adhoc

completed
2026-09-22T19:50:46.686716+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
240.2 s
total steps
283
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: open red safe in the centre, lemon to its right, small cream bear to its left, brown bear in front. Moving the right arm to hover over the lemon first.
move_to
right_x0.4200right_y0.1700right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.4023, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.7453, -1.4291, 10.1675, 1.9658, -0.1001, 0.1685, -0.0855, -0.2667, -1.3333, 9.5795, 2.0977, -0.0366, 0.0855, -0.0562] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.17, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: open red safe in the centre, lemon to its right, small cream bear to its left, brown bear in front. Moving the right arm to hover over the lemon first."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteLemon visible in the right wrist cam slightly right of the jaw column and ahead of the fingertips; shifting forward/right and lowering.
move_to
right_x0.4300right_y0.1500right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.5388, 1.5841, 0.9768, -0.1276, 0.4099, 0.2775, 0.9996] state[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0202 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4044 right_y=0.1639 right_z=0.13 right_yaw=0.0371 right_pitch=-0.075 right_roll=-0.0443 right_gripper=0.9996 state[joint_eff]: [0.1299, -1.4564, 6.8718, 1.8486, -0.0611, 0.022, -0.0171, 0.4444, -7.4598, 8.6085, 1.9316, 0.359, 0.1929, -0.0513] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.15, "right_z": 0.08}, "note": "Lemon visible in the right wrist cam slightly right of the jaw column and ahead of the fingertips; shifting forward/right and lowering."})
tool
executing move_to over 4 steps (0.4s)
step 19
top_cam
camera top_cam step 19
left_cam
camera left_cam step 19
right_cam
camera right_cam step 19
assistant
agent noteLemon still slightly right and ahead of the jaws; advancing ~3 cm and descending to grasp height.
move_to
right_x0.4500right_y0.1350right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.4625, 1.718, 0.9157, 0.0143, 0.3695, 0.239, 0.9996] state[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4187 right_y=0.1415 right_z=0.0724 right_yaw=0.0116 right_pitch=-0.1361 right_roll=-0.0736 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122, 0.2667, -8.294, 6.5983, 1.9853, 0.1245, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 19): [image omitted: streamed camera frame] camera 'left_cam' (step 19): [image omitted: streamed camera frame] camera 'right_cam' (step 19): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.135, "right_z": 0.02}, "note": "Lemon still slightly right and ahead of the jaws; advancing ~3 cm and descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
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 notePrevious move fell short (z 0.055, x 0.42), likely speed-clamped; continuing descent and advance over the lemon.
move_to
right_x0.4500right_y0.1350right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.3473, 0.2176, 0.9996] state[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.0435 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4215 right_y=0.1395 right_z=0.0546 right_yaw=0.025 right_pitch=-0.1571 right_roll=-0.0816 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.8535, -0.0562, -0.0269, -0.0122, -0.0342, -7.5145, 6.5983, 1.6337, 0.1832, 0.0415, -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": {"right_x": 0.45, "right_y": 0.135, "right_z": 0.015}, "note": "Previous move fell short (z 0.055, x 0.42), likely speed-clamped; continuing descent and advance over the lemon."})
tool
executing move_to over 3 steps (0.3s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteArm stalled at z 0.055 — the left finger is likely resting on the safe's right rim. Shifting right (away from the safe), which also centres the lemon in the jaws.
move_to
right_x0.4300right_y0.1100right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4313, -0.0189, -0.0383, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.347, 0.2176, 0.9996] state[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0473 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4215 right_y=0.1396 right_z=0.0546 right_yaw=0.0253 right_pitch=-0.1572 right_roll=-0.0813 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.0051, 6.9949, 1.7265, -0.0806, -0.0415, -0.0122, -0.1436, -8.0889, 6.8034, 1.5995, 0.1832, 0.0171, -0.0073] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.11, "right_z": 0.06}, "note": "Arm stalled at z 0.055 \u2014 the left finger is likely resting on the safe's right rim. Shifting right (away from the safe), which also centres the lemon in the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteRight arm hasn't moved for two commands (joints frozen). Trying a lift to see whether it responds at all.
move_to
right_x0.4200right_y0.1300right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.4473, 1.7657, 0.9047, 0.0574, 0.3473, 0.2176, 0.9996] state[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1686 left_yaw=0.0026 left_pitch=-0.0519 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4214 right_y=0.1395 right_z=0.0544 right_yaw=0.0249 right_pitch=-0.1578 right_roll=-0.0819 right_gripper=0.9996 state[joint_eff]: [-0.0342, -1.2239, 7.0085, 1.7314, -0.0659, -0.0513, -0.0122, -0.2256, -8.0752, 6.6803, 1.5946, 0.232, 0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.13, "right_z": 0.12}, "note": "Right arm hasn't moved for two commands (joints frozen). Trying a lift to see whether it responds at all."})
tool
executing move_to over 5 steps (0.5s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteArm responds to lifts; lemon is centred on the jaw column but ahead of the fingertips. Advancing 4 cm at safe height before descending.
move_to
right_x0.4600right_y0.1250right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.4248, 1.652, 0.9951, -0.1661, 0.3313, 0.2005, 0.9996] state[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1655 left_yaw=0.0026 left_pitch=-0.0671 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4171 right_y=0.1295 right_z=0.0993 right_yaw=0.0236 right_pitch=-0.1811 right_roll=-0.0916 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.873, -0.0659, -0.022, -0.0122, -0.3761, -9.0051, 8.4171, 1.5263, 0.0952, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.125, "right_z": 0.1}, "note": "Arm responds to lifts; lemon is centred on the jaw column but ahead of the fingertips. Advancing 4 cm at safe height before descending."})
tool
executing move_to over 4 steps (0.4s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteLemon is now centred and close under the jaws; tool pitch had drifted to -0.27 so I'm resetting pitch/roll to 0 while descending to grasp height.
move_to
right_x0.4600right_y0.1200right_z0.0200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3691, 1.7779, 1.1015, -0.2302, 0.2939, 0.1596, 0.9996] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4372 right_y=0.1181 right_z=0.0756 right_yaw=0.0143 right_pitch=-0.2716 right_roll=-0.1249 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.5111, 7.2547, 1.707, -0.0611, -0.0708, -0.0122, -0.3077, -8.9778, 9.3607, 1.9707, 0.0708, 0.0611, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.12, "right_z": 0.02, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Lemon is now centred and close under the jaws; tool pitch had drifted to -0.27 so I'm resetting pitch/roll to 0 while descending to grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteLemon is between the jaws but slightly right of centre; nudging 1 cm right and pressing slightly lower before closing.
move_to
right_y0.1100right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3557, 1.927, 0.8352, 0.4442, 0.2684, 0.173, 0.9996] state[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1601 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.002 left_gripper=0.9992 right_x=0.4557 right_y=0.1232 right_z=0.0248 right_yaw=0.0277 right_pitch=-0.0328 right_roll=-0.0103 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.1556, 6.9675, 1.7705, -0.0708, -0.0562, -0.0122, -0.8547, -6.9402, 4.3692, 1.3651, 0.1587, -0.1099, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.11, "right_z": 0.015}, "note": "Lemon is between the jaws but slightly right of centre; nudging 1 cm right and pressing slightly lower before closing."})
tool
executing move_to over 2 steps (0.2s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteLemon sits between the open jaws at the bottom of the right wrist view; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4763, -0.0189, -0.0383, 0.9992, 0.3389, 1.9461, 0.8223, 0.514, 0.2455, 0.1665, 0.9996] state[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1594 left_yaw=0.0024 left_pitch=-0.0969 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4609 right_y=0.1208 right_z=0.0245 right_yaw=0.0335 right_pitch=-0.0011 right_roll=0.0089 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.7118, -0.0659, -0.0122, -0.0122, -1.1282, -9.0325, 3.8496, 1.5458, 0.2076, -0.1783, -0.0122] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon sits between the open jaws at the bottom of the right wrist view; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent noteGripper settled at 0.52 (~5 cm), so the lemon is held. Lifting clear of the safe walls.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 0.3401, 1.945, 0.8192, 0.5232, 0.2348, 0.157, 0.5185] state[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4608 right_y=0.1233 right_z=0.0255 right_yaw=0.0487 right_pitch=0.0041 right_roll=0.0089 right_gripper=0.5185 state[joint_eff]: [-0.0342, -1.2103, 7.0632, 1.6923, -0.0659, -0.0806, -0.0122, -0.294, -9.0872, 5.3128, 1.6044, 0.1343, 0.0269, 1.033] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.52 (~5 cm), so the lemon is held. Lifting clear of the safe walls."})
tool
executing move_to over 12 steps (1.2s)
step 72
top_cam
camera top_cam step 72
left_cam
camera left_cam step 72
right_cam
camera right_cam step 72
assistant
agent noteLemon held, arm at z 0.12. Carrying it left over the safe's red interior at safe height.
move_to
right_x0.4100right_y0.2500right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4969, -0.0189, -0.0387, 0.9992, 0.3401, 1.6695, 1.1221, -0.3038, 0.2497, 0.1059, 0.5198] state[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4333 right_y=0.1108 right_z=0.1171 right_yaw=0.057 right_pitch=-0.2331 right_roll=-0.1107 right_gripper=0.5198 state[joint_eff]: [-0.1436, -1.0188, 6.9402, 1.8144, -0.0562, -0.0562, -0.0122, -0.3761, -13.5726, 11.9043, 3.1722, -0.1245, 0.5104, 0.9304] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 72): [image omitted: streamed camera frame] camera 'left_cam' (step 72): [image omitted: streamed camera frame] camera 'right_cam' (step 72): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.25, "right_z": 0.2, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Lemon held, arm at z 0.12. Carrying it left over the safe's red interior at safe height."})
tool
executing move_to over 12 steps (1.2s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteThe arm seems to have bumped the safe (it rotated in the top view); lifting higher before crossing over the wall.
move_to
right_x0.3800right_y0.2300right_z0.2600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5114, -0.0189, -0.0387, 0.9992, 0.7216, 1.7138, 1.2617, -0.5003, 0.5049, 0.3225, 0.5228] state[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1527 left_yaw=0.0027 left_pitch=-0.132 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3803 right_y=0.2256 right_z=0.1373 right_yaw=0.105 right_pitch=-0.2191 right_roll=-0.1878 right_gripper=0.5228 state[joint_eff]: [-0.2667, -1.2103, 7.1043, 1.7558, -0.0366, -0.0415, -0.0122, 0.212, -9.853, 11.9726, 2.8547, 0.2906, 0.5885, 0.7937] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.23, "right_z": 0.26}, "note": "The arm seems to have bumped the safe (it rotated in the top view); lifting higher before crossing over the wall."})
tool
executing move_to over 8 steps (0.8s)
step 92
top_cam
camera top_cam step 92
left_cam
camera left_cam step 92
right_cam
camera right_cam step 92
assistant
agent noteNow above the safe wall height; the red interior is to the left in the wrist view. Moving left over the safe interior.
move_to
right_x0.3700right_y0.3200right_z0.2400right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5217, -0.0189, -0.0383, 0.9992, 0.7319, 1.7565, 1.7054, -1.0542, 0.5003, 0.2844, 0.5274] state[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1508 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3648 right_y=0.2186 right_z=0.2179 right_yaw=0.114 right_pitch=-0.3512 right_roll=-0.3024 right_gripper=0.5274 state[joint_eff]: [-0.2803, -1.0598, 6.9812, 1.6825, -0.0708, -0.0171, -0.0122, -0.1846, -9.4564, 10.6598, 2.1758, 0.3687, 0.4469, 0.4567] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 92): [image omitted: streamed camera frame] camera 'left_cam' (step 92): [image omitted: streamed camera frame] camera 'right_cam' (step 92): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.32, "right_z": 0.24, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Now above the safe wall height; the red interior is to the left in the wrist view. Moving left over the safe interior."})
tool
executing move_to over 12 steps (1.2s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteThe lemon slipped out and landed near the front-right of the table (bottom right in the top view). Opening and heading back over it.
move_to
right_x0.2200right_y0.0600right_z0.1200right_pitch0.0000right_roll0.0000right_yaw0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5259, -0.0189, -0.0387, 0.9992, 0.7712, 1.7599, 1.6836, -1.0298, 0.5079, 0.3191, 0.5258] state[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1464 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3579 right_y=0.233 right_z=0.212 right_yaw=0.1281 right_pitch=-0.3423 right_roll=-0.2865 right_gripper=0.5258 state[joint_eff]: [-0.0615, -1.1966, 6.9128, 1.619, -0.0464, -0.0366, -0.0122, -0.3077, -9.1419, 7.2, 1.3944, 0.3346, 0.1636, -0.1734] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_y": 0.06, "right_z": 0.12, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0, "right_gripper": 1.0}, "note": "The lemon slipped out and landed near the front-right of the table (bottom right in the top view). Opening and heading back over it."})
tool
executing move_to over 15 steps (1.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteLemon's yellow tip shows at the very bottom of the right wrist view, i.e. roughly under the fingertips. Descending to grasp height.
move_to
right_x0.2100right_y0.0600right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8055, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.6537, 0.5499, 0.3687, -0.5526, 0.5274, 0.3885, 0.9983] state[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1469 left_yaw=0.0028 left_pitch=-0.1625 left_roll=-0.0005 left_gripper=0.9992 right_x=0.2204 right_y=0.0613 right_z=0.1158 right_yaw=-0.0004 right_pitch=-0.0293 right_roll=-0.0206 right_gripper=0.9983 state[joint_eff]: [-0.1709, -1.2923, 6.8991, 1.7705, -0.0562, -0.022, -0.0122, -0.1299, 1.6479, 8.1299, 1.9316, 0.2222, -0.105, -0.0415] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.21, "right_y": 0.06, "right_z": 0.02}, "note": "Lemon's yellow tip shows at the very bottom of the right wrist view, i.e. roughly under the fingertips. Descending to grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteDescent stopped at z 0.036 with the lemon at the bottom edge of the wrist view — it's slightly toward the base. Stepping back 2 cm and lowering.
move_to
right_x0.1900right_y0.0650right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.556, -0.0189, -0.0387, 0.9992, 0.7128, 0.6125, 0.0605, -0.1959, 0.5484, 0.4202, 0.9989] state[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1439 left_yaw=0.0029 left_pitch=-0.1792 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2138 right_y=0.0678 right_z=0.0363 right_yaw=0.0251 right_pitch=-0.0313 right_roll=-0.0146 right_gripper=0.9989 state[joint_eff]: [-0.0615, -1.0462, 7.0222, 1.707, -0.0024, -0.0366, -0.0122, 0.1162, 0.1299, 3.1385, 0.862, 0.3639, 0.1538, 0.0464] camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.19, "right_y": 0.065, "right_z": 0.015}, "note": "Descent stopped at z 0.036 with the lemon at the bottom edge of the wrist view \u2014 it's slightly toward the base. Stepping back 2 cm and lowering."})
tool
executing move_to over 2 steps (0.2s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteArm drifted sideways and up; re-commanding a straight-down pose over the lemon with orientation reset.
move_to
right_x0.2000right_y0.0700right_z0.0000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5613, -0.0189, -0.0387, 0.9992, 0.8463, 0.5449, 0.0303, -0.1265, 0.6048, 0.4908, 0.9989] state[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1869 left_roll=0.0 left_gripper=0.9992 right_x=0.2116 right_y=0.0929 right_z=0.0518 right_yaw=0.0751 right_pitch=0.0708 right_roll=0.0891 right_gripper=0.9989 state[joint_eff]: [-0.1709, -0.8274, 6.8718, 1.6972, -0.0659, -0.0611, -0.0122, -0.8547, 1.5111, 4.6154, -0.525, 0.779, 0.2027, -0.0073] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.2, "right_y": 0.07, "right_z": 0.0, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Arm drifted sideways and up; re-commanding a straight-down pose over the lemon with orientation reset."})
tool
executing move_to over 4 steps (0.4s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteRight arm is fighting the descent near its base and the lemon is hidden under it. Returning to home to reveal the lemon in the top view.
move_to
right_x0.3000right_y0.0000right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5785, -0.0189, -0.0387, 0.9992, 0.907, 0.503, 0.0345, -0.1398, 0.6586, 0.5774, 0.999] state[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.1389 left_yaw=0.003 left_pitch=-0.2056 left_roll=0.0004 left_gripper=0.9992 right_x=0.2097 right_y=0.0984 right_z=0.0625 right_yaw=0.0441 right_pitch=0.1098 right_roll=0.1679 right_gripper=0.999 state[joint_eff]: [-0.0615, -1.1829, 7.0769, 1.7118, -0.0269, -0.0562, -0.0122, -0.0068, 0.335, 4.2462, -0.5104, 0.4029, 0.105, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Right arm is fighting the descent near its base and the lemon is hidden under it. Returning to home to reveal the lemon in the top view."})
tool
executing move_to over 9 steps (0.9s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteLemon appears at the bottom-centre of the right wrist view, i.e. just under the fingertips. Descending straight down here.
move_to
right_x0.2250right_y0.0650right_z0.0100right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0177, 0.8124, 0.6067, -0.5877, -0.0177, -0.0387, 0.9992, 0.5797, 0.7982, 0.2909, -0.3477, 0.4423, 0.3683, 0.9989] state[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.1367 left_yaw=0.0032 left_pitch=-0.2174 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2317 right_y=0.0656 right_z=0.0612 right_yaw=-0.0054 right_pitch=-0.1636 right_roll=-0.0573 right_gripper=0.9989 state[joint_eff]: [0.0889, -0.9231, 6.8718, 1.6874, -0.1099, -0.0366, -0.0122, 0.5949, -3.2479, 8.212, 1.5897, 0.0415, -0.1538, -0.0171] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.225, "right_y": 0.065, "right_z": 0.01, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Lemon appears at the bottom-centre of the right wrist view, i.e. just under the fingertips. Descending straight down here."})
tool
executing move_to over 6 steps (0.6s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteAt table level with the lemon at the bottom-centre between the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5957, -0.0189, -0.0387, 0.9992, 0.6773, 0.8814, 0.0254, -0.017, 0.5129, 0.3923, 0.9989] state[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2292 left_roll=0.001 left_gripper=0.9992 right_x=0.2094 right_y=0.0618 right_z=-0.0015 right_yaw=0.0245 right_pitch=-0.1461 right_roll=-0.0942 right_gripper=0.9989 state[joint_eff]: [-0.1436, -1.4701, 6.8308, 1.5311, -0.0366, -0.0415, -0.0122, 0.1162, -1.2513, 5.1077, 0.7937, 0.0708, -0.1587, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "At table level with the lemon at the bottom-centre between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent noteGripper settled at 0.63, suggesting the lemon is in the jaws. Lifting to confirm.
move_to
right_z0.1500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.6792, 0.8806, 0.0196, 0.02, 0.5228, 0.3931, 0.63] state[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1318 left_yaw=0.0032 left_pitch=-0.2433 left_roll=0.0013 left_gripper=0.9992 right_x=0.2134 right_y=0.0635 right_z=0.0027 right_yaw=0.0213 right_pitch=-0.1161 right_roll=-0.0799 right_gripper=0.63 state[joint_eff]: [-0.0479, -1.3744, 7.0632, 1.6239, -0.0464, -0.0366, -0.0122, -0.0889, -0.1846, 6.2564, 1.0085, 0.0562, -0.0611, 1.0037] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Gripper settled at 0.63, suggesting the lemon is in the jaws. Lifting to confirm."})
tool
executing move_to over 10 steps (1.0s)
step 167
top_cam
camera top_cam step 167
left_cam
camera left_cam step 167
right_cam
camera right_cam step 167
assistant
agent noteLemon is still at the bottom of the wrist view after lifting, so it's held. Carrying it toward the safe (first leg).
move_to
right_x0.3600right_y0.2500right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, 0.6888, 0.5133, 0.4362, -0.6621, 0.5243, 0.3935, 0.6333] state[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0033 left_pitch=-0.2525 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.064 right_z=0.1325 right_yaw=0.0342 right_pitch=-0.0347 right_roll=-0.0181 right_gripper=0.6333 state[joint_eff]: [-0.0615, -1.2376, 6.8718, 1.5702, -0.0757, -0.0366, -0.0122, 0.3487, 0.4718, 8.7043, 1.6337, 0.3443, 0.0757, 0.6911] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 167): [image omitted: streamed camera frame] camera 'left_cam' (step 167): [image omitted: streamed camera frame] camera 'right_cam' (step 167): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.25, "right_z": 0.18, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon is still at the bottom of the wrist view after lifting, so it's held. Carrying it toward the safe (first leg)."})
tool
executing move_to over 16 steps (1.6s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteHolding the lemon above the safe's right-front wall; the red interior is up-left in the wrist view. Shifting over the interior centre.
move_to
right_x0.3900right_y0.3200right_z0.1800right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6334, -0.0189, -0.0387, 0.9992, 0.8516, 1.5929, 1.1351, -0.3809, 0.6579, 0.5285, 0.6358] state[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.1261 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.9992 right_x=0.3503 right_y=0.2415 right_z=0.1655 right_yaw=0.0225 right_pitch=-0.0419 right_roll=-0.0458 right_gripper=0.6358 state[joint_eff]: [-0.212, -1.4838, 6.8171, 1.6142, -0.0269, -0.0513, -0.0122, 0.3214, -7.6513, 8.3214, 1.4872, 0.3736, 0.2613, 0.5348] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.32, "right_z": 0.18, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Holding the lemon above the safe's right-front wall; the red interior is up-left in the wrist view. Shifting over the interior centre."})
tool
executing move_to over 7 steps (0.7s)
step 190
top_cam
camera top_cam step 190
assistant
agent noteThe safe's front wall still sits just under the jaws; advancing 4 cm so the lemon is over the interior.
move_to
right_x0.4300right_y0.3200right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 0.91, 1.8767, 1.4784, -0.4667, 0.6857, 0.5781, 0.6386] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1246 left_yaw=0.0034 left_pitch=-0.283 left_roll=0.0022 left_gripper=0.9992 right_x=0.3818 right_y=0.3147 right_z=0.1668 right_yaw=0.0336 right_pitch=-0.0424 right_roll=-0.0393 right_gripper=0.6386 state[joint_eff]: [-0.2256, -1.2923, 6.7761, 1.5507, -0.0415, -0.0562, -0.0122, 0.3077, -9.8256, 8.5675, 1.5067, 0.5641, 0.2222, 0.2759] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.32, "right_z": 0.17}, "note": "The safe's front wall still sits just under the jaws; advancing 4 cm so the lemon is over the interior."})
tool
executing move_to over 4 steps (0.4s)
step 194
assistant
agent noteJaws are now just past the safe's front wall, over the red interior. Releasing the lemon.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.836, 1.9869, 1.6104, -0.5022, 0.635, 0.5198, 0.6408] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4184 right_y=0.3121 right_z=0.1559 right_yaw=0.0256 right_pitch=-0.0822 right_roll=-0.0703 right_gripper=0.6408 state[joint_eff]: [-0.1709, -1.3607, 7.159, 1.4432, -0.0611, -0.0171, -0.0122, -0.1709, -10.7282, 9.1556, 1.6532, 0.3492, -0.0415, 0.2125] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Jaws are now just past the safe's front wall, over the red interior. Releasing the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 198
assistant
agent noteLemon is now inside the safe. Moving the right arm back over the brown bear lying in front of the safe.
move_to
right_x0.2900right_y0.2700right_z0.1600right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.8318, 1.9965, 1.6142, -0.5186, 0.6315, 0.5068, 0.9948] state[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4185 right_y=0.3097 right_z=0.1502 right_yaw=0.0295 right_pitch=-0.1 right_roll=-0.0946 right_gripper=0.9948 state[joint_eff]: [-0.1983, -1.2513, 6.8034, 1.409, -0.0317, -0.0513, -0.0122, 0.2256, -11.9316, 6.3385, 1.5116, 0.232, 0.0952, -0.0366] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.27, "right_z": 0.16, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Lemon is now inside the safe. Moving the right arm back over the brown bear lying in front of the safe."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent noteThe wrist view only shows the safe ahead, so the brown bear must be closer to the base than the fingertips. Backing off 6 cm to bring it into view.
move_to
right_x0.2300right_y0.2700right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6487, -0.0189, -0.0383, 0.9992, 1.0584, 1.6001, 1.0939, -0.4549, 0.7784, 0.7292, 0.9966] state[eef_state]: left_x=0.2529 left_y=0.0021 left_z=0.1218 left_yaw=0.0033 left_pitch=-0.2982 left_roll=0.0028 left_gripper=0.9992 right_x=0.2929 right_y=0.275 right_z=0.1491 right_yaw=0.0366 right_pitch=-0.0358 right_roll=-0.0378 right_gripper=0.9966 state[joint_eff]: [-0.2393, -1.0051, 6.9402, 1.5214, -0.0513, -0.0513, -0.0122, 0.1983, -8.4171, 7.0906, 1.3065, 0.4176, 0.0904, 0.1685] camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.23, "right_y": 0.27, "right_z": 0.12}, "note": "The wrist view only shows the safe ahead, so the brown bear must be closer to the base than the fingertips. Backing off 6 cm to bring it into view."})
tool
executing move_to over 5 steps (0.5s)
step 213
assistant
agent noteBrown bear is visible just right of the right gripper in the top view (in front of the safe's right-front corner). Shifting ~6 cm right over it.
move_to
right_x0.2300right_y0.2150right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6598, -0.0189, -0.0387, 0.9992, 1.2301, 1.5761, 0.9623, -0.5049, 0.8467, 0.9043, 0.9968] state[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1201 left_yaw=0.0036 left_pitch=-0.3093 left_roll=0.0028 left_gripper=0.9992 right_x=0.2343 right_y=0.2755 right_z=0.1158 right_yaw=0.0688 right_pitch=-0.0517 right_roll=-0.0636 right_gripper=0.9968 state[joint_eff]: [-0.0752, -1.2376, 6.7487, 1.5995, -0.0171, -0.0171, -0.0122, 0.1709, -8.2803, 6.3795, 0.8571, 0.486, 0.105, 0.0073] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.23, "right_y": 0.215, "right_z": 0.1}, "note": "Brown bear is visible just right of the right gripper in the top view (in front of the safe's right-front corner). Shifting ~6 cm right over it."})
tool
executing move_to over 6 steps (0.6s)
step 219
assistant
agent noteBear is now visible at the bottom-right of the wrist view, just right of the jaws; the last move barely tracked. Pushing the target farther right and lower.
move_to
right_x0.2400right_y0.2000right_z0.0400right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6712, -0.0189, -0.0387, 0.9992, 1.2461, 1.5669, 0.9485, -0.5522, 0.8566, 0.9546, 0.9968] state[eef_state]: left_x=0.2486 left_y=0.0022 left_z=0.1175 left_yaw=0.0037 left_pitch=-0.3246 left_roll=0.0032 left_gripper=0.9992 right_x=0.227 right_y=0.2673 right_z=0.1119 right_yaw=0.0499 right_pitch=-0.0614 right_roll=-0.0747 right_gripper=0.9968 state[joint_eff]: [-0.1162, -1.5248, 6.8034, 1.5067, -0.0806, -0.0269, -0.0122, -0.2256, -7.4188, 6.7077, 1.0965, 0.5397, 0.1148, -0.0122] camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.24, "right_y": 0.2, "right_z": 0.04, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Bear is now visible at the bottom-right of the wrist view, just right of the jaws; the last move barely tracked. Pushing the target farther right and lower."})
tool
executing move_to over 6 steps (0.6s)
step 225
assistant
agent noteDescent stalled at z 0.10, probably a finger resting on the safe's front wall. Backing off toward the base and to the right, clear of the safe, over the bear.
