adhoc

completed
2026-09-22T18:51:45.259452+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 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
197.5 s
total steps
232
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: open red safe centre, small cream teddy to its left, lemon to its right, brown plush in front. Moving left arm above my estimate of the teddy's position.
move_to
left_x0.4400left_y-0.1800left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0299, 0.7925, 0.6041, -0.3912, -0.02, -0.036, 0.9993, -0.0212, 0.7937, 0.6064, -0.3965, -0.0189, -0.033, 0.9996] state[eef_state]: left_x=0.2932 left_y=-0.0017 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [0.5675, -1.4154, 10.2632, 2.0049, -0.0611, 0.1929, -0.0904, -0.3487, -1.4154, 9.7162, 1.9267, -0.0757, 0.1685, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.18, "left_z": 0.15, "left_gripper": 1}, "note": "Scene: open red safe centre, small cream teddy to its left, lemon to its right, brown plush in front. Moving left arm above my estimate of the teddy's position."})
tool
executing move_to over 16 steps (1.6s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteTeddy appears at bottom of left wrist view, slightly left of jaw column. Shifting left 1.5 cm and descending to grab its body.
move_to
left_x0.4200left_y-0.1550left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5522, 1.665, 1.0512, -0.1081, -0.4358, -0.3492, 0.9993, -0.0208, 0.7986, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4263 left_y=-0.1708 left_z=0.1308 left_yaw=-0.007 left_pitch=-0.0629 left_roll=0.0241 left_gripper=0.9993 right_x=0.2879 right_y=0.0009 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0423 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.4991, -8.3624, 9.0325, 1.8291, -0.3736, 0.0464, -0.0904, -0.1983, -1.6205, 7.0496, 2.0195, -0.0757, -0.0415, -0.0171] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.155, "left_z": 0.03}, "note": "Teddy appears at bottom of left wrist view, slightly left of jaw column. Shifting left 1.5 cm and descending to grab its body."})
tool
executing move_to over 7 steps (0.7s)
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 noteTeddy is between the jaws but offset toward the left jaw; centring it by shifting 1.5 cm left before closing.
move_to
left_y-0.1380left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5278, 1.8332, 0.8116, 0.247, -0.4236, -0.3367, 0.9992, -0.0208, 0.8017, 0.6056, -0.4549, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4123 left_y=-0.1521 left_z=0.0278 left_yaw=0.0032 left_pitch=-0.1125 left_roll=0.054 left_gripper=0.9992 right_x=0.2848 right_y=0.001 right_z=0.1635 right_yaw=0.0011 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [0.5402, -7.8154, 4.9846, 1.8242, -0.0659, 0.0708, -0.0171, -0.0068, -1.4838, 6.9675, 1.8535, -0.0513, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_y": -0.138, "left_z": 0.02}, "note": "Teddy is between the jaws but offset toward the left jaw; centring it by shifting 1.5 cm left before closing."})
tool
executing move_to over 2 steps (0.2s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
Close gripper.
agent noteTeddy body sits between the jaws; closing to grasp.
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]: [-0.5083, 1.8496, 0.7841, 0.3126, -0.4114, -0.3248, 0.9992, -0.0208, 0.8017, 0.6056, -0.4568, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4145 left_y=-0.146 left_z=0.022 left_yaw=0.0055 left_pitch=-0.0982 left_roll=0.0449 left_gripper=0.9992 right_x=0.2845 right_y=0.001 right_z=0.1631 right_yaw=0.0011 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9996 state[joint_eff]: [0.9231, -9.4154, 4.5744, 1.5018, -0.0659, 0.1001, -0.0122, -0.0752, -1.0051, 7.1453, 1.6825, -0.0464, -0.0513, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
Close gripper.
move_to({"targets": {"left_gripper": 0}, "note": "Teddy body sits between the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteGripper reads 0.03 but the soft plush may compress; lifting to check whether the teddy comes along.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5068, 1.8496, 0.7784, 0.3119, -0.4145, -0.3382, 0.0316, -0.0208, 0.8051, 0.6056, -0.4858, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.413 left_y=-0.1438 left_z=0.0201 left_yaw=0.0171 left_pitch=-0.1025 left_roll=0.0395 left_gripper=0.0316 right_x=0.2803 right_y=0.0011 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.1014 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.1026, -8.3761, 5.5726, 1.5165, -0.2857, 0.1099, 1.5995, -0.0342, -1.3197, 7.0222, 1.9219, -0.0317, -0.0513, -0.0122] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1}, "note": "Gripper reads 0.03 but the soft plush may compress; lifting to check whether the teddy comes along."})
tool
executing move_to over 6 steps (0.6s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteGrasp missed: the teddy is still on the table ahead-left of the jaws. Opening and repositioning ~3 cm forward and ~2.5 cm left above it.
move_to
left_gripper1.0000left_x0.4400left_y-0.1200left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5091, 1.6989, 0.8696, -0.0357, -0.4088, -0.3489, 0.0412, -0.0208, 0.8051, 0.6056, -0.5041, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3975 left_y=-0.1374 left_z=0.0571 left_yaw=0.0242 left_pitch=-0.1956 left_roll=0.0817 left_gripper=0.0412 right_x=0.2774 right_y=0.0012 right_z=0.1531 right_yaw=0.0012 right_pitch=-0.1198 right_roll=0.0017 right_gripper=0.9996 state[joint_eff]: [0.1299, -11.2615, 9.7436, 2.0977, -0.2955, 0.0952, 1.0281, -0.0342, -1.2239, 6.9128, 1.79, -0.0317, -0.0464, -0.0122] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.44, "left_y": -0.12, "left_z": 0.1}, "note": "Grasp missed: the teddy is still on the table ahead-left of the jaws. Opening and repositioning ~3 cm forward and ~2.5 cm left above it."})
tool
executing move_to over 10 steps (1.0s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteTeddy now sits just left of the jaw column at the bottom of the wrist view; shifting 1 cm left and descending around it.
move_to
left_y-0.1050left_x0.4300left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4091, 1.7161, 1.0481, -0.197, -0.3519, -0.2893, 0.9953, -0.0208, 0.8055, 0.6056, -0.527, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4301 left_y=-0.1162 left_z=0.0892 left_yaw=0.0461 left_pitch=-0.2185 left_roll=0.0858 left_gripper=0.9953 right_x=0.2737 right_y=0.0012 right_z=0.1487 right_yaw=0.0012 right_pitch=-0.143 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.5402, -7.5145, 9.1145, 1.4921, -0.0806, 0.1783, -0.1001, -0.0615, -1.2239, 6.9128, 1.79, -0.0708, -0.0269, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.105, "left_x": 0.43, "left_z": 0.02}, "note": "Teddy now sits just left of the jaw column at the bottom of the wrist view; shifting 1 cm left and descending around it."})
tool
executing move_to over 5 steps (0.5s)
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 noteTeddy fills the view between the jaws; closing to grasp.
move_to
left_gripper0.0000left_x0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3832, 1.842, 0.9001, 0.0051, -0.3439, -0.2733, 0.9963, -0.0208, 0.8051, 0.6056, -0.561, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4163 left_y=-0.0997 left_z=0.0132 left_yaw=0.0646 left_pitch=-0.2866 left_roll=0.1234 left_gripper=0.9963 right_x=0.268 right_y=0.0014 right_z=0.1427 right_yaw=0.0014 right_pitch=-0.1766 right_roll=0.0029 right_gripper=0.9996 state[joint_eff]: [0.5402, -8.4308, 5.6821, 1.9609, -0.105, 0.0708, 0.0952, -0.0479, -1.1419, 7.0222, 1.8974, -0.0513, -0.0366, -0.0122] 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": {"left_gripper": 0, "left_x": 0.43}, "note": "Teddy fills the view between the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteClosed on the teddy (reading 0.04, soft plush). Lifting to check if it comes along.
move_to
left_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3832, 1.85, 0.8925, 0.0872, -0.3096, -0.2817, 0.0434, -0.0208, 0.8055, 0.6056, -0.5907, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.4263 left_y=-0.11 left_z=0.0179 left_yaw=0.0341 left_pitch=-0.2373 left_roll=0.0634 left_gripper=0.0434 right_x=0.2628 right_y=0.0014 right_z=0.1373 right_yaw=0.0012 right_pitch=-0.2067 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.3487, -8.4855, 5.4632, 1.5116, -0.4176, 0.1734, 1.0476, -0.1573, -1.1556, 7.0359, 1.7949, -0.022, -0.0415, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.12}, "note": "Closed on the teddy (reading 0.04, soft plush). Lifting to check if it comes along."})
tool
executing move_to over 7 steps (0.7s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteSecond miss: teddy lies left and ahead of the jaws in the wrist view (~4 cm left). Opening and moving 4 cm left and ~3 cm forward.
move_to
left_gripper1.0000left_x0.4500left_y-0.0650left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3801, 1.7142, 1.0542, -0.3325, -0.3038, -0.2916, 0.0453, -0.0208, 0.8055, 0.6056, -0.6136, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4096 left_y=-0.1029 left_z=0.0708 left_yaw=0.0534 left_pitch=-0.35 left_roll=0.105 left_gripper=0.0453 right_x=0.2588 right_y=0.0015 right_z=0.1334 right_yaw=0.0016 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.3624, -12.547, 10.3316, 1.9805, -0.2564, 0.0562, 1.033, -0.1709, -1.0872, 6.8171, 1.7118, -0.0562, -0.0073, -0.0122] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.45, "left_y": -0.065, "left_z": 0.1}, "note": "Second miss: teddy lies left and ahead of the jaws in the wrist view (~4 cm left). Opening and moving 4 cm left and ~3 cm forward."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent noteTeddy is now between the jaws in the wrist view. Wrist pitch had drifted to -0.38 because unspecified axes hold their current value; resetting orientation to 0 first before descending.
move_to
left_pitch0.0000left_roll0.0000left_yaw0.0000left_y-0.0550left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2455, 1.7584, 1.1988, -0.4377, -0.2363, -0.1978, 0.9955, -0.0208, 0.807, 0.6056, -0.635, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.4376 left_y=-0.0633 left_z=0.0891 left_yaw=0.077 left_pitch=-0.3806 left_roll=0.1096 left_gripper=0.9955 right_x=0.2549 right_y=0.0016 right_z=0.1295 right_yaw=0.0014 right_pitch=-0.2525 right_roll=0.0044 right_gripper=0.9996 state[joint_eff]: [0.4171, -7.5009, 9.6479, 1.4286, -0.1001, 0.1929, -0.1538, -0.0615, -1.2239, 7.0085, 1.663, -0.0269, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": 0, "left_roll": 0, "left_yaw": 0, "left_y": -0.055, "left_z": 0.1}, "note": "Teddy is now between the jaws in the wrist view. Wrist pitch had drifted to -0.38 because unspecified axes hold their current value; resetting orientation to 0 first before descending."})
tool
executing move_to over 13 steps (1.3s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteThe safe lid has fallen shut (likely bumped). Teddy is just left of the jaws; shifting 1.5 cm left and descending to grasp it first.
move_to
left_pitch0.0000left_roll0.0000left_yaw0.0000left_y-0.0400left_x0.4300left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.2028, 1.6325, 0.7757, 0.139, -0.1753, -0.1379, 0.9963, -0.0208, 0.8101, 0.6037, -0.6575, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.4242 left_y=-0.0521 left_z=0.0693 left_yaw=0.0143 left_pitch=-0.125 left_roll=0.0285 left_gripper=0.9963 right_x=0.2504 right_y=0.0016 right_z=0.1243 right_yaw=0.0016 right_pitch=-0.2799 right_roll=0.005 right_gripper=0.9996 state[joint_eff]: [0.4308, -9.7983, 6.3385, 2.1709, -0.0415, 0.0464, 0.0806, 0.0068, -1.0872, 7.1316, 1.6435, -0.0171, -0.0171, -0.0122] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_pitch": 0, "left_roll": 0, "left_yaw": 0, "left_y": -0.04, "left_x": 0.43, "left_z": 0.02}, "note": "The safe lid has fallen shut (likely bumped). Teddy is just left of the jaws; shifting 1.5 cm left and descending to grasp it first."})
tool
executing move_to over 5 steps (0.5s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteTeddy fills the view directly between the jaws at table level; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1577, 1.8187, 0.6075, 0.5037, -0.1402, -0.1165, 0.9964, -0.0208, 0.8108, 0.6029, -0.6762, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.4128 left_y=-0.037 left_z=0.0006 left_yaw=0.0179 left_pitch=-0.1196 left_roll=0.0202 left_gripper=0.9964 right_x=0.2468 right_y=0.0018 right_z=0.1209 right_yaw=0.0018 right_pitch=-0.3001 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [0.4581, -7.6923, 4.8752, 1.9219, 0.0317, 0.1245, -0.0024, -0.0342, -1.1556, 6.8171, 1.6044, -0.0562, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Teddy fills the view directly between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteEmpty close: the teddy sits ahead of the jaws. Opening and raising slightly before stepping forward.
move_to
left_gripper1.0000left_z0.0500left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1555, 1.8309, 0.6006, 0.614, -0.1307, -0.1112, 0.0101, -0.0208, 0.8108, 0.6025, -0.6842, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4255 left_y=-0.0398 left_z=0.0147 left_yaw=0.0082 left_pitch=-0.0307 left_roll=0.0033 left_gripper=0.0101 right_x=0.2452 right_y=0.0018 right_z=0.1195 right_yaw=0.0021 right_pitch=-0.3085 right_roll=0.006 right_gripper=0.9996 state[joint_eff]: [0.3487, -7.2547, 4.5333, 2.1221, -0.0073, 0.0806, 0.7839, -0.0205, -0.8547, 6.7487, 1.4628, -0.0513, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.05, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "Empty close: the teddy sits ahead of the jaws. Opening and raising slightly before stepping forward."})
tool
executing move_to over 10 steps (1.0s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteTeddy lies ~4-5 cm ahead of the jaws, beside the (now closed) safe. Advancing forward and down to put its body between the jaws.
move_to
left_x0.4700left_y-0.0400left_z0.0100left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1555, 1.7298, 0.601, 0.503, -0.1303, -0.1127, 0.995, -0.0208, 0.8108, 0.6018, -0.7017, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4188 left_y=-0.0388 left_z=0.0334 left_yaw=0.0087 left_pitch=-0.0402 left_roll=0.0034 left_gripper=0.995 right_x=0.2416 right_y=0.0019 right_z=0.1165 right_yaw=0.0022 right_pitch=-0.3268 right_roll=0.0064 right_gripper=0.9996 state[joint_eff]: [0.2393, -8.9094, 6.4752, 1.7411, 0.0269, 0.0708, -0.0122, -0.1983, -0.9368, 6.7624, 1.5946, -0.0415, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.04, "left_z": 0.01, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "Teddy lies ~4-5 cm ahead of the jaws, beside the (now closed) safe. Advancing forward and down to put its body between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 125
top_cam
camera top_cam step 125
left_cam
camera left_cam step 125
right_cam
camera right_cam step 125
assistant
agent noteTeddy now fills the jaw area at table level; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1356, 1.9507, 0.7261, 0.585, -0.1196, -0.1135, 0.9962, -0.0208, 0.8124, 0.6018, -0.72, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.4537 left_y=-0.037 left_z=0.0007 left_yaw=0.0202 left_pitch=-0.0547 left_roll=-0.0013 left_gripper=0.9962 right_x=0.238 right_y=0.0019 right_z=0.1134 right_yaw=0.0021 right_pitch=-0.3467 right_roll=0.0066 right_gripper=0.9996 state[joint_eff]: [0.4171, -7.8974, 5.9692, 1.746, 0.0904, 0.1343, 0.1148, -0.0205, -1.1009, 6.9402, 1.6435, -0.0513, -0.0317, -0.0122] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Teddy now fills the jaw area at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteEmpty again; teddy is sitting ~3 cm beyond the jaw tips. Opening, advancing to x=0.49 and grasping a bit higher on its body.
move_to
left_gripper1.0000left_x0.4900left_z0.0400left_pitch0.0000left_roll0.0000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1368, 1.969, 0.7376, 0.6022, -0.1268, -0.1154, 0.0238, -0.0208, 0.8154, 0.6018, -0.7319, -0.0185, -0.0338, 0.9996] state[eef_state]: left_x=0.4582 left_y=-0.0369 left_z=0.0001 left_yaw=0.026 left_pitch=-0.0439 left_roll=-0.0002 left_gripper=0.0238 right_x=0.2357 right_y=0.002 right_z=0.111 right_yaw=0.002 right_pitch=-0.3616 right_roll=0.0072 right_gripper=0.9996 state[joint_eff]: [-0.0889, -10.3453, 3.6581, 1.536, 0.0171, -0.0171, 1.16, -0.0342, -1.2923, 6.8444, 1.4383, -0.0024, -0.0269, -0.0122] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.49, "left_z": 0.04, "left_pitch": 0, "left_roll": 0, "left_yaw": 0}, "note": "Empty again; teddy is sitting ~3 cm beyond the jaw tips. Opening, advancing to x=0.49 and grasping a bit higher on its body."})
tool
executing move_to over 10 steps (1.0s)
step 145
top_cam
camera top_cam step 145
left_cam
camera left_cam step 145
right_cam
camera right_cam step 145
assistant
agent noteIt's a small keychain teddy, now right in front of the jaws but slightly to the right. Shifting 1.5 cm right and settling at z=0.02.
move_to
left_y-0.0450left_x0.4900left_z0.0200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1169, 1.9675, 0.8349, 0.461, -0.1146, -0.1017, 0.995, -0.0208, 0.8173, 0.6018, -0.7464, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.4722 left_y=-0.0315 left_z=0.0065 left_yaw=0.0286 left_pitch=-0.0868 left_roll=0.0099 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1085 right_yaw=0.0024 right_pitch=-0.3779 right_roll=0.0079 right_gripper=0.9996 state[joint_eff]: [0.2393, -12.2872, 7.9385, 1.8388, 0.0904, 0.1392, -0.1099, -0.0205, -1.1692, 6.6803, 1.4188, -0.0562, -0.022, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 145): [image omitted: streamed camera frame] camera 'left_cam' (step 145): [image omitted: streamed camera frame] camera 'right_cam' (step 145): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.045, "left_x": 0.49, "left_z": 0.02, "left_pitch": 0}, "note": "It's a small keychain teddy, now right in front of the jaws but slightly to the right. Shifting 1.5 cm right and settling at z=0.02."})
tool
executing move_to over 3 steps (0.3s)
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 noteArm stalls at x≈0.476 near table level while the keychain teddy is a few cm farther. Tipping the tool forward to extend reach.
move_to
left_y-0.0450left_x0.5000left_z0.0250left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.9835, 0.8452, 0.4778, -0.1413, -0.1131, 0.9963, -0.0208, 0.8173, 0.6014, -0.7471, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.4758 left_y=-0.0399 left_z=0.0064 left_yaw=0.0307 left_pitch=-0.0733 left_roll=0.0155 left_gripper=0.9963 right_x=0.2325 right_y=0.002 right_z=0.1083 right_yaw=0.0023 right_pitch=-0.3791 right_roll=0.0074 right_gripper=0.9996 state[joint_eff]: [-0.5128, -7.9521, 6.5983, 2.3028, -0.0708, -0.0513, 0.1245, -0.1709, -0.841, 6.694, 1.3065, -0.0317, -0.0464, -0.0122] 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": {"left_y": -0.045, "left_x": 0.5, "left_z": 0.025, "left_pitch": 0.3}, "note": "Arm stalls at x\u22480.476 near table level while the keychain teddy is a few cm farther. Tipping the tool forward to extend reach."})
tool
executing move_to over 13 steps (1.3s)
step 161
top_cam
camera top_cam step 161
left_cam
camera left_cam step 161
right_cam
camera right_cam step 161
assistant
agent noteTop view shows I've been pushing the teddy forward (now ~x 0.53, beyond table-level reach). Lifting clear so I can come down behind it and drag it back.
move_to
left_z0.1500left_x0.4500left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1593, 2.1326, 0.7895, 0.8711, -0.1764, -0.1074, 0.9969, -0.0208, 0.8196, 0.6014, -0.7689, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.4911 left_y=-0.0439 left_z=-0.0005 left_yaw=0.0416 left_pitch=0.1154 left_roll=0.0037 left_gripper=0.9969 right_x=0.2281 right_y=0.0021 right_z=0.1048 right_yaw=0.0026 right_pitch=-0.4031 right_roll=0.008 right_gripper=0.9996 state[joint_eff]: [-0.5538, -6.8444, 2.4957, 0.5446, -0.1783, 0.3834, 0.0464, -0.1846, -0.6496, 6.653, 1.4628, -0.0269, -0.0708, -0.0122] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.45, "left_pitch": 0.3}, "note": "Top view shows I've been pushing the teddy forward (now ~x 0.53, beyond table-level reach). Lifting clear so I can come down behind it and drag it back."})
tool
executing move_to over 10 steps (1.0s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteWith the tool tipped forward, the teddy sits right at the jaw convergence point in the wrist view, slightly right. Descending straight onto it.
move_to
left_z0.0300left_x0.4700left_y-0.0500left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.186, 1.6146, 0.6594, 0.6464, -0.2123, -0.0975, 0.9971, -0.0208, 0.823, 0.6014, -0.7879, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4533 left_y=-0.0438 left_z=0.1368 left_yaw=0.047 left_pitch=0.2778 left_roll=-0.0091 left_gripper=0.9971 right_x=0.2241 right_y=0.0023 right_z=0.1015 right_yaw=0.0031 right_pitch=-0.4256 right_roll=0.0089 right_gripper=0.9996 state[joint_eff]: [-0.3897, -8.0205, 5.7641, 1.9609, -0.105, 0.1538, 0.0024, -0.0615, -0.9915, 6.612, 1.4286, -0.0415, -0.0611, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_z": 0.03, "left_x": 0.47, "left_y": -0.05, "left_pitch": 0.3}, "note": "With the tool tipped forward, the teddy sits right at the jaw convergence point in the wrist view, slightly right. Descending straight onto it."})
tool
executing move_to over 7 steps (0.7s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe teddy's metal keychain clasp lies right at the jaw convergence point; closing on it to pick the teddy up by its clip.
