35lf5oGVoNCvAzaJgzq4tYzxFLuBFu/OTqmphemzCeORUXLTmp7FdcrRRFh6t/mrtDOnwPQSoCAIxS90q3vkBde4F6+3xx2HxXaSrW08pH2OWuodjS0cdj6lfgFhzvdv2dv7AcSo4kS16sYjEQNMdGPOaCaVmkEOi29JSO0TnG/eBgPHZnS9Ye6h6jstiPZFRtVt047yHJJRnL4whJ8NLJknEycLLVSEwzUcm6+8RuavcRVGsPlJGM4UD4C+UNExKhyS8W8lbSVVOAEBXPzed9qggM9I5xa9x15+aTcLQItRuReNmPkBkTjg0Xc30tjdiMFPqYvr5mkAm4FGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JMXiKvQieoqfNqMinSMVii",
      "input": {
        "note": "Close was empty — the bear is still fully visible ahead of the jaws. Opening and advancing ~4 cm to get the jaws around it.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_y": -0.185,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JMXiKvQieoqfNqMinSMVii",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5953, 1.9671, 0.9726, 0.1005, -0.4911, -0.4084, 0.9954, -0.078, 1.0203, 0.841, -0.688, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.419 left_y=-0.1788 left_z=0.0069 left_yaw=0.0277 left_pitch=-0.183 left_roll=0.1055 left_gripper=0.9954 right_x=0.2935 right_y=-0.0013 right_z=0.165 right_yaw=0.1247 right_pitch=-0.2763 right_roll=-0.0575 right_gripper=0.9954\nstate[joint_eff]: [0.5128, -8.6085, 8.1026, 1.5018, -0.1929, 0.1587, -0.1294, -0.1846, -2.6188, 6.8581, 1.5409, -0.0952, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e60ecb54d50e56561ef6fe2ae46e98e05e2e2196ec5f8029b0e588c24c2c1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0acc96928416281f418816c12ad1e9cdb308823335e47ccb36899ac7751fa396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffb459dbd8bbdbf3fd48d2b84a2a119c83f078a9844a6562c340018d81c237fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.544 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]: [-0.6392, 1.8744, 0.8371, 0.1955, -0.519, -0.4313, 0.9992, -0.078, 1.0203, 0.841, -0.6571, -0.1047, -0.2005, 0.9954]\nstate[eef_state]: left_x=0.3948 left_y=-0.1798 left_z=0.017 left_yaw=0.0123 left_pitch=-0.1271 left_roll=0.0741 left_gripper=0.9992 right_x=0.2992 right_y=-0.0013 right_z=0.1701 right_yaw=0.124 right_pitch=-0.2456 right_roll=-0.0603 right_gripper=0.9954\nstate[joint_eff]: [0.5949, -8.2803, 4.7658, 1.5849, -0.1001, 0.0415, -0.022, -0.0752, -2.9333, 6.7897, 1.8291, 0.0122, 0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6399, 1.8961, 0.8272, 0.1879, -0.5133, -0.4313, 0.0102, -0.078, 1.0203, 0.841, -0.6762, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3888 left_y=-0.1768 left_z=0.0036 left_yaw=0.0108 left_pitch=-0.161 left_roll=0.0947 left_gripper=0.0102 right_x=0.2957 right_y=-0.0014 right_z=0.1669 right_yaw=0.1241 right_pitch=-0.2647 right_roll=-0.0594 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.441, 5.7915, 1.5067, -0.2808, -0.0317, 0.8718, -0.0889, -2.6188, 6.7487, 1.6044, -0.105, -0.0366, -0.0122]",
      "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]: [-0.5953, 1.9671, 0.9726, 0.1005, -0.4911, -0.4084, 0.9954, -0.078, 1.0203, 0.841, -0.688, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.419 left_y=-0.1788 left_z=0.0069 left_yaw=0.0277 left_pitch=-0.183 left_roll=0.1055 left_gripper=0.9954 right_x=0.2935 right_y=-0.0013 right_z=0.165 right_yaw=0.1247 right_pitch=-0.2763 right_roll=-0.0575 right_gripper=0.9954\nstate[joint_eff]: [0.5128, -8.6085, 8.1026, 1.5018, -0.1929, 0.1587, -0.1294, -0.1846, -2.6188, 6.8581, 1.5409, -0.0952, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e60ecb54d50e56561ef6fe2ae46e98e05e2e2196ec5f8029b0e588c24c2c1cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0acc96928416281f418816c12ad1e9cdb308823335e47ccb36899ac7751fa396",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb459dbd8bbdbf3fd48d2b84a2a119c83f078a9844a6562c340018d81c237fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiQkKEAgSGAI4AUIIdGhpbmtpbmcSDKVNB+Ho73ukraCIIRoMNgQ33Ctnn8Lcmcw+IjCjyyZ2zNeFKZXVPLX1w4+SX8rHp7SZJu3wUNsuJ2N1C0wJGIohFXq+mvB02LZsgz8qpghoY06rXf1//FHZ53fItEOdAqRKjt/l0mEaruX5m0AHvZtR/+/Fa+TsKHCsEDb+0N/DnmBtCpCpUgiHPJSYUYn+SGANrUtd56nCLnuq0KAEHBUt3H+jrpQOg93vvfqTJn25zxt4HZzJx8IkNRnx8VnfYmAV55L+ADIxzjXLm2hWm/kHVgPEjoJb6TnqcHs6uTWL8nXN9Y7rD0YBVjYwBG52MNlmNgJRjsvj3QHGUxntufBBeo4ryqNQOF8zibG5WfeuK42sckUPFeeQxoYWonjBGP+lca3EG0smilz1NX8K9d6C1nMKKHchfViRY7VJSvIahk8FhdMQzooSvtaFSCEbHRJUAD4QU+lWzq2hRY9mFsvu3EZnXEEd98a2m8Q2JShj0eNvU0lyEgBoYmd6pevJLV1ij0B6zo75LsKHNc04CcceuE3befD2FS0RgiLtHru7jzMFvmicfR3Pr3A5dWEs8sRCrDEQoSZHFLP5PSHQ900sez7XsOTcZqK9hMI6VIitTnCAC5uWZKpt3ImZjnTuqBo18JGTv4wB4Co95sNoxzQZxgSYCTylhHjDKwE9zYVM0b9wFx0q5Ms40UiQChxeqtl8wvdmXE2JFY5/PS6pbazixk41Xra1yDavNX/GJe1kyZGR15sRNIO+XH0r7AybRSJcs8+cOSakqzbPxTUPA42isw4h5YeEwO1mVn6sEZdz124YWv9q0QU3oLXvSfA5vWzfPg2kReIS7vVxb7UkVc4t+/etQykZ0dKey01iaOwk89/p8Jgsfp4wy7OwVzAklftiUo2deAeSF1/DObvqWOLNTvpo44mATNyra7UPANjBDbeMJpbFnmQErorhG7ftTEX8F5KVgnLrRb/t+7ydRZCVjxmppCVgQOkRWOyQF+4KADF7ktOuQS1V+jmTA2GGj+El4lwg4Ou1DvtCWI+RyMiwYXIdS0DktaiX/fyb0x7Vmxj2ErgNW3VNDCqdSl9ENu1dvHdehQLtvNhhFFcmVt6VzxOMjqE0z7YhUj+u6h0dyAnz7WL2b5ARq2I52dGYWIUh3Zl3CKi+XTwAUrEqAmYDj1JRQfHxSgBTmQmQ7hWu8IJFNiPESXsENFhxZPBdwV1cxGjuKm2upZ+N4OalOKaJnY72T6RbjQHPm7wbddIoXDXbZBBtwrvAhgiqfFAzb0g26/FTg62QTAQkQZl9y0+6y4/OCplQlCTLGfXbv3xhmF9aZ5jWwmjSh3jnmmjL71npqr8oj0DJPyl+qmiDZDYQDLQ/eY8rSyyz2rqT1ZzIP5ZunHa+QMqemVCC8p3gS0HE3h8ujhDsjSs3BLrOR+a6wtzxKxaO6Fb6xrkr710UPkS3hVCCzbvMTUBleVon38N6t2S+8P1+qNYkNRtDvTZYeq4sr4cQD8JOyQ6qqsXFc8YPqAcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WXvtLooGmBkJqnXj7u8yi7",