move_to
right_x0.2100right_y0.2000right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6842, -0.0189, -0.0383, 0.9992, 1.182, 1.5108, 0.8387, -0.4248, 0.8154, 0.8791, 0.9973] state[eef_state]: left_x=0.2461 left_y=0.0023 left_z=0.1155 left_yaw=0.0036 left_pitch=-0.3375 left_roll=0.0037 left_gripper=0.9992 right_x=0.2372 right_y=0.2491 right_z=0.0999 right_yaw=0.0506 right_pitch=-0.069 right_roll=-0.0523 right_gripper=0.9973 state[joint_eff]: [-0.0342, -1.1419, 6.7214, 1.5263, -0.0757, -0.0073, -0.0122, -2.5778, -5.3128, 5.135, 0.9402, 0.8376, -0.1099, 0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.21, "right_y": 0.2, "right_z": 0.1}, "note": "Descent stalled at z 0.10, probably a finger resting on the safe's front wall. Backing off toward the base and to the right, clear of the safe, over the bear."})
tool
executing move_to over 5 steps (0.5s)
step 230
assistant
agent noteBrown bear now lies centred in the right wrist view just ahead of the jaws. Advancing slightly and descending onto its body.
move_to
right_x0.2250right_y0.2050right_z0.0200right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6941, -0.0189, -0.0387, 0.9992, 1.2064, 1.309, 0.6727, -0.474, 0.8078, 0.8921, 0.9973] state[eef_state]: left_x=0.2441 left_y=0.0023 left_z=0.1138 left_yaw=0.0039 left_pitch=-0.3482 left_roll=0.0037 left_gripper=0.9992 right_x=0.2121 right_y=0.2078 right_z=0.0977 right_yaw=0.0706 right_pitch=-0.0805 right_roll=-0.0513 right_gripper=0.9973 state[joint_eff]: [-0.0615, -0.7863, 6.7624, 1.4774, -0.0659, -0.0415, -0.0122, 0.6906, -4.506, 6.612, 1.2479, 0.4518, 0.1392, -0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 230): [image omitted: streamed camera frame] camera 'left_cam' (step 230): [image omitted: streamed camera frame] camera 'right_cam' (step 230): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.225, "right_y": 0.205, "right_z": 0.02, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Brown bear now lies centred in the right wrist view just ahead of the jaws. Advancing slightly and descending onto its body."})
tool
executing move_to over 6 steps (0.6s)
step 236
assistant
Bear fills the view between the jaws. Closing.
agent noteThe brown bear fills the right wrist view between the jaws at z≈0.01; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6979, -0.0189, -0.0387, 0.9992, 1.1744, 1.5368, 0.4133, 0.0326, 0.8146, 0.8295, 0.9973] state[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1133 left_yaw=0.004 left_pitch=-0.352 left_roll=0.0038 left_gripper=0.9992 right_x=0.2154 right_y=0.191 right_z=0.0114 right_yaw=0.0713 right_pitch=-0.0687 right_roll=-0.0859 right_gripper=0.9973 state[joint_eff]: [-0.1436, -1.1966, 6.7624, 1.3553, -0.0415, -0.0562, -0.0122, -0.3761, -5.0803, 4.6017, 1.3211, 0.5104, -0.0513, -0.0073] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
Bear fills the view between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The brown bear fills the right wrist view between the jaws at z\u22480.01; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 246
assistant
agent noteGripper closed to ~0.01, but a plush bear can compress that far, so I'm lifting to check whether it comes up with the jaws.
move_to
right_z0.2000right_x0.2500right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6983, -0.0189, -0.0387, 0.9992, 1.1709, 1.5482, 0.3992, 0.0219, 0.807, 0.8196, 0.0086] state[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1132 left_yaw=0.004 left_pitch=-0.3524 left_roll=0.0038 left_gripper=0.9992 right_x=0.2121 right_y=0.1835 right_z=0.0035 right_yaw=0.0744 right_pitch=-0.0918 right_roll=-0.123 right_gripper=0.0086 state[joint_eff]: [-0.0342, -1.0325, 6.694, 1.3651, -0.0708, -0.0757, -0.0122, 0.0479, -5.7504, 5.4359, 1.0916, 0.3932, 0.0855, 0.6227] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.25, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Gripper closed to ~0.01, but a plush bear can compress that far, so I'm lifting to check whether it comes up with the jaws."})
tool
executing move_to over 13 steps (1.3s)
step 259
assistant
agent noteBrown bear is hanging from the right jaws and gone from the table in the top view. Carrying it over the safe interior, at the same spot where the lemon went in.
move_to
right_x0.4100right_y0.2900right_z0.2000right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.7052, -0.0189, -0.0387, 0.9992, 1.0172, 1.1282, 0.8318, -0.6064, 0.7269, 0.6422, 0.0102] state[eef_state]: left_x=0.2419 left_y=0.0024 left_z=0.1122 left_yaw=0.004 left_pitch=-0.3593 left_roll=0.004 left_gripper=0.9992 right_x=0.2461 right_y=0.1817 right_z=0.1779 right_yaw=0.0771 right_pitch=-0.0393 right_roll=-0.0369 right_gripper=0.0102 state[joint_eff]: [-0.1709, -1.1966, 6.694, 1.3895, -0.0611, -0.0464, -0.0122, -0.3624, -4.9162, 8.5812, 1.5897, 0.359, 0.0122, 0.149] camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.29, "right_z": 0.2, "right_pitch": 0.0, "right_roll": 0.0, "right_yaw": 0.0}, "note": "Brown bear is hanging from the right jaws and gone from the table in the top view. Carrying it over the safe interior, at the same spot where the lemon went in."})
tool
executing move_to over 13 steps (1.3s)
step 272
assistant
agent noteThe right gripper is over the safe's red interior with the bear hanging below it. Releasing.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8387, 0.6067, -0.7197, -0.0189, -0.0387, 0.9992, 0.8303, 1.8172, 1.4651, -0.4973, 0.6399, 0.5228, 0.0119] state[eef_state]: left_x=0.239 left_y=0.0024 left_z=0.1097 left_yaw=0.0042 left_pitch=-0.3757 left_roll=0.0044 left_gripper=0.9992 right_x=0.3957 right_y=0.2818 right_z=0.181 right_yaw=0.0163 right_pitch=-0.0591 right_roll=-0.0491 right_gripper=0.0119 state[joint_eff]: [-0.1162, -1.2923, 6.6667, 1.4481, -0.0757, -0.0757, -0.0122, -0.5402, -9.6342, 8.9094, 1.5897, 0.3785, -0.0269, 0.1685] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The right gripper is over the safe's red interior with the bear hanging below it. Releasing."})
tool
executing move_to over 10 steps (1.0s)
step 282
assistant
agent notePartly done. The lemon and the brown bear are both inside the safe. The small cream bear is still on the table left of the safe, and the safe is still open. I stopped because only a few calls were left, not enough to grasp and place the third object and then close the lid.
done
hindsight- Moves are speed-limited ("delta_clamped"), so a single move_to often ends 2–5 cm short of the target. Check the readback and re-send, or aim past the target. Budget roughly two calls per sizeable move. - Pitch and roll drift (down to about −0.35) when you don't command them. Include pitch 0 and roll 0 in every carry and descent command. - A descent that stalls at z 0.05–0.10 near the safe usually means a finger is resting on the safe's wall or rim. Move sideways away from the safe instead of re-sending the same target. - The arm bumped the safe while carrying at z of about 0.13 and turned it about 20°. Lift to z ≥ 0.18 before moving toward the safe. - The first lemon grasp, closed at z of about 0.025 (reading 0.52), slipped out in transit. Grasping at z of about 0 (reading 0.63) held. - A plush bear closes to a reading of about 0.01 but is still held. For soft toys, don't treat a low reading as an empty close; lift and look. - For the right arm, the safe interior (at start pose, before it got bumped) was around right_x 0.40–0.42, right_y 0.29–0.32. Releasing from z of about 0.17 there worked. The brown bear started near right_x 0.22, right_y 0.20, in front of the safe. - The small cream bear is at about left_x 0.38, left_y −0.18. The safe lid is hinged at the back and stands open, so closing it probably means pushing its top edge forward from behind at high z, far out in x. - To fit in 40 calls, plan about 7 calls per object and about 5 for the lid, and send combined moves.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8417, 0.6067, -0.7204, -0.0189, -0.0383, 0.9992, 0.8299, 1.8366, 1.4658, -0.5068, 0.6312, 0.522, 0.9952] state[eef_state]: left_x=0.2389 left_y=0.0024 left_z=0.1089 left_yaw=0.004 left_pitch=-0.3795 left_roll=0.0047 left_gripper=0.9992 right_x=0.3951 right_y=0.2828 right_z=0.1704 right_yaw=0.0209 right_pitch=-0.0834 right_roll=-0.0656 right_gripper=0.9952 state[joint_eff]: [-0.0205, -1.3197, 6.735, 1.3455, -0.0611, -0.0122, -0.0122, 0.0068, -11.3436, 6.6803, 1.3895, 0.3492, -0.0171, -0.2076] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 282): [image omitted: streamed camera frame] camera 'left_cam' (step 282): [image omitted: streamed camera frame] camera 'right_cam' (step 282): [image omitted: streamed camera frame]
assistant
done({"summary": "Partly done. The lemon and the brown bear are both inside the safe. The small cream bear is still on the table left of the safe, and the safe is still open. I stopped because only a few calls were left, not enough to grasp and place the third object and then close the lid.", "hindsight": "- Moves are speed-limited (\"delta_clamped\"), so a single move_to often ends 2\u20135 cm short of the target. Check the readback and re-send, or aim past the target. Budget roughly two calls per sizeable move.\n- Pitch and roll drift (down to about \u22120.35) when you don't command them. Include pitch 0 and roll 0 in every carry and descent command.\n- A descent that stalls at z 0.05\u20130.10 near the safe usually means a finger is resting on the safe's wall or rim. Move sideways away from the safe instead of re-sending the same target.\n- The arm bumped the safe while carrying at z of about 0.13 and turned it about 20\u00b0. Lift to z \u2265 0.18 before moving toward the safe.\n- The first lemon grasp, closed at z of about 0.025 (reading 0.52), slipped out in transit. Grasping at z of about 0 (reading 0.63) held.\n- A plush bear closes to a reading of about 0.01 but is still held. For soft toys, don't treat a low reading as an empty close; lift and look.\n- For the right arm, the safe interior (at start pose, before it got bumped) was around right_x 0.40\u20130.42, right_y 0.29\u20130.32. Releasing from z of about 0.17 there worked. The brown bear started near right_x 0.22, right_y 0.20, in front of the safe.\n- The small cream bear is at about left_x 0.38, left_y \u22120.18. The safe lid is hinged at the back and stands open, so closing it probably means pushing its top edge forward from behind at high z, far out in x.\n- To fit in 40 calls, plan about 7 calls per object and about 5 for the lid, and send combined moves."})
tool
done: Partly done. The lemon and the brown bear are both inside the safe. The small cream bear is still on the table left of the safe, and the safe is still open. I stopped because only a few calls were left, not enough to grasp and place the third object and then close the lid.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 15.86 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.4023, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.4291, 10.1675, 1.9658, -0.1001, 0.1685, -0.0855, -0.2667, -1.3333, 9.5795, 2.0977, -0.0366, 0.0855, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ea4e46151d322cb060a9d72cfa223b3c923a73b8144ef89b0a916b03f37bd98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d32db009d938d23a7e00b6ef1039e2456c1844186a08ef05fcfb33c3e7f25a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e6108ecd5da1e8498bfce86fd1f37575e515b2ada30faade18767b8b6fc86a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.47 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.4023, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.4291, 10.1675, 1.9658, -0.1001, 0.1685, -0.0855, -0.2667, -1.3333, 9.5795, 2.0977, -0.0366, 0.0855, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ea4e46151d322cb060a9d72cfa223b3c923a73b8144ef89b0a916b03f37bd98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d32db009d938d23a7e00b6ef1039e2456c1844186a08ef05fcfb33c3e7f25a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e6108ecd5da1e8498bfce86fd1f37575e515b2ada30faade18767b8b6fc86a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01No7n4T3ZYn2Vw7rRA9AR3S",
      "input": {
        "note": "Scene: open red safe in the centre, lemon to its right, small cream bear to its left, brown bear in front. Moving the right arm to hover over the lemon first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01No7n4T3ZYn2Vw7rRA9AR3S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.5388, 1.5841, 0.9768, -0.1276, 0.4099, 0.2775, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0202 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4044 right_y=0.1639 right_z=0.13 right_yaw=0.0371 right_pitch=-0.075 right_roll=-0.0443 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.4564, 6.8718, 1.8486, -0.0611, 0.022, -0.0171, 0.4444, -7.4598, 8.6085, 1.9316, 0.359, 0.1929, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c30231a711b433572b65f826dd60fccdd70547bacb2ef915f0f8eed3097c51b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0172a4ebde1aebbcfcc04bf743744f3c0760d61763c05803a71c0bf090d6f553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:81b920842ee46114c6f119df4612c90dc91554b9e93f1ca762b78685ed12ecf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.917 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.4023, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.4291, 10.1675, 1.9658, -0.1001, 0.1685, -0.0855, -0.2667, -1.3333, 9.5795, 2.0977, -0.0366, 0.0855, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.5388, 1.5841, 0.9768, -0.1276, 0.4099, 0.2775, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0202 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4044 right_y=0.1639 right_z=0.13 right_yaw=0.0371 right_pitch=-0.075 right_roll=-0.0443 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.4564, 6.8718, 1.8486, -0.0611, 0.022, -0.0171, 0.4444, -7.4598, 8.6085, 1.9316, 0.359, 0.1929, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c30231a711b433572b65f826dd60fccdd70547bacb2ef915f0f8eed3097c51b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0172a4ebde1aebbcfcc04bf743744f3c0760d61763c05803a71c0bf090d6f553",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81b920842ee46114c6f119df4612c90dc91554b9e93f1ca762b78685ed12ecf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywgKEAgSGAI4AUIIdGhpbmtpbmcSDLaVMWEu1y9TYtIyjxoMGEKHmFzlD5c0rnOJIjD+OWg9c+SYPtqBE2jk0g76mDCR7Ho076dG8L3NqO22KUfkLJI8yo1nZ+nz5MsHkwIq6AcziZgwrK0RZ3p37y9s7h5v+Kg82n7gca2XOCbCG/BYlQUQKFuJBBpbOvQTItgqKBhbmJkjUUTOaHpTTgVRZlKoaAJAtQJfmiaanUY9RXFr0oG0phwRoJdWPA1Oj9wRGqyShSy925S+FvX1rjXn16IYKjScV0s0yTbl8hhoGD1ZzUSgdnoeGzj0yIn1njc6C36/Ud1OLs4r9mRqjgs5DIQhMTJ74icRhuiX50Uk/SaKMueCAAY9UBkzkRD3leRkJrcQQC457vNe4Qx9Z5FCsDGCBXhaYmWrNgWXMprwCX78CUjxu9kVVs1e1usbawWm3iu2dFXFj2xrkqw0htQMCh69cDfm7hodJiLIVfAj04wrjKAv5xO8FVl3p5vpvykHXnmdvLmY9Uy8Bw9MhLWdhIc8Zdj9dBCx+9LXYqlM0Vy8PBv+VgfeqpujSFnaMmipQn7gbdGn4tY81xObRV8Exc/JIpcSjXPpM5OZjUDu4LholZ3RsDxMoQAYNmRqAMgV1YblE/Fbq2CJtTAc9Gq1VjEgOiHLdIAZRNHz/WtalPtbx1Qtivk2ysOFOanjjNtVuG8QNt2EBAy5P7CcZ5qWIDoQl9IXFDX/NIebWmVS1D39XZjsN5ysUuxHBJ+nfgZ3NwoWfKKCceK4UmY1CRWOQE4aQ7qUEdiWMNujy8XpIGwIDDfIGZ2hKOdaGK0B7y8lA66+VzpX5AKTRRzZsfeWqEDnx1kNgXWAYnD6oZ47v1LVzfTqcD+hhthV6wvSiV99RC0d1SxCG6CVYnKGSEYDCagc+s4+gyhGoQLo2+FquPKMQKD0NUe2WEBzj+lg2vIvHDWz9EGZZ5Q7oTqo0I0IRMT8RGVhtnUSnoNv0K1O+fLPNJJUPcgv9DwdEmS5kVNh3WlravGuKdYPLflUU2QF+0yaoxOLYWK82vWX7KAdIRG30DVTlLGJ/CD6ffHYOSCJKC6A8WvsK0ux9t+aGDNOwNCl7/WCVVD3yCt8nF8ll9BJ1HTlqruqazoJKSNXXquoIqW9R4a7lFYACWGMKABL+5u0nqSbD3yGHGe6rBVvb7/JUZdUynVllK4pbO209x21mnVDZ7PQBNjZOlroi1bpuHEKzuMLhPzGCF0LgTi8CPf4vl6uzyTh9iLiC2WAWs5pelofR92IdQEXkcUCaZKSw17OlWm6NU7+dvo4hSqZaBuhREmJ/pOExE5X25scI+D/c/60edmjgfqkzc8a0If/ZXnsTcv2I+jhAhmjGy7XGlCggx3pneBU6PP7Q/tZxqxKj2yZDnUJVivDQXu1Ejb2Bo1HPr1FVmqqusONHXeJCifCDm8fS8L1bzWjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gbt1pMf2TNpR2hwZfXUZf6",
      "input": {
        "note": "Lemon visible in the right wrist cam slightly right of the jaw column and ahead of the fingertips; shifting forward/right and lowering.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.15,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Gbt1pMf2TNpR2hwZfXUZf6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.4625, 1.718, 0.9157, 0.0143, 0.3695, 0.239, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4187 right_y=0.1415 right_z=0.0724 right_yaw=0.0116 right_pitch=-0.1361 right_roll=-0.0736 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122, 0.2667, -8.294, 6.5983, 1.9853, 0.1245, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f47f6158614928b467c58d880d1cca17ee7655023c9378a287a75016b72d725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48c4cb95ebb8d266dd700808039705bf008a56cf0c749146a4f52da8a77e80d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6fda7298c758b33df91ab8d1ae1c5f7e1ba874ffb4dbd1cc0132b8b20e0cc35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 3.875 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7925, 0.6044, -0.3878, -0.0193, -0.0341, 0.9993, -0.0212, 0.7929, 0.6071, -0.4023, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1771 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.7453, -1.4291, 10.1675, 1.9658, -0.1001, 0.1685, -0.0855, -0.2667, -1.3333, 9.5795, 2.0977, -0.0366, 0.0855, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.5388, 1.5841, 0.9768, -0.1276, 0.4099, 0.2775, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0202 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4044 right_y=0.1639 right_z=0.13 right_yaw=0.0371 right_pitch=-0.075 right_roll=-0.0443 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.4564, 6.8718, 1.8486, -0.0611, 0.022, -0.0171, 0.4444, -7.4598, 8.6085, 1.9316, 0.359, 0.1929, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.4625, 1.718, 0.9157, 0.0143, 0.3695, 0.239, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4187 right_y=0.1415 right_z=0.0724 right_yaw=0.0116 right_pitch=-0.1361 right_roll=-0.0736 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122, 0.2667, -8.294, 6.5983, 1.9853, 0.1245, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f47f6158614928b467c58d880d1cca17ee7655023c9378a287a75016b72d725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48c4cb95ebb8d266dd700808039705bf008a56cf0c749146a4f52da8a77e80d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6fda7298c758b33df91ab8d1ae1c5f7e1ba874ffb4dbd1cc0132b8b20e0cc35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDEdVOBKgiGpZOO2O7xoMhXW8ugYCvWDKa2b5IjD0SLycG7L4j97Uhs8umvY4RvH2R6eusYFuF1NDwusFpLZE2oF2myVJ21/SXq3NmYwqzAYxqPPy0OOIefDnd1j53DmSUkly7yV7fiTuZDKrAuS+q8AnOng3y85Gnj7WU4AzieL7DHg+QNrZL2XxEWjye3K5/D0sv0eJ/kteQHXxqGO6xDUiz3yCKtHE2Fh0hWANQTysWZ07Irq+HKjvw74HCb5551/98sliQC7g4N1aFd9rPyfex6nSHLOrJrqHQg2h20KOickhrUPd3E7VHMZh+Ij/bn02ncK1mkbGfPAlL741wQljInJ1ybrc2ipQw+22vFJHPtxzDNSIJYLDWUN7WVKJ0mHPyBzn9Kc9s5Ra5QLuTQEuTfEYB6uHPxWalYe7bbA5GAdKZNMcS1i70hxv8QIKiCXE6kvKfJcvfGL1fR7ZJudFFnXzk5/tlW5/j5QhucerG5lSoA8CleWCYkhYEVaWge61AHBjLB6dLa3EyMuha8UkTYmGbvldHzADstI9qV/6U26MedzZSJDEETQ+ur0cYml8BFXzQopDulO1BX1md0nhjyrMKEkqP7gyJwwbuKhauLQO5RvFaQVdkLhES3j9pDO/Av8Fz7BqbsPZsXNkpu6xDQUqRi/SPOMnYmc6u0uRIczTSjn9F6TfDsHc6CXWnpSootaGwqBTZtfK4Ku9lccyGVuOk4GZrsmZylHAonPiRPhfgK47DWkK/mzQG7ln4mgTL49jFVIEzyY6faPE/hcQZ9lm5vsetm3r6+fDI/uP9I3VcsiHGefglDi1rmpcvG13eYypHnoPWJ1CoiZuPVvZGqOuMBXgUDeszBQgF6mSkcwE+qoHSuFm2oS52I4hcJpq3kOW+k+jsFT2wEG52ZIohya3o58v+YuSqtZ+4gjinQvWpDJT2bSe6n//23+ISAtbiGVJe8/VdBdKVs7nzfNZ136DlRGZ78NTunHcndiIh5sxWXKD+2bxwtK1AzrZCybouqKAk/6LgK8N8lTKUi9KHM/1zISxYXiHZBGSOhRmaUs0gJK8R1S2dCX8QPazVAL7YZ7xT4cr08FhndWkrQl26lUE5JWxHxOhi6XB2Fdd7ez0Jo9y3fR0WzM/fzy/80dw94XMCGzFOX0soe/PrYiq+wew3TBVJvWimTCTJELDuXnbTzUPQNLu7Gjr/A1uXPZqUL8fKiPO4KdiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MNWYUgHZVd9wPxAqgSe9Cx",
      "input": {