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]: [-0.1909, 2.0857, 0.6163, 1.0824, -0.2222, -0.0944, 0.997, -0.0208, 0.8276, 0.6014, -0.7956, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.4589 left_y=-0.0454 left_z=0.0128 left_yaw=0.0444 left_pitch=0.2025 left_roll=0.0159 left_gripper=0.997 right_x=0.2224 right_y=0.0023 right_z=0.0996 right_yaw=0.0031 right_pitch=-0.4378 right_roll=0.0095 right_gripper=0.9996 state[joint_eff]: [-0.7863, -8.7316, 5.094, 2.2979, -0.1587, -0.0366, -0.0171, -0.0068, -1.347, 6.5709, 1.3065, -0.0562, -0.0122, -0.0122] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The teddy's metal keychain clasp lies right at the jaw convergence point; closing on it to pick the teddy up by its clip."})
tool
executing move_to over 10 steps (1.0s)
step 188
top_cam
camera top_cam step 188
left_cam
camera left_cam step 188
right_cam
camera right_cam step 188
assistant
agent noteMissed; the clasp sits ~4 cm beyond the jaw tips. Opening and extending forward with more wrist pitch to reach it.
move_to
left_gripper1.0000left_x0.5100left_y-0.0400left_z0.0100left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1951, 2.1098, 0.6151, 1.0748, -0.2249, -0.0975, 0.0094, -0.0208, 0.8288, 0.6014, -0.7963, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4551 left_y=-0.0461 left_z=0.0003 left_yaw=0.0427 left_pitch=0.1709 left_roll=0.0219 left_gripper=0.0094 right_x=0.2222 right_y=0.0023 right_z=0.0993 right_yaw=0.0033 right_pitch=-0.4397 right_roll=0.0093 right_gripper=0.9996 state[joint_eff]: [0.253, -10.7419, 3.4803, 1.9707, 0.0269, 0.0366, 0.7741, -0.1162, -0.8274, 6.8444, 1.2039, -0.0659, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.51, "left_y": -0.04, "left_z": 0.01, "left_pitch": 0.5}, "note": "Missed; the clasp sits ~4 cm beyond the jaw tips. Opening and extending forward with more wrist pitch to reach it."})
tool
executing move_to over 11 steps (1.1s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteTeddy now sits between the jaws at the bottom of the wrist view; lowering to table level before closing.
move_to
left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1608, 2.4271, 0.7982, 1.5505, -0.2295, -0.046, 0.9953, -0.0208, 0.8303, 0.6003, -0.8139, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.5072 left_y=-0.0379 left_z=0.0182 left_yaw=0.0794 left_pitch=0.5031 left_roll=-0.0092 left_gripper=0.9953 right_x=0.2182 right_y=0.0023 right_z=0.0963 right_yaw=0.0032 right_pitch=-0.4599 right_roll=0.0095 right_gripper=0.9996 state[joint_eff]: [0.6222, -8.4034, 3.8359, 1.5214, 0.1538, 0.1832, -0.0611, -0.0205, -1.1009, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.0}, "note": "Teddy now sits between the jaws at the bottom of the wrist view; lowering to table level before closing."})
tool
executing move_to over 2 steps (0.2s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteArm is at its reach limit at z≈0.02 with the teddy between the jaws; closing here.
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]: [-0.1631, 2.4516, 0.8177, 1.581, -0.234, -0.0418, 0.9963, -0.0208, 0.8322, 0.6003, -0.815, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.5104 left_y=-0.0388 left_z=0.0193 left_yaw=0.0824 left_pitch=0.5281 left_roll=-0.0111 left_gripper=0.9963 right_x=0.218 right_y=0.0024 right_z=0.0958 right_yaw=0.0033 right_pitch=-0.463 right_roll=0.0101 right_gripper=0.9996 state[joint_eff]: [-0.1709, -7.7333, 3.9726, 1.4481, -0.0024, -0.0904, 0.0952, -0.0615, -1.1556, 6.5436, 1.1648, -0.0806, -0.0366, -0.0122] 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_gripper": 0}, "note": "Arm is at its reach limit at z\u22480.02 with the teddy between the jaws; closing here."})
tool
executing move_to over 10 steps (1.0s)
step 211
top_cam
camera top_cam step 211
assistant
agent noteEmpty close: teddy body is just beyond reach, but its metal clasp hangs at the jaw row slightly left of centre. Opening and shifting ~1.5 cm left to catch the clasp.
move_to
left_gripper1.0000left_y-0.0220
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1631, 2.4577, 0.8257, 1.5867, -0.2409, -0.0494, 0.0098, -0.0208, 0.8341, 0.6003, -0.836, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.5119 left_y=-0.0379 left_z=0.02 left_yaw=0.095 left_pitch=0.5354 left_roll=-0.0218 left_gripper=0.0098 right_x=0.2134 right_y=0.0024 right_z=0.0929 right_yaw=0.0035 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996 state[joint_eff]: [-0.0752, -7.9521, 3.8769, 1.6728, 0.0611, 0.0171, 0.7302, 0.0342, -0.8, 6.5299, 1.3407, 0.0024, -0.0317, -0.0073] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_y": -0.022}, "note": "Empty close: teddy body is just beyond reach, but its metal clasp hangs at the jaw row slightly left of centre. Opening and shifting ~1.5 cm left to catch the clasp."})
tool
executing move_to over 10 steps (1.0s)
step 221
assistant
agent noteThe metal clasp now hangs between the open 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]: [-0.1329, 2.4565, 0.8257, 1.5867, -0.2134, -0.0521, 0.9951, -0.0208, 0.8341, 0.6003, -0.8516, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.5133 left_y=-0.0273 left_z=0.0205 left_yaw=0.1003 left_pitch=0.5362 left_roll=-0.0266 left_gripper=0.9951 right_x=0.21 right_y=0.0026 right_z=0.0911 right_yaw=0.0041 right_pitch=-0.5015 right_roll=0.011 right_gripper=0.9996 state[joint_eff]: [1.4427, -11.5077, 2.8103, 1.7509, 0.1148, 0.0073, -0.1245, -0.0342, -1.0051, 6.4889, 1.2723, -0.0513, -0.0708, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 221): [image omitted: streamed camera frame] camera 'left_cam' (step 221): [image omitted: streamed camera frame] camera 'right_cam' (step 221): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "The metal clasp now hangs between the open jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 231
assistant
agent noteI couldn't finish this in the call budget I had left. After 26 of 40 calls, none of the three objects (keychain teddy, lemon, monkey plush) is in the safe. Early on, the silver case's lid fell shut, most likely bumped by my left arm, so it would have to be reopened. My repeated grasp attempts pushed the small teddy forward to about x≈0.53 in the left arm's frame, past where that arm can reach at table level (it stalls near x≈0.51 even with the wrist pitched forward). Every close since then has come up empty. With 14 calls left, reopening the case, placing three objects and closing it again isn't achievable.
give_up
hindsight1) Any axis you leave out of a move_to holds its current *measured* value, so wrist pitch and roll creep further on each move: left pitch reached −0.38, and the idle right arm drifted to −0.5. Always send pitch=0, roll=0, yaw=0 explicitly with every move, and re-command the idle arm's home pose now and then. 2) The first overhead image was misleading: what looked like a red open box was a silver briefcase ('safe') standing open. Its lid is easy to knock shut when working next to it. Keep the arms well clear of the lid, and put objects in before touching anything near the case. 3) The keychain teddy is small (~6 cm) and light. A near-vertical tool descending short of it pushes it away. From the wrist view, the teddy was always 3–5 cm further out than it looked. Line it up with the wrist tipped forward (pitch ≈0.3), aim 3–4 cm beyond where the wrist image puts it, and descend steeply from above. 4) The left arm's real reach at z≈0.02 was x≈0.51 with pitch 0.5, and only ≈0.47–0.49 at pitch 0. Objects beside the safe at left y≈−0.04 sat around x 0.45–0.53. 5) Rough overhead-camera positions at the start: teddy at image (78,110) ≈ left arm (0.45, −0.08); case centre at image (105,95); lemon at (153,97) and monkey plush at (125,160), better suited to the right arm. 6) Closes on a soft plush read 0.02–0.04 even when empty, so check a grasp with a short lift before carrying.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.136, 2.4565, 0.8257, 1.5867, -0.223, -0.0563, 0.0099, -0.0208, 0.8341, 0.6003, -0.8597, -0.0189, -0.0338, 0.9996] state[eef_state]: left_x=0.5131 left_y=-0.0272 left_z=0.0205 left_yaw=0.1092 left_pitch=0.5362 left_roll=-0.031 left_gripper=0.0099 right_x=0.2083 right_y=0.0026 right_z=0.0901 right_yaw=0.0039 right_pitch=-0.5095 right_roll=0.0114 right_gripper=0.9996 state[joint_eff]: [-0.0615, -11.1658, 3.2205, 1.6777, 0.0952, 0.0269, 0.779, -0.0205, -0.9915, 6.4752, 1.2186, -0.0757, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I couldn't finish this in the call budget I had left. After 26 of 40 calls, none of the three objects (keychain teddy, lemon, monkey plush) is in the safe. Early on, the silver case's lid fell shut, most likely bumped by my left arm, so it would have to be reopened. My repeated grasp attempts pushed the small teddy forward to about x\u22480.53 in the left arm's frame, past where that arm can reach at table level (it stalls near x\u22480.51 even with the wrist pitched forward). Every close since then has come up empty. With 14 calls left, reopening the case, placing three objects and closing it again isn't achievable.", "hindsight": "1) Any axis you leave out of a move_to holds its current *measured* value, so wrist pitch and roll creep further on each move: left pitch reached \u22120.38, and the idle right arm drifted to \u22120.5. Always send pitch=0, roll=0, yaw=0 explicitly with every move, and re-command the idle arm's home pose now and then. 2) The first overhead image was misleading: what looked like a red open box was a silver briefcase ('safe') standing open. Its lid is easy to knock shut when working next to it. Keep the arms well clear of the lid, and put objects in before touching anything near the case. 3) The keychain teddy is small (~6 cm) and light. A near-vertical tool descending short of it pushes it away. From the wrist view, the teddy was always 3\u20135 cm further out than it looked. Line it up with the wrist tipped forward (pitch \u22480.3), aim 3\u20134 cm beyond where the wrist image puts it, and descend steeply from above. 4) The left arm's real reach at z\u22480.02 was x\u22480.51 with pitch 0.5, and only \u22480.47\u20130.49 at pitch 0. Objects beside the safe at left y\u2248\u22120.04 sat around x 0.45\u20130.53. 5) Rough overhead-camera positions at the start: teddy at image (78,110) \u2248 left arm (0.45, \u22120.08); case centre at image (105,95); lemon at (153,97) and monkey plush at (125,160), better suited to the right arm. 6) Closes on a soft plush read 0.02\u20130.04 even when empty, so check a grasp with a short lift before carrying."})
tool
give_up: I couldn't finish this in the call budget I had left. After 26 of 40 calls, none of the three objects (keychain teddy, lemon, monkey plush) is in the safe. Early on, the silver case's lid fell shut, most likely bumped by my left arm, so it would have to be reopened. My repeated grasp attempts pushed the small teddy forward to about x≈0.53 in the left arm's frame, past where that arm can reach at table level (it stalls near x≈0.51 even with the wrist pitched forward). Every close since then has come up empty. With 14 calls left, reopening the case, placing three objects and closing it again isn't achievable.
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 · 20.38 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]: [-0.0299, 0.7925, 0.6041, -0.3912, -0.02, -0.036, 0.9993, -0.0212, 0.7937, 0.6064, -0.3965, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=-0.0017 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -1.4154, 10.2632, 2.0049, -0.0611, 0.1929, -0.0904, -0.3487, -1.4154, 9.7162, 1.9267, -0.0757, 0.1685, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5356cee6b311bf9e097cfbe9e3ed79cd1a19c88528af4f4e56d16e0876dfc5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d95ee5fa46bea375e23e95110f37a151402b22087d63ca45ae0675907b0888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a01dbb4664e9dafa7d8b41c4f5e8035b2ceeadee2bca8baeddf7f903c395e727",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.057 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]: [-0.0299, 0.7925, 0.6041, -0.3912, -0.02, -0.036, 0.9993, -0.0212, 0.7937, 0.6064, -0.3965, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=-0.0017 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -1.4154, 10.2632, 2.0049, -0.0611, 0.1929, -0.0904, -0.3487, -1.4154, 9.7162, 1.9267, -0.0757, 0.1685, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5356cee6b311bf9e097cfbe9e3ed79cd1a19c88528af4f4e56d16e0876dfc5c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47d95ee5fa46bea375e23e95110f37a151402b22087d63ca45ae0675907b0888",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a01dbb4664e9dafa7d8b41c4f5e8035b2ceeadee2bca8baeddf7f903c395e727",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H22Phufee3jttap511ffMN",
      "input": {
        "note": "Scene: open red safe centre, small cream teddy to its left, lemon to its right, brown plush in front. Moving left arm above my estimate of the teddy's position.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.44,
          "left_y": -0.18,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01H22Phufee3jttap511ffMN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5522, 1.665, 1.0512, -0.1081, -0.4358, -0.3492, 0.9993, -0.0208, 0.7986, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.1708 left_z=0.1308 left_yaw=-0.007 left_pitch=-0.0629 left_roll=0.0241 left_gripper=0.9993 right_x=0.2879 right_y=0.0009 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0423 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.3624, 9.0325, 1.8291, -0.3736, 0.0464, -0.0904, -0.1983, -1.6205, 7.0496, 2.0195, -0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1021a8d7d53b5c3a62e702e1c168b8860a2080e1493a66875a6341c9ad728daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26a8e63f836cfeaa0770d610280bd3fdda855c6a23a6450523c74ae34f1d160a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a4065053b4ddeacf5f9fcfd2435f61d96cfcbf418b7a6f1d3aef508b94042a6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.472 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]: [-0.0299, 0.7925, 0.6041, -0.3912, -0.02, -0.036, 0.9993, -0.0212, 0.7937, 0.6064, -0.3965, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=-0.0017 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -1.4154, 10.2632, 2.0049, -0.0611, 0.1929, -0.0904, -0.3487, -1.4154, 9.7162, 1.9267, -0.0757, 0.1685, -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]: [-0.5522, 1.665, 1.0512, -0.1081, -0.4358, -0.3492, 0.9993, -0.0208, 0.7986, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.1708 left_z=0.1308 left_yaw=-0.007 left_pitch=-0.0629 left_roll=0.0241 left_gripper=0.9993 right_x=0.2879 right_y=0.0009 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0423 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.3624, 9.0325, 1.8291, -0.3736, 0.0464, -0.0904, -0.1983, -1.6205, 7.0496, 2.0195, -0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1021a8d7d53b5c3a62e702e1c168b8860a2080e1493a66875a6341c9ad728daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26a8e63f836cfeaa0770d610280bd3fdda855c6a23a6450523c74ae34f1d160a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4065053b4ddeacf5f9fcfd2435f61d96cfcbf418b7a6f1d3aef508b94042a6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmQgKEAgSGAI4AUIIdGhpbmtpbmcSDHg/lxEz4tDaEe4plBoMbQGaYmM+552JdIDwIjCeXft8QYkPU3yJIsezzGtSoPU79pssJmlv7sT8i1OM0y4W/ugPjuwMAZj8CziWTEcqtgdUWwRyh++uLs5wQPX2pei3cIVOrm4P+k4ybjhfMkrXdq5b/SYamvz8r18pfoRAq03yWkGYaIb+PimMKhgFCpH2LjZMTTXgCe+5n3Ri7HMNEUXPsjLMxJcXBlXBYlk6505nNqLmlFWTAM4yWkzNN0kTKP/zhlqIB8x2k148o3U17F/L2Xi5FuJ3wCIMH2YxRD5Or3KOXCsCPldfYNQttG9JJXUQDGQC1I+fUXy809/+QN2iowpX6MEaAyNXvdYw2exoSde3DMgESuSzJvYgTUjdfMwpbSVWKqx8zIGKnkToJW9H1KXnG0Us2BbAQFUmLiNuI4HeI28/v7mWJHsOfY49SdS0i5ftmjMY169mysf4VXt6G2Q5A5812lqyR7kp0oYbLd5Eab0GmudVEEhp5yKpDuvpbgq722Rbi6qwzVyYQ5uv5LwTqigzHX6A/XrMDiTmQAD9HbdNRIbJZMKuYiSJ1Y9XJClf4w0capD4S2lYmbkV+wFAPVZAARqNWLRfIjEZ+yPXHJC6XksiC00eMoG6BxZzsmfq1Kj0X7kcgLjAUMNu7C2kUzFtpoiRYM1LZfFPvMnx58UN5T1tL8LD53rTHKAr1Zeg9knBONc3BhT0VMEJnPYEwl0N6dJLossPh2K49yXwXV1UYCT5wZdMawIgic0R4gh/hguGSxvFzczQY51V57ZHdh5gpdkm7mqA+zgBhcHORQQR3Kzn2e23H686NTQ2LdCr1UtrivlYWTMKZK5egtMtm189NOJ+ov2uWX/1zbR4F8KgM9zcpJRNV8jG3Ym2mr+ZtzPgifSsrHP/lQDJ7FxUIsnL4wWBwNT6rKTTS7I3JgtvmLPZCra3P7/y16jpIG7g9Z4McpHZ8BFg5v4I1qGQQy6P46YRrIWb2vpsuJC9SvBv+HK0yh3lmE40YyChjD54mZNGl5LrGqEFtgxQApZ+qUyXKikx28vbuJQfcaT9xjtXoDtjNbriiyfo0crxiQhZMy4WWhXJy7cULlGzWb6CssZTZoznjJchEqVCkFLJV7mA8DaaD0Ob2mEns+4Pry3pwPeT+WFkdvXZ8zDzzthhzA/ujr0SGUAH/QfDO/dV7LaasA8YDXWSEOrgQN5i+8MpJdGvI8HY6l//h7y/TwuMuom9w5tZl7CLUy22WFipX8maBcNsLhlP9ftgI1cOLOpxNnhgdKYcZLjrjdTIaN+7PQfOoCxspz95Rlq3npyfOKTNfmywL1g+1ay7rrybr1m2O1iT/1SIx4+EN146ciqmGRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014eiS71ZsM1HxCAqsc7BN5a",
      "input": {
        "note": "Teddy appears at bottom of left wrist view, slightly left of jaw column. Shifting left 1.5 cm and descending to grab its body.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.155,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014eiS71ZsM1HxCAqsc7BN5a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5278, 1.8332, 0.8116, 0.247, -0.4236, -0.3367, 0.9992, -0.0208, 0.8017, 0.6056, -0.4549, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.1521 left_z=0.0278 left_yaw=0.0032 left_pitch=-0.1125 left_roll=0.054 left_gripper=0.9992 right_x=0.2848 right_y=0.001 right_z=0.1635 right_yaw=0.0011 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.8154, 4.9846, 1.8242, -0.0659, 0.0708, -0.0171, -0.0068, -1.4838, 6.9675, 1.8535, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beee2ffdf90333e1326c4cbe34f19fe2c2a3e3ea162ca31fa41026fdc7100c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ece0e753425830722b9546207f6141d96eff7585f12d2ccb70ca1cf863e743",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4bf544922f1dfb9156d433a4ffa62249688f03012e2f3cd27d76ffb2d63ead5e",