      "input": {
        "note": "Bear is now just ahead but left of the jaw column; shifting ~3 cm left to centre it between the fingers.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.15,
          "left_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_01WXvtLooGmBkJqnXj7u8yi7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5301, 1.9659, 0.9588, 0.1307, -0.4583, -0.3756, 0.9963, -0.078, 1.0203, 0.841, -0.7021, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4291 left_y=-0.1567 left_z=0.0052 left_yaw=0.0483 left_pitch=-0.1848 left_roll=0.0982 left_gripper=0.9963 right_x=0.2909 right_y=-0.0011 right_z=0.1628 right_yaw=0.1253 right_pitch=-0.2902 right_roll=-0.0542 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -11.3573, 4.2872, 1.3651, -0.0855, 0.232, 0.0904, -0.1436, -2.5778, 6.9265, 1.5653, -0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82942f3ac06d0387db98c38c289bdef3eee965e87827f9f673671b23f5a13a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e52761bd9a200bf8e807725578554bc4643e884a6d3efeb3e3b803621c88092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0fb39da05b807064c6cb5736fe5f33cf15d48e2405925e1756aa882d6e356c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.256 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]: [-0.6399, 1.8961, 0.8272, 0.1879, -0.5133, -0.4313, 0.0102, -0.078, 1.0203, 0.841, -0.6762, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3888 left_y=-0.1768 left_z=0.0036 left_yaw=0.0108 left_pitch=-0.161 left_roll=0.0947 left_gripper=0.0102 right_x=0.2957 right_y=-0.0014 right_z=0.1669 right_yaw=0.1241 right_pitch=-0.2647 right_roll=-0.0594 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -10.441, 5.7915, 1.5067, -0.2808, -0.0317, 0.8718, -0.0889, -2.6188, 6.7487, 1.6044, -0.105, -0.0366, -0.0122]",
      "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]: [-0.5953, 1.9671, 0.9726, 0.1005, -0.4911, -0.4084, 0.9954, -0.078, 1.0203, 0.841, -0.688, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.419 left_y=-0.1788 left_z=0.0069 left_yaw=0.0277 left_pitch=-0.183 left_roll=0.1055 left_gripper=0.9954 right_x=0.2935 right_y=-0.0013 right_z=0.165 right_yaw=0.1247 right_pitch=-0.2763 right_roll=-0.0575 right_gripper=0.9954\nstate[joint_eff]: [0.5128, -8.6085, 8.1026, 1.5018, -0.1929, 0.1587, -0.1294, -0.1846, -2.6188, 6.8581, 1.5409, -0.0952, -0.0464, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5301, 1.9659, 0.9588, 0.1307, -0.4583, -0.3756, 0.9963, -0.078, 1.0203, 0.841, -0.7021, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4291 left_y=-0.1567 left_z=0.0052 left_yaw=0.0483 left_pitch=-0.1848 left_roll=0.0982 left_gripper=0.9963 right_x=0.2909 right_y=-0.0011 right_z=0.1628 right_yaw=0.1253 right_pitch=-0.2902 right_roll=-0.0542 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -11.3573, 4.2872, 1.3651, -0.0855, 0.232, 0.0904, -0.1436, -2.5778, 6.9265, 1.5653, -0.0806, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c82942f3ac06d0387db98c38c289bdef3eee965e87827f9f673671b23f5a13a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e52761bd9a200bf8e807725578554bc4643e884a6d3efeb3e3b803621c88092",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0fb39da05b807064c6cb5736fe5f33cf15d48e2405925e1756aa882d6e356c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDDTyeBojydGrfytJsBoMF68f0b/wh98YNKgvIjAt9/5qkvyuA1uiiPapAjhhxHcyU6lI0/88AU3HTQgWIubLqRdfkqnijM2QmsHysH8qyQZrKqGOv6Y86aPGl7VkQGBt2CbVuHLejbG/zxENU72XpKqG4Ho8OGTlD4nao2msI+GqCJL1b/Ljab/6PT8cG2N7mZSjpS5bqa/fdyVLOeFQe2lme7QjE+6bpkJU42iUtetvU7dKtAkw77PoPB8RdRJTlYYmP6pfV6c/69Ga8IkEnKZtG/xU0uasKleh6RThmKUcLYMyoZJMfj9PQzRqzNM6sj5U3kk+1/dmQZ36frUU/kfd+cSDBeREbHr70Nr7CV2KHkAVGRWeX0+PQhUfPflSpQzttTZeFRLHMMbrCA53aafH/JyOlhiafpatC7yhBSI2kwAmioCQgtkxB9gkMpaeoIPQia/9YWqPR9fvEyBs6MYCfwJ3hnVp1b1wwNM5KTPCv0qdmWftaXCJ0uPKcfsyHqOqmWz9N6SmYAip/tgjgq3JJoAuTYdWcxLuRPuGsvLeIdKVGGq4XZffjdGI/OLy+3nXWQIIJpujTgOuYXz4tTdHs6+03UK8IUqo9K7BXTHmQM54wROGKS2lQpC9x5r82N4nBtoTqavg2cjgyGW9DtmoGM4TpmQ+gdZSSXx/esDeMsyGsruB0nkuffcCc9EJFgCSGjpcmQ9Ml59YP5s84WzsTutDTK9hQuHaJbmNiIS6UUhMq/tQu6QSmp2jJWg7S1cTTCRYwxs/u2KEAoIz4ZSbZc75PICxzVLetUrDEBYok8ab/kIVK/zPzJQkZhe8ijzpkqSN+pqr5S+TM4QuMPNnPaVvtr1AHKRLgjS9ptjg+n4SqtEScPU065ngCsaZk6sPtDMN7B7VzavAyeRHE+KAhKAhR27WCblodioCB2ZeCAHcbQxgjw0RgTe61KdLsOnW6z91FRCihz9EdF7hehE503L7WmiXGH/xFAXTdQ+z0J2OY3G0HS6m2PD+rsWQH1SYANLrCwpRuJmWs3W9jGC0EBDw3Z9xfg27ZkYFVFwGefMXHFWm7Kt2UCp/NMgwxt0/h9i13/TtX4Wfx8gHwbrgk00eh7VLhX5XOc6b/XCYaf/DNGGUDwVmwBKGFSf/Rm2Qg5h2e/5gS3T4Ewz8XWQqIrWVa2KEnUXozszyGH9dIcTQZiYIyWc+Qsl7svOMrehfqS7oM3UpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UAZBS8pWUMd7a3Mcp24GGG",