        "note": "Lemon still slightly right and ahead of the jaws; advancing ~3 cm and descending to grasp height.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.135,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MNWYUgHZVd9wPxAqgSe9Cx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.0435 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4215 right_y=0.1395 right_z=0.0546 right_yaw=0.025 right_pitch=-0.1571 right_roll=-0.0816 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.8535, -0.0562, -0.0269, -0.0122, -0.0342, -7.5145, 6.5983, 1.6337, 0.1832, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf667eee12f4764f1afc78fd21a3889598d8652fee8c10aa4009c1c8ff7b2ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca5ae307b0fead68e5c1d8040cf31b5d69d712f91770a47fbf2f2519891191a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:79231c7902a6dcf65e870141dfba68046513079570a80cca5936cf030d5a318a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.652 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7971, 0.6067, -0.4057, -0.0189, -0.0383, 0.9992, 0.5388, 1.5841, 0.9768, -0.1276, 0.4099, 0.2775, 0.9996]\nstate[eef_state]: left_x=0.2918 left_y=0.0014 left_z=0.1751 left_yaw=0.0024 left_pitch=-0.0202 left_roll=-0.0033 left_gripper=0.9992 right_x=0.4044 right_y=0.1639 right_z=0.13 right_yaw=0.0371 right_pitch=-0.075 right_roll=-0.0443 right_gripper=0.9996\nstate[joint_eff]: [0.1299, -1.4564, 6.8718, 1.8486, -0.0611, 0.022, -0.0171, 0.4444, -7.4598, 8.6085, 1.9316, 0.359, 0.1929, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.4625, 1.718, 0.9157, 0.0143, 0.3695, 0.239, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4187 right_y=0.1415 right_z=0.0724 right_yaw=0.0116 right_pitch=-0.1361 right_roll=-0.0736 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122, 0.2667, -8.294, 6.5983, 1.9853, 0.1245, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.0435 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4215 right_y=0.1395 right_z=0.0546 right_yaw=0.025 right_pitch=-0.1571 right_roll=-0.0816 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.8535, -0.0562, -0.0269, -0.0122, -0.0342, -7.5145, 6.5983, 1.6337, 0.1832, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf667eee12f4764f1afc78fd21a3889598d8652fee8c10aa4009c1c8ff7b2ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cca5ae307b0fead68e5c1d8040cf31b5d69d712f91770a47fbf2f2519891191a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79231c7902a6dcf65e870141dfba68046513079570a80cca5936cf030d5a318a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDI1Mu2t2Q4bZ3sPKpRoM3y3/PBiG4H1+vNDAIjA97ABOZJh9b7Yczd6kZuVH80O78eqra+sZiEEnvFEjQcKOE7zmr5s3Gux8BvzEWnoqtQZ0y6vQwrOBceM11QBvxl6dU4fjSF4xh2UbJCPMdQ1zEWsE7M+OCekU5cDh2FxCRqntowk5U26hPEERZgPG8LVFUYu4hPrfVkP+151fKxk5BJKidqAb7ynC//9m5Wv8ZKbrQGOXCBTYz1dlU1UH690+OMIeuseOgdTjeG0RtU8HSS6RTmlQoebBYnKeUMYkMuXQjhDeC4mI/f/hP/+aO66TCK6Z+l9/mfwsSKQMdx2ZF0kNjT6eRVaEsOkpIB7E5nA3SyuRc0O8kJ2/t5SntbK5VPwkuvTzFrOL7cM+ynXrHaTNYRsHF7Jx5lah7J4BbHv+zutA6APApSSK7ayXBmlyaOw18PsYaS8CbVNonUZSKxp5xv0K15fbGlikNS+a76sP/L0kY74fuAzdxykI7rlaAzrlZlnMqAGf0la8TYTSp6GVGwcEo0fJ9Q3ZPgkVYRmCJmA0k1zGhwFdawuPCCCqLCDi3ixCVu6V+zlrZgYLcQhStiFo6Emqwv4dZhSe1z52yugu2WSz3jwj/hFJD0pAVP8p/hRbz0RL1L83S9Rqa2ODJKa/KYtbbRIrCcoqb4H8VAVRXRlHtJ9CTN/7h6fBdHqwGjnS4EJUxlO1uWnGC034EjWYFalIEVnTWmbl4If0i/oGWDjWesamTFYNNMzEEmR6zACL9pcCGbzWqJpLDnehMqhbkZ9aLWxQMsNGSq3TLB0tmFzlMQZ4POkYRgW0VfocMk3XQyDT+lthA1q8epIRn3n5tNPSSYdSAfxBLhCCD2M+nOl+XHzYN8Wxv52Y/i2EIculNn6INO4l/YRBCh1Rqm/ieE0OvgLI7fBTQuLkzDnbAGmv4rQyXcU3cVb9z8iZRSANfqwKn7uOTrOcwFIzucJFKRG7OU/izTQ3XADgFpD32EvToGaYvPCU1r63JphhQQx6nprs6dnRfQISH+gz9TUPXjfD/zSz7PdmUcp4xj5WYGdh99KgXUzElsKouxKNZFRW7RZISSIKser523YBKnNLkSxHhhnm9pCQ+4mcCuU7mORpHyJxYdYg8d8qKUQ5BM3ypP1wNFRwn118A4f21dzzgzHOExKMVtK5/R4iFvpBihgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Au5zqDSBi6t3GiSJyZCaGN",
      "input": {
        "note": "Previous move fell short (z 0.055, x 0.42), likely speed-clamped; continuing descent and advance over the lemon.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.135,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Au5zqDSBi6t3GiSJyZCaGN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4313, -0.0189, -0.0383, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.347, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0473 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4215 right_y=0.1396 right_z=0.0546 right_yaw=0.0253 right_pitch=-0.1572 right_roll=-0.0813 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0051, 6.9949, 1.7265, -0.0806, -0.0415, -0.0122, -0.1436, -8.0889, 6.8034, 1.5995, 0.1832, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bdfbf8b60d2a85ef5c600162399e001c2532c9bf922ab318e15450491fcae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a07def217d83c57b88b9147e578eaf861fc0948373615d51c190053f63ccf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc76ada69347749c3ba0dc3a3cd732afa6316034a2d37a4d0a07101574741c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.117 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7975, 0.6067, -0.4088, -0.0189, -0.0383, 0.9992, 0.4625, 1.718, 0.9157, 0.0143, 0.3695, 0.239, 0.9996]\nstate[eef_state]: left_x=0.2914 left_y=0.0014 left_z=0.1744 left_yaw=0.0024 left_pitch=-0.0236 left_roll=-0.0032 left_gripper=0.9992 right_x=0.4187 right_y=0.1415 right_z=0.0724 right_yaw=0.0116 right_pitch=-0.1361 right_roll=-0.0736 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.265, 7.0085, 1.7167, -0.0171, -0.0611, -0.0122, 0.2667, -8.294, 6.5983, 1.9853, 0.1245, -0.0024, -0.0171]\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]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.0435 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4215 right_y=0.1395 right_z=0.0546 right_yaw=0.025 right_pitch=-0.1571 right_roll=-0.0816 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.8535, -0.0562, -0.0269, -0.0122, -0.0342, -7.5145, 6.5983, 1.6337, 0.1832, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4313, -0.0189, -0.0383, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.347, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0473 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4215 right_y=0.1396 right_z=0.0546 right_yaw=0.0253 right_pitch=-0.1572 right_roll=-0.0813 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0051, 6.9949, 1.7265, -0.0806, -0.0415, -0.0122, -0.1436, -8.0889, 6.8034, 1.5995, 0.1832, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bdfbf8b60d2a85ef5c600162399e001c2532c9bf922ab318e15450491fcae88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a07def217d83c57b88b9147e578eaf861fc0948373615d51c190053f63ccf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc76ada69347749c3ba0dc3a3cd732afa6316034a2d37a4d0a07101574741c6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D6T7xktvJ7c7dSzNsqj3fv",
      "input": {
        "note": "Arm stalled at z 0.055 — the left finger is likely resting on the safe's right rim. Shifting right (away from the safe), which also centres the lemon in the jaws.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.11,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01D6T7xktvJ7c7dSzNsqj3fv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.4473, 1.7657, 0.9047, 0.0574, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1686 left_yaw=0.0026 left_pitch=-0.0519 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4214 right_y=0.1395 right_z=0.0544 right_yaw=0.0249 right_pitch=-0.1578 right_roll=-0.0819 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2239, 7.0085, 1.7314, -0.0659, -0.0513, -0.0122, -0.2256, -8.0752, 6.6803, 1.5946, 0.232, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6f1bccb5190853426f1220dd42cae7bc4f7c0d2d2cf23028d022728eb1bc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6ae7bb3eb23447e80855862705699448ba02ddfafb5a848ddf9e2c73862804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ff8691dca196257f3a2b1907df4d305a59b404d1b39309471fb5eae26e82494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 7.461 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4274, -0.0189, -0.0387, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2888 left_y=0.0015 left_z=0.1703 left_yaw=0.0026 left_pitch=-0.0435 left_roll=-0.0031 left_gripper=0.9992 right_x=0.4215 right_y=0.1395 right_z=0.0546 right_yaw=0.025 right_pitch=-0.1571 right_roll=-0.0816 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.2239, 7.0085, 1.8535, -0.0562, -0.0269, -0.0122, -0.0342, -7.5145, 6.5983, 1.6337, 0.1832, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4313, -0.0189, -0.0383, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.347, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0473 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4215 right_y=0.1396 right_z=0.0546 right_yaw=0.0253 right_pitch=-0.1572 right_roll=-0.0813 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0051, 6.9949, 1.7265, -0.0806, -0.0415, -0.0122, -0.1436, -8.0889, 6.8034, 1.5995, 0.1832, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.4473, 1.7657, 0.9047, 0.0574, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1686 left_yaw=0.0026 left_pitch=-0.0519 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4214 right_y=0.1395 right_z=0.0544 right_yaw=0.0249 right_pitch=-0.1578 right_roll=-0.0819 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2239, 7.0085, 1.7314, -0.0659, -0.0513, -0.0122, -0.2256, -8.0752, 6.6803, 1.5946, 0.232, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a6f1bccb5190853426f1220dd42cae7bc4f7c0d2d2cf23028d022728eb1bc95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e6ae7bb3eb23447e80855862705699448ba02ddfafb5a848ddf9e2c73862804",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ff8691dca196257f3a2b1907df4d305a59b404d1b39309471fb5eae26e82494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gcKEAgSGAI4AUIIdGhpbmtpbmcSDEVza3xpMCYXuMPJ+hoMpUd3XgnTWAID0LtSIjBcvoUhr3HglWxgPAlw0B6uNv/e7NhwBbqDsQJ2HSSaVY43SYpMIkLL4YirxVXpZL0q/wZPKw9jpSNHk4Qf1YLPDuIoTXaU7RCgKwsoDqke0X4mGXggVEyP5MEU2Jq4P8dy+jQxuZHhaihtvUsYTITqJq1miM9e/woe4BuwbivcSaOxcvmGrTQmqmFgQRlKgSGJ4mH/APfvpPJZ4Ogsgl2oU5ZBHnaSiPLneVZdmzS/O0PUrOwz6JXLdGHFuNkAHkw2baag9PxOEi67i9Oigaw2UM78WCK+b/bYIjlkqOH/yp2ERJ7yLzh0CS91DBW39Loo63euJoN+H9L2Kst5PY1Y5DnPIwvN6WA8cNcT0uwAJO2FqzXQa4wtovj0RaXugkP3TOChf+ZC/vLqyZNepNMldHI3Z3vJHDKrqq/9QrMX/1QQ2nA4Oiaa7frtDZ0LPwbbAmFd8MZMIyWJTOq83kVyDTq+lg+zyaiTvDfNj74FiO8s+UhTSGwxFs0/bNC74S+VnVv4sPPQiRG/M1Axw7tTGsUGRA9yLO2ToXHg4/0AsC/N8PXVRJxNZtxS0jba5GpA3BeM/oHpkwMUebyGWBdF8wdigZAF7u1wUBeUOKTz5tKwfMt5cscOijWEGe5D8QS6HQ/KK8EonozUWXrY/30hpybweW5OzfEp34VGZNOvnoFz5cEGi5uNLY93NSorclVv8QGbMqGD3E6M29c1B5rPehE8fCOgAqx5YrJMcVhWGBB01cjJrbUwWSrWldNnbQ1PTB99yCOBHdoqhL/tVXYlV+9vDwC1A6WGFOcdrpGT9rQuDEDUdzWEumNrVU1jyTZ4kibbtttCNWnssAM5r//4uContil3LcQVmTnKOPZJ/OtpkRm8DGYxbefWzXmcnPeU+xW8MB63pXHRuPNrI8xi8PbgjDrsCbtL0bu2Pukbx8W9gvuTfeai6RtdBYou7J+Byli7rruGrFvJsazrT9cfvhajGsV+L8nVk+d9KTsKmaZCaEs4GyjPWnXO5Ch0NAeUYYYviWJAwhM8KpbJR0wMNj1lx8YqDY5DOsTKlpbVdLtIXXYhHIDtQ6CxwxjrVzFB1ll1gNxmSwg8yUqq8QBt3zVwzdekn1mCGnC+2obV7qJBXfpN7QODXrzILlku13Kf0pTsgLr6o5fRnFw/9uw9Dpg4THjYyQYkbGiVnHgZMgQ6KJoAHmMTDrQl3UES+LHhFMQVynnfTVZIokNPswRrcUyHe/GI69BK4Tk26Ieso8uQGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jzo9Pi1EXW4tq9adVeC9RD",
      "input": {
        "note": "Right arm hasn't moved for two commands (joints frozen). Trying a lift to see whether it responds at all.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.13,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Jzo9Pi1EXW4tq9adVeC9RD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.4248, 1.652, 0.9951, -0.1661, 0.3313, 0.2005, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1655 left_yaw=0.0026 left_pitch=-0.0671 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4171 right_y=0.1295 right_z=0.0993 right_yaw=0.0236 right_pitch=-0.1811 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.873, -0.0659, -0.022, -0.0122, -0.3761, -9.0051, 8.4171, 1.5263, 0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a24c62916b0c511b33b4491efff3f7a15d961b421f572fd6805d339da6c4072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd9f54e7f7587ecf88044a6960277f0014530a749b4c2fc11cf4a67c5cc3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9651e577b9e99b130cc39810adb68de6081ca18985fbed451ad297d0556ed20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.177 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4313, -0.0189, -0.0383, 0.9992, 0.4473, 1.7653, 0.9047, 0.0578, 0.347, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2883 left_y=0.0015 left_z=0.1695 left_yaw=0.0024 left_pitch=-0.0473 left_roll=-0.0027 left_gripper=0.9992 right_x=0.4215 right_y=0.1396 right_z=0.0546 right_yaw=0.0253 right_pitch=-0.1572 right_roll=-0.0813 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.0051, 6.9949, 1.7265, -0.0806, -0.0415, -0.0122, -0.1436, -8.0889, 6.8034, 1.5995, 0.1832, 0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.4473, 1.7657, 0.9047, 0.0574, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1686 left_yaw=0.0026 left_pitch=-0.0519 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4214 right_y=0.1395 right_z=0.0544 right_yaw=0.0249 right_pitch=-0.1578 right_roll=-0.0819 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2239, 7.0085, 1.7314, -0.0659, -0.0513, -0.0122, -0.2256, -8.0752, 6.6803, 1.5946, 0.232, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.4248, 1.652, 0.9951, -0.1661, 0.3313, 0.2005, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1655 left_yaw=0.0026 left_pitch=-0.0671 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4171 right_y=0.1295 right_z=0.0993 right_yaw=0.0236 right_pitch=-0.1811 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.873, -0.0659, -0.022, -0.0122, -0.3761, -9.0051, 8.4171, 1.5263, 0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a24c62916b0c511b33b4491efff3f7a15d961b421f572fd6805d339da6c4072",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bd9f54e7f7587ecf88044a6960277f0014530a749b4c2fc11cf4a67c5cc3628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9651e577b9e99b130cc39810adb68de6081ca18985fbed451ad297d0556ed20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GELiqpTrTGTVVQVbN4ZTeK",
      "input": {
        "note": "Arm responds to lifts; lemon is centred on the jaw column but ahead of the fingertips. Advancing 4 cm at safe height before descending.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.125,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GELiqpTrTGTVVQVbN4ZTeK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3691, 1.7779, 1.1015, -0.2302, 0.2939, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4372 right_y=0.1181 right_z=0.0756 right_yaw=0.0143 right_pitch=-0.2716 right_roll=-0.1249 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5111, 7.2547, 1.707, -0.0611, -0.0708, -0.0122, -0.3077, -8.9778, 9.3607, 1.9707, 0.0708, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f366021b49e0f61dcbf4b81b5d2eb57dce88e573197a47b36cd6635be49b1cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549b85f1bc8b829546831d196e6e200328d777ede3d56977c898ac7566b46ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8d6e200da7785b62e4f87ffcc0d7123dd3910c320bc7a33a952cf46bb593d878",
        "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 · 5.215 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4358, -0.0189, -0.0387, 0.9992, 0.4473, 1.7657, 0.9047, 0.0574, 0.3473, 0.2176, 0.9996]\nstate[eef_state]: left_x=0.2876 left_y=0.0015 left_z=0.1686 left_yaw=0.0026 left_pitch=-0.0519 left_roll=-0.0029 left_gripper=0.9992 right_x=0.4214 right_y=0.1395 right_z=0.0544 right_yaw=0.0249 right_pitch=-0.1578 right_roll=-0.0819 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -1.2239, 7.0085, 1.7314, -0.0659, -0.0513, -0.0122, -0.2256, -8.0752, 6.6803, 1.5946, 0.232, 0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.4248, 1.652, 0.9951, -0.1661, 0.3313, 0.2005, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1655 left_yaw=0.0026 left_pitch=-0.0671 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4171 right_y=0.1295 right_z=0.0993 right_yaw=0.0236 right_pitch=-0.1811 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.873, -0.0659, -0.022, -0.0122, -0.3761, -9.0051, 8.4171, 1.5263, 0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3691, 1.7779, 1.1015, -0.2302, 0.2939, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4372 right_y=0.1181 right_z=0.0756 right_yaw=0.0143 right_pitch=-0.2716 right_roll=-0.1249 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5111, 7.2547, 1.707, -0.0611, -0.0708, -0.0122, -0.3077, -8.9778, 9.3607, 1.9707, 0.0708, 0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f366021b49e0f61dcbf4b81b5d2eb57dce88e573197a47b36cd6635be49b1cbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:549b85f1bc8b829546831d196e6e200328d777ede3d56977c898ac7566b46ef3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d6e200da7785b62e4f87ffcc0d7123dd3910c320bc7a33a952cf46bb593d878",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAkKEAgSGAI4AUIIdGhpbmtpbmcSDOTUAsK1TAqIAhoJpxoMWnhm0HLyRCKr+nvpIjAbxIAjh1mrKkEAjp+QSd1lLCnG7CR9ANBrv4CiL6PQvj3QR1X9WFPNUqq53f7LMeYqnQiXexcsAYBjsaO1kjeRVSO3FUDHC+m9Rj96CSIE/Y//5cTQfEjXivdR2TELddDLhVsIs+ygQ7s0DhdWfq3d/wM/bJ6iRkCwiFcNbvgrsieG/vomFZqnH6GA2Uo3H+HJi3cwkjkNCzXNvyUAsf0OuzL0Co+1R6uOt0kEg7sXTDQ3Veo+L8cox73AZY3yJI30rCmZ8XHo6wUjVmqvZVVgc3BUYNuBlkAqPdCWaDoEJFOg0SEGZXhLo0a/QQquXwskJrnIDDFXVvRNAKlqjfs0QR1fRvzWmoi1bzJs92qtLKSknns4BvsbnQE8bXY0W4unaSX4S90whmG6/0Zh/9X4ZOCfSSgsqRGbSC0fVGzJTEe+4h8BiEj+Yy44yCsxttIkJ9/2dY/C6F80oRNKwJDykISl/wlhAazqNw9eo7+AEK2HL2591O/w0b3M6LFBrXNgNHDeoTvGhoZ8IQsnc6jJgRjDZ2fklTJgTPXezuWGw7XTVKP4WyWfMrI+aMSUEqzDm3a/J7MYjHvjjRVYAUWodEXZaCm0bANVNZ0Dvq3F0FEgGtPW2U9jusq0XYtWNYyhnVvalZqhtwGpX8KMb6PWjqN5Vv/KB2Qf30DLSHIlVAQ1SY7DDyQvnZFw+mxajaVGqALf2pULI9uvinrUmCKz6uQnk02WVYLUXXh7U1mKO0U6VC23ouAuuoP7E0t/6Eb3S6pyR8v0UOF8O2N9DBHiq+BGa1apYwrymjAgyKJX7a13ZoPbu2mB2Q47VYdDdalmmXpOblKEtsgyY+B9u8hHkE4XkCTikTEzbULIRoUp8LeGH4/LcNeIQFPbq3bdGYHG+ENCqHKyF8o8T8C0cmNstVNUWIZn7S9eHwJ89OzKgE4Kbe71G9fvaYISMLM+wGRdl7rHL/N6yx5DS93lAD3Qk4s5PaLGXRfKUJgumGl3utfTDrt0Ac8c8ieMQ40gnZ7QZ6GYj5D2QBfPPY9qmODG3I+LP11KKVfIBsFtu8VSuhUJ5bVVXSZYhOFjox+ApgrOy0aUCuMI0JSNgLTBR9NaNAWs0AXN+aOP5Y8LzoA/zpeif9KT1aET7e6KhAX/pSczVQjpGmmFKKWdK/FQXowZVdwYZTz9qrJHPdO/QuWsKAcNiJA2XPdnT1HsIJDE38mgAZ36eIYV5IAcaNOXETj4YijuVwhWYyCOlycCmsGA2pDxeqgKGy/TENqxipRqS+vlI7feJmiiAAoFFLpCtl4YEQiphy/r30EGWxYaDk1mzN+457eMKJIOfYt9ODsVYh5GhJCaA+H93jIRlV6p7ush2XVuSh0kMRVxGCOFVAkyPIBNS9x3/b4n2ay76XGdaANw5txyPWBgV7bUmeVJpLnCdMhaJLBJdBpZtA5HhCkdlsSlnlNt9RsjJ6r56172tEkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XYYQnw9PYMHEojQRNNSFnY",
      "input": {
        "note": "Lemon is now centred and close under the jaws; tool pitch had drifted to -0.27 so I'm resetting pitch/roll to 0 while descending to grasp height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.46,
          "right_y": 0.12,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XYYQnw9PYMHEojQRNNSFnY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3557, 1.927, 0.8352, 0.4442, 0.2684, 0.173, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1601 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.002 left_gripper=0.9992 right_x=0.4557 right_y=0.1232 right_z=0.0248 right_yaw=0.0277 right_pitch=-0.0328 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1556, 6.9675, 1.7705, -0.0708, -0.0562, -0.0122, -0.8547, -6.9402, 4.3692, 1.3651, 0.1587, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:813808bc530d943fa3270d3daedab5678ee1f25e1616580a950f32357a98b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775794714ac6d0cf00ef3ddf7b8736d2a90bca86b2ded7c75bb66a35c63e8982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:616adc8724f8d6fd80866c40b2a35dd63b17aadd7f4d6b3023d65c66f942d1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 3.912 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7986, 0.6067, -0.4511, -0.0189, -0.0387, 0.9992, 0.4248, 1.652, 0.9951, -0.1661, 0.3313, 0.2005, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0015 left_z=0.1655 left_yaw=0.0026 left_pitch=-0.0671 left_roll=-0.0026 left_gripper=0.9992 right_x=0.4171 right_y=0.1295 right_z=0.0993 right_yaw=0.0236 right_pitch=-0.1811 right_roll=-0.0916 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2239, 6.9812, 1.873, -0.0659, -0.022, -0.0122, -0.3761, -9.0051, 8.4171, 1.5263, 0.0952, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3691, 1.7779, 1.1015, -0.2302, 0.2939, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4372 right_y=0.1181 right_z=0.0756 right_yaw=0.0143 right_pitch=-0.2716 right_roll=-0.1249 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5111, 7.2547, 1.707, -0.0611, -0.0708, -0.0122, -0.3077, -8.9778, 9.3607, 1.9707, 0.0708, 0.0611, -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]: [-0.0189, 0.8032, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3557, 1.927, 0.8352, 0.4442, 0.2684, 0.173, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1601 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.002 left_gripper=0.9992 right_x=0.4557 right_y=0.1232 right_z=0.0248 right_yaw=0.0277 right_pitch=-0.0328 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1556, 6.9675, 1.7705, -0.0708, -0.0562, -0.0122, -0.8547, -6.9402, 4.3692, 1.3651, 0.1587, -0.1099, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:813808bc530d943fa3270d3daedab5678ee1f25e1616580a950f32357a98b17a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:775794714ac6d0cf00ef3ddf7b8736d2a90bca86b2ded7c75bb66a35c63e8982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:616adc8724f8d6fd80866c40b2a35dd63b17aadd7f4d6b3023d65c66f942d1f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSugkKEAgSGAI4AUIIdGhpbmtpbmcSDDPIbP23Zd6UISoUuBoMT4Gd5hq1/3xlsxzAIjCbpUAOyFSfx1pkEqNVMvsrv+i4lRF6VxnMFTNeyfAhqLlQkVoXmN+GCcSSFPezV2Mq1whVYJTEnlnJtWhdsYlySmjYaFDzfWawSJZ9u9/HMBnZJcoQ1zIRRgsJ+fUIFA3dTVoYju6OYuE53hjK+v1Tn/yXLign7JUy/svPZCwrH0XXAOh0w3r0OKMxAwM/PQGLAsScB2M8yQaZCdM28ztOhH6SWH9JomQFyEeOWkJLIFI/ZMdTnDHwU0jKB/aha1ChNKJN/nes6igxdoe6vR8NzuGYvM3oByHCnlYd+RG80iQ2T3QzbHD8Vg5f5uWsnEwUL6a3PtjfezJtlgYPJdSSst6jShMzOUZlsJWWy24tgoXdjFfu+9JdB2+vy2XFLOnIlr4ONsuj+etdM+sV0DCnQKSAer0+tiZGX8LSbAf57Kw7gv8SyoDy4FdtMXEzEqnNYqXB7TfbRdTzINMvU2kW6wYiv0+dIzMUmWK4s0XZME9L6y/DAW0g5W1XQ8WQ0R1f1LYAssOI3icDFAQn44hLq1nxiS1w96jBTPgINzFW+/8XRF7Bf2CtdI5Ph8/hGQzZFNYYiewe/RpoHZMS4/38KXqr7wxI085QWUKgU8E3Y5/QCiGOR+EG3TUDKQfQd3vMJvBPuGUHj3CRu2HwuZUwpYgT8yHosZmG4xybrY81zIOW8lmvwLy6gMTZmqJq7wQyKxcaePhSDjT7zrjgphi/hC7MJQS0R1M/NZcZgrvNSrNI1tUpz+geZigD/9ktiufDpzUPIusMDHdlofqZuPIxjWhy5bE1TBs7R6IgxTRHl9fFaML/rcDsn/el7Tyu8NtzOBJH9L4KuTEF0wVl8uIv8BAEyKssRK13YDnXONdApA51Ja6xaqsQmNIu3kO8EI6zRWTd2bmHVWBBCBytOyeUvpjbK7c40q0s8DTaBEZMoQoCVBd2f1fW+Yuo8ELW5n6CBSz6AJC57lc96w9rC9QPFgHyNHdfMnuYDaALnxHbeqONYBdcM7S8j+x98EADvoedCUgQTk2mAyILUTXa4XYNF+crOccDDieh3XSqe19zX19nIQUClweH9I/TyZ4ZHmg6G13qQ62jM6bTmdkWTV/vXVWbs70kZioMDgVKCVPDMJZdAvq6Fujz5I3blG9oq4HcnL22zygAHdYCbqVTORKAD31vNiOnRb5nzPgUap7kfQwvUt+tUoYLwi9WV+MOCEWSkjLElQaDGbQ/4l418AhM0T1iL74Hs2nuCKesqMFlr6zfWhynZSqTXPTYEF4xHw8IXNjw3Ylpwibeme/VKIfRhad2K3Jmbk9p1IYF0Jm6aeY3xqlzPog/+Dk3kSnUCtzJBCfx/Rf2/GN3IaZVyMCdPiggGlNaKELm5CRkIDBQOObXJKNnpKou2Zg+AC+IUvEVX0uf4FgevhuoL4J8+/a/RnF4KTa09QNyGHjOYZ64aZTAEN+iH1IBSa4jtbHlLmWhkUALpgqrz4Yb7mpeSy8dpYuqioWDbqhf8tU29H8Jr+HAv1sLkSIgcEmMtCvK0qOIwjEDL81Nd84zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BpthfyuQMEHgkFtyq6uL2w",