        "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 · 2.909 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]: [-0.0299, 0.7925, 0.6041, -0.3912, -0.02, -0.036, 0.9993, -0.0212, 0.7937, 0.6064, -0.3965, -0.0189, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=-0.0017 left_z=0.1781 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2928 right_y=0.0007 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.5675, -1.4154, 10.2632, 2.0049, -0.0611, 0.1929, -0.0904, -0.3487, -1.4154, 9.7162, 1.9267, -0.0757, 0.1685, -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]: [-0.5522, 1.665, 1.0512, -0.1081, -0.4358, -0.3492, 0.9993, -0.0208, 0.7986, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.1708 left_z=0.1308 left_yaw=-0.007 left_pitch=-0.0629 left_roll=0.0241 left_gripper=0.9993 right_x=0.2879 right_y=0.0009 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0423 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.3624, 9.0325, 1.8291, -0.3736, 0.0464, -0.0904, -0.1983, -1.6205, 7.0496, 2.0195, -0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5278, 1.8332, 0.8116, 0.247, -0.4236, -0.3367, 0.9992, -0.0208, 0.8017, 0.6056, -0.4549, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.1521 left_z=0.0278 left_yaw=0.0032 left_pitch=-0.1125 left_roll=0.054 left_gripper=0.9992 right_x=0.2848 right_y=0.001 right_z=0.1635 right_yaw=0.0011 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.8154, 4.9846, 1.8242, -0.0659, 0.0708, -0.0171, -0.0068, -1.4838, 6.9675, 1.8535, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beee2ffdf90333e1326c4cbe34f19fe2c2a3e3ea162ca31fa41026fdc7100c73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76ece0e753425830722b9546207f6141d96eff7585f12d2ccb70ca1cf863e743",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bf544922f1dfb9156d433a4ffa62249688f03012e2f3cd27d76ffb2d63ead5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wcKEAgSGAI4AUIIdGhpbmtpbmcSDFHfjFDKpvfA1mw0HhoMJqfGPpdrlzG3GYwGIjD5cMCMlTx1T1jr1kI7AgI4m2CaHJVibZTbjxvyzBkWsRq6Ukk5F2QqKEYI63PONUcq+AbKA+cqK5CIFXuMh5WTJjDr6vty4RjSbTY9xogDEfUrkZ0fuV1w6HW6O8ft7FqO0OSHhmPH3TUJM1CqKWByfvEr++Tz0ud2sHil6EYO766P14x6H1wIHZoQkDlP7tWYfv9ju2ooyO1Oz9bJsoItgPLZ33WMoyxylp+Gkz5CXrc3Bii1GQEGs6nudDrjIARJH48wga1VFqHRt2sUkr0HirkZOFztglrZ1DCJXFQWV6vUsgeojOI3ENPOeVKUtrSWt7jgDXoOEjJ22AKWqPSYf5IEeHmx7ojnDW5RAdPrgxnYCktFZEMT2DOWCFW2mtRUIjhb+AqfSXMuWAREojxDWGX4Vy6JrayJfGlyPRKaSwAYG33pEtqifPevvqMzZdKqbW6FloGfNC/4uTqb69umoovEUgsirO6DQCmhKm5TPoSfG6pHedh97u6vjd4jVKJ5A3fuzjUNz93HSrjzDOv00a6TIe9ukPEHbDj19Z6bmLiUBrFYV4lRsgZy/dy5C8y00bgzFw/zxIkju6F4CJ3m5kYhNB27v34pRcWiRZo+v6rVpmYnVtuUpnC6fDmAjI2NwYTM1PVZi0oJTR0h2Bo1nDx/L73Bkab832SdZ5tOGkrM3J5lkXwi3/C06m0uZv7wvVXJBy12vmOlJNdeQkIH8HdbcgO5/t9cqCXL1xGpz/jR1sCEzlruQXONwYYuYWpyZnmsBbdcIeFAWO9Is1UgmoUbol00Yh0ECvJGubok3PLWWzu4cy5nlOW3Q+oqWHlbzj74rCnxLZsOFQ8s4fqZzQge9iKElZv6WojMgKzxCDMsXAa0ygeQ4k4sF7LxtM/nQVpfw89K0mdhQ4i8Ufli3MGmJgxPWK0TkK9gyQZ9OObF+rj8JyyxyKCgliuW7olZl1fPhm3Qdfv6yXLEVCg3T/TohceUCOSBYvOTPl3cMlfP+1/oIApl8nF5l2aaOIgeJYxj01tnlbWWYG8bGGno1Jq8u3rJssqVeAclhPfynDhz1RmU7+sJDfaM/EvGuZdMxHDO+gJ6bRnmLMYyN4PU6LAgLPfk6MCsDEWam1UJYniVht4F8WD56bd8w8sEakauhUHrT5yyn3Tlwey/31BYsvJpNvrr9a0f7ghhOAYLznjjZ1G1gG7xfU8RXn7ESDEfcAP7TvLf82PPG9H4nK5BIZ7rPWL5LxK9J4kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXpDZfvNSEQz3vH5cTQHpY",
      "input": {
        "note": "Teddy is between the jaws but offset toward the left jaw; centring it by shifting 1.5 cm left before closing.",
        "targets": {
          "left_y": -0.138,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TXpDZfvNSEQz3vH5cTQHpY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5083, 1.8496, 0.7841, 0.3126, -0.4114, -0.3248, 0.9992, -0.0208, 0.8017, 0.6056, -0.4568, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4145 left_y=-0.146 left_z=0.022 left_yaw=0.0055 left_pitch=-0.0982 left_roll=0.0449 left_gripper=0.9992 right_x=0.2845 right_y=0.001 right_z=0.1631 right_yaw=0.0011 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.9231, -9.4154, 4.5744, 1.5018, -0.0659, 0.1001, -0.0122, -0.0752, -1.0051, 7.1453, 1.6825, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78592f7dba7341ab922df4ebbe4cc2f98c0688f6dbac09d5a5bb31859d22c7ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4c75f8b4d1511c7cf878de75925ba3bfb4829d68b241807b48d648620d067b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe5ddd7785ac08890374776fc22fdf26400dcedfbc48b588f70a77024d47666d",
        "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 · 3.684 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]: [-0.5522, 1.665, 1.0512, -0.1081, -0.4358, -0.3492, 0.9993, -0.0208, 0.7986, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.1708 left_z=0.1308 left_yaw=-0.007 left_pitch=-0.0629 left_roll=0.0241 left_gripper=0.9993 right_x=0.2879 right_y=0.0009 right_z=0.1686 right_yaw=0.001 right_pitch=-0.0423 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4991, -8.3624, 9.0325, 1.8291, -0.3736, 0.0464, -0.0904, -0.1983, -1.6205, 7.0496, 2.0195, -0.0757, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5278, 1.8332, 0.8116, 0.247, -0.4236, -0.3367, 0.9992, -0.0208, 0.8017, 0.6056, -0.4549, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.1521 left_z=0.0278 left_yaw=0.0032 left_pitch=-0.1125 left_roll=0.054 left_gripper=0.9992 right_x=0.2848 right_y=0.001 right_z=0.1635 right_yaw=0.0011 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.8154, 4.9846, 1.8242, -0.0659, 0.0708, -0.0171, -0.0068, -1.4838, 6.9675, 1.8535, -0.0513, -0.0659, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5083, 1.8496, 0.7841, 0.3126, -0.4114, -0.3248, 0.9992, -0.0208, 0.8017, 0.6056, -0.4568, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4145 left_y=-0.146 left_z=0.022 left_yaw=0.0055 left_pitch=-0.0982 left_roll=0.0449 left_gripper=0.9992 right_x=0.2845 right_y=0.001 right_z=0.1631 right_yaw=0.0011 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.9231, -9.4154, 4.5744, 1.5018, -0.0659, 0.1001, -0.0122, -0.0752, -1.0051, 7.1453, 1.6825, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78592f7dba7341ab922df4ebbe4cc2f98c0688f6dbac09d5a5bb31859d22c7ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd4c75f8b4d1511c7cf878de75925ba3bfb4829d68b241807b48d648620d067b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe5ddd7785ac08890374776fc22fdf26400dcedfbc48b588f70a77024d47666d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Close gripper.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AKfBXLSXzvmaDd3GsK81Md",
      "input": {
        "note": "Teddy body sits between the jaws; closing to grasp.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01AKfBXLSXzvmaDd3GsK81Md",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5068, 1.8496, 0.7784, 0.3119, -0.4145, -0.3382, 0.0316, -0.0208, 0.8051, 0.6056, -0.4858, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.413 left_y=-0.1438 left_z=0.0201 left_yaw=0.0171 left_pitch=-0.1025 left_roll=0.0395 left_gripper=0.0316 right_x=0.2803 right_y=0.0011 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.1014 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -8.3761, 5.5726, 1.5165, -0.2857, 0.1099, 1.5995, -0.0342, -1.3197, 7.0222, 1.9219, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175dbbe8b0deb5ae7a8e180df49f4cd546dfea49e1715719c67a32e8e17477b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c52088d043b3d241bd3990389ca8023e693b847a4ca090f31fcf31d8f2a6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7ad0c0941567d7d4277f6225bf28b3682ee795c203a45b9982dd932b2785d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 7.237 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]: [-0.5278, 1.8332, 0.8116, 0.247, -0.4236, -0.3367, 0.9992, -0.0208, 0.8017, 0.6056, -0.4549, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4123 left_y=-0.1521 left_z=0.0278 left_yaw=0.0032 left_pitch=-0.1125 left_roll=0.054 left_gripper=0.9992 right_x=0.2848 right_y=0.001 right_z=0.1635 right_yaw=0.0011 right_pitch=-0.0671 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.8154, 4.9846, 1.8242, -0.0659, 0.0708, -0.0171, -0.0068, -1.4838, 6.9675, 1.8535, -0.0513, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5083, 1.8496, 0.7841, 0.3126, -0.4114, -0.3248, 0.9992, -0.0208, 0.8017, 0.6056, -0.4568, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4145 left_y=-0.146 left_z=0.022 left_yaw=0.0055 left_pitch=-0.0982 left_roll=0.0449 left_gripper=0.9992 right_x=0.2845 right_y=0.001 right_z=0.1631 right_yaw=0.0011 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.9231, -9.4154, 4.5744, 1.5018, -0.0659, 0.1001, -0.0122, -0.0752, -1.0051, 7.1453, 1.6825, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5068, 1.8496, 0.7784, 0.3119, -0.4145, -0.3382, 0.0316, -0.0208, 0.8051, 0.6056, -0.4858, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.413 left_y=-0.1438 left_z=0.0201 left_yaw=0.0171 left_pitch=-0.1025 left_roll=0.0395 left_gripper=0.0316 right_x=0.2803 right_y=0.0011 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.1014 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -8.3761, 5.5726, 1.5165, -0.2857, 0.1099, 1.5995, -0.0342, -1.3197, 7.0222, 1.9219, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:175dbbe8b0deb5ae7a8e180df49f4cd546dfea49e1715719c67a32e8e17477b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66c52088d043b3d241bd3990389ca8023e693b847a4ca090f31fcf31d8f2a6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7ad0c0941567d7d4277f6225bf28b3682ee795c203a45b9982dd932b2785d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAcKEAgSGAI4AUIIdGhpbmtpbmcSDG+enWh1QRutdGp6HBoMFSp7sXXAAAw6Ms/0IjDnMpxpLHYQ+Wxk3pUNhL2wY/xC+XrgzONkIospVakt5aayojIN9rIyy89jLRJ1460quQZha+EUsCBpLZH/OwpWGoqxstJRNuOKLqF1ix608PNIAA4G0rObS/zG27hL6UjN9xu4Rwq8+giQmrwcNHvKh8LuwNVRcrzJ2W9ZOoWOxXr7xtviS7tQ1Ys5sstNJO6WSweJcQJR/sDkUv6MH2xw2Eai2INf4cemObYtP0vTuaruwPH7E6HqRF2pY2Qf4Ckcir0L9ZDScRvxw9d5xd3M38F4B8keq2RPtH/IRHvKbGHovwFWBblaj9sPi5pXhh9QLE+7E8cZO9PNkXh7UkNwL9cLp2a50U371+yq6ass8MR8vR8BKCm42f/0Ori0Ujw5RXo7BLIZ44f0naxSce/FyqTfK0EVfaqukCSScUErz401dyN5IyKucEOMKznVm4wL0bQLjNC33v9E7Fj64aaur8/scjDbh0qH7w4Snfqzqmf8Exv4w8Sd3PY3bIU6bDHgEmCDQfXrLCFH+wHKVIHOIrblx9MdvGllKtrKkVNg5I06iScgrmmjkeD+4xuBVJcGx+lXiy0TlInKCp++zHeytOEOIWOX+fIqkPP+c+XaxhpDMv8Sa/lNQYR2zPvdeCuUuxaldXF9TbDMzX4/48N31CAPXHAWZY26MuE5324FOmaNKgyVGTHJWp23lcBWQkdXZM/Y/XlKfgBqc/oZUTg69tDPRlQgeJbR4UC4NddZ4hMLv9SIUqK88xfFlqMHuviSYW1bKDXt3ivA6YeREX56dBI5OV6qns34uFR4vx3itkvI6NET6szfZJ3rt7SrsXyDBD3pQjdpfKMmRgJGOOCr8Cz3BU/Mnkdd5uSS9sxGHHZI+MrSZNnT5ATb8jnGRWcFT9drN6s0m8O6hy1eZgIh3+iWRj/PUVEPiVraY15tkAXBuQiEbMv4RNaByeO+r/5QQrpplTS5wiphV+uyunX4SIMzOzOPMOpAgkqE5L7uBU3+pEsZkXwpdvt0PJhhDeC4hLgLUXFnH41pTB2bkzwKmNqRZRO9hc1hhDLmW0O1oTBjd4v0fpP998ceeTvf+r76QibARa2d1MxFE1NURUKmL9P9+HV1VpHSD2VYe9e+rB60JOLnEklX9VVYj82PnPrXAydOHki8/+UqIvEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HbpCnhwVePDyyyZgJCxSGQ",
      "input": {
        "note": "Gripper reads 0.03 but the soft plush may compress; lifting to check whether the teddy comes along.",
        "targets": {
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HbpCnhwVePDyyyZgJCxSGQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5091, 1.6989, 0.8696, -0.0357, -0.4088, -0.3489, 0.0412, -0.0208, 0.8051, 0.6056, -0.5041, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3975 left_y=-0.1374 left_z=0.0571 left_yaw=0.0242 left_pitch=-0.1956 left_roll=0.0817 left_gripper=0.0412 right_x=0.2774 right_y=0.0012 right_z=0.1531 right_yaw=0.0012 right_pitch=-0.1198 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.2615, 9.7436, 2.0977, -0.2955, 0.0952, 1.0281, -0.0342, -1.2239, 6.9128, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f08a576f9e3aa6fd2f9c6c87fdd3aa8cccf5dc8bc4edaff4952614db0dd9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e1f3a0f0eb28c2297ed9ef141487a89378aebcd7f5947e6d4d6209f5fe8f3dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1019068e33fcb78fcc658d772438bc22b398104df29f8a7ec48f21522e0261c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 5.882 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]: [-0.5083, 1.8496, 0.7841, 0.3126, -0.4114, -0.3248, 0.9992, -0.0208, 0.8017, 0.6056, -0.4568, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4145 left_y=-0.146 left_z=0.022 left_yaw=0.0055 left_pitch=-0.0982 left_roll=0.0449 left_gripper=0.9992 right_x=0.2845 right_y=0.001 right_z=0.1631 right_yaw=0.0011 right_pitch=-0.069 right_roll=0.0006 right_gripper=0.9996\nstate[joint_eff]: [0.9231, -9.4154, 4.5744, 1.5018, -0.0659, 0.1001, -0.0122, -0.0752, -1.0051, 7.1453, 1.6825, -0.0464, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5068, 1.8496, 0.7784, 0.3119, -0.4145, -0.3382, 0.0316, -0.0208, 0.8051, 0.6056, -0.4858, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.413 left_y=-0.1438 left_z=0.0201 left_yaw=0.0171 left_pitch=-0.1025 left_roll=0.0395 left_gripper=0.0316 right_x=0.2803 right_y=0.0011 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.1014 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -8.3761, 5.5726, 1.5165, -0.2857, 0.1099, 1.5995, -0.0342, -1.3197, 7.0222, 1.9219, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5091, 1.6989, 0.8696, -0.0357, -0.4088, -0.3489, 0.0412, -0.0208, 0.8051, 0.6056, -0.5041, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3975 left_y=-0.1374 left_z=0.0571 left_yaw=0.0242 left_pitch=-0.1956 left_roll=0.0817 left_gripper=0.0412 right_x=0.2774 right_y=0.0012 right_z=0.1531 right_yaw=0.0012 right_pitch=-0.1198 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.2615, 9.7436, 2.0977, -0.2955, 0.0952, 1.0281, -0.0342, -1.2239, 6.9128, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6f08a576f9e3aa6fd2f9c6c87fdd3aa8cccf5dc8bc4edaff4952614db0dd9cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e1f3a0f0eb28c2297ed9ef141487a89378aebcd7f5947e6d4d6209f5fe8f3dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1019068e33fcb78fcc658d772438bc22b398104df29f8a7ec48f21522e0261c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAsKEAgSGAI4AUIIdGhpbmtpbmcSDHUzFRI52HQUsW7+tRoM0UTfbzHh1GcEb8PpIjAp8YrI2MXzMZ/yjQVfb/ldSJ2+BsYj2WYxOpawm2IxbAInaLsyY7XnC1ckA8FOUy8q6QpQcmZrhbuEduGcuJrxGuioLUk7CVTh3ORga5qwpH2Ec1G7osl/XD8nPpsqKiAs7/wmN6E8nZgoxqcV+ObY8qbe47y9/Dgs9tKyODI0K8JdKuw13jQh59k5WSvroHuKvJoc410rctTxpD4mka8Yr6SBTxH679554vRCrl/VUNAFfH6rXpf0Z3GuUCeTkW/a6vsmGjrn8qzUrUaNn1Zjxh0rPwUrxFKSFxeHU76gRSUwmHDepislqara4f3bCcIHR0bqMpNjaenkCAsdDjmV+ejSiGw/RXb8uAphb9uFD6fTzPQKu7zv7xyMDoHN/EGgii1d5Lg7GqHOt/nVPajYdzhYmMj+B8rNBIjQTTZISJcplRXYc5HnIg8+mwqVtqUZZTnN0l1IGko9Oi3IXtOIKiRkgByFl863BGFDj7dGQthHvDRlMFMKBRbsfgBcPA3pq2ErsVb4ny538I/kBWWL7obj5zl3hXUGCqHnZ7VgLomL5q+hx5p7Q2202Xl5zgScjSWEEEEC2RP7xEIZhAjZuSr06ZB6wTZS8Olf4NVigXAvKW5Z8rjCW8OZ+oZ5HC7ZrmhXnpfkwQQ91g7nLAZk7GeUNhUgQmJpHMHk58nm5pt9RAs8i2l+8Tx3dM2hrxMaVXiKAGertnVovVcvewYFGrO0/vZRfVkZE+hSRDqxaftsTuEwIudl2Cuk0enf/zlMCgQy7QVCNveFnNzozvXbuzb7c6o0uHF1WDA16He0xWB9+hyXutcf3yZTw8K6m1G0PiLx/EH1koGKvdwZQODBMdGKJ9wJcJH2pMK9eA5JuvMQRYEun3OVZfCgiZpg58ug8B+VpwU9ORHYRn67w/hcmmQFryDCxKkfwxqvef6cBVIjBsxheJwnUM0EhuVlJzWtAKhucUtybSVc9AVsqj2nauCFqi2kuMmzhHl8A6HY+W3f3+/20yoO2AikiSR71sJGhOnR+IqXBNFLTIxlm2Xqe5vo2B0M+hDg4YX1WCDNk2GaBE6m2VhVd4N6WWhVgvTlqTkqjq6jnSiXxXrbPduvvRQTQpmi0R3xfZ4/DEVR4Z/MUqasN/O88FNnVMRVj5OQVe6tDJRUdH63xJD3D7vy67reBUOHYwBIniNQW8/3LfE5MCnMReEoVrQvuoUSFCqlcQrPBa+7rN9dF49z2jUrYBn+/C+dZu0qG4cgwG3kpIHTizvvn811MCWnoAB8IOfLtcXTIZMYY7s5CfF/71I+X1+e80dFEy7o2FmVv0QTOVOSh4xyIHVvyXf6zXy5ddiKg5UqP29p2hJJF4LwsWrQj7NiIg6KbeLgwgZ6EOD/NNnNGf/AQAG+vv39RlDKeIgOYZcvu/W9NAjtswxXbMaC570OyGyeYCHXMkQnKLIzMnxPopxk00TUVqnVDEo4tG5l0+UtzRFhf+TCwERyagchX61lTRa1CgH0/KgPahtPqbS4M58VppLnfdcNOxIVpglJq5UYvZuHPrgnFX48zYq1k3D7nj66AvumWxGK6pFVJCtBUfMLpLeYSfI3SCuY+otn9V/yzJSejpCmwOS5jgTT35ElF+13pwSoA9GvEbQRjO0w7h35BU/wVhIOesczF0bwNZrMWv6JA/VV4hBdOkBcq7TZb591rricJhjM1XDzhDs4nDcetO3jCPz7PoMNYFu53ezinXMOjbOBRLUVieYhNZl2+5itSIkaolBL5hJZMw7PgKpswanwhhKiIZHvExWUF5eEuXhamJWJnUJXEnm3JYHNN+J0RXsZf5LnNfaN2dX7PgiJdSIcRFnNQob1b5KskZzG7cN/SX3qDIxgnc5q84MvHpz9Z6xYZYlpW90i/3WNwc0RF0x/hiwV8RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TNJXxUqirecbKNfkchXqti",
      "input": {
        "note": "Grasp missed: the teddy is still on the table ahead-left of the jaws. Opening and repositioning ~3 cm forward and ~2.5 cm left above it.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.44,
          "left_y": -0.12,