      "input": {
        "note": "Bear still sits left of the jaw centre; shifting another 3 cm left.",
        "targets": {
          "left_y": -0.12,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UAZBS8pWUMd7a3Mcp24GGG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9965, -0.078, 1.0203, 0.841, -0.72, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9965 right_x=0.2874 right_y=-0.0008 right_z=0.16 right_yaw=0.1264 right_pitch=-0.3077 right_roll=-0.0504 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -10.5231, 4.3692, 1.3993, -0.1587, -0.0171, 0.0024, -0.1709, -2.6051, 6.694, 1.6532, -0.0855, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0341ad632ae81c0ef954fa45f28d2f7732e4c184889e71429c85f1e6dcce00d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca496da10c818add3b37fbacad0ed37aa3bfa4b9cd066de96a714aaaada3781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52fc15894527021e4d13ee660430cf30973ba5133e127c6c386c30ef1bffbb15",
        "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 · 5.01 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]: [-0.5953, 1.9671, 0.9726, 0.1005, -0.4911, -0.4084, 0.9954, -0.078, 1.0203, 0.841, -0.688, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.419 left_y=-0.1788 left_z=0.0069 left_yaw=0.0277 left_pitch=-0.183 left_roll=0.1055 left_gripper=0.9954 right_x=0.2935 right_y=-0.0013 right_z=0.165 right_yaw=0.1247 right_pitch=-0.2763 right_roll=-0.0575 right_gripper=0.9954\nstate[joint_eff]: [0.5128, -8.6085, 8.1026, 1.5018, -0.1929, 0.1587, -0.1294, -0.1846, -2.6188, 6.8581, 1.5409, -0.0952, -0.0464, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5301, 1.9659, 0.9588, 0.1307, -0.4583, -0.3756, 0.9963, -0.078, 1.0203, 0.841, -0.7021, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4291 left_y=-0.1567 left_z=0.0052 left_yaw=0.0483 left_pitch=-0.1848 left_roll=0.0982 left_gripper=0.9963 right_x=0.2909 right_y=-0.0011 right_z=0.1628 right_yaw=0.1253 right_pitch=-0.2902 right_roll=-0.0542 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -11.3573, 4.2872, 1.3651, -0.0855, 0.232, 0.0904, -0.1436, -2.5778, 6.9265, 1.5653, -0.0806, -0.022, -0.0122]",
      "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]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9965, -0.078, 1.0203, 0.841, -0.72, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9965 right_x=0.2874 right_y=-0.0008 right_z=0.16 right_yaw=0.1264 right_pitch=-0.3077 right_roll=-0.0504 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -10.5231, 4.3692, 1.3993, -0.1587, -0.0171, 0.0024, -0.1709, -2.6051, 6.694, 1.6532, -0.0855, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0341ad632ae81c0ef954fa45f28d2f7732e4c184889e71429c85f1e6dcce00d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca496da10c818add3b37fbacad0ed37aa3bfa4b9cd066de96a714aaaada3781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fc15894527021e4d13ee660430cf30973ba5133e127c6c386c30ef1bffbb15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7gcKEAgSGAI4AUIIdGhpbmtpbmcSDE0haC1XsyLaaNKu2xoMpAnkkRSv51yiRWGQIjDHA+TzCNW3W9hRJB0W7O1JGFieS5P65eNv8gd4Xg3vPX5q6nynSf7kHo/fV8QgqlAqiwcub62KstyuE6AvBPN6slbnnSVeD9AKsF1O/NDqzM15L7VLLTxlxDgrEd7aDjtMyl5X0fk4Ry9fQI0KKbmhisdWpv8LWyR35E1c3QVqJO7e7S2zUJ5TqRQUekp9AslVGd+xWRFIG40b9VWyp++DPqCCxSXJInF9MfuMu86lsUiIM5KsppvYgwMQ3YgVPQtok8m/VcfvpxeIB7NA33rlVderI7bx7C65N3dYoxHcQ3VoNY/aRtwwlxYFtkbCTcB6r8M/vPj40ZCNuRGFhfzAdCTOFA/Y432ZMA7f5q6XuAsBPyFBYuLTqJckjlXW1VGXoso2lxyK/uyhg31XYl779HPf3GBiLsoBxN6gvfV9K+BGZLEuQkupoZwAt2L8YY9JYAaqHbYgYnZdDPJPAYkeK0KloccbpQKTV65mVWEppdLcnaGN1YzRmFXWeUK1Pmglk3SGXmujgzcxlOVjpGFcWK/cxG20kldTtoGkXVCvlhnEUYEG5GyR0yLBk0q0m9qA9IxGam1SdRVFWcTf2Vny7Cgqh/cqYB2OZ6ihNmuyylsT89WkgIJyxQcCzNQTHLui59D7FqxQZJ0v5QzlXWYg7IL1j1Wgl3+1z3n1wOdMqUG8qzAuV+ZJh4vSRPp6pblDVdRnpHcHzi9r9gF3sK8/IJrtMpiOhLTmttA4h5f2YSE79HTwblRLFEcRpHtN6jVTueqWrTUr8AoenKzqqRd2AiZAQrDAXr1McvZARN8lp+Sq8ChiKWjHyU2C8V1MwDzDQY9VG3OShDezEyBKxHSzZlGhbrZI9uMzk3ZpcC3PnjF9YnRJCsrJ9NlJ82vExjN4EVwpBNzpn6HwjN9n6cHmWxSfyoPNQHgiR5SxhJWI2WIOq0hpsnaoyX3roiol2cmcawEhMKljeo7QNXZ5vpZzPF+M8LCQ4Ju+JonkXPQfFOhKW+euWfi570t6pgOgThKkwFykWkJRK3b4fWCaZ31ePtswehVhQB5YS+DchRs+F4ElOPzRvTaH1NsBVt+frQ++8iVeJTgPzVEB2xvB9IteL2sLXbS2rXGUNg9SPcag5iarsiQxX8Fs8xkSfnhMDuQWlI6LwDv1Pdxv+VZdfEBf5Aheszm3JT3IwgnoaheDl/iphLikGeKCGHNeLkpNMG/zrkZOM2U1s6mdwoGsttLqPMlOns+GGAr9vikuKTE/ku3nrTLlln8JeZNHkefuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C2qyLvnb6MJZVZDb3zNpbN",