      "input": {
        "note": "Lemon is between the jaws but slightly right of centre; nudging 1 cm right and pressing slightly lower before closing.",
        "targets": {
          "right_y": 0.11,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BpthfyuQMEHgkFtyq6uL2w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4763, -0.0189, -0.0383, 0.9992, 0.3389, 1.9461, 0.8223, 0.514, 0.2455, 0.1665, 0.9996]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1594 left_yaw=0.0024 left_pitch=-0.0969 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4609 right_y=0.1208 right_z=0.0245 right_yaw=0.0335 right_pitch=-0.0011 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.7118, -0.0659, -0.0122, -0.0122, -1.1282, -9.0325, 3.8496, 1.5458, 0.2076, -0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78594b73cd186c7c9ed201a49f8dfd91862b740aea01a655db60115c1ffdc8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9985344890dc0141019d7fbb6c6f651b4a49557aa4ba6c62d58c231a5f86da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2722f05eeb04da6ea4f3bfbb1439d74ec2f37ac76c2ca1e38bbe698b9eef30a0",
        "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 · 4.968 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6067, -0.4583, -0.0189, -0.0387, 0.9992, 0.3691, 1.7779, 1.1015, -0.2302, 0.2939, 0.1596, 0.9996]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1632 left_yaw=0.0026 left_pitch=-0.0778 left_roll=-0.0024 left_gripper=0.9992 right_x=0.4372 right_y=0.1181 right_z=0.0756 right_yaw=0.0143 right_pitch=-0.2716 right_roll=-0.1249 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.5111, 7.2547, 1.707, -0.0611, -0.0708, -0.0122, -0.3077, -8.9778, 9.3607, 1.9707, 0.0708, 0.0611, -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]: [-0.0189, 0.8032, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3557, 1.927, 0.8352, 0.4442, 0.2684, 0.173, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1601 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.002 left_gripper=0.9992 right_x=0.4557 right_y=0.1232 right_z=0.0248 right_yaw=0.0277 right_pitch=-0.0328 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1556, 6.9675, 1.7705, -0.0708, -0.0562, -0.0122, -0.8547, -6.9402, 4.3692, 1.3651, 0.1587, -0.1099, -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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4763, -0.0189, -0.0383, 0.9992, 0.3389, 1.9461, 0.8223, 0.514, 0.2455, 0.1665, 0.9996]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1594 left_yaw=0.0024 left_pitch=-0.0969 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4609 right_y=0.1208 right_z=0.0245 right_yaw=0.0335 right_pitch=-0.0011 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.7118, -0.0659, -0.0122, -0.0122, -1.1282, -9.0325, 3.8496, 1.5458, 0.2076, -0.1783, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78594b73cd186c7c9ed201a49f8dfd91862b740aea01a655db60115c1ffdc8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af9985344890dc0141019d7fbb6c6f651b4a49557aa4ba6c62d58c231a5f86da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2722f05eeb04da6ea4f3bfbb1439d74ec2f37ac76c2ca1e38bbe698b9eef30a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgcKEAgSGAI4AUIIdGhpbmtpbmcSDJpB1jK8x51tpwyLsRoMwEqWPhNXwMdx8svsIjAgiNtrHP/jkAYlsc2b7XbMjP5f2wrmIqia7gzIZVdWMTShZJXuM/lcmUe0uMgSpIwqrwabXPETmymjg5lyVUQ8lP3aiba10fKOcbeK6nzQGlwzh2KLQfPfJgeJ4mF/wDJtQ7G4twMGet1G1Vd+Ae6drKV6WfkK54tV1JGk4lZsalAe0BhJWaDVMMm9z7I/mofhpi35usxyjh/xdWGtUaEGKHDOag2GAD1BlzXFpT/8YgivxLN0GnO3kiv0q5YG7rSzyAR58jKp1kNDzXIqV8B/gAJf+sbtAsut8hZIGJDLRQuFNzviDB1NgakZ1wpyM7pnQC8SR9GZp2ykl2YOqkKi75gES/UgHhQAN1SuvP/nvzW9PO9KxXKLaqe/qQV5Mf4J+kYsSMNEm/o42oVWCGH8N87Xhibna3jCslspaEOme6uLEj2VX4EBWEnrH6GN6b+7VP7sqY2oNZ2IFGwSnBL/+jMBusoL+7MA9DLASkOIDKJOTKvdSjijd+Kgy/F3tfehhhZOrnQUGkaNxZrUQOzAHhCmrEX6z19KFn5F8rVT7775UMiPlXpCK2XoL2MDB40lWo9xFuPcdDyUAS/vBDIWA5Y984alaWMehjAsGSIYehLZESqI93KXVlb26Qpk8CAyNhp56rC8R/Hxrd4egSWb0U94zRZgPhHgPWUejxy4Uhv9aA6ijVJ9nzG2Remrxqi0u2nYZkyr2r0jswv66kH5+iwv6W3Fc2ua5XiAX9clg015JmK33aUQbmp7s1Br6OxOnFRs6/XgFONaSkEHH2NgGBGz+8pG7PA10HIX7c+w7oE5bwkZ1+VVYl3iFNnT2L9DDgZf2Vy5qKTtUfAb7e6YAewNz4HKAEwPdUuGloNCgqiNeigl2W5eOVAyRywWA8Wycswv9nRT0O3tZeXU+UrcRMGCK6D0bnJsYCCClWP50/5AClwZpBlDzCinSmTk6Sw26CfWQWwGegotzlEaea4zFtaX6bpv5vm0300YcQAGUjM9ztxuvhi/VXQEjEqfxhOK8ul6ezruhC8bZz4lkVkKDGTAom5vF3inoAeecevSHgeCb1tDHVKR80RPOQLxd8r6e2b8AByZi0wVqM4cTcjR3dXIIog6xq8Qpn2gO0xnButS0bvKXsumz7KQ/+eghysYtBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PBvxxbWLZ9M8kmmLLBkZ54",
      "input": {
        "note": "Lemon sits between the open jaws at the bottom of the right wrist view; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PBvxxbWLZ9M8kmmLLBkZ54",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 0.3401, 1.945, 0.8192, 0.5232, 0.2348, 0.157, 0.5185]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4608 right_y=0.1233 right_z=0.0255 right_yaw=0.0487 right_pitch=0.0041 right_roll=0.0089 right_gripper=0.5185\nstate[joint_eff]: [-0.0342, -1.2103, 7.0632, 1.6923, -0.0659, -0.0806, -0.0122, -0.294, -9.0872, 5.3128, 1.6044, 0.1343, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f13fd73fd7370f0044b0fab3626a39180a88fa38149c1b5fcacd26d4cbba0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:238ae6f1465f06f4c7f67ab14870b10858739fa9987868866c6d10fb1d02fb25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:885fe44d62209c8288ddfb34b3d98a7d0e565ad69db923c4f8fb12c4c15d6f85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.02 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4728, -0.0189, -0.0387, 0.9992, 0.3557, 1.927, 0.8352, 0.4442, 0.2684, 0.173, 0.9996]\nstate[eef_state]: left_x=0.2823 left_y=0.0016 left_z=0.1601 left_yaw=0.0026 left_pitch=-0.0934 left_roll=-0.002 left_gripper=0.9992 right_x=0.4557 right_y=0.1232 right_z=0.0248 right_yaw=0.0277 right_pitch=-0.0328 right_roll=-0.0103 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.1556, 6.9675, 1.7705, -0.0708, -0.0562, -0.0122, -0.8547, -6.9402, 4.3692, 1.3651, 0.1587, -0.1099, -0.0122]\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]: [-0.0189, 0.8032, 0.6067, -0.4763, -0.0189, -0.0383, 0.9992, 0.3389, 1.9461, 0.8223, 0.514, 0.2455, 0.1665, 0.9996]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1594 left_yaw=0.0024 left_pitch=-0.0969 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4609 right_y=0.1208 right_z=0.0245 right_yaw=0.0335 right_pitch=-0.0011 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.7118, -0.0659, -0.0122, -0.0122, -1.1282, -9.0325, 3.8496, 1.5458, 0.2076, -0.1783, -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]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 0.3401, 1.945, 0.8192, 0.5232, 0.2348, 0.157, 0.5185]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4608 right_y=0.1233 right_z=0.0255 right_yaw=0.0487 right_pitch=0.0041 right_roll=0.0089 right_gripper=0.5185\nstate[joint_eff]: [-0.0342, -1.2103, 7.0632, 1.6923, -0.0659, -0.0806, -0.0122, -0.294, -9.0872, 5.3128, 1.6044, 0.1343, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f13fd73fd7370f0044b0fab3626a39180a88fa38149c1b5fcacd26d4cbba0fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:238ae6f1465f06f4c7f67ab14870b10858739fa9987868866c6d10fb1d02fb25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:885fe44d62209c8288ddfb34b3d98a7d0e565ad69db923c4f8fb12c4c15d6f85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwkKEAgSGAI4AUIIdGhpbmtpbmcSDFk5OhEQaW36HRsR7xoMOZj03L6FppSqxs+fIjBADUPsCp7RwtNnCSYrADKWHprfzaSjs4vTX92u+yy+0UiuO3eLzV2emDp/D3n3FZEqpAjky7UGh5iiNhwy/D/9w1o2I91pQZHRhPHeI/koIKyao13pLHzu/CBquE9fsyddtHoDhNb+OWxfeSCUZLbheB1hwxjY0oG3imV0FhanjD0KOFOtOOYSs3P3NE/7SCtMtznl3EhNC2R+V8oWGUYc3lv6xC47YofIMB/C+BIjp/hatCSuBYW/Vf1QDzKBKRDjKz0rFomPLTbPI+Rm7F1g7Cm1aj5fjyvfBD/pjERg0FSOuE9hn/oTKp4KQAqwb+y1V/vuClQjY77G0nPH5OYPcay7NPdswdBPQJZJnLbN5RdPO1Yz2/Z1VGZ55SI5N9YMj2AsfDqrA5ALNIMKHkvsQDa8I8AZ6s9dmRnqLYtcAe6wP2AU2nlYxqRdtkG1bk4FW3h/KU3YM/Nj5zI//Wo4R7fYXxqUcKie+FPsYF603G/G8MdRf618RwCSJGw3pj7JRfahJuR4sUpadBZkvwrGgRvsYXqpcdb2rFFwPO8ifVFCJv5yTcRgyI71R50ZdLZ0HiflEXkwu+9sT/HCR5GL7oL9jXgICE4BTFv50DkgcE6jrWhz1DSHAftQOrLSUdOTMVfv0oKDhy03VHTYnrQA08YhioCibOGksF879wNgDH97CjP2cxlXh7HghkCdoca7zJ1h+sHEdZWvoYgyL64mk5Fxhv2JtqZN+PDIG8xchY/zMV/KpQj4vEJwYuQj2SvIoyalBjCUzjLWBaxyuCG0No1kS4N1bnctwfoXOv1UoT0dHpecP/WFsyT2VWMEi1JIOGuegcYJCwMWZg5p7ijG2rOAK6wNPEF7aydN1vrhay5F4lEz2AyLv55RWWPDMNEvfb0lKfmv/ps5Qt+FjYPs6PA/mpYnXsS5GN7gAYYSc7h1LZnaK5YkCKmvP/zElxoT6V1X5hyHlcmDJQ5YH17XrNDBh6P/YR2Xk3CjijN+RCiJQWvytyTVAYam/MePZGlOV6rngMciIE2DdwcVibwKdPQeIWKqdv3sW8ELHqnne5FOsK+n2sdhc7Dvz2kneVMtj9mJl9QjUfEfhhv5xT+wUI+pe4tm99OZ3gLwxBbwF3RauuM26p8oq5NgRA1GATNHGpflAYtWvKI4PrVQQMX/27b/K9lppkLxrnSaEZaNSI7IrDgM2oyzTOOE2qJqmIysryN9r7v4kFeUHvsCVbymyXbGrTl3KKW8ZH4vw6/2g8XlA8ZoJQF/xHYR7XXsxzaKZxj4NHQVwXxfjZhYrJcvmeGNRAFulgok3IzdHE8PQ+N8ddMZLI/1FyVEn1TxJi/48FFl36OhPrpH2WAX8pnDUHHfyzwWQcMy6h5pF8LsMBO4TQ2+2PXF4gVgBktr78ZIt5xxDZPjNNWCjZtfLa4NCSGpME2//nmz86B2P53hNdwRayC9G7lGnXB5eYeBqGLCq/8PThwOGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Pe56HRDq5vHP2bzfBvNVn",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm), so the lemon is held. Lifting clear of the safe walls.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_012Pe56HRDq5vHP2bzfBvNVn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4969, -0.0189, -0.0387, 0.9992, 0.3401, 1.6695, 1.1221, -0.3038, 0.2497, 0.1059, 0.5198]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4333 right_y=0.1108 right_z=0.1171 right_yaw=0.057 right_pitch=-0.2331 right_roll=-0.1107 right_gripper=0.5198\nstate[joint_eff]: [-0.1436, -1.0188, 6.9402, 1.8144, -0.0562, -0.0562, -0.0122, -0.3761, -13.5726, 11.9043, 3.1722, -0.1245, 0.5104, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ab7deefc6affa0fcb57ac2c2694ff3f3d2a82e98af303ee93802b8a7ed0c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d2d0b8ffa94217f9d21262b6b0e0d22bec4767d30ae705107521b31858f1780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:103f9476162468d8138a0dc2d63e641319e28211bd4b8274b59961567faa4930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.374 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4763, -0.0189, -0.0383, 0.9992, 0.3389, 1.9461, 0.8223, 0.514, 0.2455, 0.1665, 0.9996]\nstate[eef_state]: left_x=0.2818 left_y=0.0016 left_z=0.1594 left_yaw=0.0024 left_pitch=-0.0969 left_roll=-0.0017 left_gripper=0.9992 right_x=0.4609 right_y=0.1208 right_z=0.0245 right_yaw=0.0335 right_pitch=-0.0011 right_roll=0.0089 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2103, 6.9538, 1.7118, -0.0659, -0.0122, -0.0122, -1.1282, -9.0325, 3.8496, 1.5458, 0.2076, -0.1783, -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]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 0.3401, 1.945, 0.8192, 0.5232, 0.2348, 0.157, 0.5185]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4608 right_y=0.1233 right_z=0.0255 right_yaw=0.0487 right_pitch=0.0041 right_roll=0.0089 right_gripper=0.5185\nstate[joint_eff]: [-0.0342, -1.2103, 7.0632, 1.6923, -0.0659, -0.0806, -0.0122, -0.294, -9.0872, 5.3128, 1.6044, 0.1343, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4969, -0.0189, -0.0387, 0.9992, 0.3401, 1.6695, 1.1221, -0.3038, 0.2497, 0.1059, 0.5198]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4333 right_y=0.1108 right_z=0.1171 right_yaw=0.057 right_pitch=-0.2331 right_roll=-0.1107 right_gripper=0.5198\nstate[joint_eff]: [-0.1436, -1.0188, 6.9402, 1.8144, -0.0562, -0.0562, -0.0122, -0.3761, -13.5726, 11.9043, 3.1722, -0.1245, 0.5104, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96ab7deefc6affa0fcb57ac2c2694ff3f3d2a82e98af303ee93802b8a7ed0c55",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d2d0b8ffa94217f9d21262b6b0e0d22bec4767d30ae705107521b31858f1780",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 72):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:103f9476162468d8138a0dc2d63e641319e28211bd4b8274b59961567faa4930",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSgAcKEAgSGAI4AUIIdGhpbmtpbmcSDNrcIvE0DANqsgi0exoMGS3/4xId3p049CZYIjD70L/+YUmaF4CIexfXxqUOmvuZ1e59BXOrE2ITpwV8T8MHyf+pwi1xXnfuR3ifl+UqnQYQ8zhu60Jhn56lfRu9e33oIlDCbM7dO0AXpRsX0DTUkQCZjPfkve8t+e5OoajX+zNt5BRHpbLLL3wXBobI7IKkN7Wc/rjROQ0ymF1O0IMJEs1Qq/EQS39luI1BxMnVNFDBZHXeqvo169tR/bXHP/I4JOzN88qFbULmiz581kxvWFmza6r5mjvg23NRukCzDvd1GYt8iQMUGH0cOWmBuOpfUuvzAA3XLdfrXlAUSoqH7GtprZccJwLEbwzza92Zu189VU8JkBMBMMPrQhtvuddt922I/w/3Ms9MWU8v+v+52K4NYA1sKz1TAi5tQdc5AfDXnIvtqU+Tgj/e25qSVKrhGmwphoR33eWgKZv4dvBxAejGxds7TJPUCl2yigHM0VCPx7oiAFs+ZaEyJd+yqK084EtFebg3HRw1VQPlDnzkA2e9no+XKUHtSEgSP+DJVS4OYA3pFejwzNkyKN25HjbUjNj+/a5/tLQyOBpE8S6slTlkNHS96LmDV+nm29tgJQ5t/a1jd19d1LHfTWUfseQ5msx6Syl98p9nCvf+VfrHv3OTSjWG5AmsKQHRVWH5Au3lXXsMP7oz/WbITfZqFejDibra1dv9L/hOIaIVfawUlFpWdVuClerzcKULTKfNphZIQU6Efb0wGK5t+lT5APqV3J/CPc/sJiI2n/0+l7YsyB7wENJMcdRaAqL391wmXDBECl/bYSS9KvTP0b2Eoj+8cvztLh0zQ1TUmUmIGvpLNuT3opVMCqb9lmqrikEFDS/vlk83McV0O26Z8EdZffIQkrj5mAZwjVOw/pBW7llYnQ2N+SsTGibIaDmxHCUemrcIlmHQcVvwP3iQtPyE5vkxZ/iAfwoO9H0tXca1zxTc/7A38aI3ii88emtX1FPsbejWGCZ04LXPLngDqPdpfmoleFnmFvDFoIKLaUw9B/7ITyAxV1wb92Fjw0gL3MnFTnBKjta5iVYeM6EvdKVJGDiyaVU1wHoZ21u2KQu91EUxk00h9uAWE4dB6UvyHBKwyrsNCiVEa/Duofw1zX0Ez7dq+eGz24DnddbDyR/5ThgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pw7hz6XTdPn1RMSLRgAvUr",
      "input": {
        "note": "Lemon held, arm at z 0.12. Carrying it left over the safe's red interior at safe height.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.41,
          "right_y": 0.25,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Pw7hz6XTdPn1RMSLRgAvUr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5114, -0.0189, -0.0387, 0.9992, 0.7216, 1.7138, 1.2617, -0.5003, 0.5049, 0.3225, 0.5228]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1527 left_yaw=0.0027 left_pitch=-0.132 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3803 right_y=0.2256 right_z=0.1373 right_yaw=0.105 right_pitch=-0.2191 right_roll=-0.1878 right_gripper=0.5228\nstate[joint_eff]: [-0.2667, -1.2103, 7.1043, 1.7558, -0.0366, -0.0415, -0.0122, 0.212, -9.853, 11.9726, 2.8547, 0.2906, 0.5885, 0.7937]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96318da4b087f2a30dcef9059a17691b17159ea1a0470626bc40293097a9d48a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e69ddc1e438bf7dadb0cec0ec2762c9feb5ead35470d38a8d336620984049159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:868d25fd35db8cd03fed30f79233626225d4b352a4cb02580e6270407816508c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 5.012 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4805, -0.0189, -0.0387, 0.9992, 0.3401, 1.945, 0.8192, 0.5232, 0.2348, 0.157, 0.5185]\nstate[eef_state]: left_x=0.2812 left_y=0.0016 left_z=0.1586 left_yaw=0.0027 left_pitch=-0.1011 left_roll=-0.0019 left_gripper=0.9992 right_x=0.4608 right_y=0.1233 right_z=0.0255 right_yaw=0.0487 right_pitch=0.0041 right_roll=0.0089 right_gripper=0.5185\nstate[joint_eff]: [-0.0342, -1.2103, 7.0632, 1.6923, -0.0659, -0.0806, -0.0122, -0.294, -9.0872, 5.3128, 1.6044, 0.1343, 0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4969, -0.0189, -0.0387, 0.9992, 0.3401, 1.6695, 1.1221, -0.3038, 0.2497, 0.1059, 0.5198]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4333 right_y=0.1108 right_z=0.1171 right_yaw=0.057 right_pitch=-0.2331 right_roll=-0.1107 right_gripper=0.5198\nstate[joint_eff]: [-0.1436, -1.0188, 6.9402, 1.8144, -0.0562, -0.0562, -0.0122, -0.3761, -13.5726, 11.9043, 3.1722, -0.1245, 0.5104, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5114, -0.0189, -0.0387, 0.9992, 0.7216, 1.7138, 1.2617, -0.5003, 0.5049, 0.3225, 0.5228]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1527 left_yaw=0.0027 left_pitch=-0.132 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3803 right_y=0.2256 right_z=0.1373 right_yaw=0.105 right_pitch=-0.2191 right_roll=-0.1878 right_gripper=0.5228\nstate[joint_eff]: [-0.2667, -1.2103, 7.1043, 1.7558, -0.0366, -0.0415, -0.0122, 0.212, -9.853, 11.9726, 2.8547, 0.2906, 0.5885, 0.7937]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96318da4b087f2a30dcef9059a17691b17159ea1a0470626bc40293097a9d48a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e69ddc1e438bf7dadb0cec0ec2762c9feb5ead35470d38a8d336620984049159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:868d25fd35db8cd03fed30f79233626225d4b352a4cb02580e6270407816508c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wgKEAgSGAI4AUIIdGhpbmtpbmcSDE0cX56OuSH7VzejAxoMu2bIw2RfajR8QeFIIjC7uEXaxpwq//8glwGuf7ALXAJDWuK0bqai1qvdmOWTB/N+7Dw8uueEYc+ZLKpozeMq/AeesXFJ+ajxzV0vw5Lasc4cjlB0pozbUZesc3q9FFqWu41ZUZmafx5uS5vwMku7zZ5B1L6R8gPrnetOsXZIb6s+v7dNLh1ApZSO/9pyRZlQvtSmN6Br49LlIe7aiZr/syfJg+7gqlRn8a/gdUv5g57Dz0pCBFXybePyTgzo3tLYD3IL9mrfB6nCab2snFqY38O9q4CL/EppIfriFRU+OSgwj5iZazS9G8PSzNs7NRXtbjbhhCOWOJjub4DMiPNysEhel5xF32nbecFnwDpgbssQiLi3hQRHT2BGk5rWMx/Q0RHgPPjKrAfC/nVFABt0kJbMFuyIOLMp+YVTr9z1WZptDQkSsTqPWT5fLy5dccbHX6vAUJM+zzD4z2HV0y08+bI48jUZgyREBIj8MgvpodpqIXCeHe6+qusQHg7Imt6wfyOmMltF7Dn11+LUeO/0no7ziKVSJza82Oi6XAJvKkH5GXbo4yDY02j+fSo19igiADGZPnC8Q2SC/uSExpN5cLNS0RBFYTgVAkToJyaMt/+OroLfm/kvI0nS01VbrECv5dKW8VaXU3ALBN0AkUOzdwdvPDrPVLLerAh/2ajORZXrlsLn9ixkPTRBsqcXk8URPiKk+t5uSvInnh4969qDLlwz8W6xx0sT+vJvO5jS9lJcgyKtdYNrgcZA7VkZbR8gosOTMVt42fpaipjVoMADEvu7mE95WjeXTlH1cSpgAbGwd/0b35UGOlpLBoKoP1Aqbea61qDoaDRSozRpVzd/om925Co7qdtWinyG5eDQUc7ii3GUlOSDxNUtjgTrNSqV7zBC1/04iHA55W52rm+W6V6PK2VWGHZtkNCdw0iekDh8HaCCIUE/EA04S+VwQfYVjzQ+f34U5HaLibFPTUDDTk8hM/n1JQv9ntU8Sw37tvLDwgdDK5sADP8kiKGAjEiRFvHPWyGcpfm5rVWj+RNGhkv8bQ5peLhpvJE0WAB4k/I/8Dzk4QWcmKXxDr3k6AvwlRyBtPKxUZ3CoTwOVGImwidYSBxi8ZYNtpDb7+Vq7rX/BMtLUmdTz2PoS0mAzo7+q5POLRfnIOauJ3NEffM95yeiOQ0GABM8H7dhVVMs7ZCB0Uh7fWoY7vROxbBkZH7o1JIuVfqykZdNzM6S2HPdq4zesIvAfKTCs4TZv3qDfxXfmOGil04TH8POSOq+sOTwQz1Awr0gB/Q4hvGCERd05mbzh1DxfuaVhn88hjxjNdmw313ELJeV5sLqm/jNRiKorA5naH0vI4RDZfawE372ZbGWLQQwI1vDqs2s3AcGnHix0sIgW1YAuH1WbDeVj9fDnlYWXnCjgeMZ1i2ewSmEDZE7cJfIhLLSv1uCyRMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0129ZHVpZfeNFgCKwFS7RLTR",
      "input": {