          "left_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_01TNJXxUqirecbKNfkchXqti",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4091, 1.7161, 1.0481, -0.197, -0.3519, -0.2893, 0.9953, -0.0208, 0.8055, 0.6056, -0.527, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.1162 left_z=0.0892 left_yaw=0.0461 left_pitch=-0.2185 left_roll=0.0858 left_gripper=0.9953 right_x=0.2737 right_y=0.0012 right_z=0.1487 right_yaw=0.0012 right_pitch=-0.143 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.5145, 9.1145, 1.4921, -0.0806, 0.1783, -0.1001, -0.0615, -1.2239, 6.9128, 1.79, -0.0708, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9982f36db9b0bd2d0e6035089bf2cada2643b27dde782536387e4d87851247de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906e647c4cd8a80b0f1c84a3bcb2e035cbef069a0627121e01cf431ce3badebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e67ebefed0b28d97961b514e809e1dc44a96d0dd48b2239518585a9bf6e73c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 3.425 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]: [-0.5068, 1.8496, 0.7784, 0.3119, -0.4145, -0.3382, 0.0316, -0.0208, 0.8051, 0.6056, -0.4858, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.413 left_y=-0.1438 left_z=0.0201 left_yaw=0.0171 left_pitch=-0.1025 left_roll=0.0395 left_gripper=0.0316 right_x=0.2803 right_y=0.0011 right_z=0.1566 right_yaw=0.0009 right_pitch=-0.1014 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.1026, -8.3761, 5.5726, 1.5165, -0.2857, 0.1099, 1.5995, -0.0342, -1.3197, 7.0222, 1.9219, -0.0317, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5091, 1.6989, 0.8696, -0.0357, -0.4088, -0.3489, 0.0412, -0.0208, 0.8051, 0.6056, -0.5041, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3975 left_y=-0.1374 left_z=0.0571 left_yaw=0.0242 left_pitch=-0.1956 left_roll=0.0817 left_gripper=0.0412 right_x=0.2774 right_y=0.0012 right_z=0.1531 right_yaw=0.0012 right_pitch=-0.1198 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.2615, 9.7436, 2.0977, -0.2955, 0.0952, 1.0281, -0.0342, -1.2239, 6.9128, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4091, 1.7161, 1.0481, -0.197, -0.3519, -0.2893, 0.9953, -0.0208, 0.8055, 0.6056, -0.527, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.1162 left_z=0.0892 left_yaw=0.0461 left_pitch=-0.2185 left_roll=0.0858 left_gripper=0.9953 right_x=0.2737 right_y=0.0012 right_z=0.1487 right_yaw=0.0012 right_pitch=-0.143 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.5145, 9.1145, 1.4921, -0.0806, 0.1783, -0.1001, -0.0615, -1.2239, 6.9128, 1.79, -0.0708, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9982f36db9b0bd2d0e6035089bf2cada2643b27dde782536387e4d87851247de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:906e647c4cd8a80b0f1c84a3bcb2e035cbef069a0627121e01cf431ce3badebd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e67ebefed0b28d97961b514e809e1dc44a96d0dd48b2239518585a9bf6e73c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QkKEAgSGAI4AUIIdGhpbmtpbmcSDM+TLcWuXrJCZRfNkRoM5ZHSLnY6i2f/LPv6IjC2omJqqpTyfF7ELgoptQjCgisCDegUmVbdQw9tQ7fqrQZApybMB2biS4MDovMWZokq7ggcyBHgCjk0MJVU2ljX4PNMqWvV/exl8aNrcbE+WYr4NldHn/++RsbiGg+CeFfe0eBhwt0Ej5Yblwz6mZf1z2pMqeyBURB2rGy8iKWISBp2Gv61929XVzpKDAJFhJtFk0r5pZ0nocaF+sSC8e4bZrQkEpVbsvCMyYKwcBC8jPgXl9UiZqNoGbkEeCgEFMjNlFy4CFEnYmBY5SdjA1wlkjlYZjAwzOZHGXDibl74g8mObO7L2uRYWUx2YOYT3zYk7NOsjid5IlN9SMX5oabDiBhRoqtJDHzbK/084xcS9fM4PHeauS5JNGHQJDo8CkdJY3qrRteNXjHvP9PIOFQm9uS0rxLsWzxm/tVOJ0ti8exMSUY540MFNzdpfa7WGaAkb13VHfLnwST40psDM+Wyu6XNvVrpJZzrek5B3EJEBh9NtuqqLAX7ec7u+1ObAjCFTevyu/MUW4AY2A8wEGzGouSz3U0Je//lHMyKJsuKPZhTRsaKl3PPJ1twQr1eBrIUaC1GiwJ1P1f2w7U5N25FiG9VMpAim78owvtweQL0COVoJKIj2jmnZj2JjCW4V+mJgvLgOagcDWUyuFzIrRc0m9e0Jd3fTHQK+34VgZctWgV9IMdESty+7TWQA+S1EYCmm67GGcROZYAb75xRCEq88TE7eT+gxsM2j1SXIAFdbS4ZrXD9jFz9//npZzEidioOl9qszkA0ZNflGJ8KeciyvdPtz9lZ8mD06XYUxkQvyrQsOJUtZr3oNTr9ofk9+2trOlQXL+TRZh3uYrP9fU29h9C15NE7yDWdMjsHtcCD1ajd1ASSbCy4R+IMDQNGUDWHmB49OaEKYxkiyhwddZM8ZnmeTkFp71+sCJLJOOLf/PDut5PCeHefAgNzaiY4qvCjfg3l1WEFpq/g2G9hjroDpZcwNdZuOaokDWkfmahkLP6IhX7BnS6k6ZwoV+kMhBdq7h28D/P6unhuaqColJJjloWALceDYkqifUgrFf2rGrt3zI8dXfamogeef/e71yqQnNQcC76UC4jymVxQqtSJHhyGT6RR+a3+x0rUmMa/fLld+9UmZBOUSYKRM7fpOvtxzis8MEnmbp6mhoOwW2X64tCY1f6JPGYONGp2O0jt+YLwsxZIdKUql6HR8qhtk9DXlmyWvIMmx19ftCZyP6xkY1cf9WVvERgW1lKaP7grAUtwdZPTnd7qzC9zbKur+a9iLILW4wqhEzOMFZ6a/ILSQqCiLWW5iXiRrJ0rK6sqFo7mdkuAdKhBQlbTdf8otBjVAyN2tvLCe1usuSiDiUBJlXrIHz2vuq0233dSI1Op3XNKX9fsMv5J9Xjq7e0AHfeUEtStgrCLv0EBZCoBMHL94H/YpDSbMzyuymLaxtD5oIrEfcoaOIHGgZ563W3zO8ioF58iCEP6dIt+6y6ANocFxOJE3tbd9dvIP+9C/lfghZ+kdAIC65HmX1phkhsoVdVAe6/GW0JYoRX8l2nMswtAu3/nyBp6p+Y+VI7ZU+AmDegYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T7T3W71SYuf4sJMNBVdbvF",
      "input": {
        "note": "Teddy now sits just left of the jaw column at the bottom of the wrist view; shifting 1 cm left and descending around it.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.105,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01T7T3W71SYuf4sJMNBVdbvF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3832, 1.842, 0.9001, 0.0051, -0.3439, -0.2733, 0.9963, -0.0208, 0.8051, 0.6056, -0.561, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4163 left_y=-0.0997 left_z=0.0132 left_yaw=0.0646 left_pitch=-0.2866 left_roll=0.1234 left_gripper=0.9963 right_x=0.268 right_y=0.0014 right_z=0.1427 right_yaw=0.0014 right_pitch=-0.1766 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -8.4308, 5.6821, 1.9609, -0.105, 0.0708, 0.0952, -0.0479, -1.1419, 7.0222, 1.8974, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44e3ee7bc61a2e12ec6e13188935dfc90cc7187b8beb3ad6b23872c7afdb5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b35e6715bb248aced009f5ad46e56570d1a965546735ee93b8ea43a9a212c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de7d389f43aa674090f320c253aad099f32a93b00c546ac1c97e64fdd3e048ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.699 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]: [-0.5091, 1.6989, 0.8696, -0.0357, -0.4088, -0.3489, 0.0412, -0.0208, 0.8051, 0.6056, -0.5041, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3975 left_y=-0.1374 left_z=0.0571 left_yaw=0.0242 left_pitch=-0.1956 left_roll=0.0817 left_gripper=0.0412 right_x=0.2774 right_y=0.0012 right_z=0.1531 right_yaw=0.0012 right_pitch=-0.1198 right_roll=0.0017 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -11.2615, 9.7436, 2.0977, -0.2955, 0.0952, 1.0281, -0.0342, -1.2239, 6.9128, 1.79, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4091, 1.7161, 1.0481, -0.197, -0.3519, -0.2893, 0.9953, -0.0208, 0.8055, 0.6056, -0.527, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.1162 left_z=0.0892 left_yaw=0.0461 left_pitch=-0.2185 left_roll=0.0858 left_gripper=0.9953 right_x=0.2737 right_y=0.0012 right_z=0.1487 right_yaw=0.0012 right_pitch=-0.143 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.5145, 9.1145, 1.4921, -0.0806, 0.1783, -0.1001, -0.0615, -1.2239, 6.9128, 1.79, -0.0708, -0.0269, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3832, 1.842, 0.9001, 0.0051, -0.3439, -0.2733, 0.9963, -0.0208, 0.8051, 0.6056, -0.561, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4163 left_y=-0.0997 left_z=0.0132 left_yaw=0.0646 left_pitch=-0.2866 left_roll=0.1234 left_gripper=0.9963 right_x=0.268 right_y=0.0014 right_z=0.1427 right_yaw=0.0014 right_pitch=-0.1766 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -8.4308, 5.6821, 1.9609, -0.105, 0.0708, 0.0952, -0.0479, -1.1419, 7.0222, 1.8974, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c44e3ee7bc61a2e12ec6e13188935dfc90cc7187b8beb3ad6b23872c7afdb5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b35e6715bb248aced009f5ad46e56570d1a965546735ee93b8ea43a9a212c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de7d389f43aa674090f320c253aad099f32a93b00c546ac1c97e64fdd3e048ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7AYKEAgSGAI4AUIIdGhpbmtpbmcSDEUzLLM6DjpNO33qxRoMsNleuEBVvFt8ppkdIjAwuGOq3NVCnEdsYgJXV7Xg0wopAKllJj1X+KS1xHdmLvv13h658eWNZsk9xlqm/asqiQYie3LyWBl4QwwpSc07T75EAw4hOspcJ7wPPaEtFXM3eFQUJyrDIdTLEqFmXSQWl8UpmbeAfKUNgtGPZBqJPIWOUSAtZZ+fcFzWii2cfkR5Bm3OnCUsw0CObC0cA0Bv3hooIyLn4dyvJPIKmmcNLVH7KPgZdeYg6fq8VMsw6vx65SzRTVAzOMLWL9/cwtVyB6JUXKIqI44QSfrmorv6vpXt26eioEhCD5A7jE492tyPZ1um1gxc74Bi4yzOsYh9Mi61ni7ld8HleIH3PwSU1s0ylWHX8aMj8wdKckrvzog0IsyEvru70DlF+BAoWZUcRea6cYE39IBqH+CvGoM3lVBGjuCPvJBCAmMuDowkyIL8jrozdGPm2kOneUl2EUU6KwvmTvhmYdh+810Dqm5bOWB/BaXt1WJKqCsWuDFK992l3aHxHEhB+2Pb0yGDbmO1hH11yVNzw8rLFyrEIFr8OyTSpUfA0J+T6l1wcz4u3iJVVE05DaCGcEBC4Est0tDm32z7qT1le9T5p2E29ppujZ3pqI1MgcKBC4q7mwWwUYjTXzkaxcV8qzIaCpreuO/PDX1vBVexj0uUXt7Vbj+qZFTl+U9SPARwkv4qaYyKpjLT5UnCSJjnL6NNHzCjY2PebwGFEqNgO+y0M2AdWPu6oHzwBSzJjMsd+/8cgWIxQ6DrkLTWHGg2ixJOyyRmWgkswupZ2jiIC3zLvlMfzjqajMXzjXYbVAuS3sBBP8BQm0JPxmJXB5kQVHNLpOOpG4tVQEfq0LZ/Wr/nW7mBsvyo+gXxooaMVIB2HkHV4L63SdeP6pvbXnemtIIYIM/MlB5fV0NH1aShtTieJsbB9oM5psUQjzw7hIGWL2R2VDq3099VYcsVb/5uzOD9+6XvEiue/i4nj8ub9GlmrYzNRFyy/ezBDHOKrQICxll7Xh0rKVVUzn4XTzn80V2gDpcWn8wYyBe+OP0Sfoc1XXLXSHXIAYxEcUX04KxeZTo3+58+H2+PSN2GkAhMZEa004bsng4nVGcH+5jDiM5W4gsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6pHxB48bkQWupznZyewCo",
      "input": {
        "note": "Teddy fills the view between the jaws; closing to grasp.",
        "targets": {
          "left_gripper": 0,
          "left_x": 0.43
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01V6pHxB48bkQWupznZyewCo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3832, 1.85, 0.8925, 0.0872, -0.3096, -0.2817, 0.0434, -0.0208, 0.8055, 0.6056, -0.5907, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.11 left_z=0.0179 left_yaw=0.0341 left_pitch=-0.2373 left_roll=0.0634 left_gripper=0.0434 right_x=0.2628 right_y=0.0014 right_z=0.1373 right_yaw=0.0012 right_pitch=-0.2067 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -8.4855, 5.4632, 1.5116, -0.4176, 0.1734, 1.0476, -0.1573, -1.1556, 7.0359, 1.7949, -0.022, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:014ae267e52376ae9da06a93ca0d66136561006b9c6a626ebf97d03e510dab4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98eb65ed1946a264eb3cd20fbf2aaaff261320a504f500fd93b32935a6b3d621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:748412e6ef8c936557cded10abf016e797c16613da0bdd58693a9b9d1bf8b5f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 7.996 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]: [-0.4091, 1.7161, 1.0481, -0.197, -0.3519, -0.2893, 0.9953, -0.0208, 0.8055, 0.6056, -0.527, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4301 left_y=-0.1162 left_z=0.0892 left_yaw=0.0461 left_pitch=-0.2185 left_roll=0.0858 left_gripper=0.9953 right_x=0.2737 right_y=0.0012 right_z=0.1487 right_yaw=0.0012 right_pitch=-0.143 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.5145, 9.1145, 1.4921, -0.0806, 0.1783, -0.1001, -0.0615, -1.2239, 6.9128, 1.79, -0.0708, -0.0269, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.3832, 1.842, 0.9001, 0.0051, -0.3439, -0.2733, 0.9963, -0.0208, 0.8051, 0.6056, -0.561, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4163 left_y=-0.0997 left_z=0.0132 left_yaw=0.0646 left_pitch=-0.2866 left_roll=0.1234 left_gripper=0.9963 right_x=0.268 right_y=0.0014 right_z=0.1427 right_yaw=0.0014 right_pitch=-0.1766 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -8.4308, 5.6821, 1.9609, -0.105, 0.0708, 0.0952, -0.0479, -1.1419, 7.0222, 1.8974, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3832, 1.85, 0.8925, 0.0872, -0.3096, -0.2817, 0.0434, -0.0208, 0.8055, 0.6056, -0.5907, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.11 left_z=0.0179 left_yaw=0.0341 left_pitch=-0.2373 left_roll=0.0634 left_gripper=0.0434 right_x=0.2628 right_y=0.0014 right_z=0.1373 right_yaw=0.0012 right_pitch=-0.2067 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -8.4855, 5.4632, 1.5116, -0.4176, 0.1734, 1.0476, -0.1573, -1.1556, 7.0359, 1.7949, -0.022, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:014ae267e52376ae9da06a93ca0d66136561006b9c6a626ebf97d03e510dab4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98eb65ed1946a264eb3cd20fbf2aaaff261320a504f500fd93b32935a6b3d621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:748412e6ef8c936557cded10abf016e797c16613da0bdd58693a9b9d1bf8b5f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwgKEAgSGAI4AUIIdGhpbmtpbmcSDDpnBXvRQLeIUtfawRoM95w5AyjlLxqw9FSjIjCu+Z7fc5lCrQlZS9yKyrilKzZtB4JS95j0dptc/EcHSZn67yqHNJetC6QfeD7RpMkqtAdDcJsRrsjLV5iOm0oHmPMEwMaYsUjRHleRgauxu6mcU0/6GHF/BOouu/fYRVtmOX05ZkhktDjQIxIV0a5YVR8jcTkYGR4DQSINShdUtftNMPcsEj77vM2yFVPpl2Hts8SAgAo0OYbFI0dVnNQHxP2/pYs3aDMynV/NHsFz27GA4ykeo7MA6kXAwasWDu9Acol1NvRG0u5at46cwNw4bK/Vp/b0WEjPj7KX3O56i7ZQ4/Y+udVwf/q2EQXinAm+6rlW/l7KYkDD9nVFYHtBvSQqfzn3zTmFPFTk+Kr2ivwTLyMsugGLVhCojl4GBjVo95uS0lmWNEZ5jL7BjeSUwsoYIw1wS0S7cErLPsuOO0+oyDCQ8luJe/MIkNIGrO1BT5G9T0R4ez23f9PxiiNvsApD0w/nI69O582/tZ42319/7F8WUxGF0BCKvAac6zHVBqFlwpRUEA5mrFn7aP/KwzIPyzkrXOvaIr8d681QiwxNwSliwsHAWSS4j4tVdhJvjEg+s23P+ALf+qOIW0k/vNHBntibJeqc76qJLHkvJb6Q9/ukhtAciVCwXivX47SLpeapRyaHCpyEK5AkAZW77iB05xb8LwFX61qlyxtl4f2aC7HQUppYXt5Rg+19V8bZk6vRzTJviHGcdYcHc/Ms9s9p6qWbSGkQ3opXFG4gmEUF8s81KJaTcvQfeSuvQ77cXW4R2OpWnw0GAmmNo1mKcwz3xxXFV+dNuyLSU+ZfmlhZSetz6Rat3vN1rwg/LrIoBXnARJfCnUwbHafA/+Mkv4/j6QkAbcpxkXrhd2a8IeRo/6uMMESifcRW+P7F5gcLMDQWXyYt/poftBlQTM+/pFgddWDZHWuXkaWrEJV+05rry2rgDX99ToKtb8a8VSJsuWfD7j2zZIuH27xE9FwCmkRP6fUCcPANDuwOxprCC0uoMHHE2EfUsDKZB4ddVeYdVkwG6Kw//d7l11Sk7uT/xQgs15k83POOUVOssrybvqRvDQcWpUlGH9N30XVN/8DNs5MWojnwjnWgGeNWPo6rwSdHbhbwt1MgMaoSsmtL3qauxvhZbWYBisXM0m+yUipeT94l1M+Ed1HrxEsXfjMSvDBe051I+gEKTlLOywu7UEBs6bPGTRAnugCNiF94yKhRslTbY1NUPZytDJ/DESs6dpqhxaZYKxn9ZMYPP8fa57ynYQGl1Nwv+SVYckR4croYpHcVmokiQWOhhlJWid9LSk6myKj2YAdM5mwaMK95Smci8dEkuAUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GHeY6iLqZuK8T2yboeBnx1",
      "input": {
        "note": "Closed on the teddy (reading 0.04, soft plush). Lifting to check if it comes along.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GHeY6iLqZuK8T2yboeBnx1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3801, 1.7142, 1.0542, -0.3325, -0.3038, -0.2916, 0.0453, -0.0208, 0.8055, 0.6056, -0.6136, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4096 left_y=-0.1029 left_z=0.0708 left_yaw=0.0534 left_pitch=-0.35 left_roll=0.105 left_gripper=0.0453 right_x=0.2588 right_y=0.0015 right_z=0.1334 right_yaw=0.0016 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -12.547, 10.3316, 1.9805, -0.2564, 0.0562, 1.033, -0.1709, -1.0872, 6.8171, 1.7118, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae213968158d63e47ec69f036b319cf2a55a5579e4cb214a85f233aa0ceca3c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:418bd82999a0d4dd1b0c62c652c92a3476daf5a11a2dcfaef44ff4a430d01e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d560b9b5315b09dde7bf17199e250d957d63e63e305523a5d5ac020b25a96453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 6.626 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]: [-0.3832, 1.842, 0.9001, 0.0051, -0.3439, -0.2733, 0.9963, -0.0208, 0.8051, 0.6056, -0.561, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4163 left_y=-0.0997 left_z=0.0132 left_yaw=0.0646 left_pitch=-0.2866 left_roll=0.1234 left_gripper=0.9963 right_x=0.268 right_y=0.0014 right_z=0.1427 right_yaw=0.0014 right_pitch=-0.1766 right_roll=0.0029 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -8.4308, 5.6821, 1.9609, -0.105, 0.0708, 0.0952, -0.0479, -1.1419, 7.0222, 1.8974, -0.0513, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3832, 1.85, 0.8925, 0.0872, -0.3096, -0.2817, 0.0434, -0.0208, 0.8055, 0.6056, -0.5907, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.11 left_z=0.0179 left_yaw=0.0341 left_pitch=-0.2373 left_roll=0.0634 left_gripper=0.0434 right_x=0.2628 right_y=0.0014 right_z=0.1373 right_yaw=0.0012 right_pitch=-0.2067 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -8.4855, 5.4632, 1.5116, -0.4176, 0.1734, 1.0476, -0.1573, -1.1556, 7.0359, 1.7949, -0.022, -0.0415, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3801, 1.7142, 1.0542, -0.3325, -0.3038, -0.2916, 0.0453, -0.0208, 0.8055, 0.6056, -0.6136, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4096 left_y=-0.1029 left_z=0.0708 left_yaw=0.0534 left_pitch=-0.35 left_roll=0.105 left_gripper=0.0453 right_x=0.2588 right_y=0.0015 right_z=0.1334 right_yaw=0.0016 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -12.547, 10.3316, 1.9805, -0.2564, 0.0562, 1.033, -0.1709, -1.0872, 6.8171, 1.7118, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae213968158d63e47ec69f036b319cf2a55a5579e4cb214a85f233aa0ceca3c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:418bd82999a0d4dd1b0c62c652c92a3476daf5a11a2dcfaef44ff4a430d01e2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d560b9b5315b09dde7bf17199e250d957d63e63e305523a5d5ac020b25a96453",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013BvsPQkySxmMTgKx98fwEA",
      "input": {
        "note": "Second miss: teddy lies left and ahead of the jaws in the wrist view (~4 cm left). Opening and moving 4 cm left and ~3 cm forward.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.45,
          "left_y": -0.065,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013BvsPQkySxmMTgKx98fwEA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2455, 1.7584, 1.1988, -0.4377, -0.2363, -0.1978, 0.9955, -0.0208, 0.807, 0.6056, -0.635, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4376 left_y=-0.0633 left_z=0.0891 left_yaw=0.077 left_pitch=-0.3806 left_roll=0.1096 left_gripper=0.9955 right_x=0.2549 right_y=0.0016 right_z=0.1295 right_yaw=0.0014 right_pitch=-0.2525 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.5009, 9.6479, 1.4286, -0.1001, 0.1929, -0.1538, -0.0615, -1.2239, 7.0085, 1.663, -0.0269, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43d19b8918445dc872f9181a6056c148f8f6a4e77db7dd0f67efb855e7fad6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36584d88fdb7bdeb6c894f04a8f4245eb31311c524adb1ae0e0ba4f696e790e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:117a2f0c9030e115824fc4412489037badde5fabc82eea05c0fd29c73f60a86d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 5.844 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]: [-0.3832, 1.85, 0.8925, 0.0872, -0.3096, -0.2817, 0.0434, -0.0208, 0.8055, 0.6056, -0.5907, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4263 left_y=-0.11 left_z=0.0179 left_yaw=0.0341 left_pitch=-0.2373 left_roll=0.0634 left_gripper=0.0434 right_x=0.2628 right_y=0.0014 right_z=0.1373 right_yaw=0.0012 right_pitch=-0.2067 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -8.4855, 5.4632, 1.5116, -0.4176, 0.1734, 1.0476, -0.1573, -1.1556, 7.0359, 1.7949, -0.022, -0.0415, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3801, 1.7142, 1.0542, -0.3325, -0.3038, -0.2916, 0.0453, -0.0208, 0.8055, 0.6056, -0.6136, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4096 left_y=-0.1029 left_z=0.0708 left_yaw=0.0534 left_pitch=-0.35 left_roll=0.105 left_gripper=0.0453 right_x=0.2588 right_y=0.0015 right_z=0.1334 right_yaw=0.0016 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -12.547, 10.3316, 1.9805, -0.2564, 0.0562, 1.033, -0.1709, -1.0872, 6.8171, 1.7118, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2455, 1.7584, 1.1988, -0.4377, -0.2363, -0.1978, 0.9955, -0.0208, 0.807, 0.6056, -0.635, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4376 left_y=-0.0633 left_z=0.0891 left_yaw=0.077 left_pitch=-0.3806 left_roll=0.1096 left_gripper=0.9955 right_x=0.2549 right_y=0.0016 right_z=0.1295 right_yaw=0.0014 right_pitch=-0.2525 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.5009, 9.6479, 1.4286, -0.1001, 0.1929, -0.1538, -0.0615, -1.2239, 7.0085, 1.663, -0.0269, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43d19b8918445dc872f9181a6056c148f8f6a4e77db7dd0f67efb855e7fad6bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36584d88fdb7bdeb6c894f04a8f4245eb31311c524adb1ae0e0ba4f696e790e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117a2f0c9030e115824fc4412489037badde5fabc82eea05c0fd29c73f60a86d",