      "input": {
        "note": "Arm dragged on the table and barely moved; lifting to 4 cm (bear is sitting upright, ~10 cm tall) and shifting left to centre it.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.12,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01C2qyLvnb6MJZVZDb3zNpbN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9966, -0.078, 1.0203, 0.841, -0.7311, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9966 right_x=0.2853 right_y=-0.0006 right_z=0.1584 right_yaw=0.1275 right_pitch=-0.3185 right_roll=-0.0478 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -10.5231, 4.3556, 1.3455, -0.1783, -0.0073, -0.0073, -0.0342, -2.4957, 6.7487, 1.4969, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f4285776386fe43b9a862ec2bf4b66d5a429d6f62238342a84ca45de52f94f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ca895121a2f7d8d2c3e6224c0baaaa9951927455f4c7f16729a77b639d75327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bf1b85c3986c10ce9eb589b43479b1b7085f93fad54db54c080a6ec1d682e4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.168 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]: [-0.5301, 1.9659, 0.9588, 0.1307, -0.4583, -0.3756, 0.9963, -0.078, 1.0203, 0.841, -0.7021, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4291 left_y=-0.1567 left_z=0.0052 left_yaw=0.0483 left_pitch=-0.1848 left_roll=0.0982 left_gripper=0.9963 right_x=0.2909 right_y=-0.0011 right_z=0.1628 right_yaw=0.1253 right_pitch=-0.2902 right_roll=-0.0542 right_gripper=0.9954\nstate[joint_eff]: [0.2256, -11.3573, 4.2872, 1.3651, -0.0855, 0.232, 0.0904, -0.1436, -2.5778, 6.9265, 1.5653, -0.0806, -0.022, -0.0122]",
      "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]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9965, -0.078, 1.0203, 0.841, -0.72, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9965 right_x=0.2874 right_y=-0.0008 right_z=0.16 right_yaw=0.1264 right_pitch=-0.3077 right_roll=-0.0504 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -10.5231, 4.3692, 1.3993, -0.1587, -0.0171, 0.0024, -0.1709, -2.6051, 6.694, 1.6532, -0.0855, -0.0366, -0.0122]",
      "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]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9966, -0.078, 1.0203, 0.841, -0.7311, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9966 right_x=0.2853 right_y=-0.0006 right_z=0.1584 right_yaw=0.1275 right_pitch=-0.3185 right_roll=-0.0478 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -10.5231, 4.3556, 1.3455, -0.1783, -0.0073, -0.0073, -0.0342, -2.4957, 6.7487, 1.4969, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f4285776386fe43b9a862ec2bf4b66d5a429d6f62238342a84ca45de52f94f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ca895121a2f7d8d2c3e6224c0baaaa9951927455f4c7f16729a77b639d75327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bf1b85c3986c10ce9eb589b43479b1b7085f93fad54db54c080a6ec1d682e4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwgKEAgSGAI4AUIIdGhpbmtpbmcSDIOEX+gxmykyAIpB1xoMVaGJ58RhgCbjcEdHIjCq5ENuPcAit1v2/tmrje1EpRBgFkNjnaczSwulpJL2nnAR4e+wnBTCMJYC7axx8fMquAfuXRrghAvxiLm5DSlumUf2g2Gslgz/lyfOROoPwr5fPMHf8lz4mcVLGiRiXR7UCORPsguXVPhZ/Ft6Q9fUu9U/nJzLu5mi1ng857NVQ0aPUhZI1fqWcATphUOtg5oZdXUcevJVT3HC+LPkx3RQOQ8wAr6V658qjXQ+dMSQSEEwKMoPFqLHD2PhRN9EBqNimC5eba2jxEAh+qlCLdXFIB3hQ4OZCNyKXhQvmJq9HIPCrjJzN8gvSZPDwX1qRyB3dfcQ3RG2vcQVQbAIK2Zya6FAifXXOy7EMsM16TTBWI8Ba7QHc4dApTq6/he5YYzuDzYgBih7zEFEMPmI+vt9g/XlVFNPBK1HH9h03D6b/u/Iy8bdz0+WdEq7RuqWq3Aw7Rju/990/p46YZZqSc6dxkISb2gAwDO1NguLHACLgIntEfzO3QvLgADxu6DZetv54ccyszN4OIvGbmtJV3ryDIjtTuj4pap6KX90nYRIP9AfXjkNnsjR/eFNc4OhWvA4SWjJBkhYuVfk1Q3CKVfjg/np/UEaskk0Y9DtjQAF2yCBtyJ6GZ/yJKpNjvVHu+zzYZFggwXbJBYKlgKcumDgk0za9gOq+A9HAl6Y5cEm9y+YHpyU9ijuAThe9wXkwI8rP0WyXsH5S6/5aTSOKIbvafikJGzMD2e7vZgveYhQuGb5xpxRAKRFTBBf9Gg8VOJbMXuNkLFxTvyEKW0aGHZ0Zbab+3IgE1Aa3MS1LOGnzFjBX34um3dYGqJIGQkK8W9j/K5wK22K/Wz/0PQyWUkKyRMmArXzu4XqZWLKOZweZYYv7nqRL40kcCBun1TGIp3mLG+lTEzjXHsAWT8b4svFOOrbnYq0Rkjp6Z7OexKXB1pYuWINDWllhajj98yUzQgIg/iNaIe9V4ot5dtgOQNAm09DpTT5nqyKAi+LGdZ3Ki4W9xXn1coReDAuF/zIiizEne3gm7EuN/Yid2REOoDld3nnMH1FFSmHBBW9I1s0t7ixCesoxpyJ/hkxw4AKh+1Ht070lUnGMWx2BCGRQyUGTO39av7/6ywUHW/oLDpKoANGRS6IAeJwYpvD1GOTk4t5Yuf0m5eZ2Babax1R62fWfOX76DaO5hy92GwA7pD7aEDvxGfNvpjCvlgf25o/zvp32mk7P+XvhoUJkMSG6zvjye1QtluE1SzQDS8zAxECQLDTAGiP07yMsvs82QEoq5jIN2ICQtHR6OKUcp1pLCZsyJ1n+yjdqoy+OyeyEwFrM/0Nrl1VTCBChNogGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KGmMC7eDpdXLF2arVQ4Ewd",