        "note": "The arm seems to have bumped the safe (it rotated in the top view); lifting higher before crossing over the wall.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.23,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0129ZHVpZfeNFgCKwFS7RLTR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5217, -0.0189, -0.0383, 0.9992, 0.7319, 1.7565, 1.7054, -1.0542, 0.5003, 0.2844, 0.5274]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1508 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3648 right_y=0.2186 right_z=0.2179 right_yaw=0.114 right_pitch=-0.3512 right_roll=-0.3024 right_gripper=0.5274\nstate[joint_eff]: [-0.2803, -1.0598, 6.9812, 1.6825, -0.0708, -0.0171, -0.0122, -0.1846, -9.4564, 10.6598, 2.1758, 0.3687, 0.4469, 0.4567]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:181e4548e150031e2fd8a08940b3ae85609862a3081d1cbd2b522fa3437c8eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dcba98a79eaa1cdcdd4923c622a40886b151b5d7929891b2001b8adef39e1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:731ab09dab89474c70c2e5c840648003fa4b0dc69b9c736597bfccd439ecdb0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 7.644 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.4969, -0.0189, -0.0387, 0.9992, 0.3401, 1.6695, 1.1221, -0.3038, 0.2497, 0.1059, 0.5198]\nstate[eef_state]: left_x=0.2786 left_y=0.0017 left_z=0.1555 left_yaw=0.0027 left_pitch=-0.1175 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4333 right_y=0.1108 right_z=0.1171 right_yaw=0.057 right_pitch=-0.2331 right_roll=-0.1107 right_gripper=0.5198\nstate[joint_eff]: [-0.1436, -1.0188, 6.9402, 1.8144, -0.0562, -0.0562, -0.0122, -0.3761, -13.5726, 11.9043, 3.1722, -0.1245, 0.5104, 0.9304]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5114, -0.0189, -0.0387, 0.9992, 0.7216, 1.7138, 1.2617, -0.5003, 0.5049, 0.3225, 0.5228]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1527 left_yaw=0.0027 left_pitch=-0.132 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3803 right_y=0.2256 right_z=0.1373 right_yaw=0.105 right_pitch=-0.2191 right_roll=-0.1878 right_gripper=0.5228\nstate[joint_eff]: [-0.2667, -1.2103, 7.1043, 1.7558, -0.0366, -0.0415, -0.0122, 0.212, -9.853, 11.9726, 2.8547, 0.2906, 0.5885, 0.7937]\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 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5217, -0.0189, -0.0383, 0.9992, 0.7319, 1.7565, 1.7054, -1.0542, 0.5003, 0.2844, 0.5274]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1508 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3648 right_y=0.2186 right_z=0.2179 right_yaw=0.114 right_pitch=-0.3512 right_roll=-0.3024 right_gripper=0.5274\nstate[joint_eff]: [-0.2803, -1.0598, 6.9812, 1.6825, -0.0708, -0.0171, -0.0122, -0.1846, -9.4564, 10.6598, 2.1758, 0.3687, 0.4469, 0.4567]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:181e4548e150031e2fd8a08940b3ae85609862a3081d1cbd2b522fa3437c8eb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dcba98a79eaa1cdcdd4923c622a40886b151b5d7929891b2001b8adef39e1e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 92):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:731ab09dab89474c70c2e5c840648003fa4b0dc69b9c736597bfccd439ecdb0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwQgKEAgSGAI4AUIIdGhpbmtpbmcSDAZ7fZ3xMISExwsZEhoMFJ3NJqjyDNlK0B4yIjBGXLM6jeOoLD8c8PmhlsQnACFs1JDpNwg/veCafU0T3kbVs7ozOT4gHeDid/rHj5oq3gcsW1Dq/Z8Y6G9zp6yZyMU6vjus+mw6FIDWqe0o4eB10kF4Tgu4w0V6GUGLWfXzV1IC0nNign9dCEsJVYII6wg4KOGpcQcHZWSRrrH8UkRk7Le8Wbnd3UN4LAgQPK/fWfShQtYf52ejbivXPLgY8yTKoTgaPnXrFnJp2IDpnikhF5dmsRXevlKrEFJFwB+wbbgTlxuVLoA7Ptax9rNP4+KuKqihAd8rLt+4fly3Qqi5XElnkh20FbU9+i4Oaza1ek+o5qGQRTVqUCE8C0ISwc3UMdLULbcOHjIuq7WoFiwzoxHrFlHWAB9nz7a9CEZysXnl/CGrDhKnnw/bEVWLFzzNry/uDwImcEBJu/o9wBM+qn4z6fUntzQOkOpfEcWzDnYzerTUQhMkKcipBuFa33QIJz2KC3RcTwUKHWq7dS/NavBdPYWB3n8a8WccOS2lDRdNDc5D4puMrnVTWx6F+Qn2+Qkk+jmDo5adbI3QNx5FObtIRjdgQ7DUMy5CV0NRWFsPV7jlRUuGOPjnICopxzZaGvhA0fjmgYWUNqGazRug0On7oj3zTZhZ6xogderbTLswaO0h/KxKuFBhwXWosowKtzEE7sFGVDbVqVDStF0TM7roIE5kOG5bsRlNzOGvufIa4ozc3DAmg32OF7ChIoDj/TMe9lJlxNC4LlPdKGsfcLj+3c/cE+jgxnlYOcE94cQtSPRbIvfv/9gbi+4zTs9HL8rREBfUnctoyaT0Xv6U0MfkxErFdnDZ/x6blk/PXKm3mHP8B536ZZLeUtQmFu7kbhW9OQfupC5sZ9v/XDkx4gGmumo4DJRtJpEiE4j16tYrHyr4XxhYpdisw6XN/rm0pN3ecj1U+Q80KM83nk6HPlxwI4gKhpJb8So6I6Xgqc0DlBmNnJMci3Ht7d+fuAGWmFqn90ZCHp9cZ7Wu5npVG6ZskTode2KJl58CZG8HascDKAz29mllFEgwaBDTmjtPYoRLIj+5t7Ha/SQoobrHOtxXFegfhENCptLNp1dJ0a0B9hxxo6hNh2SnOB2XZ2L9cbLL4hXX7njPuGa6KndygmZKfrjLiUDwbo86D7EQPeRI+AWq72m7sPegXGsoqvK614h79++6Wr+v/yOOEdv1AnQTnF4PEIlRbjC4NwEIcdOGEkGw5cLkblJ50L4fho9IGke7IrmoMOoHWcFtqvRGR+blbhkEkEzFK9wOqsQQvze/2MAQd4wN/qTFqecfTQnfgOdXUhQB/4QdnKtD1JDorf7wWbtqYd2wswXZQGVt8VsYE9yN4VFyNET7QdAkzIXqlpL0ZC9IumMyX0r6R0QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EkrzDtR4izuDnkvcLHi6Qz",
      "input": {
        "note": "Now above the safe wall height; the red interior is to the left in the wrist view. Moving left over the safe interior.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.32,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01EkrzDtR4izuDnkvcLHi6Qz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5259, -0.0189, -0.0387, 0.9992, 0.7712, 1.7599, 1.6836, -1.0298, 0.5079, 0.3191, 0.5258]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1464 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3579 right_y=0.233 right_z=0.212 right_yaw=0.1281 right_pitch=-0.3423 right_roll=-0.2865 right_gripper=0.5258\nstate[joint_eff]: [-0.0615, -1.1966, 6.9128, 1.619, -0.0464, -0.0366, -0.0122, -0.3077, -9.1419, 7.2, 1.3944, 0.3346, 0.1636, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991033dc8520856337da6c77cc3366ba8b5de10c5cbab35ab5cee5454d606124",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccc543fbc560501626fa125e55bf0c2f75bdafe9b3c09b4ecdb703c6f3108190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b722b46dea2bbd8dc38606e65e8a37d3d19c397e1f26b517d489a0505da7e8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.13 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5114, -0.0189, -0.0387, 0.9992, 0.7216, 1.7138, 1.2617, -0.5003, 0.5049, 0.3225, 0.5228]\nstate[eef_state]: left_x=0.2763 left_y=0.0017 left_z=0.1527 left_yaw=0.0027 left_pitch=-0.132 left_roll=-0.0012 left_gripper=0.9992 right_x=0.3803 right_y=0.2256 right_z=0.1373 right_yaw=0.105 right_pitch=-0.2191 right_roll=-0.1878 right_gripper=0.5228\nstate[joint_eff]: [-0.2667, -1.2103, 7.1043, 1.7558, -0.0366, -0.0415, -0.0122, 0.212, -9.853, 11.9726, 2.8547, 0.2906, 0.5885, 0.7937]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5217, -0.0189, -0.0383, 0.9992, 0.7319, 1.7565, 1.7054, -1.0542, 0.5003, 0.2844, 0.5274]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1508 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3648 right_y=0.2186 right_z=0.2179 right_yaw=0.114 right_pitch=-0.3512 right_roll=-0.3024 right_gripper=0.5274\nstate[joint_eff]: [-0.2803, -1.0598, 6.9812, 1.6825, -0.0708, -0.0171, -0.0122, -0.1846, -9.4564, 10.6598, 2.1758, 0.3687, 0.4469, 0.4567]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5259, -0.0189, -0.0387, 0.9992, 0.7712, 1.7599, 1.6836, -1.0298, 0.5079, 0.3191, 0.5258]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1464 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3579 right_y=0.233 right_z=0.212 right_yaw=0.1281 right_pitch=-0.3423 right_roll=-0.2865 right_gripper=0.5258\nstate[joint_eff]: [-0.0615, -1.1966, 6.9128, 1.619, -0.0464, -0.0366, -0.0122, -0.3077, -9.1419, 7.2, 1.3944, 0.3346, 0.1636, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:991033dc8520856337da6c77cc3366ba8b5de10c5cbab35ab5cee5454d606124",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ccc543fbc560501626fa125e55bf0c2f75bdafe9b3c09b4ecdb703c6f3108190",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b722b46dea2bbd8dc38606e65e8a37d3d19c397e1f26b517d489a0505da7e8b",
        "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_018ZMxftvm5Beo1uCM4r17yN",
      "input": {
        "note": "The lemon slipped out and landed near the front-right of the table (bottom right in the top view). Opening and heading back over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.22,
          "right_y": 0.06,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_018ZMxftvm5Beo1uCM4r17yN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.6537, 0.5499, 0.3687, -0.5526, 0.5274, 0.3885, 0.9983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1469 left_yaw=0.0028 left_pitch=-0.1625 left_roll=-0.0005 left_gripper=0.9992 right_x=0.2204 right_y=0.0613 right_z=0.1158 right_yaw=-0.0004 right_pitch=-0.0293 right_roll=-0.0206 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.2923, 6.8991, 1.7705, -0.0562, -0.022, -0.0122, -0.1299, 1.6479, 8.1299, 1.9316, 0.2222, -0.105, -0.0415]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90404168706142d022b64f6e4ae453a0dd557cd32ca9ac231f9482154104df4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842e4b42f3ca1d5aa89327649cbbc06d6455b03e612fa343642364fbe40c6e59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04126f7ff21af62a881116937a2a210660a868999d03c75729c0e7354ccbb043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.341 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5217, -0.0189, -0.0383, 0.9992, 0.7319, 1.7565, 1.7054, -1.0542, 0.5003, 0.2844, 0.5274]\nstate[eef_state]: left_x=0.2746 left_y=0.0017 left_z=0.1508 left_yaw=0.0026 left_pitch=-0.1423 left_roll=-0.0007 left_gripper=0.9992 right_x=0.3648 right_y=0.2186 right_z=0.2179 right_yaw=0.114 right_pitch=-0.3512 right_roll=-0.3024 right_gripper=0.5274\nstate[joint_eff]: [-0.2803, -1.0598, 6.9812, 1.6825, -0.0708, -0.0171, -0.0122, -0.1846, -9.4564, 10.6598, 2.1758, 0.3687, 0.4469, 0.4567]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5259, -0.0189, -0.0387, 0.9992, 0.7712, 1.7599, 1.6836, -1.0298, 0.5079, 0.3191, 0.5258]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1464 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3579 right_y=0.233 right_z=0.212 right_yaw=0.1281 right_pitch=-0.3423 right_roll=-0.2865 right_gripper=0.5258\nstate[joint_eff]: [-0.0615, -1.1966, 6.9128, 1.619, -0.0464, -0.0366, -0.0122, -0.3077, -9.1419, 7.2, 1.3944, 0.3346, 0.1636, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.6537, 0.5499, 0.3687, -0.5526, 0.5274, 0.3885, 0.9983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1469 left_yaw=0.0028 left_pitch=-0.1625 left_roll=-0.0005 left_gripper=0.9992 right_x=0.2204 right_y=0.0613 right_z=0.1158 right_yaw=-0.0004 right_pitch=-0.0293 right_roll=-0.0206 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.2923, 6.8991, 1.7705, -0.0562, -0.022, -0.0122, -0.1299, 1.6479, 8.1299, 1.9316, 0.2222, -0.105, -0.0415]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90404168706142d022b64f6e4ae453a0dd557cd32ca9ac231f9482154104df4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:842e4b42f3ca1d5aa89327649cbbc06d6455b03e612fa343642364fbe40c6e59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04126f7ff21af62a881116937a2a210660a868999d03c75729c0e7354ccbb043",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwgKEAgSGAI4AUIIdGhpbmtpbmcSDIfxkytTd8cI9l7+nBoMKPPxW0vYJlMfjoZ6IjBq91ytddtAAPbvllOC3nbQH2CRzC390oPey8wHbp0lsbat0hwVcp/PnZz0JY21aVIqxAfAdxTAdK9p7G4t6VjNvO+p2SB74sHUaCt560af/Vk1Ou4sYhrEEDqvEJIwpbtBnm8lu+kEvOBV5dc62VK8bB1aEcCR5mBtUDKjPQYurEmI7F4Sq6lA9mdbO1hHyAqMRRJ2bR/Ru4+izqSDTF7L/AWwj5EaAsSjshItRARF1CZiBCas0CvTCs1J1Hk9P0z5H0sivni91ktyWDP5SiA40tGVIJB5Fb+mPniJUuIbS0vyNcSJnZfnF+DB2yPt/MmQb0JYm8vedZLXohw1M57rZtP7y0HRQ2x5zRkCfPtld2Y8KjDLdfHBnBsk+/lf/xZ8REL5MlgVubohDUDIEl//TzwOxrCJz6QqZWj3CR/qXrdsHF2GK2b8KsAflRQYao71dqUJWeQmvWmzrzpYEpMgajCM0qCqbMKHzxv89ptiRb63KF4AbImNteKwx1Z9sWCUDRRdjKBNh8765ixmQXiaby+Df7ptuby5oAnzatfRYoBhihRL+Q1r7X0wZTWhT9GpSZsSxtPRmrSH3Azz1S+1Bjo2Rql9nxmZ3zfZdxQs1kiczRBs9BFTLyzfR1Z9Xnx55eN9IgKWbJP48Qj5uJW+R3AoJrJ3mvs5n5xTUtSs7cflbHJgJBspMBkoNomqd1d79nriUd4tjKYdIj6aly44iBU+9Y85Xp9PeRWic6BtS0Gk/My60+QR/P1QURbgEMr7O5SuPSVDBBh/0Gc7FcXZEiQuXV3a1FakwLQBsmIyT+XuIzUiwl85TOJRPdrdqOr2Br8XfvF0qhYzsjng3UEpstdxBSV3tFpn4Z7shsFq1j/9NO2esQyofNxNRhBXrD/iExbysNXt8bHk+Con7qwT7+AviafqjA4AIBzhJHgfF0KIbNi5FjoFRb9iiOisn82BuNhGO4lnqFb1TgwhY12G4uct5RkRCEs6bhOzOpfq20D/i9dXKGjT/cjHfDA7+X1xQhvtgdfWmH93d/Uaz8DMBB8OmVhUUfZlx5Z//gnV9Ww/9UwO18JmMqy8xaV1G/Vvrd0q2cX7vOO6FaZ4tTpw6qo7435YmE2QagkICmIjyY10yDe+JEMVkQKtzFks/KDvnLyhejdQNS2az0xMOXyePF3669xmC1hSdoCtDYhOVuxy8J3HTjHDZuLarP/iF1AMq8C954xtLqlqVI4T8hu9ClgpZVQkLhYkGycu3AzsJnrYNmpccl3SkVQi1/MON6posx9clSqcmY1covcXuWqPUBunY6b97SM9r0rYHVN6Vqs6CEGWM7bLxR3vDXLTG0BOMnfltxpBGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MowfAwrx6yGryaSs8LqUdf",
      "input": {
        "note": "Lemon's yellow tip shows at the very bottom of the right wrist view, i.e. roughly under the fingertips. Descending to grasp height.",
        "targets": {
          "right_x": 0.21,
          "right_y": 0.06,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MowfAwrx6yGryaSs8LqUdf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.556, -0.0189, -0.0387, 0.9992, 0.7128, 0.6125, 0.0605, -0.1959, 0.5484, 0.4202, 0.9989]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1439 left_yaw=0.0029 left_pitch=-0.1792 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2138 right_y=0.0678 right_z=0.0363 right_yaw=0.0251 right_pitch=-0.0313 right_roll=-0.0146 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.0462, 7.0222, 1.707, -0.0024, -0.0366, -0.0122, 0.1162, 0.1299, 3.1385, 0.862, 0.3639, 0.1538, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aac4e7e95ed4d31ff60ff8209a657dd401de8a720deeba246827781fe76a732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a37eeef89055d9c77cac728db4adba499b5ebb06c41c3d632115a21b1133fc9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:263bb31de865784dd121a6a93abeedbc1e712cbb047961f5c098e1f71c00ff0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.023 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6067, -0.5259, -0.0189, -0.0387, 0.9992, 0.7712, 1.7599, 1.6836, -1.0298, 0.5079, 0.3191, 0.5258]\nstate[eef_state]: left_x=0.2739 left_y=0.0018 left_z=0.15 left_yaw=0.0028 left_pitch=-0.1464 left_roll=-0.0009 left_gripper=0.9992 right_x=0.3579 right_y=0.233 right_z=0.212 right_yaw=0.1281 right_pitch=-0.3423 right_roll=-0.2865 right_gripper=0.5258\nstate[joint_eff]: [-0.0615, -1.1966, 6.9128, 1.619, -0.0464, -0.0366, -0.0122, -0.3077, -9.1419, 7.2, 1.3944, 0.3346, 0.1636, -0.1734]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.6537, 0.5499, 0.3687, -0.5526, 0.5274, 0.3885, 0.9983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1469 left_yaw=0.0028 left_pitch=-0.1625 left_roll=-0.0005 left_gripper=0.9992 right_x=0.2204 right_y=0.0613 right_z=0.1158 right_yaw=-0.0004 right_pitch=-0.0293 right_roll=-0.0206 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.2923, 6.8991, 1.7705, -0.0562, -0.022, -0.0122, -0.1299, 1.6479, 8.1299, 1.9316, 0.2222, -0.105, -0.0415]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.556, -0.0189, -0.0387, 0.9992, 0.7128, 0.6125, 0.0605, -0.1959, 0.5484, 0.4202, 0.9989]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1439 left_yaw=0.0029 left_pitch=-0.1792 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2138 right_y=0.0678 right_z=0.0363 right_yaw=0.0251 right_pitch=-0.0313 right_roll=-0.0146 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.0462, 7.0222, 1.707, -0.0024, -0.0366, -0.0122, 0.1162, 0.1299, 3.1385, 0.862, 0.3639, 0.1538, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0aac4e7e95ed4d31ff60ff8209a657dd401de8a720deeba246827781fe76a732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a37eeef89055d9c77cac728db4adba499b5ebb06c41c3d632115a21b1133fc9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263bb31de865784dd121a6a93abeedbc1e712cbb047961f5c098e1f71c00ff0e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS/AcKEAgSGAI4AUIIdGhpbmtpbmcSDM2rNNsewmLlLQO69BoMRtcikzGiB4NNt0ZhIjD63doK+6lV2a3Gm2swgq+ck4dDmcUGd2IUncd59RJ/g1E08sgAwlbxLNgf//dqssYqmQfdjTzIewJw1Hmietp06q9McOyAV6AkE9bjkvvEdesWJoaYd5gVR97V0Gr+0yyiRk02bcNqOD1npnpEHp26uWciYh3C1+2214/ZSKQBSFaXq8KiMez1Znxs1t8u2pdcSHDnI1wHh0YWKlJIes5gK4LwG+LEFt8Q5Zm2hSbIiNJEk7nwRyj8+1BfqFvzExQ4bfUyDKgdvDlHAR2At4FxpMT4M1Bfn0hP0PG31BJvrYVw3NQYGpuuI8k0V8MGeE3pU1/GPPkA3YbHArh4xopMXwL29CVPVtjRhXj0xcwWBMiz0A9iNonMix7/VPO8JjBce37y9tL+mZHQRDS0sHD6B1gpQxfI+QJewZYe0I/JCotrYOLw5z7FJCVCsM60Uf+RKEZsqKJ6J3SUIlMEXCXwBYVi+uHrg/vO59OMYtNgCokNYRvYeXOiDuRjLwY5f4GjBD4JR4zKb+DBUyXBmJcH35JeX7VJwt3b0Lzfxp+zrWvNxc6WzyGxZEe71Tg06+DIHdprfzv8RVL/qpGIVh0kUXxC3vUDxYCIuzuAqGwuxpcpAo+AUCUt1PxUydQVwUV5pDRQJ335qfWxHnwgYI9rz3F2r7z9L1VDayeKQRa50cKIvTVH6Ca6F7C2GVJW26CAtBfU0I/vHgLmKzvghJgd0W8BWaWdP4EPsLWoFCq+zKS3N7KW0OsOaBa8A/Oh6HkN9J3qcz1bJRoZYW0nYMwQZT4VhplNMlzNVnZCR6Fhk5Bx/7ng23WZfnC5jBIjmeT9PuipTLurERBIZeYOXKILumLCDa02Gtp5B6PwEtANLJ/CnqUcmN39N2+NThYsgr52qZ0p87HatR1LVzFF8UnR844tbvd+oj74TQ8YaBaP88xIHlyaVVNymymQs0ebNOuxg5ZL5a2PKemKVQOgYCD5roaDXSoKEHjjxcBVT/FuRfOtYZFvOabDtesMibGBKnPWk6b38ZauGnRCQ+ubKSPCdxdRkGfhRJcs0nEEOr+CkVKpf6ggPALJiSlA/WvGI6mRm32dYMtjITaOOtg2CRFnRcIimiaFL0s0+ZFJ08cIeMBIzHPCaPTQSiOMp+6tGM+mT/63Tr7oNauNM0CyWjK9JdahES9vjGwxqg/WnBM8ByYnh+V97yZ4BDhlKHvPHZ0zErexW3CHmr9ScKz7N+brMdUoTDshNjgj+J3AvR26+Wg82A5rJoqTbBohs0RX7cmO8dOUCo6fRVm+QcAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ExH4ZUSvgyWpdCNTpj91DV",
      "input": {
        "note": "Descent stopped at z 0.036 with the lemon at the bottom edge of the wrist view — it's slightly toward the base. Stepping back 2 cm and lowering.",
        "targets": {
          "right_x": 0.19,
          "right_y": 0.065,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01ExH4ZUSvgyWpdCNTpj91DV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5613, -0.0189, -0.0387, 0.9992, 0.8463, 0.5449, 0.0303, -0.1265, 0.6048, 0.4908, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1869 left_roll=0.0 left_gripper=0.9992 right_x=0.2116 right_y=0.0929 right_z=0.0518 right_yaw=0.0751 right_pitch=0.0708 right_roll=0.0891 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -0.8274, 6.8718, 1.6972, -0.0659, -0.0611, -0.0122, -0.8547, 1.5111, 4.6154, -0.525, 0.779, 0.2027, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e0868b0f990982fabc72941132865cfa46db3834d3b93e436e8e79d657ed04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:629ccc940fb357de708a76a0bb774fdf8271b6aebe0a529cf22ab31b3aad73fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0271cd034f658c6e8abfa8cc2c33d074693b5cf3e9ced732c2bef680f411413d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.801 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8055, 0.6067, -0.5396, -0.0189, -0.0387, 0.9992, 0.6537, 0.5499, 0.3687, -0.5526, 0.5274, 0.3885, 0.9983]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1469 left_yaw=0.0028 left_pitch=-0.1625 left_roll=-0.0005 left_gripper=0.9992 right_x=0.2204 right_y=0.0613 right_z=0.1158 right_yaw=-0.0004 right_pitch=-0.0293 right_roll=-0.0206 right_gripper=0.9983\nstate[joint_eff]: [-0.1709, -1.2923, 6.8991, 1.7705, -0.0562, -0.022, -0.0122, -0.1299, 1.6479, 8.1299, 1.9316, 0.2222, -0.105, -0.0415]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.556, -0.0189, -0.0387, 0.9992, 0.7128, 0.6125, 0.0605, -0.1959, 0.5484, 0.4202, 0.9989]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1439 left_yaw=0.0029 left_pitch=-0.1792 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2138 right_y=0.0678 right_z=0.0363 right_yaw=0.0251 right_pitch=-0.0313 right_roll=-0.0146 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.0462, 7.0222, 1.707, -0.0024, -0.0366, -0.0122, 0.1162, 0.1299, 3.1385, 0.862, 0.3639, 0.1538, 0.0464]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5613, -0.0189, -0.0387, 0.9992, 0.8463, 0.5449, 0.0303, -0.1265, 0.6048, 0.4908, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1869 left_roll=0.0 left_gripper=0.9992 right_x=0.2116 right_y=0.0929 right_z=0.0518 right_yaw=0.0751 right_pitch=0.0708 right_roll=0.0891 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -0.8274, 6.8718, 1.6972, -0.0659, -0.0611, -0.0122, -0.8547, 1.5111, 4.6154, -0.525, 0.779, 0.2027, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e0868b0f990982fabc72941132865cfa46db3834d3b93e436e8e79d657ed04c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:629ccc940fb357de708a76a0bb774fdf8271b6aebe0a529cf22ab31b3aad73fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0271cd034f658c6e8abfa8cc2c33d074693b5cf3e9ced732c2bef680f411413d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygkKEAgSGAI4AUIIdGhpbmtpbmcSDN0E8kvlDaCvkLGLvRoMFNOgnoJZeMLY2W+iIjADsBYcXY48brySyHJsZliZ2BLKeThp5ar3TweobXJoY3KydsK8ldVm8BAn0i+aKdIq5whPLG2LPJAmCFCPRtpRvEAlS4ZE3UlbTFlL2NTa5WwlBZuaooY6HDnGyYk2wQVc0GMZPi15xJKPdfbNpkiJjmfRdDVfSZWhFApPRLlVTgl2SgZyFos1QuFuF16OQd/2A5Okbmev1KPXdDSBEMfzP/SApSrcOr4cu7Ow+hmhevhNu+8r3v9IreAEh1VkzN1xDTP7gi5al77Se3x6vvW+Kv/Vth6y9IJT1QhdHIZ7Qt8BUsGmjioUjajJAszGpd62eS3zROEoqkTsvY5K16fnZQ0xQ00gcQnJOGfwcze96LNrC8/X2SCcMxKaYyHUO2T3axk3PqMNWnj/r5dyJiZwLjCsjvQDqbNfa3UazBhvDOdeKpHPe8k8eqJRRe0VrFlljHVgaZCDTTm1qGJr6FalIRAIzO+ALHzOLfZGKhgR0QLSC9iuB7wlYUwW2VdTrGXBmjKAy41bbzwqzGMNrgRb3CcVrQd/YILM38ZFSrZmrsC0HFaEjQBCWNcCP+ztRbxrxMAcK9KRuDCMyv5OYcEoptXHp4UCQKImIYd/ZteWH9fS7KUySLc6hTMNMxuu7g6lqdgUGBr9coWL9+NS275bO3FXMkWjDdoI/qVbyHedVkKxceubr3UczGY3kNwFxwattDA5Nwoz5LlTgV4kUCqZkbJoVN3hgZoAAXrSdVFlPW0i6R5BSZ7ax7rreECfBXnfySI5nUkIh054uXuOkbG2zyB8gG7FRwOYHUo4FDdWBr6ugET1fPrfCNlCgUAzj+e2f7VJqT/CosoFLCijsXAB31T49cvK2y3EMxztknaOaqdJLTv2lklCnuocvJyup4kQEV24Y49WF3Ak8za3tkpSs5u4jb+Iy1ypqJVScauKallwvXRe7arLay4ZK/xSUeYvCt6nj3LCnXycsdtvQIVBMPVEW3Z579JgHNGkceUuqDA+MMrcsvGb3sfueiw9By1NI+oMpS8a6/G9X2UjOKtWDqw9epYu5CPE+LhzQUnAnzlAgED08eJJMxwMoMo0hw5xiF7QC+S6MSr2rrSwxUL56Id27B/umqBIRl83BxdQrW4FgsXtXWauwFnwusQ68xTbY164WeRGClfVISo9vu75k+5yxL1GoALMs/EYmvo/ozlGjMEHtMyeiEQy8X9ZG3Ex4h6mklMTQSLY4rrs1/UuqoIBnulXRUA6KMenycmp1gsXtn2xMr611+2ib36DrhCELjVYTu/5hGDsY3wc0UMQ7w3E3y9Z42jwVjikZ/GFQCZSyQ9IkgkzsFIygojW2u8iWDNdXda3+KybifLGbNdegezK09hNfK61mhC+SsiXJWvnlZuVtvkIBWzcIo9A/VoVRycQQtnGdSXRP5K6xRA2L4T/GJulW4s9jsV9Y0EAgbVOQ4tgO3shh2qHE9HWjUjYMW5kv7yGNOYaNvW7wV5xw5zWvlykLBiImFe2wVKP8LfdOKIoWKmjeP+413YTaPugH99cUDCgWrG1KG8C64gY8G2CMxBprFMwzhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FNgHR8zjZJBh5m7Hoyp4iJ",