        "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_01MmMfQRjZeBTTzLutFjW9Ar",
      "input": {
        "note": "Teddy is now between the jaws in the wrist view. Wrist pitch had drifted to -0.38 because unspecified axes hold their current value; resetting orientation to 0 first before descending.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_y": -0.055,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01MmMfQRjZeBTTzLutFjW9Ar",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2028, 1.6325, 0.7757, 0.139, -0.1753, -0.1379, 0.9963, -0.0208, 0.8101, 0.6037, -0.6575, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4242 left_y=-0.0521 left_z=0.0693 left_yaw=0.0143 left_pitch=-0.125 left_roll=0.0285 left_gripper=0.9963 right_x=0.2504 right_y=0.0016 right_z=0.1243 right_yaw=0.0016 right_pitch=-0.2799 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -9.7983, 6.3385, 2.1709, -0.0415, 0.0464, 0.0806, 0.0068, -1.0872, 7.1316, 1.6435, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cffdf5ca3156ab8ffd0608a3389cfecc92d4cf39c851346df875c4cac99d6b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72ec227147ef9f1d8b51c20c77b1edf134700781047a54a04e7e74892ce49de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:63a7dbc9b53b4a9647700db89889f81b35af6a115cfdcfa3956587b01a4a0731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.061 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]: [-0.3801, 1.7142, 1.0542, -0.3325, -0.3038, -0.2916, 0.0453, -0.0208, 0.8055, 0.6056, -0.6136, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4096 left_y=-0.1029 left_z=0.0708 left_yaw=0.0534 left_pitch=-0.35 left_roll=0.105 left_gripper=0.0453 right_x=0.2588 right_y=0.0015 right_z=0.1334 right_yaw=0.0016 right_pitch=-0.2296 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -12.547, 10.3316, 1.9805, -0.2564, 0.0562, 1.033, -0.1709, -1.0872, 6.8171, 1.7118, -0.0562, -0.0073, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2455, 1.7584, 1.1988, -0.4377, -0.2363, -0.1978, 0.9955, -0.0208, 0.807, 0.6056, -0.635, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4376 left_y=-0.0633 left_z=0.0891 left_yaw=0.077 left_pitch=-0.3806 left_roll=0.1096 left_gripper=0.9955 right_x=0.2549 right_y=0.0016 right_z=0.1295 right_yaw=0.0014 right_pitch=-0.2525 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.5009, 9.6479, 1.4286, -0.1001, 0.1929, -0.1538, -0.0615, -1.2239, 7.0085, 1.663, -0.0269, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.2028, 1.6325, 0.7757, 0.139, -0.1753, -0.1379, 0.9963, -0.0208, 0.8101, 0.6037, -0.6575, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4242 left_y=-0.0521 left_z=0.0693 left_yaw=0.0143 left_pitch=-0.125 left_roll=0.0285 left_gripper=0.9963 right_x=0.2504 right_y=0.0016 right_z=0.1243 right_yaw=0.0016 right_pitch=-0.2799 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -9.7983, 6.3385, 2.1709, -0.0415, 0.0464, 0.0806, 0.0068, -1.0872, 7.1316, 1.6435, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cffdf5ca3156ab8ffd0608a3389cfecc92d4cf39c851346df875c4cac99d6b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:72ec227147ef9f1d8b51c20c77b1edf134700781047a54a04e7e74892ce49de1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63a7dbc9b53b4a9647700db89889f81b35af6a115cfdcfa3956587b01a4a0731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AkKEAgSGAI4AUIIdGhpbmtpbmcSDImyn5gyiuGBY9HOdRoMwXQyLpNySPXVGYBgIjDc5qxhlbstsdT5COkSunNXmZVgmX/15K5d9sgITxKohiafUqAw3mrdqJPnpgzlrCQqjQknln/n48VZH6PAESfrGo2AssBEow+oWD2EOkHAU4zjyKRT+Yj+82Nef1Z8g9g2HWAq3Y+EV77KR7v/Qhzseynorx4KNKM10NOFqhOLzh/0+8AbEMTerZmd2TaqXCIM6Z6XcTFx3Jx0V5MKYue27zzJ970TacjRoxLC7A7KvTBbEjcqzmPHh8kpZdWRca/fNZ9VVh1w5HIyW6C3muzVZlaj5wprlp/aa6gvGmyLdo4wiP99t4ujLSSVdPmUtFLCha3q6lbfJDUHoNzIlw8So9s5IWh2zOSlCw9THkxZ3f9l6Y3GKKBZAZNPfzRGZbG1pW5Np4MEs2wxjEMeCyrQsVklJgz09aPPJXNe1NFgpXSQmCkE4As0IYk/x9pfATEtPL0GEqQfOdkYhpnfVR0iyjP2hrFjyX/Nir+0BwEIosmLovaYldPrTFbrovX3MjteJmR3Lvov9IQvZm00IDYhZVxMvi4wnmTtSgImzfW3oEFCiAQGvR9eW/pIHOG58IPnTUdAjapZwtD0Hr7wCBok5o0uC73eFtOg0CPYpxHrINs7i1hxPKrGTFNyTaGAGaWFxdqaJjDuvQ5pkmBnPJuRcmAlv5M5sSVoAyttC1QztnPqeLI3Da5qlaioFEfRYfEl1y08EHHMO8n2vW37I8iLZN+1n2KKvTbPS+W6PaKowqEaMr1q7dAAwcsrZVf1N4XxizMrkbSdjG0phUUuM917tkdIMnThC3V5MyJGCWGWqLzWo4n/7S+N+B98E15QqC5OrCUxeCp6DcBXzQcNqXoQb4MDJ9o0vyg8xlXOMtopzfi8MzCatKN4ULpL5MpLVnmschpgw3rc1mBZzzk8RC4XpVWQQwGt5H2nf6S3+l0wrf4oONTl7cLMyuyNDbMDOnpK2OHtLb4VGBM2o8HkreeApuwXWJ9hDKLOc1rPqj9wnbj6YuhbzytFqkJ8pl6bsTvDaQdTTmPG9EmTZgyEEsR0xQS6tLeMZl1lErFO9btKULpR5XBeD5FvMAWecVvMvirK/T3a1kfsBIVTekhqfZeKy17a3sNunUM7Ew7aL27vd9+do8kd8oPrzjcCU/m/Ewa7imTu4Un/rBLOJRGrqPLZgbW/y286yCAWuXVCVnnvzByjMuGyVOqg+lW0HjkdBezNKN8TYR18lsMd5pXI31fhsvjAEu8CBNDCaaG+aneoteZSBKX38S1qsNF+gjKzrAwEcH0R0O6Ghluj8b2IkizXqYz5b1J6/rfZa+QvJnzotrOTRfL8sfKEiteZpeNT0hphsTvSYUuUQFG/YMFgA2f6GyzlS6zDvNKaFfldDJovvNbuP5B7mmedmuj0BtPvaWTrJBnWC2x7rD8xZPdTBUsOFAUt0F/VPSdtgiw8OkTU0eh4KRQ39wYy5ydJXr3xhORPYud1q4+hIb0Hj6zgVZnmNNK0KHaBKX/gdbB18m0jcZaAd0QywG7OLauYC6DG/dIKM1ZkDOwYuKcBaxv0E/BtfP787bteZfNjVtQ3hBl0w1NkgE+Kq11EKhAfolZF0SuVYr2VkE0tqNStAk0MXV17GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YbrwuCWmuoqehwQy8uRLjx",
      "input": {
        "note": "The safe lid has fallen shut (likely bumped). Teddy is just left of the jaws; shifting 1.5 cm left and descending to grasp it first.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.43,
          "left_y": -0.04,
          "left_yaw": 0,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01YbrwuCWmuoqehwQy8uRLjx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1577, 1.8187, 0.6075, 0.5037, -0.1402, -0.1165, 0.9964, -0.0208, 0.8108, 0.6029, -0.6762, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4128 left_y=-0.037 left_z=0.0006 left_yaw=0.0179 left_pitch=-0.1196 left_roll=0.0202 left_gripper=0.9964 right_x=0.2468 right_y=0.0018 right_z=0.1209 right_yaw=0.0018 right_pitch=-0.3001 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -7.6923, 4.8752, 1.9219, 0.0317, 0.1245, -0.0024, -0.0342, -1.1556, 6.8171, 1.6044, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d8de2f91571ec2ef91a9ed3e493bac99fbc03034684debb8e457530de13731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34fbda4491e6d9ea76d8aab6f0f8a2703a67e0465a852900f0eae96bb52de84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69f3ae06a38da8d4ff440e26619d5501bc112683825865000b98ec41e7baa6f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 5.734 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]: [-0.2455, 1.7584, 1.1988, -0.4377, -0.2363, -0.1978, 0.9955, -0.0208, 0.807, 0.6056, -0.635, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4376 left_y=-0.0633 left_z=0.0891 left_yaw=0.077 left_pitch=-0.3806 left_roll=0.1096 left_gripper=0.9955 right_x=0.2549 right_y=0.0016 right_z=0.1295 right_yaw=0.0014 right_pitch=-0.2525 right_roll=0.0044 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.5009, 9.6479, 1.4286, -0.1001, 0.1929, -0.1538, -0.0615, -1.2239, 7.0085, 1.663, -0.0269, -0.022, -0.0122]\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]: [-0.2028, 1.6325, 0.7757, 0.139, -0.1753, -0.1379, 0.9963, -0.0208, 0.8101, 0.6037, -0.6575, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4242 left_y=-0.0521 left_z=0.0693 left_yaw=0.0143 left_pitch=-0.125 left_roll=0.0285 left_gripper=0.9963 right_x=0.2504 right_y=0.0016 right_z=0.1243 right_yaw=0.0016 right_pitch=-0.2799 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -9.7983, 6.3385, 2.1709, -0.0415, 0.0464, 0.0806, 0.0068, -1.0872, 7.1316, 1.6435, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1577, 1.8187, 0.6075, 0.5037, -0.1402, -0.1165, 0.9964, -0.0208, 0.8108, 0.6029, -0.6762, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4128 left_y=-0.037 left_z=0.0006 left_yaw=0.0179 left_pitch=-0.1196 left_roll=0.0202 left_gripper=0.9964 right_x=0.2468 right_y=0.0018 right_z=0.1209 right_yaw=0.0018 right_pitch=-0.3001 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -7.6923, 4.8752, 1.9219, 0.0317, 0.1245, -0.0024, -0.0342, -1.1556, 6.8171, 1.6044, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6d8de2f91571ec2ef91a9ed3e493bac99fbc03034684debb8e457530de13731",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34fbda4491e6d9ea76d8aab6f0f8a2703a67e0465a852900f0eae96bb52de84d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69f3ae06a38da8d4ff440e26619d5501bc112683825865000b98ec41e7baa6f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQcKEAgSGAI4AUIIdGhpbmtpbmcSDNINcpHY8lISD8I+0hoMlm/eVnye9F5NkXLxIjB8DSEnZfImT6oYIKE/Zs2jvWW1lljK+tROvIL4UisELEkbZoLRTy9NmGGl0K0ZQ2YqxgbbNXeKqnK4UkPm39k/qQaWGXAvvHkIQ66LtuIfHDUBKCQaT5qcBPdW11ZB4Ly5MaM/EY+6CZe+15+UcXGXKiLD5ppR+96ZrOlPt8augTbCmJDLG/V7witCOcqAJxXacYP3msnIjEXYI3c+agiCbMUlz9SnFQUSFR9TM2k3eSMFhayBSWFn86Nf3yJSQqQ0uHkwyJYX21fIiKXgfIBOV6VzEs/W/JKi4mPZz8mTCIvSR6/YwzNoWQveML/wjUqii//zs2cLIBTiGMu2UJBkShIkp3HhwLYO7UI5Oo+y9KHwr0jxYgsMgUcpQAzEVVDB9kSnVP/0gvEDAI5Tdo65rsV56eO0tF7aqgHYibaA/klofiE8qP33ausssp1HouQ7eDgGb2S3YH17zoTbzN8dgly3Iep3s5Ajyb8b+je/8g4wDktWYmyjjTGJcx2pJv/X13KSjXiHiUipCzYslV1hSijpllDZDvvyDNxMPBK91FKhpDGS2R5ii2PPzid5sqIbxua/hLUtFeqs3lvXAYuPJAAwmwqqhVsi1NetKSyYRslq/5l9mIrkkeCdUqG3HgjqKBOKDJLH5+5d81/uCih3C8Rr8v8DPRY1rKm2FkSZ8JvrHO2DVqKB4+oQQiCqczjKT2Du+HbZtl6ah63zCTU2TcZl2FM3z/RYUE552rHK+sO+K2an3Or/aWLOvdh1XKZaZRa9We8Ajt473ju/+HItO1gyZZLCJK5AEBI82cOCfQKNR3VhcxHBWKgMCeF+26SNUEPaIgviACW8FF+IdWCqkYKw+7y37f60RPyBL8wxJE/yYSYa1+I3pHJmgYEAdHJxf9IpRR+uOXzQh8x+mDuOFZv2Z6MZdk+P+EKxEYMMAJLxEkL9MFEGD93A0LcB1UjumYsFuVdFGYKUhgg9n5/vlQfNAiYn8jh3Ebq2PovabWD6eNsYQpqQZJeBNlH6TZkTNQK3Pee3Y8SuF9UDN0ZyX81/Y5B1XSUBzfT9AiZw/MoPj2hxJmKlxcKKmrR5DQyOn4wali9yqwxUq0vN8sOFLoV8dWzXnYYdR8KTMkIdq4OZB93tNsqTHT654ZKbVpynJhdSUpxyV+7QM9v76ax7AXglhXyr/1hCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RzZjf6Rjg1sS84gjEVMCeC",
      "input": {
        "note": "Teddy fills the view directly between the jaws at table level; closing.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RzZjf6Rjg1sS84gjEVMCeC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.8309, 0.6006, 0.614, -0.1307, -0.1112, 0.0101, -0.0208, 0.8108, 0.6025, -0.6842, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4255 left_y=-0.0398 left_z=0.0147 left_yaw=0.0082 left_pitch=-0.0307 left_roll=0.0033 left_gripper=0.0101 right_x=0.2452 right_y=0.0018 right_z=0.1195 right_yaw=0.0021 right_pitch=-0.3085 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.2547, 4.5333, 2.1221, -0.0073, 0.0806, 0.7839, -0.0205, -0.8547, 6.7487, 1.4628, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdda8cf2bf1a150f58a77e71669be99566d6a8ed213156dd38cbee3cd5e79525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ac596af2f3fca30814b462427b064f46af96145cee426251679b5c6dab34e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56ee27cce233a92dd98c53d6ea6c9f016c00922409b3fd9fc108e6b9d1130089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.117 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]: [-0.2028, 1.6325, 0.7757, 0.139, -0.1753, -0.1379, 0.9963, -0.0208, 0.8101, 0.6037, -0.6575, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4242 left_y=-0.0521 left_z=0.0693 left_yaw=0.0143 left_pitch=-0.125 left_roll=0.0285 left_gripper=0.9963 right_x=0.2504 right_y=0.0016 right_z=0.1243 right_yaw=0.0016 right_pitch=-0.2799 right_roll=0.005 right_gripper=0.9996\nstate[joint_eff]: [0.4308, -9.7983, 6.3385, 2.1709, -0.0415, 0.0464, 0.0806, 0.0068, -1.0872, 7.1316, 1.6435, -0.0171, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1577, 1.8187, 0.6075, 0.5037, -0.1402, -0.1165, 0.9964, -0.0208, 0.8108, 0.6029, -0.6762, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4128 left_y=-0.037 left_z=0.0006 left_yaw=0.0179 left_pitch=-0.1196 left_roll=0.0202 left_gripper=0.9964 right_x=0.2468 right_y=0.0018 right_z=0.1209 right_yaw=0.0018 right_pitch=-0.3001 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -7.6923, 4.8752, 1.9219, 0.0317, 0.1245, -0.0024, -0.0342, -1.1556, 6.8171, 1.6044, -0.0562, -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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.8309, 0.6006, 0.614, -0.1307, -0.1112, 0.0101, -0.0208, 0.8108, 0.6025, -0.6842, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4255 left_y=-0.0398 left_z=0.0147 left_yaw=0.0082 left_pitch=-0.0307 left_roll=0.0033 left_gripper=0.0101 right_x=0.2452 right_y=0.0018 right_z=0.1195 right_yaw=0.0021 right_pitch=-0.3085 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.2547, 4.5333, 2.1221, -0.0073, 0.0806, 0.7839, -0.0205, -0.8547, 6.7487, 1.4628, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bdda8cf2bf1a150f58a77e71669be99566d6a8ed213156dd38cbee3cd5e79525",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ac596af2f3fca30814b462427b064f46af96145cee426251679b5c6dab34e33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56ee27cce233a92dd98c53d6ea6c9f016c00922409b3fd9fc108e6b9d1130089",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gkKEAgSGAI4AUIIdGhpbmtpbmcSDL6YA2ip3ZtC/TN+1BoMhCufbu8XH3HBz8OyIjD7flRdP42JzVrIh/9Cuq09DfyEPQlcyCier6Jutcyr0JQULz/4YY5Z0ybeNq/GVNsqkwkoYNsOHbadiXDWk1wiFA/APZtoNc+9iesGiKIbyVPaF6MPW4n0yczUJizSZDmcKehfEqDNVyQjH570Fk6UeWTvXCk4xMcGBYoPPsY3KKuZF24MjfIKgOM4pjxRPC1QhYCYG3YFRdMGqatvk852O3ryXXJnznfXAr3Kvt2TVnN40Mas/6/OBmdlMG0KRmJQdmQVbQhhrf/SedYicVnlgKND9XnlTLkd+ZCEQ90E4adAKk5E8S6X9Qw0XG0+D1D9uj20+wVJfcxI7PSQk9SgwOqvZCU2BqZuKejCQureEiArm90csYWjoLl+PUnQEH1zmZDCrBMvkCszC2cns9ek7Rs1zDQl+bOR/FzdXhFzReKuHhXQfBsuma2qo7fuSTUorip9XuiwXAR0U6eq3RXvKG8bECx2DAHYsj6wYKJKxs/rn50t+NmnycAorenhAvI3e37RiJiUb1hrNmH1w976VhQtHpXTzi2M4uC6ssI42NvhwQycZ1vLBTtc9SZWKc3Kj8LUIQ6uzO/a/JUhSikX1ZO8hXShOuAObrwlIi6cP8VuVEnb2hkWFchv2o6i9lek48xdl5CekuBjxpcajnopVJptr2LFaz36HsyJa021BgEMxrDW0fWS93P/Gqrr4qwaDxbMbo0EvpV1BG4NjgO3KF8DbHeX0L9/EfGlleHzAg7F/mYxJM/OQnRDpT7HKti/MOe1Lwys7AGAELFc37ISCfkDngYrtdIommZBOB/2mkSbpjyFhETEK4UXx2O/Eq6iOiuGXoa/koNhv62Geuq6oyLxDBT5gJL9CC7wRf8aw2M9+DJLMQp9OH5uks2YzPsjUuXXQ2QY0iVhr8OlewFTHvNy4td+rCH13NtC162jwM6keTpwQv+xEV/hfk5On8b/UIIo+bQ1MEJJqga83e/MVACV7DjTZ4V9/o801dEm3Yb/psehjyBQhWkJeVZEIjDYjVdWslkCq9hpAy7wwYX7TzY4dFh1xtOjZL7XmJV7cvt8Rz+rIh73pxdpWadIXJ6pq9BEEf3CuNisxBPXzjYz1AU2JnxSfpohcUOPT0RdP2gXcGxbWgjWCA6mjQF/+HpPvn9N3VtdF1Hl8Yg/XF2985z09W2kmaB2ZDl4EfBqslRacW6IsNJPr5pJ8dqt1JuHIIQZ3j92VlW9UkKEmKN3ee3hfFEqigqZvMTA3gEw7u6nMxvkUGRMDahGuXp8bEBnn0JZdNcl+Oisfb3QJLvZ2ZUsmYX9IN4tQRVFH/eDfYRiAxBmNDiw+v/A6rJG6OpcouyJWtV6SghFf1y6yMhaBr+GMeBOfLCWzz0Yd01gxuIHUlo8teJSs02LOS2oBH/LpwyAFuaTy1y2c6AbzR7lAj5zeMh1dXB7hUhZFYLH2KzrSwOkmor2Yac9vA5RWYoXc+/AUIQKixZ3wBtgtE+A9h0QC/fZLNGmScakQRsNW/fxMMmQpVK+NYfhHLtU17cGcZsqqbNbC+XMNpxcHDaJ7jQknvcACAeIXwo3skC6aUIYjyQSNod6pQTscl+qBk10qdD8ehahEXFXCytrzZYtRmqzfjwiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017iYcP6gzeUSKhgoirFzE9a",
      "input": {
        "note": "Empty close: the teddy sits ahead of the jaws. Opening and raising slightly before stepping forward.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_roll": 0,
          "left_yaw": 0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017iYcP6gzeUSKhgoirFzE9a",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.7298, 0.601, 0.503, -0.1303, -0.1127, 0.995, -0.0208, 0.8108, 0.6018, -0.7017, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4188 left_y=-0.0388 left_z=0.0334 left_yaw=0.0087 left_pitch=-0.0402 left_roll=0.0034 left_gripper=0.995 right_x=0.2416 right_y=0.0019 right_z=0.1165 right_yaw=0.0022 right_pitch=-0.3268 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.9094, 6.4752, 1.7411, 0.0269, 0.0708, -0.0122, -0.1983, -0.9368, 6.7624, 1.5946, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3143c5378c72def5415b380f2798a8e01d06b7fa2a6db59855f217bb661a1a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7537a1c24db67995f714d90b34dcf508c01240301941219b8129ac91d42ae51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:944a9afc1b093b55ad06060b7180ab1fc3b5e57aef97a1520c49b2e6151bd77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 3.453 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]: [-0.1577, 1.8187, 0.6075, 0.5037, -0.1402, -0.1165, 0.9964, -0.0208, 0.8108, 0.6029, -0.6762, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4128 left_y=-0.037 left_z=0.0006 left_yaw=0.0179 left_pitch=-0.1196 left_roll=0.0202 left_gripper=0.9964 right_x=0.2468 right_y=0.0018 right_z=0.1209 right_yaw=0.0018 right_pitch=-0.3001 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.4581, -7.6923, 4.8752, 1.9219, 0.0317, 0.1245, -0.0024, -0.0342, -1.1556, 6.8171, 1.6044, -0.0562, -0.0317, -0.0122]\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]: [-0.1555, 1.8309, 0.6006, 0.614, -0.1307, -0.1112, 0.0101, -0.0208, 0.8108, 0.6025, -0.6842, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4255 left_y=-0.0398 left_z=0.0147 left_yaw=0.0082 left_pitch=-0.0307 left_roll=0.0033 left_gripper=0.0101 right_x=0.2452 right_y=0.0018 right_z=0.1195 right_yaw=0.0021 right_pitch=-0.3085 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.2547, 4.5333, 2.1221, -0.0073, 0.0806, 0.7839, -0.0205, -0.8547, 6.7487, 1.4628, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.7298, 0.601, 0.503, -0.1303, -0.1127, 0.995, -0.0208, 0.8108, 0.6018, -0.7017, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4188 left_y=-0.0388 left_z=0.0334 left_yaw=0.0087 left_pitch=-0.0402 left_roll=0.0034 left_gripper=0.995 right_x=0.2416 right_y=0.0019 right_z=0.1165 right_yaw=0.0022 right_pitch=-0.3268 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.9094, 6.4752, 1.7411, 0.0269, 0.0708, -0.0122, -0.1983, -0.9368, 6.7624, 1.5946, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3143c5378c72def5415b380f2798a8e01d06b7fa2a6db59855f217bb661a1a84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7537a1c24db67995f714d90b34dcf508c01240301941219b8129ac91d42ae51",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944a9afc1b093b55ad06060b7180ab1fc3b5e57aef97a1520c49b2e6151bd77b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQcKEAgSGAI4AUIIdGhpbmtpbmcSDJZjXddHdWVPgHlLCRoMeUExX/OYLBVaFF/MIjBztr13aYgG3JQ2Yy3tktJeunbBE2DolDf8ynWtXz1BGCPwHTjwjwtsVvK2+kNliVsq4gap+yNgGFSeL3Ev/IxdZvJQmP5jTZJFpiazW1D7Tuao/yxc4ucOxtK8ERkSfGX0uFu6yLZWuJdQZcEHjiFro1Pi+t0V+9wvWkUIF03lVVeHQJyWEDqSs+WJ5RwcsEwEWwsNXwY8tDKjPcFEom484/YlzFzS+VZixXLV3MEIzhG8iFrVJiJn2hvtWF7DxiIcbD2emq35shBhf5iZKbMxVPLUxk/RhGyUEHXXC0UZrpI2o0jnEFtpZ6MPJYYhirJnIBvB23TjfyjkIQu0GPgrb4d+NPHS8gWusvw8hL22UIW51ODZ38gzdRnV9MbyGRTcghX5MLSB/TPYz28kCnPHjjtWC8yvCl5ivPDpp5y7fIuInUl8oty8OMXrfNaCNAew1R9SK6TxqeYGrJVflzYu+u85bwj4/pO5idA900CUGOaRS6s1k8vqJ07JMtHQSaMC7LWCYOffSC+6KF8HKF8gvQePqJ76P+OGC1VoeJDkY+0gm8X7hBgOrIKbYmTSOQ4Rafwd5p+jWZeZFjy8Jv6pAVrSMnUhrIuZM25q3VUPAxeEo8G8Qx/2QgnXhLROaDbDNVLtsBdpaMar/ha0Jn/6XakOgb4RkwOAevC5QZtq/eYL+M11fAMBjt4nMXKY0FXN3iQj81VtAb3U2FjlnUfj5KkotmVnuW/49FOs+Qygglb2JGfkjNZTT/N+WX8A+TwjchL8lgIhSI1Xe8FjbdqTjLwf/edSN0A3Y1BjR1DtyuZ659usMlr7Ts++yTJUSdwrc5A/yyE0nviUWWGyyWqnEQWmk6OCQ07dEAESwWEfxcdquA7lj6KfP5u7UEJhf3FPAZv9LkgKxy+DmIraek1/x5xdKYaUukMQrJ+MhNMmaaGAM3+eHBz/xfJnhbejHQaWzEvjx4HreQS7doSb0Sh3rPx7JHe5dn0xta4AUX8qEeY9yLU6TMLBfrTkaCxwkqfzRSsqGvzqfUXLeO2kgD4CuFO3yAt8vPpxgQC8USias8GK0SSWR3dSnZhytR6WOP0vB+vsVo9Sd1xdrscLbFjNmQFOWnObrUW9eEBj55brBZkQ5VnbhmB80e1YBtRkY8w/AAGdlGc/9CI1B+pGF3/klR/vRz4UkfXWJLuk7Og6qVngTVPbXcGmChktOtuFRCawJ8tYGhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Q3hnF6zLUXyxTqxq1CkyJN",