      "input": {
        "note": "Left arm is frozen at the table surface; commanding a clear lift and resetting wrist tilt to free it before re-approaching the upright bear.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.13,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01KGmMC7eDpdXLF2arVQ4Ewd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5163, 1.5497, 0.8051, 0.0525, -0.4679, -0.3717, 0.997, -0.078, 1.0252, 0.841, -0.7467, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3983 left_y=-0.1304 left_z=0.1088 left_yaw=0.0566 left_pitch=-0.0266 left_roll=0.0061 left_gripper=0.997 right_x=0.2825 right_y=-0.0004 right_z=0.1547 right_yaw=0.1286 right_pitch=-0.3387 right_roll=-0.0436 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -4.1915, 7.1316, 1.5653, -0.2662, 0.0073, 0.0317, -0.0205, -2.4137, 6.8855, 1.5604, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3809fa28c8a1b98238b8dcf5adedfdfec0c0bd4680152173daf9887d276e79d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbdbbfdf19f16658b1b8c2763ac4aca80b0a462ce7c291911e43b0912dc7eb16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7a2cdc6ef473d93330c834c9a229de1b72d470108d6f4c3501b0270ae4fbaa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 34 attempt 0 · /messages · status 200 · 3.935 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]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9965, -0.078, 1.0203, 0.841, -0.72, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9965 right_x=0.2874 right_y=-0.0008 right_z=0.16 right_yaw=0.1264 right_pitch=-0.3077 right_roll=-0.0504 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -10.5231, 4.3692, 1.3993, -0.1587, -0.0171, 0.0024, -0.1709, -2.6051, 6.694, 1.6532, -0.0855, -0.0366, -0.0122]",
      "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]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9966, -0.078, 1.0203, 0.841, -0.7311, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9966 right_x=0.2853 right_y=-0.0006 right_z=0.1584 right_yaw=0.1275 right_pitch=-0.3185 right_roll=-0.0478 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -10.5231, 4.3556, 1.3455, -0.1783, -0.0073, -0.0073, -0.0342, -2.4957, 6.7487, 1.4969, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5163, 1.5497, 0.8051, 0.0525, -0.4679, -0.3717, 0.997, -0.078, 1.0252, 0.841, -0.7467, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3983 left_y=-0.1304 left_z=0.1088 left_yaw=0.0566 left_pitch=-0.0266 left_roll=0.0061 left_gripper=0.997 right_x=0.2825 right_y=-0.0004 right_z=0.1547 right_yaw=0.1286 right_pitch=-0.3387 right_roll=-0.0436 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -4.1915, 7.1316, 1.5653, -0.2662, 0.0073, 0.0317, -0.0205, -2.4137, 6.8855, 1.5604, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3809fa28c8a1b98238b8dcf5adedfdfec0c0bd4680152173daf9887d276e79d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbdbbfdf19f16658b1b8c2763ac4aca80b0a462ce7c291911e43b0912dc7eb16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a2cdc6ef473d93330c834c9a229de1b72d470108d6f4c3501b0270ae4fbaa1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwcKEAgSGAI4AUIIdGhpbmtpbmcSDBv59YyBg7eyQN6PvhoMvpjlm4K/eJLk85hjIjALc4PDsPVUnCQAf5ifQW68vglJgzZsiqf0eg+tTHTn2jpXG809Beqw6Fv237LkU7sq2AYbVJCG0X+WYW8IqnKLAFoE4UKFOQtunwo2gv87F7a15n2m2dNKV1guXiXvkv67quHZCIKYWQ/qOH5PET0rSk8W/Tg5DQcXP4ArYsNytUB5WxjCWHgdUSRETS360ugMBZy+liz60Q+YfbJ4k/fVOYZqsuEf7rYmGMKIkZEpWMBADfzeC06Ten8uAsSRgv6ohoNLMWzcVo3rS9zajpWQoPIuuDcbOGMFzGK579RbK4uzLy6XI/UR9DVL3FOJ3ySvJdXUhngFxEmieumHsDHg17lOJpRwMgGFvikF4sK/rJ+RG0kfdI5JXmMVVA3IRihSxWhU9Gv1o3Fk32y//BLLNX+hGj01/r0lQTqX5YtmvfxhjcTW/y3cck5j3P+HZZ0BZNH3maq6AszZ+SvtTyfFLnNEL7rd5cmwqbVegjHPh8bLAkcKTjKyjTnkVPn0dMVsUh2DHtqX5ItJHUsbzOYzppXh7Jf20Fto5zJem61ZM8i/1f+CMcEsOW0qqE3W/FTDA4AHmzDKZDCHHmETT7NSXiTyySPzJUsGZ5AKfe9yYtK5cPSRFC6BD7qLdRq2/65i65/ez0u5R4NE+XZiHEMNPyk8bQTXjA7imalb88QAKFgBHD8WvMUbk6vHOrXg10M/BquozNTBarp2gaOhIDdcjnciMJhvewEGamTH0xwJSWw5U0zkHGND6BaVbkemCzwcWWKTOUGdy81aaotjJvO1qmfopoXwc9avD0x87+ISYfRX6wsiXRUuDki4gLQ4JMfw1kDMvnISlVSXZe7ptcdGHCDzQVxyROowLqmu7QYTnr5Q52Gzs+jwo5japevANzuvR8Yk7EdiVFiJK1lmuRTopOTShI1aVs9muSAacyjYbFbITADuvAwsIv2WBUYKoDnHyaylT/yKGFYp4s0VekNwi/WTwim4YBW8ySpi/BbNUm15TPu2xVF+yylN61zte2H3JX+efcNUPcggdPgy4Fiw1yzbCK9QocDhydPKNjz64eZugVz+AwnLU+HYnmADMO6oFhFcHs18xorGTVs7izFffwzZRQ2RSKmUskpIcpFOmNWPSv0XUg4/u2OwSzjpHtdYfgrQYjzw6CbSQdInanTZyEyVS+5zpt5AOcMl5S614dyOusIylecEFgvVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0143jxHX5B4eGx8Z4XcbpbWd",
      "input": {
        "note": "Arm is free again and the cream bear is centred on the jaw column a few cm ahead; advancing 3 cm and lowering around its body.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.13,