      "input": {
        "note": "Arm drifted sideways and up; re-commanding a straight-down pose over the lemon with orientation reset.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.2,
          "right_y": 0.07,
          "right_yaw": 0.0,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FNgHR8zjZJBh5m7Hoyp4iJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5785, -0.0189, -0.0387, 0.9992, 0.907, 0.503, 0.0345, -0.1398, 0.6586, 0.5774, 0.999]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.1389 left_yaw=0.003 left_pitch=-0.2056 left_roll=0.0004 left_gripper=0.9992 right_x=0.2097 right_y=0.0984 right_z=0.0625 right_yaw=0.0441 right_pitch=0.1098 right_roll=0.1679 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 7.0769, 1.7118, -0.0269, -0.0562, -0.0122, -0.0068, 0.335, 4.2462, -0.5104, 0.4029, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11fdcd66d7131ad5219bd4c4c2ea5b31030daf280c5548d68df5745ac12e6c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc412fd51840b572b40c7660516bf2951ad44318ec5e27b87399672852562dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e619e2c29ff1905a9edf9972b06e7a8b12e7eb162b3907e4b705f3de7b7b514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 5.382 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8059, 0.6067, -0.556, -0.0189, -0.0387, 0.9992, 0.7128, 0.6125, 0.0605, -0.1959, 0.5484, 0.4202, 0.9989]\nstate[eef_state]: left_x=0.269 left_y=0.0018 left_z=0.1439 left_yaw=0.0029 left_pitch=-0.1792 left_roll=-0.0002 left_gripper=0.9992 right_x=0.2138 right_y=0.0678 right_z=0.0363 right_yaw=0.0251 right_pitch=-0.0313 right_roll=-0.0146 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.0462, 7.0222, 1.707, -0.0024, -0.0366, -0.0122, 0.1162, 0.1299, 3.1385, 0.862, 0.3639, 0.1538, 0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5613, -0.0189, -0.0387, 0.9992, 0.8463, 0.5449, 0.0303, -0.1265, 0.6048, 0.4908, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1869 left_roll=0.0 left_gripper=0.9992 right_x=0.2116 right_y=0.0929 right_z=0.0518 right_yaw=0.0751 right_pitch=0.0708 right_roll=0.0891 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -0.8274, 6.8718, 1.6972, -0.0659, -0.0611, -0.0122, -0.8547, 1.5111, 4.6154, -0.525, 0.779, 0.2027, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5785, -0.0189, -0.0387, 0.9992, 0.907, 0.503, 0.0345, -0.1398, 0.6586, 0.5774, 0.999]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.1389 left_yaw=0.003 left_pitch=-0.2056 left_roll=0.0004 left_gripper=0.9992 right_x=0.2097 right_y=0.0984 right_z=0.0625 right_yaw=0.0441 right_pitch=0.1098 right_roll=0.1679 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 7.0769, 1.7118, -0.0269, -0.0562, -0.0122, -0.0068, 0.335, 4.2462, -0.5104, 0.4029, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11fdcd66d7131ad5219bd4c4c2ea5b31030daf280c5548d68df5745ac12e6c9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbc412fd51840b572b40c7660516bf2951ad44318ec5e27b87399672852562dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e619e2c29ff1905a9edf9972b06e7a8b12e7eb162b3907e4b705f3de7b7b514",
        "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_01MadqybY7bKqSQYyRmG9C58",
      "input": {
        "note": "Right arm is fighting the descent near its base and the lemon is hidden under it. Returning to home to reveal the lemon in the top view.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01MadqybY7bKqSQYyRmG9C58",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0177, 0.8124, 0.6067, -0.5877, -0.0177, -0.0387, 0.9992, 0.5797, 0.7982, 0.2909, -0.3477, 0.4423, 0.3683, 0.9989]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.1367 left_yaw=0.0032 left_pitch=-0.2174 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2317 right_y=0.0656 right_z=0.0612 right_yaw=-0.0054 right_pitch=-0.1636 right_roll=-0.0573 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -0.9231, 6.8718, 1.6874, -0.1099, -0.0366, -0.0122, 0.5949, -3.2479, 8.212, 1.5897, 0.0415, -0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57813e8098938deced3cb2230a793536033aefa177f4c98c48cc5e2237d6e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452ae36256d82ed5ae53899d0c501f2bd6f4c3dd59dd31d744766d84dd5682af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0597fffbb272e81adf9cada5f371d11ab04838a85191b8bfe90970493e6435af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.188 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8082, 0.6067, -0.5613, -0.0189, -0.0387, 0.9992, 0.8463, 0.5449, 0.0303, -0.1265, 0.6048, 0.4908, 0.9989]\nstate[eef_state]: left_x=0.2682 left_y=0.0019 left_z=0.1423 left_yaw=0.0029 left_pitch=-0.1869 left_roll=0.0 left_gripper=0.9992 right_x=0.2116 right_y=0.0929 right_z=0.0518 right_yaw=0.0751 right_pitch=0.0708 right_roll=0.0891 right_gripper=0.9989\nstate[joint_eff]: [-0.1709, -0.8274, 6.8718, 1.6972, -0.0659, -0.0611, -0.0122, -0.8547, 1.5111, 4.6154, -0.525, 0.779, 0.2027, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5785, -0.0189, -0.0387, 0.9992, 0.907, 0.503, 0.0345, -0.1398, 0.6586, 0.5774, 0.999]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.1389 left_yaw=0.003 left_pitch=-0.2056 left_roll=0.0004 left_gripper=0.9992 right_x=0.2097 right_y=0.0984 right_z=0.0625 right_yaw=0.0441 right_pitch=0.1098 right_roll=0.1679 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 7.0769, 1.7118, -0.0269, -0.0562, -0.0122, -0.0068, 0.335, 4.2462, -0.5104, 0.4029, 0.105, -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 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0177, 0.8124, 0.6067, -0.5877, -0.0177, -0.0387, 0.9992, 0.5797, 0.7982, 0.2909, -0.3477, 0.4423, 0.3683, 0.9989]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.1367 left_yaw=0.0032 left_pitch=-0.2174 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2317 right_y=0.0656 right_z=0.0612 right_yaw=-0.0054 right_pitch=-0.1636 right_roll=-0.0573 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -0.9231, 6.8718, 1.6874, -0.1099, -0.0366, -0.0122, 0.5949, -3.2479, 8.212, 1.5897, 0.0415, -0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a57813e8098938deced3cb2230a793536033aefa177f4c98c48cc5e2237d6e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:452ae36256d82ed5ae53899d0c501f2bd6f4c3dd59dd31d744766d84dd5682af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0597fffbb272e81adf9cada5f371d11ab04838a85191b8bfe90970493e6435af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wkKEAgSGAI4AUIIdGhpbmtpbmcSDOX6HzWBVmDhPgkGwxoMF8TpU04sU+a668cMIjBKv0OMjmZ1AmEmjNIf0ak2CKstb313O/W5N53PtiBFGrG7LqpdvMM2llRkDFHoJh4qkAmSlnEs7yDB6YNIMvfCdrKJsNum9OgceM5UdmLiFbxex6kTGSI6ztgVunNi5+YCCQtbCkB54+uHLW2QqXfNRbLl3L1fLRdgj2Hin2WlbewOKHQc8q6NOTii5XfYCqyRwGOfDCCCinQZS7ojkQOQ6SEYi1nB3xJUq0ZIzfDS22yM9Nd6fMYec8lEzE38f6S/Ks74mKDBcuev6IwFoljSObrbobHCnjnk1YQqOg16r9fHdx4xJHdEO8mK4KR4I4O0Khlb37cMTMyXOp2cyEpPW1iLDoMR4h76yyClwL1jWqepv3OI3bp/hZQ3bcso+s+SExj7XTGTQKgVCZDFFPoz6zESrwrS0p2Vyo5I5Kf1wxP94oMBSqfVWVnu6P+TbXBIufU1uQ2fsbU7bPX9XolPey0NxtJgtzAW6kjtTTk7cdE3GIdGab9J1Pd5AFwS2CGsucA8WUqrv55K3iherNWB37j8wrJ3WePtUo08YV4P77bsPPeeYyQ9ncRrMnhVoR4pAOLM5UjASF34gwyMkpTeU4hryNTNvy2NXuPJCmV9CIbQJrdYJVZsbt4fr/DfE4lpU0i86JNfGvG/uDh24cogOReS0d2KNcyD2PbdRR9/9WyjQ5hctWxdTT6NVRoMpyee/rxkXkV6sWCVUdpMLHRKVqxBNgaryK+xkszk5zsC9Pkjqdr7NXR7UPunkxVR2D+J6asX03llLgYrPIOgzhHn2RRgPJ0bU8vHuKSvZeTGuLUjq1/zQBi0XkDqQ2JsdDyllLjdC4mUgvIIkJ5IT0Zkfb3wq4cI8n5E5eqrGeHt9R0bS9eWNd5bwynAABRD95wjaql9GtutVVQ9di5PkI+yhJSPVsbae44Ug43o7teCKD0nfOkJw4mCocJsELZSAtsoASDHF4s2YtqTEPmWA/xn8O8jDkP127CcGvHskMc0ruMByZNkR9rs9VxqNJhMBDJvn4ySU4BhgYGLtl+X8LEASlUPd3Wv6tPLjlrhw8lVP/Oay40yBk9/4RgmVzPSPOes7z5k/jQB0+Bb0XEqfiW+N8DWokUuvS//YtbpAMV4T52fTztJXatK/HqgZVWS2iCX6Ry68WdC0TAeMETNdUH1R+jT1nps3FTqItitX965FZ+D0Hxg4Jl84u87EQEDVTXyuSKNHQsOtAe+nd//Mnjx1lZXcgp+silGjT4f4b58knnXTSeaL8+v98Sx/mD63hjvcVlIALsSh53Lz4I32bzgoOKmTJA7Dd49cMJ95E1CjOh8NO6Bd2njGFfuHCvh4EsXZG4TVNXRubX8S0cFfawyY2Tt16SWwd6fOscjj75Dv+chHj5Csw21NqgrX70YZHGcjdWbVwJxItQ+NzyLKJNj+WeM0HPGeim7bpfwXKJSXBDD6xYP/pqR23qEszPeHnRY9C9N8s4/Tgk9auOgxRuhJ68lbWH19lkwDBpUg+hkYfOxzslXFLq5q6xhGkjoJLs5N5eEViOAUnFD7dqemnA6SyStiBw2evEEP4NlxplPayPLAZkjm/tV7lXnYOlyBctDBHCQD5ox0WKd2b40zrnbtO8QGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVNGSxH54CKMcyAZ6Vi9ha",
      "input": {
        "note": "Lemon appears at the bottom-centre of the right wrist view, i.e. just under the fingertips. Descending straight down here.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.225,
          "right_y": 0.065,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01VVNGSxH54CKMcyAZ6Vi9ha",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5957, -0.0189, -0.0387, 0.9992, 0.6773, 0.8814, 0.0254, -0.017, 0.5129, 0.3923, 0.9989]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2292 left_roll=0.001 left_gripper=0.9992 right_x=0.2094 right_y=0.0618 right_z=-0.0015 right_yaw=0.0245 right_pitch=-0.1461 right_roll=-0.0942 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.4701, 6.8308, 1.5311, -0.0366, -0.0415, -0.0122, 0.1162, -1.2513, 5.1077, 0.7937, 0.0708, -0.1587, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf70778ffddfccbfc15caac8129abba1915906151859dbf6d02b9e2c801aae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b94773f9e6e7ed2b2eaddbd9377eb205f68755b68d301a1f4b6f39c669f450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:aa520e36088c48cb9ea7b0cd428c9516e328a84e669cd7171f67992edcdddda2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 6.62 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.5785, -0.0189, -0.0387, 0.9992, 0.907, 0.503, 0.0345, -0.1398, 0.6586, 0.5774, 0.999]\nstate[eef_state]: left_x=0.2653 left_y=0.0019 left_z=0.1389 left_yaw=0.003 left_pitch=-0.2056 left_roll=0.0004 left_gripper=0.9992 right_x=0.2097 right_y=0.0984 right_z=0.0625 right_yaw=0.0441 right_pitch=0.1098 right_roll=0.1679 right_gripper=0.999\nstate[joint_eff]: [-0.0615, -1.1829, 7.0769, 1.7118, -0.0269, -0.0562, -0.0122, -0.0068, 0.335, 4.2462, -0.5104, 0.4029, 0.105, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0177, 0.8124, 0.6067, -0.5877, -0.0177, -0.0387, 0.9992, 0.5797, 0.7982, 0.2909, -0.3477, 0.4423, 0.3683, 0.9989]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.1367 left_yaw=0.0032 left_pitch=-0.2174 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2317 right_y=0.0656 right_z=0.0612 right_yaw=-0.0054 right_pitch=-0.1636 right_roll=-0.0573 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -0.9231, 6.8718, 1.6874, -0.1099, -0.0366, -0.0122, 0.5949, -3.2479, 8.212, 1.5897, 0.0415, -0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5957, -0.0189, -0.0387, 0.9992, 0.6773, 0.8814, 0.0254, -0.017, 0.5129, 0.3923, 0.9989]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2292 left_roll=0.001 left_gripper=0.9992 right_x=0.2094 right_y=0.0618 right_z=-0.0015 right_yaw=0.0245 right_pitch=-0.1461 right_roll=-0.0942 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.4701, 6.8308, 1.5311, -0.0366, -0.0415, -0.0122, 0.1162, -1.2513, 5.1077, 0.7937, 0.0708, -0.1587, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdf70778ffddfccbfc15caac8129abba1915906151859dbf6d02b9e2c801aae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2b94773f9e6e7ed2b2eaddbd9377eb205f68755b68d301a1f4b6f39c669f450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aa520e36088c48cb9ea7b0cd428c9516e328a84e669cd7171f67992edcdddda2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAcKEAgSGAI4AUIIdGhpbmtpbmcSDFHK3UBFGyeM8g4/hxoMkXTlJgAWmPCxJhhjIjDfXe1/cXpLXx9qw48lek0O8LEW+bXH1TwoMK+TgSMd3hgbV2rYalFQXVyYATEV0osqrQbtEdn8KuaJFs61Kifx+3g+EBvTY0ZjbQK7g+lTsPfY12+1ttru/mi4EgQ+TFT4qiUbErY9PgdVV0MQOgrwQ/TR3TONVRK7DMpjwZCyZV33tKPkoYUcEa1iAJfnQp/gRmCjTE6kpXVDDuZbkubk/PqULRSHDi7mpGsJzZZHHiAFXMNKAvuK8B7cjA7F463jhqQAYL5++JRQU5LcPGlVYp1dr1GgfV1RrIh0r5gGuc2H1TMg6wQOtuPR6581Hs3kAVGK64aRf9njEnp2PMqe8gKEOzxWdQf5nSN+cOuwrY5u8Cc4WB+zS59jKR0bIQhMCfRh5KfY/ttaQD3qQcREX8KcGcVTIuKXGzHurw7nvSkFGAob9wQZpe8C/FUmqFUQGN4NlmUJdOJVz1WQLafpBsX8//M+m3jKIZJHNyKac0p16GsWpm46Gk4cnF8sFPXPrcs6QtNMjbqykTT7CYt9Zq7bAKwRtYrU2YzEBCS2W/HW8KddBo6ZrNbg34MVTeElISoJT13FJsAiktKATLYQUsSZiqCr9Wjwta5OgMsw+uOme7kWa3P9L9xzFfnSV9Xxfih4hQPSyNRm92Pmsun/ouGWFpkGdTwFQm6h5T3if24Tn0mCnLnAJlk/pMdVT7GiMgr9t1Geipb6FKrTmmexFQ+tSvY9gQ9wQnVBe3n2X5hpXMMAJiK3dfxJeUX07pIzqgMHq+14JEPp5OOeJw955IRUXA/dJdnqRlZWPPSlJICEUdaFnqhyoQOqTLQpBEIlazETnwh6leIEhOfG79jGByi9qaGfv+S253g8JyktuGDGjHIlmXVVe/9LcXbMgdzu3ArsDaVGrl2wqvHKv4ASehcG4Sf5f5TE+X07R+p6RrkRzZzXRqEqbao9Xt7PeHGUMC7+vczdxYLDS+qEjTBw8fDfcY0w1CW0M5CE6iOeWcZHQ6dzgbZHi9ggUYffmtnZVlzG895VfXG0Ms2hdNQ90C6jrD5iMfZLta7vnW+piMwWL5WllXMcNFwVdcg0IpFReccx5ptMcfewLB6J1edZW0IAzrji0evW9dT/TP1jLGybFK4gW6VGnSWUSQ/+xFMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJPMf9yKKiozKDfQ2cUtJn",
      "input": {
        "note": "At table level with the lemon at the bottom-centre between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CJPMf9yKKiozKDfQ2cUtJn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.6792, 0.8806, 0.0196, 0.02, 0.5228, 0.3931, 0.63]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1318 left_yaw=0.0032 left_pitch=-0.2433 left_roll=0.0013 left_gripper=0.9992 right_x=0.2134 right_y=0.0635 right_z=0.0027 right_yaw=0.0213 right_pitch=-0.1161 right_roll=-0.0799 right_gripper=0.63\nstate[joint_eff]: [-0.0479, -1.3744, 7.0632, 1.6239, -0.0464, -0.0366, -0.0122, -0.0889, -0.1846, 6.2564, 1.0085, 0.0562, -0.0611, 1.0037]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac18a65250e9715b327536a6d3e51a0ad2d4b3e1b14aeba4c807fdff20e82faf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f26c6ed01d5a0529dc29f60208fa4be84c9e7ac47bc809b24b8e0e156b0468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a7aa378457f5800663f94cd2c59309b3f7e5eddd23809e5f48cc1f89dc61c29",
        "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 · 7.775 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]: [-0.0177, 0.8124, 0.6067, -0.5877, -0.0177, -0.0387, 0.9992, 0.5797, 0.7982, 0.2909, -0.3477, 0.4423, 0.3683, 0.9989]\nstate[eef_state]: left_x=0.2637 left_y=0.002 left_z=0.1367 left_yaw=0.0032 left_pitch=-0.2174 left_roll=-0.0001 left_gripper=0.9992 right_x=0.2317 right_y=0.0656 right_z=0.0612 right_yaw=-0.0054 right_pitch=-0.1636 right_roll=-0.0573 right_gripper=0.9989\nstate[joint_eff]: [0.0889, -0.9231, 6.8718, 1.6874, -0.1099, -0.0366, -0.0122, 0.5949, -3.2479, 8.212, 1.5897, 0.0415, -0.1538, -0.0171]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5957, -0.0189, -0.0387, 0.9992, 0.6773, 0.8814, 0.0254, -0.017, 0.5129, 0.3923, 0.9989]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2292 left_roll=0.001 left_gripper=0.9992 right_x=0.2094 right_y=0.0618 right_z=-0.0015 right_yaw=0.0245 right_pitch=-0.1461 right_roll=-0.0942 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.4701, 6.8308, 1.5311, -0.0366, -0.0415, -0.0122, 0.1162, -1.2513, 5.1077, 0.7937, 0.0708, -0.1587, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.6792, 0.8806, 0.0196, 0.02, 0.5228, 0.3931, 0.63]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1318 left_yaw=0.0032 left_pitch=-0.2433 left_roll=0.0013 left_gripper=0.9992 right_x=0.2134 right_y=0.0635 right_z=0.0027 right_yaw=0.0213 right_pitch=-0.1161 right_roll=-0.0799 right_gripper=0.63\nstate[joint_eff]: [-0.0479, -1.3744, 7.0632, 1.6239, -0.0464, -0.0366, -0.0122, -0.0889, -0.1846, 6.2564, 1.0085, 0.0562, -0.0611, 1.0037]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac18a65250e9715b327536a6d3e51a0ad2d4b3e1b14aeba4c807fdff20e82faf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56f26c6ed01d5a0529dc29f60208fa4be84c9e7ac47bc809b24b8e0e156b0468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a7aa378457f5800663f94cd2c59309b3f7e5eddd23809e5f48cc1f89dc61c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AsKEAgSGAI4AUIIdGhpbmtpbmcSDFURo1CJjWCXrEmjmhoMPiRnzi/TVDatpj2aIjDDP1VP5Hx4cDUxTmPwyinRiU2NS5h+Ns/L3Bk36GLldKQEQWvm9BuD/uoY+0/zPXIq7QqDMLnQuBE+TksrUoprSybS/DeA/jCk5R55GR1ABA4+TTekmqoo+cLNN4PKAwVz80YZrzDS8MfUZ+5ZBPAKNmA1QmmsmOC/ZNxsDdaYO+2o4xGmqfoagr8XicA96LXgTINrK1sLxSG6yEwf+ppVlu1VbrQP4x7ReLEiHXTunXWEIa3RzKXxqZ/LIccaQj/oybo4nuyndKW1KcMo8fFtjGWxM8863eFnMI65IgJDytyFMwslaqlKmJg7i+7AGfKzKhbjJYqpXCP4NxN+uzJl4a6PFYTJzHsLry+Kdb1B4Ti6a4gHcBc6Z6gCXJ5IhaPZLj0w9UM1yTY1421QzAGcb/kmqRLjiRCN0cTmaqx6eudcm8rxZNlorA3Tf/X4PHR3CB0MBBWYrFjGKthZU9+XD9QT4PB7BTJIMnU4cLVD4/RASOyQz7iGfZfn1XQyGY/zSRQvJVp0QWsK132sGgZWciPk4o1AYwTvRn0ILCirF422KGHzKCfHlz7xRyIs70J9EVSPHDxU+A1HjDQH9tZwbqtuMSLNP5JqFIfXrTC7omZsqZdETQ2XBHlAbHpZ9ibGJeFMaB4ffrNd1dxfy87ZsAnoqqyzcvKWmfFAzR9NNK8ZmeEboj23JQOqlA6+PYsJoBT6A9s8f9PE7zPeqbT8T+ieJDqJhpv+DZX2RpeUp8hkL6so431Kidxt7XqU6rQY9sbpriQkY0ydtK2JMTuFf2K8k8Xsibdw5oE770WqeQo7Tm3gscU9owWMPMmI0uA9UHOpMSoVrZfn6nWwVNmqnPOTRR8D6lCD/SgZFq7tJPs6MB6kWtXzafEaE4Obp3L4qEFpsjiUv34SW82q+/3+ewU0616r0PTFBdA1oR3QkbclYrHwQruHe3HuMDggfvGTGeXhnAW3iQCnuuI9WD3NIZGa3QUiVUzbPWmF2s9XgdzPsBQ/r+IF6FxJ+tRm+heymt/qzlPEVvnQ7GNpnTft2FlMjoiiFrcbHv7zVUV7fi9DIW7GEMJOGAEWlJGco7AclY7/e4czk/niVqNtc+Vy9qkDKL+o6i81CN69/aVpuJRRIqGMl7niJp8h1JkpUMyu4l9w7z28f+c/5xiUJtybpNXQ0Qccd7nqyOGNHOrkhEHrA3dU46NgSbzYTCyVj8qoQgREIYa5QKfblKGVlVdrbbKcP/qD/6sV6l5F9+8b/bFz6nuUZGvFwYYi9pi4pdlaecKB/U1+YwplXYGD3Xh9c/1klHAcGRthMHeE3RREc40Y1eff+BWU+YYo7Dm/1FZhf2jXx52qbWcKSrdjFA0J6upDoiNhoycNeTg8LffNk8rR9RyuHGpfpCUhrPFs1CxGuex8tMWvxhjdc4ycuAnGsbgWJKZs0W8FRL9M7gDEE3gpTQ90pSXAfWhAMlRSgkaVeudAHqqTjpCnpGmZOGQk1MRIks6N1wUp4e1QZnAEhWN6BAzzy5ujaN/u0xgZMT940iQQM07u9TOoL0LbU8SDVK/JgMjDFJ/ht9RSixLJpFQvuy0UI6clVl3Sxi1RWlaDMSOXeeqaIghSz0RqpHf1aya8Xfduo/woEuzCFoXfnoG/hZiJc1SXrZrTmpHand+znfCPiVICArxhfCo5xh/0pHn4JKzLUU7v3XFMIMo12LI47LrGeDIT77uq1G1OJ++diJ6v6P7DhgF6TR0uP7P+RGULvNLK1kU9Cesp77u0iXuctRmvotMwC6DqH6oygJ3zJiJTTwp7Iu8qOd5S7jZpXoWzvE5YsIn/7WK5QM9vZ153438ykzjVHkxT2pCYD+VvP2thYogFTinAxNsyGvQC0V9ff0KIZBgxMqOn0MRS6T/ggeAk3ObZ2v+2pRdARR8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014qdBLERnJ1RFyK9r8XBBBj",
      "input": {