      "input": {
        "note": "Teddy lies ~4-5 cm ahead of the jaws, beside the (now closed) safe. Advancing forward and down to put its body between the jaws.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.47,
          "left_y": -0.04,
          "left_yaw": 0,
          "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_01Q3hnF6zLUXyxTqxq1CkyJN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1356, 1.9507, 0.7261, 0.585, -0.1196, -0.1135, 0.9962, -0.0208, 0.8124, 0.6018, -0.72, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4537 left_y=-0.037 left_z=0.0007 left_yaw=0.0202 left_pitch=-0.0547 left_roll=-0.0013 left_gripper=0.9962 right_x=0.238 right_y=0.0019 right_z=0.1134 right_yaw=0.0021 right_pitch=-0.3467 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.8974, 5.9692, 1.746, 0.0904, 0.1343, 0.1148, -0.0205, -1.1009, 6.9402, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f2f2e231f114cda8ba302cd4f65b0e1dcf30a57670d56d97e6401528de6f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6cbb650cd6822a3a2d003814a1a413afb078b3dd55515cea2707b7d73d7f97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fe31fb41c13fc9119b0aa70edb7a115e7f1a29bf99fbfd2ba49dc518065aceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 6.037 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]: [-0.1555, 1.8309, 0.6006, 0.614, -0.1307, -0.1112, 0.0101, -0.0208, 0.8108, 0.6025, -0.6842, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4255 left_y=-0.0398 left_z=0.0147 left_yaw=0.0082 left_pitch=-0.0307 left_roll=0.0033 left_gripper=0.0101 right_x=0.2452 right_y=0.0018 right_z=0.1195 right_yaw=0.0021 right_pitch=-0.3085 right_roll=0.006 right_gripper=0.9996\nstate[joint_eff]: [0.3487, -7.2547, 4.5333, 2.1221, -0.0073, 0.0806, 0.7839, -0.0205, -0.8547, 6.7487, 1.4628, -0.0513, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1555, 1.7298, 0.601, 0.503, -0.1303, -0.1127, 0.995, -0.0208, 0.8108, 0.6018, -0.7017, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4188 left_y=-0.0388 left_z=0.0334 left_yaw=0.0087 left_pitch=-0.0402 left_roll=0.0034 left_gripper=0.995 right_x=0.2416 right_y=0.0019 right_z=0.1165 right_yaw=0.0022 right_pitch=-0.3268 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.9094, 6.4752, 1.7411, 0.0269, 0.0708, -0.0122, -0.1983, -0.9368, 6.7624, 1.5946, -0.0415, -0.022, -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 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1356, 1.9507, 0.7261, 0.585, -0.1196, -0.1135, 0.9962, -0.0208, 0.8124, 0.6018, -0.72, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4537 left_y=-0.037 left_z=0.0007 left_yaw=0.0202 left_pitch=-0.0547 left_roll=-0.0013 left_gripper=0.9962 right_x=0.238 right_y=0.0019 right_z=0.1134 right_yaw=0.0021 right_pitch=-0.3467 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.8974, 5.9692, 1.746, 0.0904, 0.1343, 0.1148, -0.0205, -1.1009, 6.9402, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9f2f2e231f114cda8ba302cd4f65b0e1dcf30a57670d56d97e6401528de6f4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6cbb650cd6822a3a2d003814a1a413afb078b3dd55515cea2707b7d73d7f97",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fe31fb41c13fc9119b0aa70edb7a115e7f1a29bf99fbfd2ba49dc518065aceb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013NXDT3ASNp1bU2FdhKZCy1",
      "input": {
        "note": "Teddy now fills the jaw area at table level; closing.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013NXDT3ASNp1bU2FdhKZCy1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1368, 1.969, 0.7376, 0.6022, -0.1268, -0.1154, 0.0238, -0.0208, 0.8154, 0.6018, -0.7319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4582 left_y=-0.0369 left_z=0.0001 left_yaw=0.026 left_pitch=-0.0439 left_roll=-0.0002 left_gripper=0.0238 right_x=0.2357 right_y=0.002 right_z=0.111 right_yaw=0.002 right_pitch=-0.3616 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.3453, 3.6581, 1.536, 0.0171, -0.0171, 1.16, -0.0342, -1.2923, 6.8444, 1.4383, -0.0024, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7a5b063da5e7fd5620ace1c6cdb4f41479ad2ab86b566714edcc43f9063a657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd50b5794e767eae368db2ccfc39c4611e1e7db9623e0c248d804a918629168d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bc4ec297e0d64713e8f9eb4b660223c47eb926ccfacdd30fd5f48329feb518a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.127 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]: [-0.1555, 1.7298, 0.601, 0.503, -0.1303, -0.1127, 0.995, -0.0208, 0.8108, 0.6018, -0.7017, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4188 left_y=-0.0388 left_z=0.0334 left_yaw=0.0087 left_pitch=-0.0402 left_roll=0.0034 left_gripper=0.995 right_x=0.2416 right_y=0.0019 right_z=0.1165 right_yaw=0.0022 right_pitch=-0.3268 right_roll=0.0064 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -8.9094, 6.4752, 1.7411, 0.0269, 0.0708, -0.0122, -0.1983, -0.9368, 6.7624, 1.5946, -0.0415, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1356, 1.9507, 0.7261, 0.585, -0.1196, -0.1135, 0.9962, -0.0208, 0.8124, 0.6018, -0.72, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4537 left_y=-0.037 left_z=0.0007 left_yaw=0.0202 left_pitch=-0.0547 left_roll=-0.0013 left_gripper=0.9962 right_x=0.238 right_y=0.0019 right_z=0.1134 right_yaw=0.0021 right_pitch=-0.3467 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.8974, 5.9692, 1.746, 0.0904, 0.1343, 0.1148, -0.0205, -1.1009, 6.9402, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1368, 1.969, 0.7376, 0.6022, -0.1268, -0.1154, 0.0238, -0.0208, 0.8154, 0.6018, -0.7319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4582 left_y=-0.0369 left_z=0.0001 left_yaw=0.026 left_pitch=-0.0439 left_roll=-0.0002 left_gripper=0.0238 right_x=0.2357 right_y=0.002 right_z=0.111 right_yaw=0.002 right_pitch=-0.3616 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.3453, 3.6581, 1.536, 0.0171, -0.0171, 1.16, -0.0342, -1.2923, 6.8444, 1.4383, -0.0024, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7a5b063da5e7fd5620ace1c6cdb4f41479ad2ab86b566714edcc43f9063a657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd50b5794e767eae368db2ccfc39c4611e1e7db9623e0c248d804a918629168d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bc4ec297e0d64713e8f9eb4b660223c47eb926ccfacdd30fd5f48329feb518a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAoKEAgSGAI4AUIIdGhpbmtpbmcSDLA8kq+vZyHDSRdhiBoMao6UDzkyrq7NOQlrIjB+OfNg4EFvcS7kXImXqioixlHbusPiAJKQGT7DjjvjrmpKxHdXsVrwC4J6xebSsWgqyQnTeGcMVDv2+33d/3HUHJL14LqQCrRczO85YcTJ0TLUku9AhasMm7cY+48fO1M+/iTzz/HktMwd1sFzd+HRwg/vMe88fW1z/PHy7lF5ekx3qr/7n8si8nmm+2eDCv9IA0ALWcJ2LFJ2i5umQlnilVEuPVgflbzuKjqZ/3gZHrzMdHytilLe/sDgJXQzy/cIDhXImLlGXAyqv1oDSb9oFyl66Fvlf3ViGO4Dxm2aab7rLNEubaRKgdxRhUE/cuC4ixGvzxfLk7FOp1NHhtbkYuPKyNJ46Nx3FKL74qZrvLLzaIl2NTDQc66ix1eMXwZ741amF3TGWhkcEuuUk4tPWuDUnnOHyoktKRARtPRkgtM3r7p7yndAIkuhRY+zDe6OZWsLaUbTZcPZAW2bKGuNtXrI8f2HFMYYFOTDd7p+bzpA9nxq3s/ma+yf2Fa61WLUv1TcI885ziRppKUDuJZYvO/XMWKJTJNhmxLaBrqV3TT2O0Gsy9Bu/EC+Ab77teilVGuXaWfJhcNMudEeit9qhttYkMYVjc2HWAJkYJTfh9CA00Ju3NqdGZtrrPikPa9UzrElANUTHnXQZMc3dv/r01YJDitSVf+BKP2vhDkvVTnGAW+6fCOcw97aqgzeBxQSpVvEIUHIh2Wk9DK0h3PzWXEIQYpANr3EhbHhVxk3EkBFAbH+5NVOTawQuT+FtAUbPtkZ/NjOO9V8N1XxYVOKl+ogoctMzZRsbu34nzaMllsJswVuUANbI8ew6RLEEpO5am81XtpaJooVAHZUwPW0DpRNsOKFCDmvqL3BxliouxeDCB/UCJcF24f8wc9GSANBUKUgBAGfFl8DsDOO/Hk0v12JjMkMmyjAkzF9lPAf1DCSipeNjtbL6XDfJ0JauR5t1T8V7V7fqsjegkis4BTbC7t1+Tfv1JqxQc3OGTK6ViARxRVWujQxTAhPb8sO6xxkFObGD/iCEsfcA/YCwLl/As2HRX6Rd8M1Jv4o81SI93Tg8SP6Y1Yy4pbteTQR3zS+yuwJ+PawfQGu5ME/tdA7bqjaReFgkKs+EznoklLYUdjB5DNAxpWHhuSz4h0uuzGoMolqOCin2VZM9GgyGuBmipbf+VGN+ORmv0L/thTjkQLsEFnIJ5uPbtefihxEjQAMNZcVr3KxolUnWxvGm/B2gBRkxacEWX+A06TIpJc+YQANAXN/g3IvFcXDDsXVZpuE9t1iG5kuzOK1Ihxh6VSXZoDSvxOG7uQQwp+MRgFdJukjWfm3IsLKWb+CUgZwc6eB6gfif3K4REWnGJ9DeEMOpY8T0Gs6SSrkbs+nbCaqfcTJAw/f9Ip9Vwj04AaqJ/WxLMoIOwXIwFdOFHIpV0Z7W7Rc/o781Wus27OxC0zyth5XnTJLVbueXKA4DlyCDcB7mJcald57o5ZafOt0MJjLd0zNBdtc53mIfsiOEMgtKEg6M9AbGQ4EmfkQ0J2eBzrV/jGdSRkK4fmra+43sOBVUmckVt6KlgGiFF1AAF1yVV17miqwGsymjt0U8sohH3owfaVx1UstL4hzgn8X4jTMvBZR3oyGFvOJqfCMo7eWHl19UEcO0Sas5LHGXdVi/aceEpyGd/TNXa+rEktvDjGvTWpVDhf8H2AmyEk+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012bFfAaMGsmiYwCbrf9KNLv",
      "input": {
        "note": "Empty again; teddy is sitting ~3 cm beyond the jaw tips. Opening, advancing to x=0.49 and grasping a bit higher on its body.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.49,
          "left_yaw": 0,
          "left_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012bFfAaMGsmiYwCbrf9KNLv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1169, 1.9675, 0.8349, 0.461, -0.1146, -0.1017, 0.995, -0.0208, 0.8173, 0.6018, -0.7464, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4722 left_y=-0.0315 left_z=0.0065 left_yaw=0.0286 left_pitch=-0.0868 left_roll=0.0099 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1085 right_yaw=0.0024 right_pitch=-0.3779 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.2872, 7.9385, 1.8388, 0.0904, 0.1392, -0.1099, -0.0205, -1.1692, 6.6803, 1.4188, -0.0562, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41bc9a1fc2ec4bc5c1f50a2f1402b4f3ced77725db7922e408c8484961ae11c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8bbd19a67610a479ef4289a49a65c37215f6491a0b3b959574d0636af0353d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4662cad591005b17939ee0681c50d3fa42d1acab2d70d8dd9812c0b96340e554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 6.936 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]: [-0.1356, 1.9507, 0.7261, 0.585, -0.1196, -0.1135, 0.9962, -0.0208, 0.8124, 0.6018, -0.72, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4537 left_y=-0.037 left_z=0.0007 left_yaw=0.0202 left_pitch=-0.0547 left_roll=-0.0013 left_gripper=0.9962 right_x=0.238 right_y=0.0019 right_z=0.1134 right_yaw=0.0021 right_pitch=-0.3467 right_roll=0.0066 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -7.8974, 5.9692, 1.746, 0.0904, 0.1343, 0.1148, -0.0205, -1.1009, 6.9402, 1.6435, -0.0513, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1368, 1.969, 0.7376, 0.6022, -0.1268, -0.1154, 0.0238, -0.0208, 0.8154, 0.6018, -0.7319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4582 left_y=-0.0369 left_z=0.0001 left_yaw=0.026 left_pitch=-0.0439 left_roll=-0.0002 left_gripper=0.0238 right_x=0.2357 right_y=0.002 right_z=0.111 right_yaw=0.002 right_pitch=-0.3616 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.3453, 3.6581, 1.536, 0.0171, -0.0171, 1.16, -0.0342, -1.2923, 6.8444, 1.4383, -0.0024, -0.0269, -0.0122]",
      "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]: [-0.1169, 1.9675, 0.8349, 0.461, -0.1146, -0.1017, 0.995, -0.0208, 0.8173, 0.6018, -0.7464, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4722 left_y=-0.0315 left_z=0.0065 left_yaw=0.0286 left_pitch=-0.0868 left_roll=0.0099 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1085 right_yaw=0.0024 right_pitch=-0.3779 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.2872, 7.9385, 1.8388, 0.0904, 0.1392, -0.1099, -0.0205, -1.1692, 6.6803, 1.4188, -0.0562, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41bc9a1fc2ec4bc5c1f50a2f1402b4f3ced77725db7922e408c8484961ae11c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b8bbd19a67610a479ef4289a49a65c37215f6491a0b3b959574d0636af0353d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 145):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4662cad591005b17939ee0681c50d3fa42d1acab2d70d8dd9812c0b96340e554",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgkKEAgSGAI4AUIIdGhpbmtpbmcSDHUXrdC8Reyo4pAVrRoMPPV58I4otTbgLr4TIjDdd0yJQ/c8lG3ItrkiwVOE0C22/NWgl/QXNXHXz+mRvQJO8HEEmrNY4W/5s5Yt/i0q4wiqSUQAuT5fyKi2xc5rRYxUsXxkU0+YSBJoVjmqf2vI2lWWnpI3lwn2lEtEuD6RrxiXe1nF4l5ixTqBOfXvVIXjRRwOEtMz85YtrmrO8tTvSJffCZOqNIRTMwe0vF4k8PFoZznsdfbStjMXaXIyJsFurYje1ZFp+Fet7sYMq80r1Y8zLVOlu0TkHUZIOIOR/I337Rq8KlqmA17X6Efsp13T3W2UWTIvTMii6wG5ccp5AiIUrOE4O9QqK/XMtZ8AJ5eE6tBk3RJQ67V4cT/9UHcAahwPYwQVq+OfjwLNHcpgBEdFYj3uH2vj8zOz3unCrZxGDnuMFOH58PONx9mlnGTnMuPIDGOPRMCCVWJONjc8qBCk5doKxiIy3f3QlTnLxWT9qj9t1N9qBN7LGWx0BivWhfrFIsehlcIfFTlkCzqvuyj2ubr8ClDfTKUYKaKh4SO5tJ2fitAHd6ljLwhuLOMavwZvsbkd2YC4KT6PYT3ni20K1Vppd4YDDkx8vO4y7RulPyjIzjn6aPDX/1pkmjlhXcKbwftDMVAOF7jTfjlLiOHEpCr/+ZJPmlY0SQw71cFi0u1U0xJD7B1PgnkrJ+HfTL5SQ2N3mvUwDCc8GoixBoyMYTOhQxdBOfKzS8qtthZjlqWU4s5ZFj6ES7AvZae42uIrlPZwwobDBSNrpL8byUMcWGf8BJxEUjFurr8azs9IJjyWSOgztSQ3Ye5hS9378ccO3qQfk/edOi8JDr0PIxzdrnVSMVn3m9qIdqBmMsYLWVBhMWnqda1gdT56TXtdAlGtoONGzbvfGu5HUaPhG3WSqyjKtAT/pKJynrClRyHrgZC36tF9qbIGFwLIsn4d9JpKgu+Z7XmerNvDbqA6mSSmx60qGdSI2ZGKuI/nTsR3ir0i/qd7xPy+gwWGz4f/7lcvzP0GknqdVbM5AmeIn1dpl2pp0s3YIgGEQ5A+96XE/KxVPCh3a16OboOFBZCTiNmjKbh6xBW69YATCUcQElzRS8MJgRFOqaVyieomhkbraZaJNDfQ9Ud3iSSjVcFZCHN5Xmq3cHzGbsxNxrfUBnqL+iZPsBxhXlSxWFly/ftnbM+UjvYMWXuD3xqFjxTAWHydC/f9eckXSvtayJusO8qERQQl1K+fFBHX4ebnSPVFVtCBQyq1k/9JWKyAwGHmhMBd//qHsl7+9p4QY49ECXfE1M9DR8DImiAloX7jNFFH0A6uvRVAZ07ufriB5cmwS18h6MMAKW+Yb6cJcfX8KESCTuWpxCh0kL01MBVX0y+9Rn3coR2ZX5720GXRIPmy6gVksiRZOdjz4BjKkJKcZPGtjtuPXH174xCUZ97+NMocRQ5j2/nuVd/AUbR0eaGfdE9ueJVi6KRhWnmsEYfX9ltr0fHUIP1Uulej459/mqYWtxEAyuKaC7x3qpipTN3QnamWIimeDwBF0yPeSzej2CAZMdnMn/9XMZ5/GNStExFZLNVKjJkhBaXFRsT6pGye8CxOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GFcdwJsSQidCc7qJ1D2c9C",
      "input": {
        "note": "It's a small keychain teddy, now right in front of the jaws but slightly to the right. Shifting 1.5 cm right and settling at z=0.02.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.49,
          "left_y": -0.045,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GFcdwJsSQidCc7qJ1D2c9C",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.9835, 0.8452, 0.4778, -0.1413, -0.1131, 0.9963, -0.0208, 0.8173, 0.6014, -0.7471, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4758 left_y=-0.0399 left_z=0.0064 left_yaw=0.0307 left_pitch=-0.0733 left_roll=0.0155 left_gripper=0.9963 right_x=0.2325 right_y=0.002 right_z=0.1083 right_yaw=0.0023 right_pitch=-0.3791 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.9521, 6.5983, 2.3028, -0.0708, -0.0513, 0.1245, -0.1709, -0.841, 6.694, 1.3065, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34129ece72f6d15bdf265f509213eea8d7bc7623b5ddb0fad551fd466e26d032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98988f5042d6abdb3874304acd23d9b35d758e20dfc0f86bc7eeb830d75a71f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8612fbf423d98ffcd292f7a6c22b46d336e640ca7aebc2b5a4aabc5492df701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 8.215 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]: [-0.1368, 1.969, 0.7376, 0.6022, -0.1268, -0.1154, 0.0238, -0.0208, 0.8154, 0.6018, -0.7319, -0.0185, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4582 left_y=-0.0369 left_z=0.0001 left_yaw=0.026 left_pitch=-0.0439 left_roll=-0.0002 left_gripper=0.0238 right_x=0.2357 right_y=0.002 right_z=0.111 right_yaw=0.002 right_pitch=-0.3616 right_roll=0.0072 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -10.3453, 3.6581, 1.536, 0.0171, -0.0171, 1.16, -0.0342, -1.2923, 6.8444, 1.4383, -0.0024, -0.0269, -0.0122]",
      "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]: [-0.1169, 1.9675, 0.8349, 0.461, -0.1146, -0.1017, 0.995, -0.0208, 0.8173, 0.6018, -0.7464, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4722 left_y=-0.0315 left_z=0.0065 left_yaw=0.0286 left_pitch=-0.0868 left_roll=0.0099 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1085 right_yaw=0.0024 right_pitch=-0.3779 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.2872, 7.9385, 1.8388, 0.0904, 0.1392, -0.1099, -0.0205, -1.1692, 6.6803, 1.4188, -0.0562, -0.022, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.9835, 0.8452, 0.4778, -0.1413, -0.1131, 0.9963, -0.0208, 0.8173, 0.6014, -0.7471, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4758 left_y=-0.0399 left_z=0.0064 left_yaw=0.0307 left_pitch=-0.0733 left_roll=0.0155 left_gripper=0.9963 right_x=0.2325 right_y=0.002 right_z=0.1083 right_yaw=0.0023 right_pitch=-0.3791 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.9521, 6.5983, 2.3028, -0.0708, -0.0513, 0.1245, -0.1709, -0.841, 6.694, 1.3065, -0.0317, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34129ece72f6d15bdf265f509213eea8d7bc7623b5ddb0fad551fd466e26d032",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98988f5042d6abdb3874304acd23d9b35d758e20dfc0f86bc7eeb830d75a71f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8612fbf423d98ffcd292f7a6c22b46d336e640ca7aebc2b5a4aabc5492df701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AiL6nhnzzMVYsCPypjqE5M",