          "left_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_0143jxHX5B4eGx8Z4XcbpbWd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4725, 1.8309, 0.7712, 0.2867, -0.4408, -0.3519, 0.9971, -0.078, 1.0279, 0.841, -0.7624, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4141 left_y=-0.1229 left_z=0.0224 left_yaw=0.0712 left_pitch=-0.1051 left_roll=0.0495 left_gripper=0.9971 right_x=0.2795 right_y=-0.0002 right_z=0.1518 right_yaw=0.1301 right_pitch=-0.3566 right_roll=-0.0399 right_gripper=0.9954\nstate[joint_eff]: [0.3761, -8.3487, 5.9692, 1.79, -0.1343, 0.1685, -0.0073, -0.1162, -2.7829, 6.653, 1.5214, -0.105, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c4f252ff68ed33f033c649c58ee472492950b01b3eee27840e6f608a35f552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5939dec565dad297486609b39625967b2f5ca263e9d254827a832334fabd9802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d11cc060b1420f10ad48ddc963e99dfe58acee0eb21d20c96d90ee62993aa5a7",
        "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 · 8.38 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]: [-0.5053, 1.9617, 0.9485, 0.1459, -0.4526, -0.3599, 0.9966, -0.078, 1.0203, 0.841, -0.7311, -0.1024, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4323 left_y=-0.1467 left_z=0.0055 left_yaw=0.0591 left_pitch=-0.1804 left_roll=0.101 left_gripper=0.9966 right_x=0.2853 right_y=-0.0006 right_z=0.1584 right_yaw=0.1275 right_pitch=-0.3185 right_roll=-0.0478 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -10.5231, 4.3556, 1.3455, -0.1783, -0.0073, -0.0073, -0.0342, -2.4957, 6.7487, 1.4969, -0.105, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5163, 1.5497, 0.8051, 0.0525, -0.4679, -0.3717, 0.997, -0.078, 1.0252, 0.841, -0.7467, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3983 left_y=-0.1304 left_z=0.1088 left_yaw=0.0566 left_pitch=-0.0266 left_roll=0.0061 left_gripper=0.997 right_x=0.2825 right_y=-0.0004 right_z=0.1547 right_yaw=0.1286 right_pitch=-0.3387 right_roll=-0.0436 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -4.1915, 7.1316, 1.5653, -0.2662, 0.0073, 0.0317, -0.0205, -2.4137, 6.8855, 1.5604, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4725, 1.8309, 0.7712, 0.2867, -0.4408, -0.3519, 0.9971, -0.078, 1.0279, 0.841, -0.7624, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4141 left_y=-0.1229 left_z=0.0224 left_yaw=0.0712 left_pitch=-0.1051 left_roll=0.0495 left_gripper=0.9971 right_x=0.2795 right_y=-0.0002 right_z=0.1518 right_yaw=0.1301 right_pitch=-0.3566 right_roll=-0.0399 right_gripper=0.9954\nstate[joint_eff]: [0.3761, -8.3487, 5.9692, 1.79, -0.1343, 0.1685, -0.0073, -0.1162, -2.7829, 6.653, 1.5214, -0.105, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95c4f252ff68ed33f033c649c58ee472492950b01b3eee27840e6f608a35f552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5939dec565dad297486609b39625967b2f5ca263e9d254827a832334fabd9802",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 250):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d11cc060b1420f10ad48ddc963e99dfe58acee0eb21d20c96d90ee62993aa5a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlggKEAgSGAI4AUIIdGhpbmtpbmcSDBVWT/ozw+P8hHt7YhoMoELWqzvil+3UOitBIjA/Ap2AaxM4nlNrysYqrV+iLfZCcO6znWF1ziS9aGeB3d3g2VQ+57zUBERL+xA6y8EqswfQHUNxRbP4EXMDq12GHgy5lGOpUlY8HY0bMmaeyQAf4yF1vzUFyRGhxZG+qkzkw7IXZMZQHwR7auuBqPrNfCSgtXeAXVE08GhJ6n3Nzzh1br3n1PhyfP323/kdDIvxKr5MC7P+O3nTN6lTAYXYRz0joMJSayith/eu2EKLWpHY3y9xFKDKXQ5HzNgG9Ny80blq6wrgeSjW+BTlIJ0h4AXNRTTSYUhd/9/rVIrGK+ZqYZkhIZUVDDw7ivieFDTphJP33wTrMutuh8eZHsGOybS3QHUNcIlNKLhELRvw/lhvxwACqgffw6r5bLHHAPtAJSLMEFdgEQnFPEPWsVCTnZLQ9+KOk5pdz6x5i6RE8YIYpYIkxQK6g4OTB+sSKSZ3eoXgN1SELn29mkhSRdYQbhuW4Quq1CwkIg82HQKSwItc/xl/SeQmvmwycXleVj+bLPf+7Pia0TbNZf0x/yjyXWp30JnmN4HORX1i2GYJI1t+Vlj/gMwX7acXFJSJWR8meWSVaaBcj72uhk5zk56/QrtH/kXbcxjgnEgknJmNmuOodS11T9P9d7l5M4/UKmBj3v19hNnyTjWMRveGoBSnRvV3O/Nl0xIvjd/JFZ+WHgGkLeaCwey/eeZmIgNYbahg3BJsjPrzDS54fm0r/S0+QQme5d7szSEk6hon1yWlPw+D4WM2Lii2mNzwTUPW2tkH0R3iLVObCzvFj+xb2S3w0V+074fijTzq6QVBMbrEaF6u/0aoyfqr6epZrxp/aRiHBm+b8cqqx/wfYS8IIOp4T+VioRHpN50U7LxrM/ARqGC7QZ5tz+zSHemdf5T6AFsgQLPZpeU8sK+r/0iSIeShKU46LQt4682R4fqdxHt39IpsKAraMxABKJs2XWiuDyXAONw7HpNUOMWyPnxeS+QtxsptU5DujNaXOZtCiES3eXjqRfYxiGyDWPfwjNScDmtCS1stbUDynXfeAvET7Ru0vUtNZOU4lmu0tAeniBamOsJAO3civUCmfc6m66T3gkFk+141dhS1AM358vFIlg9dr7+SSEE+FpWFxlmAeXuE6oLLxLA4SYBg0vYh499J/IckD77ePIt/R81q7ghaF3Q8YLH9QaQPDijK6DNP9P3jc5EmHIF5ARpqYENJv1vUZh8yti5oiN/MRa/ZrjifniLJXq/DuG3L9rypaBdTtYJaCGy0XYnJO53fJPZA1rPDnorJxBi2SD8bZ2jRMeghAESON+zx6KTHuxkOSZJ7fv8CKX9PQk4eSRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LbMfdRDNp26j8rM4P7Ai2D",