        "note": "Gripper settled at 0.63, suggesting the lemon is in the jaws. Lifting to confirm.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_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_014qdBLERnJ1RFyK9r8XBBBj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, 0.6888, 0.5133, 0.4362, -0.6621, 0.5243, 0.3935, 0.6333]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0033 left_pitch=-0.2525 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.064 right_z=0.1325 right_yaw=0.0342 right_pitch=-0.0347 right_roll=-0.0181 right_gripper=0.6333\nstate[joint_eff]: [-0.0615, -1.2376, 6.8718, 1.5702, -0.0757, -0.0366, -0.0122, 0.3487, 0.4718, 8.7043, 1.6337, 0.3443, 0.0757, 0.6911]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f78ee57a4b3bc1324e1b2087a61860eb319b39463499b6150887e4e86347271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3497a12c722aa56a2fef1e725bf8cc46a7ac05a45bc32f9d91472a853f86b3ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:df2e0726c42864036f31232e821daeed4daa6adf63bb94d5fc752de26a126e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.209 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5957, -0.0189, -0.0387, 0.9992, 0.6773, 0.8814, 0.0254, -0.017, 0.5129, 0.3923, 0.9989]\nstate[eef_state]: left_x=0.2624 left_y=0.002 left_z=0.1344 left_yaw=0.0031 left_pitch=-0.2292 left_roll=0.001 left_gripper=0.9992 right_x=0.2094 right_y=0.0618 right_z=-0.0015 right_yaw=0.0245 right_pitch=-0.1461 right_roll=-0.0942 right_gripper=0.9989\nstate[joint_eff]: [-0.1436, -1.4701, 6.8308, 1.5311, -0.0366, -0.0415, -0.0122, 0.1162, -1.2513, 5.1077, 0.7937, 0.0708, -0.1587, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.6792, 0.8806, 0.0196, 0.02, 0.5228, 0.3931, 0.63]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1318 left_yaw=0.0032 left_pitch=-0.2433 left_roll=0.0013 left_gripper=0.9992 right_x=0.2134 right_y=0.0635 right_z=0.0027 right_yaw=0.0213 right_pitch=-0.1161 right_roll=-0.0799 right_gripper=0.63\nstate[joint_eff]: [-0.0479, -1.3744, 7.0632, 1.6239, -0.0464, -0.0366, -0.0122, -0.0889, -0.1846, 6.2564, 1.0085, 0.0562, -0.0611, 1.0037]\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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, 0.6888, 0.5133, 0.4362, -0.6621, 0.5243, 0.3935, 0.6333]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0033 left_pitch=-0.2525 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.064 right_z=0.1325 right_yaw=0.0342 right_pitch=-0.0347 right_roll=-0.0181 right_gripper=0.6333\nstate[joint_eff]: [-0.0615, -1.2376, 6.8718, 1.5702, -0.0757, -0.0366, -0.0122, 0.3487, 0.4718, 8.7043, 1.6337, 0.3443, 0.0757, 0.6911]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f78ee57a4b3bc1324e1b2087a61860eb319b39463499b6150887e4e86347271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3497a12c722aa56a2fef1e725bf8cc46a7ac05a45bc32f9d91472a853f86b3ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 167):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df2e0726c42864036f31232e821daeed4daa6adf63bb94d5fc752de26a126e6d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS0AsKEAgSGAI4AUIIdGhpbmtpbmcSDERvxDqpP2IAN1y0CBoMTjTewtSdRgDR8coIIjDLfPJV90Csj223/m2jT/gYDFBQ62NXcq1xna8/2ZfYnEZnimGOQvAFkuBWfffD28wq7Qq2sBOnr3weq+EthPXVBH/cz2YPwZk513iIHK7J7IqSsAK1F5oTpOXDP9SNOmW1gB7UAAnnRKnu+TfGF8dq1yDrCf6hYwoQuTJr+kOFcxbMETpN5DMYEiY9HpTpr5fi3LhtgLrPjIjOucM3HWe99AH9l9G/MSyApiZViEuxC4D4cfcI6i73hit62IwnAoddbCQghEkA1XloIlWkaqwD2Z4mFa1AjmTwVGd47NkyAEEHrneyplprDdhOIYNmGHb7TYEyuu26Uvb0GQxL1fpPe+2wLByEmgbrwgwsD8m7tbncZ+kdznOxDbvS4bMahw+YHWnkU++BZEQWGiSH8OzdKkIjJsCpdH7DeRKeP6sN2sk6fMYyjZ48J/mg1gfjERWQMDOZZjzSshLG9/tHGVhVWXlZPdFU5p6k8epOSl3HbyFXNl3wAYp1NIQbO+1rMyurv+FhOLa/MoqAEJadhD8IWx18NByZm0SRSUjlq8VVXPfcmS6dtLZaXgukhnNpn9emtuS8ttaN2T8wBbkw7QZ7EH2DIBiBOD5QXK8EmBALq36auS9BUF+Us5+fFFW6EAhKsMMn9/J3enT+sHuiRyPw+GIlz16IOM9AAFVVUoT+0r2Nst3KsfiH+vEokoCbpANl5A89pRY+cVNE/bIhhLbrbCq9Y00HwHM2GLpVVYxCzrK1aD/eKgiw0Ywexnjd6FpOMEe9Li9vwqjfbPcgLCEXz8We2e3CoyKf3VcdGAYycCEYIRYUVCKdREtImM7LHDQBdv2Z/SUTpSnoUDBBoPsPwNuzKZulJyp8Pn58gbYEN9jFiG+QCGMIJHpgm6uMO3BHZ+ByXdjZwGWqpmOdycIdUyxrqbTBFt6PGxT7OtxvqekBqhkMrzXCqZonU7AxDN/EoQuJr+6a6moZrA1cIZrK43faODRVgS5Ffx2BN8qPdnjv1b2F7g/22Tlh+jFYwsevyDNsg9LY+2EfuP24Xmk5/G/KhJHEhNOJFYRXFt97ERsesud7IXY6eyvHOmTcjlAETxGPpEfVFXxrBzJ/STXIcq1X6YRy5M7CYpJoGORBRbq5j9FKpxDI4hO4JEXkxV3UWCQ2+SXVe0ClnIi2sDF+kvoPSoRE4ozGo0whIXlu9AC0Xa2c8GSAQkLGHh66Cr+EbUD1tPfa6XPFYCcxCd1SHthJ/Urd5je0bl5FZmaLTrXcizHnKpcduQx4cVaXXZXB1sJxZnS1jX1/ywnD+mBYXCyiBWCwqoTjH8pqPFUO/rQpF3S+mQv9RG+v9A5OLhwBNZW/jq9JlxkTEWzzsOHCe82S+FR/m5UkwR3UwyuqLCQoX1l6SEEib5bCWnTtRLSArKrnaJWqCZ8qnLytrwQkYUF/jewp3PCAfw3ba+bBxTaZlu8pRI2+V8IlmsAcxIOU7VJMG2034mQNic8+aDBnqfRsuIR1qXafLFWdGH0QEy+u1bNAj6l/ycU+6dJReQdAVSX+3JY6FChHvk3f7KMgfkwCn8Ftv+RAOyyNPDXoWBx1C20fOtig5P2uWr+kJR6Mcn2Kr4Q3FgLKHX12/dKJDV7+6Fm7oNJ9Co/XTGdDkpu2I6ot4riYgcX2KrLdB/ckim4NzFdLWr3F4EsJZ/3ZOrxYwJRtaINEfl5sfxPm7ir6fFEe13zKPmglQq49TNTzE7aIr24Q9eyx5g1ylHHzOyGniwdZZPUxP1n0ehqP00Vhr4zjYMRR8aV6AZ7pyedNb1LXh/Slzemuvsc0WEDa2ms7KNYi5Xva29Bx0GHjtbBPcfumMhNXcuAu+6yEckct/nmuBKbwACMYniNreJ3zurp0ESCoLB2LD3Ii91e+Afi2+VG4siWq0PzrLcG7ShAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011DwGpsgFwJmJPXUpSQS3Ec",
      "input": {
        "note": "Lemon is still at the bottom of the wrist view after lifting, so it's held. Carrying it toward the safe (first leg).",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.36,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_011DwGpsgFwJmJPXUpSQS3Ec",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6334, -0.0189, -0.0387, 0.9992, 0.8516, 1.5929, 1.1351, -0.3809, 0.6579, 0.5285, 0.6358]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.1261 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.9992 right_x=0.3503 right_y=0.2415 right_z=0.1655 right_yaw=0.0225 right_pitch=-0.0419 right_roll=-0.0458 right_gripper=0.6358\nstate[joint_eff]: [-0.212, -1.4838, 6.8171, 1.6142, -0.0269, -0.0513, -0.0122, 0.3214, -7.6513, 8.3214, 1.4872, 0.3736, 0.2613, 0.5348]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2c4a39e5392a0b98a1d63020c35314e1365b5332807e2cf47e02b8700701d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4eebee3daf38d50a14811d049938dcf9f9554c10e5215eaaab256f26462944f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5337123b52e0d32bf10814b51a3362d819595d633f3def92c1582b07a7afd20d",
        "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 · 3.781 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.6075, -0.0189, -0.0387, 0.9992, 0.6792, 0.8806, 0.0196, 0.02, 0.5228, 0.3931, 0.63]\nstate[eef_state]: left_x=0.2603 left_y=0.002 left_z=0.1318 left_yaw=0.0032 left_pitch=-0.2433 left_roll=0.0013 left_gripper=0.9992 right_x=0.2134 right_y=0.0635 right_z=0.0027 right_yaw=0.0213 right_pitch=-0.1161 right_roll=-0.0799 right_gripper=0.63\nstate[joint_eff]: [-0.0479, -1.3744, 7.0632, 1.6239, -0.0464, -0.0366, -0.0122, -0.0889, -0.1846, 6.2564, 1.0085, 0.0562, -0.0611, 1.0037]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, 0.6888, 0.5133, 0.4362, -0.6621, 0.5243, 0.3935, 0.6333]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0033 left_pitch=-0.2525 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.064 right_z=0.1325 right_yaw=0.0342 right_pitch=-0.0347 right_roll=-0.0181 right_gripper=0.6333\nstate[joint_eff]: [-0.0615, -1.2376, 6.8718, 1.5702, -0.0757, -0.0366, -0.0122, 0.3487, 0.4718, 8.7043, 1.6337, 0.3443, 0.0757, 0.6911]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6334, -0.0189, -0.0387, 0.9992, 0.8516, 1.5929, 1.1351, -0.3809, 0.6579, 0.5285, 0.6358]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.1261 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.9992 right_x=0.3503 right_y=0.2415 right_z=0.1655 right_yaw=0.0225 right_pitch=-0.0419 right_roll=-0.0458 right_gripper=0.6358\nstate[joint_eff]: [-0.212, -1.4838, 6.8171, 1.6142, -0.0269, -0.0513, -0.0122, 0.3214, -7.6513, 8.3214, 1.4872, 0.3736, 0.2613, 0.5348]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa2c4a39e5392a0b98a1d63020c35314e1365b5332807e2cf47e02b8700701d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4eebee3daf38d50a14811d049938dcf9f9554c10e5215eaaab256f26462944f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5337123b52e0d32bf10814b51a3362d819595d633f3def92c1582b07a7afd20d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowcKEAgSGAI4AUIIdGhpbmtpbmcSDM2UV4r8mX9S+oWaehoMKw5QTjGvKVr4177TIjCR39+D56wNkmaC4TbnvF439SnInyLNsvJun4sLT6lW08QKOAosNhDY0Dj2/KZozygqwAZC0cH9ehNObr7Wi7IaVX2NGf+yreJSEM+km8pgg4KspEuEKREV1Zreo+lLmN0eWRX58NvF4fMJZyW7fcRCAOJaQSYQJkb/ngvRtkUcrjK7ZFeVk5Yq3+X9I0IN2M/iFMzIxfzPnuIKdtdhvKUl+zo9ZN/CS+/k1FGE9tnFSlXr7vVGWGF4fEmvQj0OzWIffkEyCi3bSJhl5PlaKKXdhP+QlegdAk5nyYNfmKyDDKmavEQNJdrFFM23JOI/jigB2eB/CcdvR+dwQMpeglrKL/Shbhq0vlkQ4Zu4uEAamtCHuKNHqjkxBvZ3wyqRVo/tugQNsWI9yD6de/ZDRiPwHU8nCMtD8ic8NA7o0ccSxfCgS/f33QfR4B9EOqI26mO9xQmIdM298pk0sNiJKugAxj2/fxThGj7Zin58inw+ACFXj0UpQIA5Igx9ddrGMtUy2JpC809GIC0b7RE0/9DkGGM6QHQbtLYYJz80Nop4hcm2Yj0qcTq/hO+wcPwBOX3g6awwGd6QbTlqSzzBhY/S8AyYbNWjYjfEo8jhYMw8nhYjKN8vlCpJkIM9V4VXPA8fZiwKTwHDy+SUH3q0ChfRtsIFoueYojPlhGWfTZs8LA7HmkSWgosPNXaZz2a79FmnjCXqzbUOtQ/1prwdF/sB7/I2yT97vzIaf868W7YF3dpNJKp74fzcWfJkdORSSrcmIrWP8npI1F01YY/ceU5TK1ITh9hTXyT2KpPRqyJ8MLYfEQba9aYl1Khr2pOgo9cfsk4Yu318oaKldXa+XAz4YoFje2E2vPeI6+Rq0y9gbh89TNTpuDyHQnA0VCRqPpx0Qg6SuVWofY0OXkptNqL+aI5bhC5ZEM0LG2nkP6KwQSZlecC1dBpDQxfDNYx8F7BK7Yh7oUH+8RACbxXTxQZ3SufLMvjGsAQws+/KhZXxbKTU6RApgBhGc0qqfLfA/g8y+lKZpomxtWjqxVqaRO6+FHViSapBLMTQFU6+ir5FIAlKk8K5GfZaU5WMkDAoSJaN4ELGSXIVQksnYgnGiLINUirmIt1x6RLSpEfCzl3bfteI46zyMoUpofrfp6vIEopX6NQ7Kbcu9xWejn6KliOsMMW5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XKFMhCN848boLxPSuPYNKq",
      "input": {
        "note": "Holding the lemon above the safe's right-front wall; the red interior is up-left in the wrist view. Shifting over the interior centre.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.39,
          "right_y": 0.32,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XKFMhCN848boLxPSuPYNKq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 0.91, 1.8767, 1.4784, -0.4667, 0.6857, 0.5781, 0.6386]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1246 left_yaw=0.0034 left_pitch=-0.283 left_roll=0.0022 left_gripper=0.9992 right_x=0.3818 right_y=0.3147 right_z=0.1668 right_yaw=0.0336 right_pitch=-0.0424 right_roll=-0.0393 right_gripper=0.6386\nstate[joint_eff]: [-0.2256, -1.2923, 6.7761, 1.5507, -0.0415, -0.0562, -0.0122, 0.3077, -9.8256, 8.5675, 1.5067, 0.5641, 0.2222, 0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0245fc550d5b55bdf2f31ea067b0bfa8ef7123980504789529702b8266a4cf84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4bbd32fed663223c7db44518187bad2e8dc2b2da77ebf1b43dc7c1ae38f3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3bab42aec98b17796ca3b14920105bb1f486ced747422ad3321fa8fc07863116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.032 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6067, -0.6144, -0.0189, -0.0387, 0.9992, 0.6888, 0.5133, 0.4362, -0.6621, 0.5243, 0.3935, 0.6333]\nstate[eef_state]: left_x=0.2591 left_y=0.002 left_z=0.1301 left_yaw=0.0033 left_pitch=-0.2525 left_roll=0.0015 left_gripper=0.9992 right_x=0.2113 right_y=0.064 right_z=0.1325 right_yaw=0.0342 right_pitch=-0.0347 right_roll=-0.0181 right_gripper=0.6333\nstate[joint_eff]: [-0.0615, -1.2376, 6.8718, 1.5702, -0.0757, -0.0366, -0.0122, 0.3487, 0.4718, 8.7043, 1.6337, 0.3443, 0.0757, 0.6911]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6334, -0.0189, -0.0387, 0.9992, 0.8516, 1.5929, 1.1351, -0.3809, 0.6579, 0.5285, 0.6358]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.1261 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.9992 right_x=0.3503 right_y=0.2415 right_z=0.1655 right_yaw=0.0225 right_pitch=-0.0419 right_roll=-0.0458 right_gripper=0.6358\nstate[joint_eff]: [-0.212, -1.4838, 6.8171, 1.6142, -0.0269, -0.0513, -0.0122, 0.3214, -7.6513, 8.3214, 1.4872, 0.3736, 0.2613, 0.5348]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 0.91, 1.8767, 1.4784, -0.4667, 0.6857, 0.5781, 0.6386]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1246 left_yaw=0.0034 left_pitch=-0.283 left_roll=0.0022 left_gripper=0.9992 right_x=0.3818 right_y=0.3147 right_z=0.1668 right_yaw=0.0336 right_pitch=-0.0424 right_roll=-0.0393 right_gripper=0.6386\nstate[joint_eff]: [-0.2256, -1.2923, 6.7761, 1.5507, -0.0415, -0.0562, -0.0122, 0.3077, -9.8256, 8.5675, 1.5067, 0.5641, 0.2222, 0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0245fc550d5b55bdf2f31ea067b0bfa8ef7123980504789529702b8266a4cf84",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac4bbd32fed663223c7db44518187bad2e8dc2b2da77ebf1b43dc7c1ae38f3a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bab42aec98b17796ca3b14920105bb1f486ced747422ad3321fa8fc07863116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wcKEAgSGAI4AUIIdGhpbmtpbmcSDO9ljEEd6jzzidD9+hoM84DmO1MWWcBpFlxAIjDjjd3oCshqokf6TwOsz23t0LxLsZbgoNFuWlWXeE2EjXiKfiOkcit1UDQhsts1s7wq/AZMNz2GnzWDK7soTSjDrJL4sDaiuh/k8sE3PkvwE3O9YiCfjshKML1Bz7bVuaQoTGNJhsS00m4NruwH/IM4x6PUdbPpoNv0pbeLHgaWVFjp4ptxMGGofgfc7BAMTymdkukpExTJLuvV4i7CwN/vyarzMtR3dDlrh+8R/Ep1f28W9T+zrC6s+U3RakFW/z5HlPKC8NI/b/7Cn/x3Vt+4lX46B69o8zY+hpFntvwvzrbAcIFGpFkL9XW+DbV0MxboU7sXsANh893oj+YGas2hifxtWicIWu8E0nO0DKNeuBbIcdoCntRCcx6eNjNfeBPITmyCdRZG2b/dTvY+WzBffprKk/u4hABayxNYkRHCm68w3kqRPYfhvgH9PrjMtK30aNmhQzxrmcpvCY5MXU78i4bmcrea+2sq6nHGnf3cF0zjwrZeLtITIiy34cayLKKJ3o6BJK1zBRjYSg5LcRIWfHFRFOmmVXf98IqDV3MshSwDjyrPpwJngqezHtyBFdVxcu2EzgJb+nYlRTM65Zm9P6xsbeP/JHYZBIUmr9vEI0uQXoOgd6B0duEvyrO8WOv8xlZlXtJOFEuIOj0+M2xVOCCv+7RNeIAAnOpmjoPrNkyiU//dUcyTnoa6KYtS2XnTBhO6isiUCzsIVCt1WQpj2wBX9JeO4TKGSqpfgXakAFzAQa/p65+gctT12SqNzc/Gi8IlghZxVA4TtjfcT7a/vjQPQyD4uSQ8fOWoG4m2cMHbBsMQ0QHZ/25T8SeYuofoF9PpWJE+qHTatrlA5Nyim1G86+HYiHsN5rirj7KjR0c7VOYNWYr4FRHkm0mSO7bTvOzykyQEFeFIA4U5ETvZEpVrd5l8DSSfqOG7/REgJfotP4XpdxbPrAtF6kvzpYPJKGq9s4/y3sAQ1r3K7NYQ/pBLJM/Wp2chHttPwUJVBpQmbDnmk2UmoXoPZuIWaWB+oGG6NSBd/Ir79S0v9U6RSeD/7coPDuFGth9CXXZe87IfhrngOKEgKfzOOAN8bnW60jrLFBC0/w8ZiT/KBQdkuT64I5C4zuxxGxzHXxSJoPmlXWY3IHFdlT8IA+3mWl5rX5dvuXzB+MNvr4PUBMrsf1fqcMFIWEJjekxhGl8YSrmbqK/ysq695RyBWjVt83VKSazEQxMJN27ig0d4YMTltE+ax4AveWA0bipJCVAmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nneu7yBSpqHqrwL4m195nK",
      "input": {
        "note": "The safe's front wall still sits just under the jaws; advancing 4 cm so the lemon is over the interior.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.32,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Nneu7yBSpqHqrwL4m195nK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.836, 1.9869, 1.6104, -0.5022, 0.635, 0.5198, 0.6408]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4184 right_y=0.3121 right_z=0.1559 right_yaw=0.0256 right_pitch=-0.0822 right_roll=-0.0703 right_gripper=0.6408\nstate[joint_eff]: [-0.1709, -1.3607, 7.159, 1.4432, -0.0611, -0.0171, -0.0122, -0.1709, -10.7282, 9.1556, 1.6532, 0.3492, -0.0415, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bafe07d61abace18069784193bb436ef031bcb131d8572ab27122722cdcb4f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6fa07a14716334265aaa47da2983961be1f33c8e343d76fe8dc78fb0e3ca4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ecfddb6e2ebf4eaffdf1476f21ce6f37ee88746a3222ff4a4b9ed861f0c8514",
        "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 · 6.056 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8246, 0.6067, -0.6334, -0.0189, -0.0387, 0.9992, 0.8516, 1.5929, 1.1351, -0.3809, 0.6579, 0.5285, 0.6358]\nstate[eef_state]: left_x=0.2557 left_y=0.0021 left_z=0.1261 left_yaw=0.0034 left_pitch=-0.2754 left_roll=0.002 left_gripper=0.9992 right_x=0.3503 right_y=0.2415 right_z=0.1655 right_yaw=0.0225 right_pitch=-0.0419 right_roll=-0.0458 right_gripper=0.6358\nstate[joint_eff]: [-0.212, -1.4838, 6.8171, 1.6142, -0.0269, -0.0513, -0.0122, 0.3214, -7.6513, 8.3214, 1.4872, 0.3736, 0.2613, 0.5348]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 0.91, 1.8767, 1.4784, -0.4667, 0.6857, 0.5781, 0.6386]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1246 left_yaw=0.0034 left_pitch=-0.283 left_roll=0.0022 left_gripper=0.9992 right_x=0.3818 right_y=0.3147 right_z=0.1668 right_yaw=0.0336 right_pitch=-0.0424 right_roll=-0.0393 right_gripper=0.6386\nstate[joint_eff]: [-0.2256, -1.2923, 6.7761, 1.5507, -0.0415, -0.0562, -0.0122, 0.3077, -9.8256, 8.5675, 1.5067, 0.5641, 0.2222, 0.2759]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.836, 1.9869, 1.6104, -0.5022, 0.635, 0.5198, 0.6408]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4184 right_y=0.3121 right_z=0.1559 right_yaw=0.0256 right_pitch=-0.0822 right_roll=-0.0703 right_gripper=0.6408\nstate[joint_eff]: [-0.1709, -1.3607, 7.159, 1.4432, -0.0611, -0.0171, -0.0122, -0.1709, -10.7282, 9.1556, 1.6532, 0.3492, -0.0415, 0.2125]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bafe07d61abace18069784193bb436ef031bcb131d8572ab27122722cdcb4f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c6fa07a14716334265aaa47da2983961be1f33c8e343d76fe8dc78fb0e3ca4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ecfddb6e2ebf4eaffdf1476f21ce6f37ee88746a3222ff4a4b9ed861f0c8514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDN8NhR098VuMH/rLcBoM2s1YHufPeQbzIMUqIjBVoja5ymp7QUEs/rdJsh9ii+ezNsRcipJWvwVExbetPZRthZcnvYmPb0f2UnXNfk4qzAczmsCuUQbMH1nQjAk2k2wOAjSG/Lad9h8dynijC9wnLANS5tZ8bcuIbwqCStneIcPj1SLG27OvAcbzqfpz3SPKT4h01OFfRgcXwM8tNvyTB7Vqn5Du3eONBapejRDsqyZ7+7VdMr7AmplyQRHWEe53Ozlvgmke8Vmm3YZwn0HHNS/5YPmIhUS4PtdMOwvN5AXr2zKt8qVXVhTQSPIm7dQGE4KSWMoTDs2u9BtOnp+kYSQmhHQg+EVxPdGXKhrQWbs1/TVsKMti1fWhAP+NFnHos3aQ9St9+K1iCoV6VgV4fTzMJib6ISkQh9+dkGkUYUT5Tvd50WKDoc1yjGEeOvx9Pv7YMtX7fp6U5b0rz0qhhsRMxHJKwmZRumH6gZD82TpMtH3yO6j27TMPPO0ysSA249AwHmLLcvKpsaVbW3Wa/9pYsRgeZ/ueTbOO0P0tPTLlli3JTAr8hUs1/+72t12ffcsvk6qA3kNoTsh/H7vH5KrlrDNZKeN7D4DgYvI1iGX4ZHbeLJrv5yAd/I0rm7u7X/CDaqAhBe0s8hxhFCQFuYH7fSsAVixj7zavUHbCL4Jt1hYd1ldfpUtNm5AHMipSKaJzmFr7lK0NaHqYY+FRGx6Y3+VX2cIb0K7BMmJGVuOhYr42coTtkaod4s00YGjKZ6Nlccr+/Mz74W6eeZi1cDG6vf4+F6eike8vA3L88nKrDmCmr2S3jOgLpE/3/JJTXLZFXT/3ZJTp38vbnmH99+AoFRrU0sPOu7AjPu31xfrE4kNNZIRmedr5KaeUsnGwuN9eHFNJ37r1TKXuZx+lQ6I3AJFnZAXRdhBL/s2GD3vj7ns+IiztBWh6iaYSojeZ1izGxehDYseURWcnlqxLIjQ3M0j2sFo3eHdKYk5TBgRemrhWsmBeZ/9j9aaiCxBTo+p9zNJQrqogy+XhQuHeOlTQH2yFiSBL9wKyhfDScUjHJtwmOqjWq8f78ma41QQ4YgHSKptVizuUGVNBg5hbS6MjBBBepiOSdZFL+SjfkV6D2dzCY0m3f73JhNGKIrrO1cK0QjvRnkU2CGuNUfe8P65c+UBymwUn+Yx7QvXx/oLkoYBaKkJ7cPzPiqeKEK7vzXofb6Afi4jlmJI4evM9FCFQMohInESbFpfYmibd8YbdWPhmqvNXQ7bSOz3zBjh6WCBFVhNcsQ8yeaCTZsH6pklzVITc+msKsv7B8fTKMNV0ZLceXeXdiLfHYqKDkE1DkRYnaTujVwEkajpXIzrKolDt1NjkPatpkTI7+JR7pIew6iF5RikI1OHnHZoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HinfqC98Qr1ZmddbBbinPS",
      "input": {
        "note": "Jaws are now just past the safe's front wall, over the red interior. Releasing the lemon.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HinfqC98Qr1ZmddbBbinPS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.8318, 1.9965, 1.6142, -0.5186, 0.6315, 0.5068, 0.9948]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4185 right_y=0.3097 right_z=0.1502 right_yaw=0.0295 right_pitch=-0.1 right_roll=-0.0946 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.8034, 1.409, -0.0317, -0.0513, -0.0122, 0.2256, -11.9316, 6.3385, 1.5116, 0.232, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b874cc5a7e3b1de08882fee7054de8dbd4a5ecf7869325d67ff2f9f3f66986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebf9fd85e4edc5e6606d5fd074b7dc25b0c06b6d25f1f8c955f551d0532f387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2722c8b576b35a77daf6a64d804136818e9980df02aab0d5825912f09ff2fe07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.48 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8284, 0.6067, -0.6373, -0.0189, -0.0387, 0.9992, 0.91, 1.8767, 1.4784, -0.4667, 0.6857, 0.5781, 0.6386]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.1246 left_yaw=0.0034 left_pitch=-0.283 left_roll=0.0022 left_gripper=0.9992 right_x=0.3818 right_y=0.3147 right_z=0.1668 right_yaw=0.0336 right_pitch=-0.0424 right_roll=-0.0393 right_gripper=0.6386\nstate[joint_eff]: [-0.2256, -1.2923, 6.7761, 1.5507, -0.0415, -0.0562, -0.0122, 0.3077, -9.8256, 8.5675, 1.5067, 0.5641, 0.2222, 0.2759]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.836, 1.9869, 1.6104, -0.5022, 0.635, 0.5198, 0.6408]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4184 right_y=0.3121 right_z=0.1559 right_yaw=0.0256 right_pitch=-0.0822 right_roll=-0.0703 right_gripper=0.6408\nstate[joint_eff]: [-0.1709, -1.3607, 7.159, 1.4432, -0.0611, -0.0171, -0.0122, -0.1709, -10.7282, 9.1556, 1.6532, 0.3492, -0.0415, 0.2125]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.8318, 1.9965, 1.6142, -0.5186, 0.6315, 0.5068, 0.9948]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4185 right_y=0.3097 right_z=0.1502 right_yaw=0.0295 right_pitch=-0.1 right_roll=-0.0946 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.8034, 1.409, -0.0317, -0.0513, -0.0122, 0.2256, -11.9316, 6.3385, 1.5116, 0.232, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b874cc5a7e3b1de08882fee7054de8dbd4a5ecf7869325d67ff2f9f3f66986",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aebf9fd85e4edc5e6606d5fd074b7dc25b0c06b6d25f1f8c955f551d0532f387",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2722c8b576b35a77daf6a64d804136818e9980df02aab0d5825912f09ff2fe07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3QkKEAgSGAI4AUIIdGhpbmtpbmcSDOT1tEofUr1qOil1vhoMVkSoPO6XhCXQKHq5IjBcMQB/irgwa9upKRLLSmjkeOYdXcCXPXXvvnzfToK1xmsB6cQegTLESfldCgQCZIsq+ghwsAE7WH2GFI4Kz6Fw3pP33hfwA+6eMYfn3gN7StMapOr1+7kKqmQStigYTisQMHjRlTmS2nOZDOuIWu7sXfW2OWhgYWKXvnrHIow7UmYR/rLLadEaJvIgM9vszuGKC4oNGhEHxmCMr5zlXga9c2WXu2/ACNQebqoWCZmVF8Shc3mGfdYTNJsUezssF3Opv57/i5YrGL62nPF6vSYpYSdl+RJIR8xSlyoJraGFtrJepCKFoOLwOvae2LHKXsbQmH7HlN2//F830nyb12lAtmRO/dYTEYkufgm7jVKSrDFJ0YxCW3nqAp0ncUp91LHMM24/Q7stvYwFS+AoUvQvAt3lJ1JuANG4bupPNDAxnZbRU6UMgdA1RGAApYBeJuzLE9icVZEJt0awqqkghnrP3KWZEsBaAeWzelB8DwTvA25CJ/IGhfddhBrwHM0ga/Yv8wGFgYSDJDlMZ3UvZIbabuiylaz03FJ29O1b3K96Au9m4xdZNYqz+whNGkKILnIkJoq6YXXBGd8NTYyrr6WbJNTOMmoFO5SYph5z0YrtuvZq6omCgNpz8n/fiputzpUvyJCCctuO4LBRKRWRaFOmNMovpWBpmwipgBmrC0IHtHbWFX7eNEBYr/nIbkbGtsY7iOvhTgIW4e40SSYu+tMyS6uXy0e+8JC6T1cmtZfptdSc/4Ksm4bniewHbLNzqzFBOsFcMUU75tiJLuCbVkmVcKQVlYJ56hNolFoVlymk2A4fB/TR1Xh/6xWEn0yMECkQGcgWdsQxOUBFrAl4CrP98OH5zXhM832gsiOdZtZMi57eOXNSRwm6oLPypkNX1shFaxFw0+dLC4C30Jnrl81UsUh8tRSGog8mx2x05QKlk0Rs119qpO/a3IenYFjULT0eY2MPCbn4bwMBeUFP+zEb9HU5ufHYTFtKKkhlDXlSjwBu6rOTPd7TCzjwlkEleOeOyZ6yi5TsmV+aYgYMW3opXyBn6FH00hnNCp70x/k8vQc33JZo51xXi48ndz+koA+akfVdQwaUdT0JxFbkyzidNmYXwwRrl9DEOWNywy/YCBaf4kOxdmYZktPY8gHmkcdsiJ3r3+FzJl50X/3WvLeTNJ3WUgQQNlfOPqvqj1o2i6z7KANO4bYwubzcifJuIFj4KuksXvudhby/oZhmaOH2/Er1kRY40ZBVPtYAxj8AzfDNpbE7HzZPBIziyoMPP6Xti+smakb+Q8XxkhSNXk9ordpGM2WxdrFyfgHOOtuDQVteDKJPeRBVRuLq2QWT3nz2KsBlgAgV3IfKz/UrWHq7FyKnJdkSMj0geXTWMMDCOZ+Qv1St2EAG+KzqDDIVXrRfnf2Rt4cnXOsPhP8lxzneseY9hRtD9StaW461vRdwDbgHm0UEjFlooFqaE6Rs9iikXZpdqibkbBbpLOK1hW/IK5tgOiCOuxIrM2WZ0I+KzRFOzebfI6ySigD3LYXP0QWFiHKgJ2Wu78UVw5tiqYuLFpy7YpuKEG9Zhuyrp3JXNcn0N77AEYhwcIemTDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9pU9NDxyRDtDf8abnvLci",