      "input": {
        "note": "Arm stalls at x≈0.476 near table level while the keychain teddy is a few cm farther. Tipping the tool forward to extend reach.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.5,
          "left_y": -0.045,
          "left_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01AiL6nhnzzMVYsCPypjqE5M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1593, 2.1326, 0.7895, 0.8711, -0.1764, -0.1074, 0.9969, -0.0208, 0.8196, 0.6014, -0.7689, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4911 left_y=-0.0439 left_z=-0.0005 left_yaw=0.0416 left_pitch=0.1154 left_roll=0.0037 left_gripper=0.9969 right_x=0.2281 right_y=0.0021 right_z=0.1048 right_yaw=0.0026 right_pitch=-0.4031 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.8444, 2.4957, 0.5446, -0.1783, 0.3834, 0.0464, -0.1846, -0.6496, 6.653, 1.4628, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99c847a034cb4b50c712da41c643c3019939e282ef4b1ad7a793bb67b8926c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1765fe1df33d0c90ea7b08c0764f58d8cef07218d3af74e638bfc1535d8d619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d4ed04f0766f96130e7709522ece013ff3756a49488589525d656c044fe691a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 20 attempt 0 · /messages · status 200 · 4.83 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]: [-0.1169, 1.9675, 0.8349, 0.461, -0.1146, -0.1017, 0.995, -0.0208, 0.8173, 0.6018, -0.7464, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4722 left_y=-0.0315 left_z=0.0065 left_yaw=0.0286 left_pitch=-0.0868 left_roll=0.0099 left_gripper=0.995 right_x=0.2327 right_y=0.0021 right_z=0.1085 right_yaw=0.0024 right_pitch=-0.3779 right_roll=0.0079 right_gripper=0.9996\nstate[joint_eff]: [0.2393, -12.2872, 7.9385, 1.8388, 0.0904, 0.1392, -0.1099, -0.0205, -1.1692, 6.6803, 1.4188, -0.0562, -0.022, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1432, 1.9835, 0.8452, 0.4778, -0.1413, -0.1131, 0.9963, -0.0208, 0.8173, 0.6014, -0.7471, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4758 left_y=-0.0399 left_z=0.0064 left_yaw=0.0307 left_pitch=-0.0733 left_roll=0.0155 left_gripper=0.9963 right_x=0.2325 right_y=0.002 right_z=0.1083 right_yaw=0.0023 right_pitch=-0.3791 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.9521, 6.5983, 2.3028, -0.0708, -0.0513, 0.1245, -0.1709, -0.841, 6.694, 1.3065, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.1593, 2.1326, 0.7895, 0.8711, -0.1764, -0.1074, 0.9969, -0.0208, 0.8196, 0.6014, -0.7689, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4911 left_y=-0.0439 left_z=-0.0005 left_yaw=0.0416 left_pitch=0.1154 left_roll=0.0037 left_gripper=0.9969 right_x=0.2281 right_y=0.0021 right_z=0.1048 right_yaw=0.0026 right_pitch=-0.4031 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.8444, 2.4957, 0.5446, -0.1783, 0.3834, 0.0464, -0.1846, -0.6496, 6.653, 1.4628, -0.0269, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99c847a034cb4b50c712da41c643c3019939e282ef4b1ad7a793bb67b8926c53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1765fe1df33d0c90ea7b08c0764f58d8cef07218d3af74e638bfc1535d8d619",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d4ed04f0766f96130e7709522ece013ff3756a49488589525d656c044fe691a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016oVRnY8H9zkuderDK6vDc4",
      "input": {
        "note": "Top view shows I've been pushing the teddy forward (now ~x 0.53, beyond table-level reach). Lifting clear so I can come down behind it and drag it back.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.45,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016oVRnY8H9zkuderDK6vDc4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.186, 1.6146, 0.6594, 0.6464, -0.2123, -0.0975, 0.9971, -0.0208, 0.823, 0.6014, -0.7879, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.0438 left_z=0.1368 left_yaw=0.047 left_pitch=0.2778 left_roll=-0.0091 left_gripper=0.9971 right_x=0.2241 right_y=0.0023 right_z=0.1015 right_yaw=0.0031 right_pitch=-0.4256 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -8.0205, 5.7641, 1.9609, -0.105, 0.1538, 0.0024, -0.0615, -0.9915, 6.612, 1.4286, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b1c86dd017cac98ed2b1ebf5784e2ebcd43ede8e72c5446566463da4b089ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f7bb2cd88fedc66a952c4628239df80af983ce2519111624e758904f8b4f7e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:85c889288380de6d9722e8283a5fe00e7b523094dfe65245562583a01b5ae44e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.551 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]: [-0.1432, 1.9835, 0.8452, 0.4778, -0.1413, -0.1131, 0.9963, -0.0208, 0.8173, 0.6014, -0.7471, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4758 left_y=-0.0399 left_z=0.0064 left_yaw=0.0307 left_pitch=-0.0733 left_roll=0.0155 left_gripper=0.9963 right_x=0.2325 right_y=0.002 right_z=0.1083 right_yaw=0.0023 right_pitch=-0.3791 right_roll=0.0074 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -7.9521, 6.5983, 2.3028, -0.0708, -0.0513, 0.1245, -0.1709, -0.841, 6.694, 1.3065, -0.0317, -0.0464, -0.0122]",
      "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]: [-0.1593, 2.1326, 0.7895, 0.8711, -0.1764, -0.1074, 0.9969, -0.0208, 0.8196, 0.6014, -0.7689, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4911 left_y=-0.0439 left_z=-0.0005 left_yaw=0.0416 left_pitch=0.1154 left_roll=0.0037 left_gripper=0.9969 right_x=0.2281 right_y=0.0021 right_z=0.1048 right_yaw=0.0026 right_pitch=-0.4031 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.8444, 2.4957, 0.5446, -0.1783, 0.3834, 0.0464, -0.1846, -0.6496, 6.653, 1.4628, -0.0269, -0.0708, -0.0122]",
      "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]: [-0.186, 1.6146, 0.6594, 0.6464, -0.2123, -0.0975, 0.9971, -0.0208, 0.823, 0.6014, -0.7879, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.0438 left_z=0.1368 left_yaw=0.047 left_pitch=0.2778 left_roll=-0.0091 left_gripper=0.9971 right_x=0.2241 right_y=0.0023 right_z=0.1015 right_yaw=0.0031 right_pitch=-0.4256 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -8.0205, 5.7641, 1.9609, -0.105, 0.1538, 0.0024, -0.0615, -0.9915, 6.612, 1.4286, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01b1c86dd017cac98ed2b1ebf5784e2ebcd43ede8e72c5446566463da4b089ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f7bb2cd88fedc66a952c4628239df80af983ce2519111624e758904f8b4f7e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c889288380de6d9722e8283a5fe00e7b523094dfe65245562583a01b5ae44e",
        "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+QgKEAgSGAI4AUIIdGhpbmtpbmcSDPazrgfIp9F0VNaKyxoMK1wDxes1vMuU4dRNIjAwB4wz+tkoBGhtEgwfpRbyvnhogx6yZ9HCsoCseWj0DtPuiMAugSCkCGgqnUjywuQqlgji5RsGr45SruhiP3UYT5AL54Vbs8shTCpwOX3d0txdA8MCKr5s0QELig1NwszoAo8BN/OoZsxa14jl0RR8s2V90xDzF7pcEot8i28zPqa4DCy7a6CyeikiPC5/Ws24hEi4UIIkrvcB0OVrAzLt4l7eZMg7+v39hzEyI277Q1LLyYvxUHQQF2xdWk0tsjylTzK92+XC+RCql6w83a22c9Ze+7UmtZ1dvTMUdg1Q4B8kHxoQ5HbQcmsNEybXGQFz67jCqVM17EUT/cWhXA1UytMFqAECsK3YYpzbiDUZO2Js5KmS3VIpsymCYyaKB5kefy2A9HtUurwKo/1UvDkwF+u7rR6OcDZwu6odP6/ymqYHl92VWlfW/gOk9yk/3X2uJtAmh7QV23mcgtvSS9OzPHWBl8X32ljzZ8TEOnHNCaBXS4FRvSylHeOlHAPN3sJyu7OcS7pJksMXp4HsYVHk8bWay6wpZYHmFYQQUEY86x9YPucWabjAH1J5gCvzlBWNWgrvHDmu6MMjlGpLKvbYa8ZnzF0fmN3AdEW6IuzdWSZ9ys2lKUDa82kv+o30RCFf4mTLd0M/xlwwsHJ2q3hMaWm6UvdhFzbsF130TIY2/R2B0blk8wCe90676d9TGnAInd25J4adB2Cp7HnHGH7S2mJ1e3+m4tMoFpv0TboBTtSZiEgqPcGYiCXcyJlcRVuoivExVkROJPkGJYxzBltRtWUctvaamkvc5eMAnM3w+1y9W3a756luR94EZa6lC2wSd0ymh6j78mDQjqbuBcQzhi/4d1tECwv3PXzSOoMwqmxI7EV4R0AlRR2LAYBhAPtDGbdTm49WYfo3iS1a/VFzDNQT5VmcogyD+NIja3wSD6HbATZuZqNAZgxjcs1H0h32I9vHWNfNdqCC9kAmBa0UoCbFTzAaS7XdrI1GD5nLFcqQAOaSaKa5duLzu9BxAv4MHB6AT2wjjaZJ406Au95eM0MtrQHF5s/W3juvTqtGVkHmCdUC+hPoqfl5GPGEZqSmgExTPASrG/qvTjOgFzDUI/Tpq0vk9SQXnbEQlggY2jJv9AIcMX7uSXSpiNLn5KzRrknA8HmxXYnVcJ5fZg93/WT7new0VVtav9+P5iHXJZbT/jn5uiGPPcmClSnM0iOKDG571YzcWs+xUBFibuzdF2+31A+/Zpm1QgIwyyGgklwzZMhqGRlhqON6MGsVouQj3YNGlf9gUccFdTF3b8njVjhDQNPkVS3E4MEZTO1tSwZVLyOPsOjF88mxp2ldqvVzHsNkcfq7N0GEU1ewzde7v3Va8Npzto7RbSJXuItrN2qPhMzwP7VYei4YXCkssnH8cTzlFOE0XI4j7hxKaJQFbjCQoVRjxIITCmdBx4fJdTpIrtQPa37BwBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HzDna5uxTqUwW42nPS8GUK",
      "input": {
        "note": "With the tool tipped forward, the teddy sits right at the jaw convergence point in the wrist view, slightly right. Descending straight onto it.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.47,
          "left_y": -0.05,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HzDna5uxTqUwW42nPS8GUK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1909, 2.0857, 0.6163, 1.0824, -0.2222, -0.0944, 0.997, -0.0208, 0.8276, 0.6014, -0.7956, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4589 left_y=-0.0454 left_z=0.0128 left_yaw=0.0444 left_pitch=0.2025 left_roll=0.0159 left_gripper=0.997 right_x=0.2224 right_y=0.0023 right_z=0.0996 right_yaw=0.0031 right_pitch=-0.4378 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -8.7316, 5.094, 2.2979, -0.1587, -0.0366, -0.0171, -0.0068, -1.347, 6.5709, 1.3065, -0.0562, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b2b51a6e1a837d74ed4ef08a9aad4d312c79a5f482e93db5cf0417da996bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4feb3fe096a20f3e9dccb6607c105b3eb46a3148a39d92d9e1e2e0b559492cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:92bc94eebefa0c208ab751b8686a66b26066c9e92f911190052f327b3553558f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 5.535 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]: [-0.1593, 2.1326, 0.7895, 0.8711, -0.1764, -0.1074, 0.9969, -0.0208, 0.8196, 0.6014, -0.7689, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4911 left_y=-0.0439 left_z=-0.0005 left_yaw=0.0416 left_pitch=0.1154 left_roll=0.0037 left_gripper=0.9969 right_x=0.2281 right_y=0.0021 right_z=0.1048 right_yaw=0.0026 right_pitch=-0.4031 right_roll=0.008 right_gripper=0.9996\nstate[joint_eff]: [-0.5538, -6.8444, 2.4957, 0.5446, -0.1783, 0.3834, 0.0464, -0.1846, -0.6496, 6.653, 1.4628, -0.0269, -0.0708, -0.0122]",
      "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]: [-0.186, 1.6146, 0.6594, 0.6464, -0.2123, -0.0975, 0.9971, -0.0208, 0.823, 0.6014, -0.7879, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.0438 left_z=0.1368 left_yaw=0.047 left_pitch=0.2778 left_roll=-0.0091 left_gripper=0.9971 right_x=0.2241 right_y=0.0023 right_z=0.1015 right_yaw=0.0031 right_pitch=-0.4256 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -8.0205, 5.7641, 1.9609, -0.105, 0.1538, 0.0024, -0.0615, -0.9915, 6.612, 1.4286, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1909, 2.0857, 0.6163, 1.0824, -0.2222, -0.0944, 0.997, -0.0208, 0.8276, 0.6014, -0.7956, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4589 left_y=-0.0454 left_z=0.0128 left_yaw=0.0444 left_pitch=0.2025 left_roll=0.0159 left_gripper=0.997 right_x=0.2224 right_y=0.0023 right_z=0.0996 right_yaw=0.0031 right_pitch=-0.4378 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -8.7316, 5.094, 2.2979, -0.1587, -0.0366, -0.0171, -0.0068, -1.347, 6.5709, 1.3065, -0.0562, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b2b51a6e1a837d74ed4ef08a9aad4d312c79a5f482e93db5cf0417da996bfe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4feb3fe096a20f3e9dccb6607c105b3eb46a3148a39d92d9e1e2e0b559492cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92bc94eebefa0c208ab751b8686a66b26066c9e92f911190052f327b3553558f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDKMBGL+KGU/SlajQlRoM8MCnfmb6zGAvMngTIjCpDQUR/J2pO4SuKTNSAPdxk4vIlUuGsUXbhde9jBKVEO+D4ez14wupRBmGuGPuo5kq0QcoxM8VyuAoXivpSWBi3UI01cy3YarlURWJ30i837uf2QJG6DEksPtUe460BxDn3dv+Jd1Acago1oI//dqODeIGH58CXb/ouzVo07wy7sjW7Z0QXQP9XKEqlsoa0f2Q2Dq6hx/Bpr6Tl37QCeecmXqX3zC8V3+jxCcIFbiL+6HFGr/9CjpUskywhZSw6LjrgP66Jb8AUUNBC0EY960DhMreGtsArVxIRZ4Jp1HgL0MtV3g294T+Xnip+Qmx2ZWjOTib4WQi+0+oQiOrB7oXHZEuwqviF+eXxj0hxIabaaoXnnmv4+CibbdxDVyGBHkVVHecNPgrffQV6dKuhe/mAW6nwm5BS7RUmjj53oATWFs1O5ynjjmmycqwVb/9bjsJaX4URJX34c4SnFfX3FjLJtTqOyy1LcUUIEyfVHhVBsXLH3dQhcpN4itPGGIy3kUyBTnthb4WkNm0bJeu/woh/vrvOfYQAeOJZlYZvWYe7Ovldaz+gQ/zNfKdVH8ynIEr6bSYhx1O9a1yWeUi0ay8DSzt8EDWxNr64gWjZ/dvTHuygcwwkLgwVoJgH0EDn51/HarOuUbzXKQHd2PgsRVo9j1B5uYVCVkhJFRuGQKWRtynMRHr6wtn8y8ohygs7fzf1IxLzIthHSU/X+eCmsrIFIGR6zFockRQV33c1llOcd2foRI7Fkpq+zDFI/k1CO3NYAwaeFQZDbPqvPK/F1BA/ASCFo5ROTIIiTYURD5d/JxsVT4UfnoqHctP94KV9GRMfIpanbV0Xl1klBiYzxmYa8DcDBYg1RhmHbEg8zGflktPsOQPSFo7TT8Cs/Q8ACLCwouwLmlUMBme2LwyFRzDgpwC137EbVsGgR2TMbPi+k92poEXnwaYWoyn+oHAN7ou6cNZIsS6vU2WBK7JwEvumJY3My+WqEpTToaMbDwZMLVsD6aw2dwwhK8kPxFoAJ8U1iAbK4aYffclllb6D85EtPQbbgjkMgynhB9gUhAPzckdjaoLzXm9l++27kMZJowC9FmW4vsL9jm/3BLqeTXAHTTBL84s3lv2a1FJoT/vjOYNYHx+K+3sq2vhaiR6QdWR2Xk3Hk3UYvij2/JocOzDXmANqfMChFjj+Rg/Tv/vL5ubQsOzHj4KQ1tXJA5aRCiiX9OfHncd4kCGI5204QTfIkA6kHy+yEECJ5yR2NKm/NxMyuQXk/xMCYNeQMeifI2IddZCQVpklsX/XmIkE947Z84FRgJ4QHOaIyAoYM1LmBFDB6fFVKEQ/sTJ9xmhVWkcrGeTSdXir4kqaCc9RnwAnq3RiBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SeDodPc1ADmmeME4vigeND",
      "input": {
        "note": "The teddy's metal keychain clasp lies right at the jaw convergence point; closing on it to pick the teddy up by its clip.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SeDodPc1ADmmeME4vigeND",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1951, 2.1098, 0.6151, 1.0748, -0.2249, -0.0975, 0.0094, -0.0208, 0.8288, 0.6014, -0.7963, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4551 left_y=-0.0461 left_z=0.0003 left_yaw=0.0427 left_pitch=0.1709 left_roll=0.0219 left_gripper=0.0094 right_x=0.2222 right_y=0.0023 right_z=0.0993 right_yaw=0.0033 right_pitch=-0.4397 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.7419, 3.4803, 1.9707, 0.0269, 0.0366, 0.7741, -0.1162, -0.8274, 6.8444, 1.2039, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec34431b3c133091bb1fd3f1f416464a00d778b7fb0cea320f9ae379a84c9f07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e156c66e273c58848593bb2d592a8716eb9e01b8fce161faecbd976c52936b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:348e48c7907abf15211ec2f2db1ffa384b80eb672ff7a5f7159226c5a0c74d0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.981 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]: [-0.186, 1.6146, 0.6594, 0.6464, -0.2123, -0.0975, 0.9971, -0.0208, 0.823, 0.6014, -0.7879, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4533 left_y=-0.0438 left_z=0.1368 left_yaw=0.047 left_pitch=0.2778 left_roll=-0.0091 left_gripper=0.9971 right_x=0.2241 right_y=0.0023 right_z=0.1015 right_yaw=0.0031 right_pitch=-0.4256 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.3897, -8.0205, 5.7641, 1.9609, -0.105, 0.1538, 0.0024, -0.0615, -0.9915, 6.612, 1.4286, -0.0415, -0.0611, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1909, 2.0857, 0.6163, 1.0824, -0.2222, -0.0944, 0.997, -0.0208, 0.8276, 0.6014, -0.7956, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4589 left_y=-0.0454 left_z=0.0128 left_yaw=0.0444 left_pitch=0.2025 left_roll=0.0159 left_gripper=0.997 right_x=0.2224 right_y=0.0023 right_z=0.0996 right_yaw=0.0031 right_pitch=-0.4378 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -8.7316, 5.094, 2.2979, -0.1587, -0.0366, -0.0171, -0.0068, -1.347, 6.5709, 1.3065, -0.0562, -0.0122, -0.0122]",
      "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]: [-0.1951, 2.1098, 0.6151, 1.0748, -0.2249, -0.0975, 0.0094, -0.0208, 0.8288, 0.6014, -0.7963, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4551 left_y=-0.0461 left_z=0.0003 left_yaw=0.0427 left_pitch=0.1709 left_roll=0.0219 left_gripper=0.0094 right_x=0.2222 right_y=0.0023 right_z=0.0993 right_yaw=0.0033 right_pitch=-0.4397 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.7419, 3.4803, 1.9707, 0.0269, 0.0366, 0.7741, -0.1162, -0.8274, 6.8444, 1.2039, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec34431b3c133091bb1fd3f1f416464a00d778b7fb0cea320f9ae379a84c9f07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e156c66e273c58848593bb2d592a8716eb9e01b8fce161faecbd976c52936b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:348e48c7907abf15211ec2f2db1ffa384b80eb672ff7a5f7159226c5a0c74d0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wgKEAgSGAI4AUIIdGhpbmtpbmcSDKF992zinxZL9yWG7hoM/g5fL5PrXr0cwiC9IjAbVTGS+XIKOLAqEMwrbwH9rg3KnjelxEWJ3pZ91+zNRjBRe2r7iBfUiqxs7aYNQu8q/AfU+m9FZid+zlINnRuRiKKjPvSBpgWXkzXVcF7JfW5l/0afhDJd5rTWd7Ev1BC4G1P4fzhGkBwS5hxpCTKNyH4rzKnu74RXBg0XZvSewctZsRKqvph1XQYmcDfRHiAidEf3LF6442AEdQq5/2OLrW1QRq8jnyxJ/87BjY/gqgZrdwkTMTbxEwOPVYMf6v0h3FXaPIspfpIOAqooQNqyN0msQUrGT0Pvh19goRHp4Tfo2K/01IVi6sqlFjxsx1aXYG40uTcfHw+YfwqMJDHnuOt9ysdo9UULC43SSE89+cakTRdgyvMoKP5JJI4YkbbruMGE1owYSBkXadteUo32PStzSePyOC5veUSqgsjerQbHyE/UaTyraVxs3KLr5gHqdxcGLWHAwhyvhtTdZkz1nMflPZUuDuYFJ9X/aJ9rwnAnYLsK8o5iWr52g07/RVowx0NcnJMsK/CTR0wVut1Y2fYVnFylE1qITI/mX8d+bq8WTbP092PEwE2reJ8A+no/62WDigrFshcx3HoAIWMujJ0oxls2z6sPuymNJNITMaRfBLZWe2w3mEx6PfXTlUaiFJ9mhS4rht3kdCxEmmm9HVaQzFJ+p7vcocwmzR+Cd1IVlEdk7B4QctFSztmZlbm1l78XENtMYIblIoB3EahF2KPjcH7gD5n367WZeD1HY+FLxEcQ6udnkw2pAT+Yt6Fh+j6wUx/x32+kYisl+lQBIwJk2MbHeKL0wco6OHL6v3aPU3irhmRNhKciXDTbCR7sBF4I5nUBdby5cxg+oLbc/LP4xOKW25c3twvgysvk/k+bx+qzu5Mn4SaOSF8bn6A6mXHxF+0HJ6t6bFf3H2y+KUaTjZlfhYsiYVmKsNnEIh+TfKxoeIJ7UpWnnk3ZtHBlA9u9iqjc4QO6AtRMsuJzgq0o8p2E6bqsrdPYjQPKRlTEa8kYdHzbp5E17hNXrX6MTWZvEYtrr2fF19p7abun9iaJvnPxuiQSVXmwpGnlHOTmhmVkT1AeCg+5Me5bdX/UsHsBFEBD6f74LFZMB+eMFj4mNpAWA6oiSKHVRYtrCqOQtY86YG2R4vBx0WxwyPoszLUxnDQeyhO/YsFDYie7CR+CukO2RHZ8UYlEUqRe7ETM/cIWioUt/1+eLRaRwosL3kp4EA1JmF581Qmexd1bPfYvhUtNzpeeA4wZZhmfE0UMYcM8CDWPm8xA/nqQ2w3UFbgkulRDIhm4/+6En6tmsa6Fj4OqtrlaHYjfhXP93ehoKMgrCA4Pd1dsGrziXtdJhswibMarWaodnzOPUU5f0whdu03ltC3ncSAaduKz3OMFgxWF/sAzM0/MeTqDjBOdDL91Lrk1kVPDuUzl17gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TdiG9NTjoQ6g2rtgxNBQNG",
      "input": {
        "note": "Missed; the clasp sits ~4 cm beyond the jaw tips. Opening and extending forward with more wrist pitch to reach it.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0.5,