      "input": {
        "note": "Bear lies centred with its legs at the fingertips; closing to grab its lower body.",
        "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_01LbMfdRDNp26j8rM4P7Ai2D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4717, 1.853, 0.7708, 0.2779, -0.4381, -0.3527, 0.0103, -0.078, 1.0302, 0.841, -0.7845, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4108 left_y=-0.1214 left_z=0.0118 left_yaw=0.0723 left_pitch=-0.1328 left_roll=0.0636 left_gripper=0.0103 right_x=0.2751 right_y=0.0001 right_z=0.1481 right_yaw=0.1321 right_pitch=-0.3805 right_roll=-0.0344 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -10.0308, 5.053, 1.5751, -0.2076, -0.0464, 0.8474, -0.1846, -2.7282, 6.6256, 1.5556, -0.1197, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61be0d5c4ee54bf38f8cabd0be3d23c97f3f80ab48d9e654ff67e753a6cfb198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecd0a2743f3d8c4a90b3feac1ed45e62860b0cbcf14569acb1d229402879ba4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86125317e10afd5d986ab651995405311e8d2adf4409a5973d56d537ea7bcd7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 3.004 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]: [-0.5163, 1.5497, 0.8051, 0.0525, -0.4679, -0.3717, 0.997, -0.078, 1.0252, 0.841, -0.7467, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.3983 left_y=-0.1304 left_z=0.1088 left_yaw=0.0566 left_pitch=-0.0266 left_roll=0.0061 left_gripper=0.997 right_x=0.2825 right_y=-0.0004 right_z=0.1547 right_yaw=0.1286 right_pitch=-0.3387 right_roll=-0.0436 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -4.1915, 7.1316, 1.5653, -0.2662, 0.0073, 0.0317, -0.0205, -2.4137, 6.8855, 1.5604, -0.0806, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4725, 1.8309, 0.7712, 0.2867, -0.4408, -0.3519, 0.9971, -0.078, 1.0279, 0.841, -0.7624, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4141 left_y=-0.1229 left_z=0.0224 left_yaw=0.0712 left_pitch=-0.1051 left_roll=0.0495 left_gripper=0.9971 right_x=0.2795 right_y=-0.0002 right_z=0.1518 right_yaw=0.1301 right_pitch=-0.3566 right_roll=-0.0399 right_gripper=0.9954\nstate[joint_eff]: [0.3761, -8.3487, 5.9692, 1.79, -0.1343, 0.1685, -0.0073, -0.1162, -2.7829, 6.653, 1.5214, -0.105, -0.0513, -0.0171]",
      "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]: [-0.4717, 1.853, 0.7708, 0.2779, -0.4381, -0.3527, 0.0103, -0.078, 1.0302, 0.841, -0.7845, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4108 left_y=-0.1214 left_z=0.0118 left_yaw=0.0723 left_pitch=-0.1328 left_roll=0.0636 left_gripper=0.0103 right_x=0.2751 right_y=0.0001 right_z=0.1481 right_yaw=0.1321 right_pitch=-0.3805 right_roll=-0.0344 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -10.0308, 5.053, 1.5751, -0.2076, -0.0464, 0.8474, -0.1846, -2.7282, 6.6256, 1.5556, -0.1197, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61be0d5c4ee54bf38f8cabd0be3d23c97f3f80ab48d9e654ff67e753a6cfb198",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecd0a2743f3d8c4a90b3feac1ed45e62860b0cbcf14569acb1d229402879ba4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 260):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86125317e10afd5d986ab651995405311e8d2adf4409a5973d56d537ea7bcd7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015jYf3ZzhRr5dsEif9YxeBx",
      "input": {
        "note": "Gripper closed on the cream bear's legs; lifting and carrying it over the safe interior in one move to save budget.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.33,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_015jYf3ZzhRr5dsEif9YxeBx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 2.2944, 2.2681, -0.9073, -0.6296, -0.6559, 0.0131, -0.078, 1.0321, 0.841, -0.794, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4735 left_y=-0.3316 left_z=0.1924 left_yaw=0.0632 left_pitch=-0.128 left_roll=0.0284 left_gripper=0.0131 right_x=0.2732 right_y=0.0003 right_z=0.1463 right_yaw=0.1329 right_pitch=-0.3917 right_roll=-0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.6496, -13.135, 8.0889, 0.6716, -0.5348, 0.1001, 0.5592, -0.3214, -2.6735, 6.5983, 1.3748, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e41aa20e6d9316a5a18296eea865da43c487b5ad8019fa7238c494a45564a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d90d8152ecb70629ac8e12da9b0f1dddce61f9beb4846ebae988d46c7b6e8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ff45eeeb78e34fb648935a835a9fa389d85521e8bba5faa472216cfb7c519fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 11.39 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]: [-0.4725, 1.8309, 0.7712, 0.2867, -0.4408, -0.3519, 0.9971, -0.078, 1.0279, 0.841, -0.7624, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4141 left_y=-0.1229 left_z=0.0224 left_yaw=0.0712 left_pitch=-0.1051 left_roll=0.0495 left_gripper=0.9971 right_x=0.2795 right_y=-0.0002 right_z=0.1518 right_yaw=0.1301 right_pitch=-0.3566 right_roll=-0.0399 right_gripper=0.9954\nstate[joint_eff]: [0.3761, -8.3487, 5.9692, 1.79, -0.1343, 0.1685, -0.0073, -0.1162, -2.7829, 6.653, 1.5214, -0.105, -0.0513, -0.0171]",