          "left_x": 0.51,
          "left_y": -0.04,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01TdiG9NTjoQ6g2rtgxNBQNG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1608, 2.4271, 0.7982, 1.5505, -0.2295, -0.046, 0.9953, -0.0208, 0.8303, 0.6003, -0.8139, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5072 left_y=-0.0379 left_z=0.0182 left_yaw=0.0794 left_pitch=0.5031 left_roll=-0.0092 left_gripper=0.9953 right_x=0.2182 right_y=0.0023 right_z=0.0963 right_yaw=0.0032 right_pitch=-0.4599 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -8.4034, 3.8359, 1.5214, 0.1538, 0.1832, -0.0611, -0.0205, -1.1009, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd9d04066b0aabae1a37bfc85ed1cfb51ecb2c5239a3cda2d3b8f9c6a8bba370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c105bf986003056632b4371701ad66fb2dbf70c92bf378324d8696ac2c4a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aaf909c4cd7566c2b145f9998e022631b26b1b89a69ee4889d5b7dd3f98654e1",
        "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 · 3.652 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]: [-0.1909, 2.0857, 0.6163, 1.0824, -0.2222, -0.0944, 0.997, -0.0208, 0.8276, 0.6014, -0.7956, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.4589 left_y=-0.0454 left_z=0.0128 left_yaw=0.0444 left_pitch=0.2025 left_roll=0.0159 left_gripper=0.997 right_x=0.2224 right_y=0.0023 right_z=0.0996 right_yaw=0.0031 right_pitch=-0.4378 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [-0.7863, -8.7316, 5.094, 2.2979, -0.1587, -0.0366, -0.0171, -0.0068, -1.347, 6.5709, 1.3065, -0.0562, -0.0122, -0.0122]",
      "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]: [-0.1951, 2.1098, 0.6151, 1.0748, -0.2249, -0.0975, 0.0094, -0.0208, 0.8288, 0.6014, -0.7963, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4551 left_y=-0.0461 left_z=0.0003 left_yaw=0.0427 left_pitch=0.1709 left_roll=0.0219 left_gripper=0.0094 right_x=0.2222 right_y=0.0023 right_z=0.0993 right_yaw=0.0033 right_pitch=-0.4397 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.7419, 3.4803, 1.9707, 0.0269, 0.0366, 0.7741, -0.1162, -0.8274, 6.8444, 1.2039, -0.0659, -0.0708, -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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1608, 2.4271, 0.7982, 1.5505, -0.2295, -0.046, 0.9953, -0.0208, 0.8303, 0.6003, -0.8139, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5072 left_y=-0.0379 left_z=0.0182 left_yaw=0.0794 left_pitch=0.5031 left_roll=-0.0092 left_gripper=0.9953 right_x=0.2182 right_y=0.0023 right_z=0.0963 right_yaw=0.0032 right_pitch=-0.4599 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -8.4034, 3.8359, 1.5214, 0.1538, 0.1832, -0.0611, -0.0205, -1.1009, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd9d04066b0aabae1a37bfc85ed1cfb51ecb2c5239a3cda2d3b8f9c6a8bba370",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c105bf986003056632b4371701ad66fb2dbf70c92bf378324d8696ac2c4a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaf909c4cd7566c2b145f9998e022631b26b1b89a69ee4889d5b7dd3f98654e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gcKEAgSGAI4AUIIdGhpbmtpbmcSDIftmpdqyihNd/SeahoMJjtJTKV4A8QBAuFTIjDFz/eM8B2XW5y6uFzyLSgwG+U+oVfF2cH0+UYWSnr30+CV8CT/M0pBjKoSZ5235Z4q7wanul8O1KzOTH7cpacmTwpH5lf9KszPc7Eqja13tk6YaMgcTAWP+UPs0PAx9PQQWuK2ZfDQT9nO8sY1BqiT6PpPbQQ5EwSWDW21HWNEgIkueFxfZ9yaDuC5/I0UIZizHaKoLjc3/XH1tU880YAXtum9+ax9wyeZW4La0pAkYOKAIG31SVc7HMo0HjI3zflqN1s/KtAo1KE5xtTFqFrk6VNpawORm/ks93xEFhU97D+RDmPtu3aeP1a5YlvmXeM1ylE4qkMxwgBQ6ZIV7483fiPQDNGVSUeDgMmMAqqNFstFC2IOgWLqcIEktpwiBvPiHLb4HZBCcnxpS+sQg+fNu7HND08amKssbiyCR1TVoRwTmdKFkoWb856Q2BqoZv92YRcjhfT2Fvuth5ih2xE6nNQQ4J+FViuQh30CwM3xpc2W9WAtOdoL4gXxNE0jW7VJJfCA9vLSFn1qTAS2+l+f98RFq1seNmFifUWweBzoCc7tipvvcJXfzyV2sy4CNRBYSwePRlkTGu161YFR6ESqr6mCZPHicF7FXsDbhX+n4v7dZ/ACGW8BSxba2JTLROizcKh0/jRJ6ZTJs6J9HdXPrI/mPySumxiXResjJzh5uluqvMRBCnik+Sb3aeWIWVVB564iZwunDdeSGVthCZGkUXmbWzykdkh5Em0fcLTsBdEhcwEBztIaF/+z6NCDZisVCDREH2cmcjcfkYSE4d93CvYXVuQoNaLgOPMsEu5A7EHqxESE2Lg5715jKJBtHfWsFJ7P6ByGCobn6mh2/C2+OoHLfw7jtvjmlT8fYq7XsJ30QzdB5CJ69uCCgAuYCxXYeEys2DrdcZoANz8xUAs3t91EEq1mFQCp6eSrl4S5wjI8y9WB3sK13JTkv7zyXiiyqsGEDy8TzhDsSWVZZp121WwUXbZo+hwzeKiTUCa6EgbrTOnU6pUPuIA7Sw9FFzX4ZCQOS3BJRYvLsBfVyUJ0KZUbOioq1CZAcO9T8k5KwrdCRYCIE3HY8+sMYAvKb3Hau2MgSrC36mvByDFYxgtBoiWi8yTMWxVtJcRFordnv77sULnlDA5mU0bIluRLTt0rgHVWc94FQTh9QuLz5jKme+cEi+B0KOK8DzQvqszwiIO5O5RaR6XliUAdvxru5bk0uBQlv9iz55ryXsEEYs3P3WoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UERDnXESs2MYHSjx3Yibj8",
      "input": {
        "note": "Teddy now sits between the jaws at the bottom of the wrist view; lowering to table level before closing.",
        "targets": {
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01UERDnXESs2MYHSjx3Yibj8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 2.4516, 0.8177, 1.581, -0.234, -0.0418, 0.9963, -0.0208, 0.8322, 0.6003, -0.815, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.5104 left_y=-0.0388 left_z=0.0193 left_yaw=0.0824 left_pitch=0.5281 left_roll=-0.0111 left_gripper=0.9963 right_x=0.218 right_y=0.0024 right_z=0.0958 right_yaw=0.0033 right_pitch=-0.463 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.7333, 3.9726, 1.4481, -0.0024, -0.0904, 0.0952, -0.0615, -1.1556, 6.5436, 1.1648, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413ba7de8482eb479ec8adad4bb7af8e08022d495e60236f09e0908c98f79e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f01a1c1db05735d682d98e37d215b251e8b75edfcbe70b6c01d65d77625927d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0900e393d963f623537c615ec536536827502ddefe66ca34ad8c5aff07b6e784",
        "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 · 6.406 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]: [-0.1951, 2.1098, 0.6151, 1.0748, -0.2249, -0.0975, 0.0094, -0.0208, 0.8288, 0.6014, -0.7963, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4551 left_y=-0.0461 left_z=0.0003 left_yaw=0.0427 left_pitch=0.1709 left_roll=0.0219 left_gripper=0.0094 right_x=0.2222 right_y=0.0023 right_z=0.0993 right_yaw=0.0033 right_pitch=-0.4397 right_roll=0.0093 right_gripper=0.9996\nstate[joint_eff]: [0.253, -10.7419, 3.4803, 1.9707, 0.0269, 0.0366, 0.7741, -0.1162, -0.8274, 6.8444, 1.2039, -0.0659, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1608, 2.4271, 0.7982, 1.5505, -0.2295, -0.046, 0.9953, -0.0208, 0.8303, 0.6003, -0.8139, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5072 left_y=-0.0379 left_z=0.0182 left_yaw=0.0794 left_pitch=0.5031 left_roll=-0.0092 left_gripper=0.9953 right_x=0.2182 right_y=0.0023 right_z=0.0963 right_yaw=0.0032 right_pitch=-0.4599 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -8.4034, 3.8359, 1.5214, 0.1538, 0.1832, -0.0611, -0.0205, -1.1009, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122]",
      "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]: [-0.1631, 2.4516, 0.8177, 1.581, -0.234, -0.0418, 0.9963, -0.0208, 0.8322, 0.6003, -0.815, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.5104 left_y=-0.0388 left_z=0.0193 left_yaw=0.0824 left_pitch=0.5281 left_roll=-0.0111 left_gripper=0.9963 right_x=0.218 right_y=0.0024 right_z=0.0958 right_yaw=0.0033 right_pitch=-0.463 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.7333, 3.9726, 1.4481, -0.0024, -0.0904, 0.0952, -0.0615, -1.1556, 6.5436, 1.1648, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:413ba7de8482eb479ec8adad4bb7af8e08022d495e60236f09e0908c98f79e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f01a1c1db05735d682d98e37d215b251e8b75edfcbe70b6c01d65d77625927d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0900e393d963f623537c615ec536536827502ddefe66ca34ad8c5aff07b6e784",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAcKEAgSGAI4AUIIdGhpbmtpbmcSDKU4oYqLdNwzxDXJMxoM/CB8UmaZLO9gIWbMIjDetZbjgLc3pqK5zdxG01R6ChfNsSYiIfP7zR+1eddBVbKnvKtL6+AUaH+TVBOAPR4qrQazB8DsUgyWcBeGGfbr3iB1lMC+pc435gagS+RqxtMl+O6VD4MgBYqy6JntcUYt2e9OBa1j+mtUblNRl0kMfSMjSgGoiXJbcZNhvCYUIL5eYXmwth2nioyrjjcS4uzvEaoT6av2yYbVcNEc1sQQ8HEQcIcjisC664/WD7cLVXrJafWkfVT7tQ0gBdqqUrqzd68SXr+bKo9Jt9LdhuEWFvSpFD366BQeuuSOys4gO8wl9XYYkyOonJixXYv5dTOUW5I0+q+YiIxEvhkFnK8HUTHBxt3p832aDJr+uw4MdSE0nM0mjkPsrvDGaZaATFYkEqyuSGY6fGPCgBNnzZBTyawqFE/nW0z4o8pSaKfpc3VVLQe0KD9F5kkoRXnIuTvi2jqkpbxWDw0xqXKRgIFHo81e9MTELk/wysrmnPexH95/xgpLP8olzlE2c7HGeeJWKaG5RgB1cPiIB2uWy8SvGtKkcEyWuXPhWsuf8Y4wErcBA2KELCGZ/q2RDsO/ojEd6pvjc1UDEXDSPhL5kpal4LFND8FSjrS/ilQj5F/wmHPoqOA6Jcd+ifnmOwiSs6aaoxsuleePlW8IaCWohSn30uVJdrJw5RrQflBYuo092FdL7ZPFuXZLsx+sAYqrxKGgF93jH2SSrHm6YaVjq59fpcotHaNke1dC4LtxdsFmGpsXgD5uYsNQlK+dM4H/HlqRrlyjYNtyuq9P5Wxm9u1USHrJr18gclKFkABYF/0rpO26lhcMAVgELQ8BKZKBiQZ3yND8/XgpTobmPegjbrxNIzPjccLqiTp0aItf+zWfwivgGMehc5gKhHCbqTHjRt54LETcRibPW399JvroTLTI7ey0z9UGv37N72TfLBRAAd9xaLH4U174z3P2StXVWtkDruWUJHJD8+NVpSo6NR8Fyn2of4/wW3qn8qTkN7QDZlIiXAq9HnHvWKQzn285n5KV+aRHCLVy2ommfOwA5dFaE/znj7HO0jfOxstvUxF2HxEWBMs9gfExMivW+P1OZmmLqRsRHwxBkr/BtQ8cDs+zvkvKgO8rUFPTR2kFtnHn8To2kXVx8mJjyIvidBcaH60YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NkciwL83Vfz59Y4bbXPXGa",
      "input": {
        "note": "Arm is at its reach limit at z≈0.02 with the teddy between the jaws; closing here.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NkciwL83Vfz59Y4bbXPXGa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 2.4577, 0.8257, 1.5867, -0.2409, -0.0494, 0.0098, -0.0208, 0.8341, 0.6003, -0.836, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5119 left_y=-0.0379 left_z=0.02 left_yaw=0.095 left_pitch=0.5354 left_roll=-0.0218 left_gripper=0.0098 right_x=0.2134 right_y=0.0024 right_z=0.0929 right_yaw=0.0035 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.9521, 3.8769, 1.6728, 0.0611, 0.0171, 0.7302, 0.0342, -0.8, 6.5299, 1.3407, 0.0024, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df13f7e4430af7d0e8cdaca7f854e81a0a5db75a93ea8c26f4a93a0592a04b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6f756926ba79ecb33c954f3ad8b36fb7ef9fb4004272f8f1b15e1475fbac2c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb7725e4336ec64c373b22c85101ee00c64c41119633cabb103764f58aeec57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.272 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]: [-0.1608, 2.4271, 0.7982, 1.5505, -0.2295, -0.046, 0.9953, -0.0208, 0.8303, 0.6003, -0.8139, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5072 left_y=-0.0379 left_z=0.0182 left_yaw=0.0794 left_pitch=0.5031 left_roll=-0.0092 left_gripper=0.9953 right_x=0.2182 right_y=0.0023 right_z=0.0963 right_yaw=0.0032 right_pitch=-0.4599 right_roll=0.0095 right_gripper=0.9996\nstate[joint_eff]: [0.6222, -8.4034, 3.8359, 1.5214, 0.1538, 0.1832, -0.0611, -0.0205, -1.1009, 6.8308, 1.4042, -0.0366, -0.0366, -0.0122]",
      "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]: [-0.1631, 2.4516, 0.8177, 1.581, -0.234, -0.0418, 0.9963, -0.0208, 0.8322, 0.6003, -0.815, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.5104 left_y=-0.0388 left_z=0.0193 left_yaw=0.0824 left_pitch=0.5281 left_roll=-0.0111 left_gripper=0.9963 right_x=0.218 right_y=0.0024 right_z=0.0958 right_yaw=0.0033 right_pitch=-0.463 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.7333, 3.9726, 1.4481, -0.0024, -0.0904, 0.0952, -0.0615, -1.1556, 6.5436, 1.1648, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 2.4577, 0.8257, 1.5867, -0.2409, -0.0494, 0.0098, -0.0208, 0.8341, 0.6003, -0.836, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5119 left_y=-0.0379 left_z=0.02 left_yaw=0.095 left_pitch=0.5354 left_roll=-0.0218 left_gripper=0.0098 right_x=0.2134 right_y=0.0024 right_z=0.0929 right_yaw=0.0035 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.9521, 3.8769, 1.6728, 0.0611, 0.0171, 0.7302, 0.0342, -0.8, 6.5299, 1.3407, 0.0024, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df13f7e4430af7d0e8cdaca7f854e81a0a5db75a93ea8c26f4a93a0592a04b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6f756926ba79ecb33c954f3ad8b36fb7ef9fb4004272f8f1b15e1475fbac2c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb7725e4336ec64c373b22c85101ee00c64c41119633cabb103764f58aeec57a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J1ZExYnc3H4zbNFbsP3n99",
      "input": {
        "note": "Empty close: teddy body is just beyond reach, but its metal clasp hangs at the jaw row slightly left of centre. Opening and shifting ~1.5 cm left to catch the clasp.",
        "targets": {
          "left_gripper": 1,
          "left_y": -0.022
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01J1ZExYnc3H4zbNFbsP3n99",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1329, 2.4565, 0.8257, 1.5867, -0.2134, -0.0521, 0.9951, -0.0208, 0.8341, 0.6003, -0.8516, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5133 left_y=-0.0273 left_z=0.0205 left_yaw=0.1003 left_pitch=0.5362 left_roll=-0.0266 left_gripper=0.9951 right_x=0.21 right_y=0.0026 right_z=0.0911 right_yaw=0.0041 right_pitch=-0.5015 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [1.4427, -11.5077, 2.8103, 1.7509, 0.1148, 0.0073, -0.1245, -0.0342, -1.0051, 6.4889, 1.2723, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdbe9f77e2ead70a63556d75dbce4b5280789ed8fbf00093a9274d96dfd5ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56ef1fa78841924fbc9128ff5bb4c0295d17684371d1dd768a1e6cf8e599ee89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f5450586f778add3f4eced826ae3ed7e15ad38bcc0bc3847e24ca5bc46cc643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 27 attempt 0 · /messages · status 200 · 14.27 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]: [-0.1631, 2.4516, 0.8177, 1.581, -0.234, -0.0418, 0.9963, -0.0208, 0.8322, 0.6003, -0.815, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.5104 left_y=-0.0388 left_z=0.0193 left_yaw=0.0824 left_pitch=0.5281 left_roll=-0.0111 left_gripper=0.9963 right_x=0.218 right_y=0.0024 right_z=0.0958 right_yaw=0.0033 right_pitch=-0.463 right_roll=0.0101 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -7.7333, 3.9726, 1.4481, -0.0024, -0.0904, 0.0952, -0.0615, -1.1556, 6.5436, 1.1648, -0.0806, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1631, 2.4577, 0.8257, 1.5867, -0.2409, -0.0494, 0.0098, -0.0208, 0.8341, 0.6003, -0.836, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5119 left_y=-0.0379 left_z=0.02 left_yaw=0.095 left_pitch=0.5354 left_roll=-0.0218 left_gripper=0.0098 right_x=0.2134 right_y=0.0024 right_z=0.0929 right_yaw=0.0035 right_pitch=-0.4859 right_roll=0.0102 right_gripper=0.9996\nstate[joint_eff]: [-0.0752, -7.9521, 3.8769, 1.6728, 0.0611, 0.0171, 0.7302, 0.0342, -0.8, 6.5299, 1.3407, 0.0024, -0.0317, -0.0073]",
      "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]: [-0.1329, 2.4565, 0.8257, 1.5867, -0.2134, -0.0521, 0.9951, -0.0208, 0.8341, 0.6003, -0.8516, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.5133 left_y=-0.0273 left_z=0.0205 left_yaw=0.1003 left_pitch=0.5362 left_roll=-0.0266 left_gripper=0.9951 right_x=0.21 right_y=0.0026 right_z=0.0911 right_yaw=0.0041 right_pitch=-0.5015 right_roll=0.011 right_gripper=0.9996\nstate[joint_eff]: [1.4427, -11.5077, 2.8103, 1.7509, 0.1148, 0.0073, -0.1245, -0.0342, -1.0051, 6.4889, 1.2723, -0.0513, -0.0708, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cdbe9f77e2ead70a63556d75dbce4b5280789ed8fbf00093a9274d96dfd5ff5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56ef1fa78841924fbc9128ff5bb4c0295d17684371d1dd768a1e6cf8e599ee89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 221):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f5450586f778add3f4eced826ae3ed7e15ad38bcc0bc3847e24ca5bc46cc643",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS2AYKEAgSGAI4AUIIdGhpbmtpbmcSDMaYC4i+QI1cbXBtAxoMKFfhXKkSWGoQpvdeIjC9PojHQCaCwRWFjrEAVAugBeO86LeFVgaQo73EwF5qoY6OXwvJWvku4NvZJRuh0rcq9QXw2i4EgVhMZwanUvUN9xvS4XKW0IWqg166atZdBmOkOrhliY9x0kCiVXiXEMvSRRI4vtBoK6iySGlsYxFI5Iri9xOXcwnsdxjhxZ9GlZLd/KtUE0XZx/16RPZMChmsQF1zFli+g+cpMEFpKLykecdsY9InF9gsuAmaxsXFvGY937WmM33JkJ8IKXeasw2mgrIM1qQMcDRFeG05cr7BmJ9lAebcYjxmc8AUQ+lNmUrFoGYoCZ/lho+2nn1U7cYKxJ9mauqNqL1Aka7x9LPJAH2nxLhCTTsbdwxXtmM0PwysOCAOeViS59tYl1O8x7Q2khoucnzeM0jNlKb18b34//blCwsBYYOPAmlqGsEuXw4jLfV5XZ85+BTFvAgXUPJt47OgvhhdbYUfTEh2Ks2BNB6WKsh/Bku6FsxklSqoufuTq1aHgj2ghsg3tFulJiSZwsxvXquJZUYAepZKBLiVbpQqpsSt65hOzgCQcHxasoklRhcd4YE5YveOyQ7BBgksHO1RwsMOT+csV434lGKYOw+pd+4welmyAH8RPQn+cC5Fvbn+bDO/sg5/QYXYt8aJjLj1W+OhBzDfXPZP0vhUOCAIPjw/+tTVC8W+NU99hlGn+sPmvFpePOvapDdqYQiXoknVSUD29Nklcu1wvYTifjbq+uMeREtzvBcVt001cepc+9/tNf3vIdYaBh+eP802xjxYXvJ7WBK02dplzw5Jbv8Mu/9xIuby/CQQZeemLOb4pgFNzLKZvrwGpVsp8UdjyCOpPOojN/dAaDj5OdiwmBwQac8OAb2VRIVsOHUDXG9ukmnjmnBPKyQ3Ch2KnHk2RKBQRvZB/sZIn5QgHtCP9UfCNTx0A8YouV9ZhZ+vUqAKgIchxg/ImxRBVeqks0Bg3jJ89CRQrx0JEuPwcLIOcEWxyt9wYiIXK2v7XqKqeOqU1GsE+mkAofiuQNucKQlqxRpk/IS0YtNdAwvVxKy31aEsGlbUemf0o1edd376ohgLYRA27M6vGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013W2RnKeFPYmhnRVpctJi1f",
      "input": {
        "note": "The metal clasp now hangs between the open jaws; closing on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013W2RnKeFPYmhnRVpctJi1f",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.136, 2.4565, 0.8257, 1.5867, -0.223, -0.0563, 0.0099, -0.0208, 0.8341, 0.6003, -0.8597, -0.0189, -0.0338, 0.9996]\nstate[eef_state]: left_x=0.5131 left_y=-0.0272 left_z=0.0205 left_yaw=0.1092 left_pitch=0.5362 left_roll=-0.031 left_gripper=0.0099 right_x=0.2083 right_y=0.0026 right_z=0.0901 right_yaw=0.0039 right_pitch=-0.5095 right_roll=0.0114 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -11.1658, 3.2205, 1.6777, 0.0952, 0.0269, 0.779, -0.0205, -0.9915, 6.4752, 1.2186, -0.0757, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:792e5b92024507f96a2846fda984fec51bed11bac35355c959bf88cf54ef7728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf30c478ec149dde2842fb92f337f9932f30bbc6b73d47aee8a11d51d51279b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71d3683aaa8abb63fe4794849a8110295e60e2ebd2230579bb701f1cd8ebaae0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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