      "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]: [-0.4717, 1.853, 0.7708, 0.2779, -0.4381, -0.3527, 0.0103, -0.078, 1.0302, 0.841, -0.7845, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4108 left_y=-0.1214 left_z=0.0118 left_yaw=0.0723 left_pitch=-0.1328 left_roll=0.0636 left_gripper=0.0103 right_x=0.2751 right_y=0.0001 right_z=0.1481 right_yaw=0.1321 right_pitch=-0.3805 right_roll=-0.0344 right_gripper=0.9954\nstate[joint_eff]: [-0.1299, -10.0308, 5.053, 1.5751, -0.2076, -0.0464, 0.8474, -0.1846, -2.7282, 6.6256, 1.5556, -0.1197, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 2.2944, 2.2681, -0.9073, -0.6296, -0.6559, 0.0131, -0.078, 1.0321, 0.841, -0.794, -0.102, -0.2024, 0.9954]\nstate[eef_state]: left_x=0.4735 left_y=-0.3316 left_z=0.1924 left_yaw=0.0632 left_pitch=-0.128 left_roll=0.0284 left_gripper=0.0131 right_x=0.2732 right_y=0.0003 right_z=0.1463 right_yaw=0.1329 right_pitch=-0.3917 right_roll=-0.0316 right_gripper=0.9954\nstate[joint_eff]: [-0.6496, -13.135, 8.0889, 0.6716, -0.5348, 0.1001, 0.5592, -0.3214, -2.6735, 6.5983, 1.3748, -0.0806, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e41aa20e6d9316a5a18296eea865da43c487b5ad8019fa7238c494a45564a98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d90d8152ecb70629ac8e12da9b0f1dddce61f9beb4846ebae988d46c7b6e8bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 279):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ff45eeeb78e34fb648935a835a9fa389d85521e8bba5faa472216cfb7c519fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDFsVkRiZS5u4f0qZ2RoMdgTf/EPe7n43n4x5IjAiVgod8wjwiuQtaECc8UgHxXcfLPW6xvqDEy3T2sYI0L/+YxlLD+sFihNiLJK2uzgqhQbzICs0diWbYAgwchaw3JXh6F53U0S6yPyZy5xcOc5SckgU4OUNWcAgsznbBO+i5ci2XspdH1ZzXAVpFmDGVM9sXra+hCPVtdIa9yCIzBkbbq/6EOULN918eiiEULlVvwLrHH+Wxxy/girax5xbMddpKrKUDO/bTrDUPvp5hcRlnthrte/wPxb420h6ogrYgfe0Wt0LO66D9fu/737oWsSKt0RWzEEUA91a77vxqA+DqXSj9NqqSVKfeTVmFVtDyfhoBwEj0vRozS1UFfqR+PuF0iCatRHywnl4CPHdGL79qm3K1XHawoAjjYsnWphhDCMhVOQkAhCZqCWxyl1PFWC74iK4iQTpNkzSLIMIEU2hTERz1qKXRrXQHO1LZcRHRNiw7ai/imFyk1Ew+aKCAQDJZkaTD9rWflxhvQ/1L7RzJNjIYpgZxJuZSQTWO5Lq3ZaWXUOrgAf7i5lOcgOXTDQJj7jbCP/p2VUIIuV3BEI8q1QlRNTcBIYXAZ53hnW/LtfaC/DjGsr4Sxclyr93GmYxepnyrADbtDTDMo8G3h/4Ti0GR+N0jUUhRfqtZ4xFUhFYxr/Etqs2wLiM3mnNrXarDIJPxt8iv/hlBUgh0BySDQZqrednhmOPb1pNT7USaCJTEC7HnbtayDK5NZKUPqHPCWrzbuhA5Yoq9iubBLCEWZQ2kNzTuU6kkPVDb9iydlp0ydTA81eOp3ZFR8UOJ/hGW4rksVl7GJ0gcIx5Z07J2ffxElJ7CPTA4AGZvRMfdUOMqdQJaoujhPek1VbgoLSU1dm6PJt5N2RwxncduRD7DdfcU6QsqTVmQPdW9A86nIMxF0tdgUWWgTZiXALRhgwBPDh+fJFgwM11LtxFbWKUtbbxXiMUmSRVPInolvGFFSjexiPBv/8LYYt/kCl34x31Kdvs4axbHqGUfeUdBw6bMZ/1q0uj5JQZ75xt7BDcGboou3v9ZmQiTE5iFHTcUj4RDjW1HpkHRF6l4NzOgXhS8mcihkRgkbQTxhRo0gTUzkEBhOPM7xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ZqziZ1KNNdwQWoB2ZMtNQ",
      "input": {
        "note": "The cream bear is hanging over the red interior of the safe; releasing it.",
        "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_018ZqziZ1KNNdwQWoB2ZMtNQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8036, 2.3169, 2.2688, -0.934, -0.6289, -0.6674, 0.995, -0.078, 1.0325, 0.841, -0.7959, -0.102, -0.2028, 0.9954]\nstate[eef_state]: left_x=0.4696 left_y=-0.3321 left_z=0.1771 left_yaw=0.0691 left_pitch=-0.1596 left_roll=0.0566 left_gripper=0.995 right_x=0.2728 right_y=0.0003 right_z=0.1459 right_yaw=0.1333 right_pitch=-0.394 right_roll=-0.0313 right_gripper=0.9954\nstate[joint_eff]: [0.3624, -15.0632, 6.3932, 1.5067, -0.3443, 0.0659, -0.0073, -0.0615, -2.6051, 6.653, 1.2821, -0.1099, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1326a4dd6bbe6f36e9a4f526ac436988884429805025d8415b10a57170f4b096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1788f10ae2a8e2818b42a69c8b7666fbab671c269db8bbdc33a8dc3f17c76530",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
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    },
    {
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        "type": "ephemeral"
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      "source": {
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        "media_type": "image/png",
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      "type": "image"
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  ],
  "role": "user"
}
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