      "input": {
        "note": "Lemon is now inside the safe. Moving the right arm back over the brown bear lying in front of the safe.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.29,
          "right_y": 0.27,
          "right_yaw": 0.0,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01K9pU9NDxyRDtDf8abnvLci",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6487, -0.0189, -0.0383, 0.9992, 1.0584, 1.6001, 1.0939, -0.4549, 0.7784, 0.7292, 0.9966]\nstate[eef_state]: left_x=0.2529 left_y=0.0021 left_z=0.1218 left_yaw=0.0033 left_pitch=-0.2982 left_roll=0.0028 left_gripper=0.9992 right_x=0.2929 right_y=0.275 right_z=0.1491 right_yaw=0.0366 right_pitch=-0.0358 right_roll=-0.0378 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.0051, 6.9402, 1.5214, -0.0513, -0.0513, -0.0122, 0.1983, -8.4171, 7.0906, 1.3065, 0.4176, 0.0904, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de2d0dc31d38da780d296028af5102abeb0033f4d7e267e8bebe7543b90fbbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561220e16ff3416fa6bd786c25fb1b2604d00a2c7b05b3e8767775a1317a0657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d38ede4e3917d9f8edb42061f1bfa96dd8d0dc06900ff6a48f7bc215313df046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.854 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.836, 1.9869, 1.6104, -0.5022, 0.635, 0.5198, 0.6408]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4184 right_y=0.3121 right_z=0.1559 right_yaw=0.0256 right_pitch=-0.0822 right_roll=-0.0703 right_gripper=0.6408\nstate[joint_eff]: [-0.1709, -1.3607, 7.159, 1.4432, -0.0611, -0.0171, -0.0122, -0.1709, -10.7282, 9.1556, 1.6532, 0.3492, -0.0415, 0.2125]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.8318, 1.9965, 1.6142, -0.5186, 0.6315, 0.5068, 0.9948]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4185 right_y=0.3097 right_z=0.1502 right_yaw=0.0295 right_pitch=-0.1 right_roll=-0.0946 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.8034, 1.409, -0.0317, -0.0513, -0.0122, 0.2256, -11.9316, 6.3385, 1.5116, 0.232, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6487, -0.0189, -0.0383, 0.9992, 1.0584, 1.6001, 1.0939, -0.4549, 0.7784, 0.7292, 0.9966]\nstate[eef_state]: left_x=0.2529 left_y=0.0021 left_z=0.1218 left_yaw=0.0033 left_pitch=-0.2982 left_roll=0.0028 left_gripper=0.9992 right_x=0.2929 right_y=0.275 right_z=0.1491 right_yaw=0.0366 right_pitch=-0.0358 right_roll=-0.0378 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.0051, 6.9402, 1.5214, -0.0513, -0.0513, -0.0122, 0.1983, -8.4171, 7.0906, 1.3065, 0.4176, 0.0904, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de2d0dc31d38da780d296028af5102abeb0033f4d7e267e8bebe7543b90fbbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:561220e16ff3416fa6bd786c25fb1b2604d00a2c7b05b3e8767775a1317a0657",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d38ede4e3917d9f8edb42061f1bfa96dd8d0dc06900ff6a48f7bc215313df046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywkKEAgSGAI4AUIIdGhpbmtpbmcSDK9O8hEh4hlSXjPAxxoMCvB0dtwcurFJMbXLIjDvaTyhUpHhIxNKHy5MBeC7YZe6mP7itJ4uTbHlaUpbE7YQ6RSmwYZJwvnu0A85lUkq6Aiih25NjbQAbO2sMoSnHAF1ZprqhwBbcayEYfx8RAsQjtMwTGxN9D9gvijV2d5tGqySmTwq7k3xwRpLbJk3vBK7LVeo8WQbThkUxWiifAGwhd+5m2QSfRPUzoWGsk6k+6Dezdpbq9Po1xrAMtEgf7p0l9GB2frfxRy0ACUHDmNKei8iBtfkAKFkcxusvaTfMNVFl01BYe9SU3iUyHL7GwVcadn0NS3et3MVW611AaklNyeSfIRLGp0d6yyODepiYqOBong8Wf5uSjfGJiVnEdzC0QW2t4HTzZhk5J5W/gCm7yVGteF9JwkmnhTM23UbBGQ+m30rG2qiHm6HtuRDbhyTZE42e0jhYvCYvMqP4DPs422Lbot6hmmc4M1if/7Y0sopBR/XHPkvTemax2RjvvHLF/sVwQrYqkr9rNiz16f/XuA2HwRFPY0r4z3F4Ht5dv7aWyBIN4TSp6v/zqugPsoO65PPZBxQIDeW3oVAXWnE88BKxxG3FNBvlbyWFC5B5iM65XW43x9crfwUR31XUNr1g4G7aGcHi5I5ED3+cTv8Us+nCiG2o0OSBc7ZXcYEMAiJlaEnUlnMCKcItk0AKzT39g6bPGia1rWb9NJ4RmY6UT4E6EYOOF0dvsLESk2KGWGwFj6oHZEKKBf/ifz7/vsfwqpO0rCcksW25ji5K58Lu4zlHD9J0dZocUI7l4aVkQqRIMh07gTUIyE3vhNsMn4pdLfCoM5cRDzM5+Wzit78c96eszhgUoK9Brz1Tya9/dFT9hnuHa2Jgr/9wYHMiqU237qNTVpSUvkdOfGnfN4e/l2LNpztHbYY1GMPyeM3fuXTXdAGoDv3EV5XwXqg1dG9ZVbFVKMN6pVKW0+gwcfZnQkVjTu+3fM8YL3B8mccdOcJOWl87muEDbvSsGiAB2+w65MGtnz3+QqZays8laPdyJaVLPu8g2o+3SLk9uCqwOqpbkI0Aft4YnVxaADRhn+tqdltw00bl+bllwVXZ9ORQUyVbc/NO7Xj+J6i88KHDxN7qYQRnqswfY7CmZvQIXs5nbCUNUrFnV6YAXRel1LlmRjsjStzbWL6n243Arkn2kVQKrKa7WYGJcsNhzXwEPin1IWSS1ZBP6czmMTJCAe4WbP/kk/fDFxzLw6OhnkVFMZ2BRNZmClvKg0EvenkowOkiAWAO0hHDZfxVa9Rga0cMGi6u9NvjqblAKAJwC41KDDnbPf+TIuuaPRYvci/3H+9E7qUdO4iizoqKOP7Q79/cAQkAC5/J1BCkZw1fpMxNdqaO9h5aOX2zgj0R6VmFhSdETjbM/mX6f6vATv2ZReq+GSfPvBgemStX/1M+8lDo+q6vAZ9AfScjapIeneoWwNu2vhSCD0gZO53m7dKmYKU7dyyeh5RJSRBhyDzyRRhmQV/x0/oi+U81gKafNRl69wZSprsGoDIsWFKBcgjpXTnMH2H0cEry1i2T7FJphO5wIGGWulBpznm01/9Fuok7jz/Vu2GZUVlOqQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XnJmAw5nF8Mfs89MCtBd3Z",
      "input": {
        "note": "The wrist view only shows the safe ahead, so the brown bear must be closer to the base than the fingertips. Backing off 6 cm to bring it into view.",
        "targets": {
          "right_x": 0.23,
          "right_y": 0.27,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XnJmAw5nF8Mfs89MCtBd3Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6598, -0.0189, -0.0387, 0.9992, 1.2301, 1.5761, 0.9623, -0.5049, 0.8467, 0.9043, 0.9968]\nstate[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1201 left_yaw=0.0036 left_pitch=-0.3093 left_roll=0.0028 left_gripper=0.9992 right_x=0.2343 right_y=0.2755 right_z=0.1158 right_yaw=0.0688 right_pitch=-0.0517 right_roll=-0.0636 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.2376, 6.7487, 1.5995, -0.0171, -0.0171, -0.0122, 0.1709, -8.2803, 6.3795, 0.8571, 0.486, 0.105, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c0116138ec41c123ba851a958734f727e403f907cf10d6b44061d60a9f4fb0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb393a0e01e26a5cab9eefc02d4d59680c0bc15fff46111e833d64368892011c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05e2677c7251a63d6f846c02ad017f11870d531f586d31035f96ef52a27a019a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.607 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8303, 0.6067, -0.6376, -0.0189, -0.0387, 0.9992, 0.8318, 1.9965, 1.6142, -0.5186, 0.6315, 0.5068, 0.9948]\nstate[eef_state]: left_x=0.255 left_y=0.0021 left_z=0.124 left_yaw=0.0035 left_pitch=-0.2853 left_roll=0.0022 left_gripper=0.9992 right_x=0.4185 right_y=0.3097 right_z=0.1502 right_yaw=0.0295 right_pitch=-0.1 right_roll=-0.0946 right_gripper=0.9948\nstate[joint_eff]: [-0.1983, -1.2513, 6.8034, 1.409, -0.0317, -0.0513, -0.0122, 0.2256, -11.9316, 6.3385, 1.5116, 0.232, 0.0952, -0.0366]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6487, -0.0189, -0.0383, 0.9992, 1.0584, 1.6001, 1.0939, -0.4549, 0.7784, 0.7292, 0.9966]\nstate[eef_state]: left_x=0.2529 left_y=0.0021 left_z=0.1218 left_yaw=0.0033 left_pitch=-0.2982 left_roll=0.0028 left_gripper=0.9992 right_x=0.2929 right_y=0.275 right_z=0.1491 right_yaw=0.0366 right_pitch=-0.0358 right_roll=-0.0378 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.0051, 6.9402, 1.5214, -0.0513, -0.0513, -0.0122, 0.1983, -8.4171, 7.0906, 1.3065, 0.4176, 0.0904, 0.1685]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6598, -0.0189, -0.0387, 0.9992, 1.2301, 1.5761, 0.9623, -0.5049, 0.8467, 0.9043, 0.9968]\nstate[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1201 left_yaw=0.0036 left_pitch=-0.3093 left_roll=0.0028 left_gripper=0.9992 right_x=0.2343 right_y=0.2755 right_z=0.1158 right_yaw=0.0688 right_pitch=-0.0517 right_roll=-0.0636 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.2376, 6.7487, 1.5995, -0.0171, -0.0171, -0.0122, 0.1709, -8.2803, 6.3795, 0.8571, 0.486, 0.105, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c0116138ec41c123ba851a958734f727e403f907cf10d6b44061d60a9f4fb0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb393a0e01e26a5cab9eefc02d4d59680c0bc15fff46111e833d64368892011c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05e2677c7251a63d6f846c02ad017f11870d531f586d31035f96ef52a27a019a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QkKEAgSGAI4AUIIdGhpbmtpbmcSDNCh/v6OP2kkctWeOxoMDPVgnpKji48Wo38jIjBdTIbMQ9kkXtadrpSqDicJgy2R9enEaQTB8k+pVb9edccaPzoGy9p1a/mW0HxQn9Aq/giJK44sAV6A00M/kchJ7hVxc8izECZfjWc7nonHQvIhgOqoZCYecTX4CYPIwdFMK7Hg9kX9KIpuex/QsLCCnxeXzFVgWnJPVtQTQdwTG/3nKFFCLGq6ULXZPkDhdcm+si86fXrNczCfxEP1hVNrZ75vKbo+YTAtjnVbu/P2yMK1h+UGZpkDuN6j8+ISRo5JQl46a8ky/rOOTuxyctQLzjny/TuStqJ1rO9IeZbwMhro43G4WQdPa0O3DunQDr+xmXPAdBvpQQNQZCPPlGrGWqn+SpJbY1HL1FQKcTYLcdIfDyMiSx/ZfTQ3GBQ/EGigrgXlIKWPUo26A+DANDaB7mrz2AYGvZhyl4KCXp9twVjUZkMuz/tcrYQRVbKXXJhyNqvaLat2s/tE6Cakvde4vtWL7HfzZGEfrEBqV7ytcT3BVq6dcKQdayftwsuOTsK1e9/pQrNcAIbejFPuQYSvkGBjDHMkX2ULjdxmXlrH9kV4oCgEVfqepfU91Rb3OWnxh5bDfER7WZtRFOAfJwrPnF2Y90hGBtaL9ufVBGggwVrGW8Bl318KifHUFHQgJHzIFhLbzf53YtfbKRPLBfRo/NI7VvgRWy7BZa/sY5sH3g1quVmUQQJ3wSG8R9Vr4hCZPNqhmeUHWV8zRuTQPlkxuWJAl9mq0RyBHdi8BiDtgEj4VlCGyu/3BNN/P6WI/qO+Z3T5/tQ2pUUcu83jw8lorr9fgUvqZ8ubKbZwce+h/Dq+Dj1v9xrpuNkKBxQM2r3tSYawjNDtP9SxJ69qwjEjsAqGYn5Dl9nGkqSr7CN4PDHcHH0f/NNaNZWZZZEUIqzFBRMQhBzSkZoUXa8hZn5qnUg/VYItmmJnaMjphcWRkMlhbqeQmBDfekI81mnKm3SY8PlNWSKSy5S+YNjj5A9TUh5A5/SfupAzIajdGD+z+0IK7XPgApbpff9pUPMUyq30QbgOsyfFI2rapPpkjiR9l67eqcxdhMayiC37qsEDQsWaus/NgZvdX1iCoDcn+xwp9+X90j4t7sbS8MWFtXStBoekaQ26n8yZlEQGKzpNiT0V0AMnoKKMxJEEueA5SuQyAA/5rchkCHMnewcyl8WlCxZp/kVh7y1bUm3Pmzr9ahTzkUqVGYV2zBipJFuukTH+POAj5lSxoNoMVhOJsihRbNo7y5q6brMJw1nBGoGl7Uba0W/Rn1dXMtCKtW8UvA9t31+A/jPO1RMXAljIesn5dmKb9f0VFj/arD4ufC+i7clb2HsCr10FT2MUv+erK4MS6aP0SRoIF70pKGXQ92Qnt6NpESbAVE4hpR6kABDZb8z/p9HRpm8Q946WGddGq8MioooD5SwCI5qn5AqT1KoT4cMSzsfVeHtN/xTkL1qdQSEW4ast6zd2bXAOTwU4QfjhdbrK6q4Kia/5w7x+BvPpH0Z9IQ0foBVj6IwGUKTNr5Hv++rT5iL0n0Kq+EMSRgTlXCS8LCXDx4vD9cOQ12KhR1DVT+Z3MI6AqMu2ZlgIbBIihumj2fsyCEvR0oOOGbgbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019cpRJjJ5sjQr2frXpETjrn",
      "input": {
        "note": "Brown bear is visible just right of the right gripper in the top view (in front of the safe's right-front corner). Shifting ~6 cm right over it.",
        "targets": {
          "right_x": 0.23,
          "right_y": 0.215,
          "right_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_019cpRJjJ5sjQr2frXpETjrn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6712, -0.0189, -0.0387, 0.9992, 1.2461, 1.5669, 0.9485, -0.5522, 0.8566, 0.9546, 0.9968]\nstate[eef_state]: left_x=0.2486 left_y=0.0022 left_z=0.1175 left_yaw=0.0037 left_pitch=-0.3246 left_roll=0.0032 left_gripper=0.9992 right_x=0.227 right_y=0.2673 right_z=0.1119 right_yaw=0.0499 right_pitch=-0.0614 right_roll=-0.0747 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.5248, 6.8034, 1.5067, -0.0806, -0.0269, -0.0122, -0.2256, -7.4188, 6.7077, 1.0965, 0.5397, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df593d741d8058b795bda917e70dae403fb1e15ae6514d9789f18287521af37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebef42ee53145d551d53fde673f4868c7c6428ff9f97aad984c7919a90bdfca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea9a2d6d20063c760808b5c869ebad270fad2f7b637c8c15b485ae311c383e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.084 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6487, -0.0189, -0.0383, 0.9992, 1.0584, 1.6001, 1.0939, -0.4549, 0.7784, 0.7292, 0.9966]\nstate[eef_state]: left_x=0.2529 left_y=0.0021 left_z=0.1218 left_yaw=0.0033 left_pitch=-0.2982 left_roll=0.0028 left_gripper=0.9992 right_x=0.2929 right_y=0.275 right_z=0.1491 right_yaw=0.0366 right_pitch=-0.0358 right_roll=-0.0378 right_gripper=0.9966\nstate[joint_eff]: [-0.2393, -1.0051, 6.9402, 1.5214, -0.0513, -0.0513, -0.0122, 0.1983, -8.4171, 7.0906, 1.3065, 0.4176, 0.0904, 0.1685]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6598, -0.0189, -0.0387, 0.9992, 1.2301, 1.5761, 0.9623, -0.5049, 0.8467, 0.9043, 0.9968]\nstate[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1201 left_yaw=0.0036 left_pitch=-0.3093 left_roll=0.0028 left_gripper=0.9992 right_x=0.2343 right_y=0.2755 right_z=0.1158 right_yaw=0.0688 right_pitch=-0.0517 right_roll=-0.0636 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.2376, 6.7487, 1.5995, -0.0171, -0.0171, -0.0122, 0.1709, -8.2803, 6.3795, 0.8571, 0.486, 0.105, 0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6712, -0.0189, -0.0387, 0.9992, 1.2461, 1.5669, 0.9485, -0.5522, 0.8566, 0.9546, 0.9968]\nstate[eef_state]: left_x=0.2486 left_y=0.0022 left_z=0.1175 left_yaw=0.0037 left_pitch=-0.3246 left_roll=0.0032 left_gripper=0.9992 right_x=0.227 right_y=0.2673 right_z=0.1119 right_yaw=0.0499 right_pitch=-0.0614 right_roll=-0.0747 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.5248, 6.8034, 1.5067, -0.0806, -0.0269, -0.0122, -0.2256, -7.4188, 6.7077, 1.0965, 0.5397, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9df593d741d8058b795bda917e70dae403fb1e15ae6514d9789f18287521af37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebef42ee53145d551d53fde673f4868c7c6428ff9f97aad984c7919a90bdfca5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea9a2d6d20063c760808b5c869ebad270fad2f7b637c8c15b485ae311c383e56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wcKEAgSGAI4AUIIdGhpbmtpbmcSDK+t372eVvxhtAgo7BoMxES3IA9JxglQbNCCIjCHE2KJyIG/I06ZbFlJMUMEyomgPZz9b/Uae+ojZo6JOeknq6YUQ/dnHdXLk59oYSkqjAdkmLOQpqzrgr274iJG6oaeZ0PXfaElwZNtfATJnGZiLaA1M+gHk3hHg56tzwBBj3QGb16mdBwxn8Hkkge/SQOe2Qf1CyurDEQOh8iWFM+xPsPnxiXAirS+PlKCat9a27I22XgmwC/R9EB8ckfujTFVego1LfaJldwpWZfiy1fEnAVjJNFy7fuz0BGT3vt1I9KKqEZ6HddfDz6J7nIZDosv697MxX4qRFq+zWVzGuVEuVvbHAd4+QAscHExudI6qZufKURt0IY9Zv0/pqOyHVfqTrOwiGYidgcB+eSRDk7jYuULAlc2ywxAEcLG2gqKqQamSb3CqNhBLQ1AQl0l8U6Vbh3BNgA4GKBPA13KGf+iYLqWiwnOunj0Dfp2DOy2rM9aPyd1WdVYFAmYbQB1J+C9597eaC+OkO6E2TSsZRsli654m8FJV+tN9sPUpAhxo+gNUxiC9O0JNDz2cNWHu2QiR6dZbGRyk5Pd4ORsmzNxOWChc/4TB63EL7Obd+/l22S0Mt+tPVI8M6WHHnfgPLE2WUYnmIuFZx03mBRdojq5aBJ3wF8MPNgyi+93lhb/o+HOcwsu5LSq0R7SxwmQ7NNWGU36PYLDMo35UrgtwEYbMTF8D+CAGJDw6x13gXs9I/uRxzsygkIIwwCgPUfuniqWou+d+ORSq+j5wjWGQygN3Z1uRDBYt8zk24IZvJlVCYp/qjJSaSclvPx40s7kliP/N0eu3RMt3fgYi1Fmn7hj3bvzVAGXQQQJGPpLuc/tAWqNg3NpY87YGkrVaWhy1ymyvF2UgTgLWGSGe28vfSGIl0CkntQ82tGG/4XOmiIbfWYvvLe0DiilFdZ7uvrXfJEJieq666Pf4jhvuDruRK7t8YeBIz31IdSPi5Oo/K6P8Afi+UacWeKUY6pEE8x3Md7413hnZIK7qcacT6twDZFYcRZtGXANET3DQR0qNEH13X8RTIjkRxvhBIjWVJIdqkywLmKt7bljyFE3FjlsaZflZQsrSig4GCLdi0PoZ+m/cjo6oHzGLgotHHBBMCDBw3mchPxtZX8lVXb/AuYpDuMoxlF/kZmf2rNwkePuKRYH6VQwzclmhUu0mWkoaiRQgWcKNmKkwz80hAm02dAGLCfX7uOvd3/hOF2/9aH+y9MWhlHuG3zPiXyjeVpIhvX3v/jr19xyYNvspiGS49ZX1NnBXp0x0PBWVRgdIm6+cBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nx99QRewEE6788K4vHyJNF",
      "input": {
        "note": "Bear is now visible at the bottom-right of the wrist view, just right of the jaws; the last move barely tracked. Pushing the target farther right and lower.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.24,
          "right_y": 0.2,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Nx99QRewEE6788K4vHyJNF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6842, -0.0189, -0.0383, 0.9992, 1.182, 1.5108, 0.8387, -0.4248, 0.8154, 0.8791, 0.9973]\nstate[eef_state]: left_x=0.2461 left_y=0.0023 left_z=0.1155 left_yaw=0.0036 left_pitch=-0.3375 left_roll=0.0037 left_gripper=0.9992 right_x=0.2372 right_y=0.2491 right_z=0.0999 right_yaw=0.0506 right_pitch=-0.069 right_roll=-0.0523 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.1419, 6.7214, 1.5263, -0.0757, -0.0073, -0.0122, -2.5778, -5.3128, 5.135, 0.9402, 0.8376, -0.1099, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f11bb005f05aacb0ba82a4371bdbcb99593711fcdf7d2cd576b856872ca9494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59058ba475d3f682295b79c249e690b416aeadd688ccbee2cdcd63b41dd6bfd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82b8504afd476ca8950c558c98d97998d0859702fc3ba3e61593f2c421489447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 4.933 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8322, 0.6067, -0.6598, -0.0189, -0.0387, 0.9992, 1.2301, 1.5761, 0.9623, -0.5049, 0.8467, 0.9043, 0.9968]\nstate[eef_state]: left_x=0.2508 left_y=0.0022 left_z=0.1201 left_yaw=0.0036 left_pitch=-0.3093 left_roll=0.0028 left_gripper=0.9992 right_x=0.2343 right_y=0.2755 right_z=0.1158 right_yaw=0.0688 right_pitch=-0.0517 right_roll=-0.0636 right_gripper=0.9968\nstate[joint_eff]: [-0.0752, -1.2376, 6.7487, 1.5995, -0.0171, -0.0171, -0.0122, 0.1709, -8.2803, 6.3795, 0.8571, 0.486, 0.105, 0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6712, -0.0189, -0.0387, 0.9992, 1.2461, 1.5669, 0.9485, -0.5522, 0.8566, 0.9546, 0.9968]\nstate[eef_state]: left_x=0.2486 left_y=0.0022 left_z=0.1175 left_yaw=0.0037 left_pitch=-0.3246 left_roll=0.0032 left_gripper=0.9992 right_x=0.227 right_y=0.2673 right_z=0.1119 right_yaw=0.0499 right_pitch=-0.0614 right_roll=-0.0747 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.5248, 6.8034, 1.5067, -0.0806, -0.0269, -0.0122, -0.2256, -7.4188, 6.7077, 1.0965, 0.5397, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6842, -0.0189, -0.0383, 0.9992, 1.182, 1.5108, 0.8387, -0.4248, 0.8154, 0.8791, 0.9973]\nstate[eef_state]: left_x=0.2461 left_y=0.0023 left_z=0.1155 left_yaw=0.0036 left_pitch=-0.3375 left_roll=0.0037 left_gripper=0.9992 right_x=0.2372 right_y=0.2491 right_z=0.0999 right_yaw=0.0506 right_pitch=-0.069 right_roll=-0.0523 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.1419, 6.7214, 1.5263, -0.0757, -0.0073, -0.0122, -2.5778, -5.3128, 5.135, 0.9402, 0.8376, -0.1099, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f11bb005f05aacb0ba82a4371bdbcb99593711fcdf7d2cd576b856872ca9494",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59058ba475d3f682295b79c249e690b416aeadd688ccbee2cdcd63b41dd6bfd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b8504afd476ca8950c558c98d97998d0859702fc3ba3e61593f2c421489447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Dn1yUgUXPUA7mMziu1H5H",
      "input": {
        "note": "Descent stalled at z 0.10, probably a finger resting on the safe's front wall. Backing off toward the base and to the right, clear of the safe, over the bear.",
        "targets": {
          "right_x": 0.21,
          "right_y": 0.2,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016Dn1yUgUXPUA7mMziu1H5H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6941, -0.0189, -0.0387, 0.9992, 1.2064, 1.309, 0.6727, -0.474, 0.8078, 0.8921, 0.9973]\nstate[eef_state]: left_x=0.2441 left_y=0.0023 left_z=0.1138 left_yaw=0.0039 left_pitch=-0.3482 left_roll=0.0037 left_gripper=0.9992 right_x=0.2121 right_y=0.2078 right_z=0.0977 right_yaw=0.0706 right_pitch=-0.0805 right_roll=-0.0513 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -0.7863, 6.7624, 1.4774, -0.0659, -0.0415, -0.0122, 0.6906, -4.506, 6.612, 1.2479, 0.4518, 0.1392, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d830f65909426239fa4c238fe2131c096ba1d1a68926531a927b35e064a747d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0bdf4a6dbd682106b24d90249d9a78cd3b0e22a36b560171694499ec21b1e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f74cdcea53e43fe9b9bf087eb0015c94b4b88f1a669237a4473cd9508f3e854a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 3.481 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6712, -0.0189, -0.0387, 0.9992, 1.2461, 1.5669, 0.9485, -0.5522, 0.8566, 0.9546, 0.9968]\nstate[eef_state]: left_x=0.2486 left_y=0.0022 left_z=0.1175 left_yaw=0.0037 left_pitch=-0.3246 left_roll=0.0032 left_gripper=0.9992 right_x=0.227 right_y=0.2673 right_z=0.1119 right_yaw=0.0499 right_pitch=-0.0614 right_roll=-0.0747 right_gripper=0.9968\nstate[joint_eff]: [-0.1162, -1.5248, 6.8034, 1.5067, -0.0806, -0.0269, -0.0122, -0.2256, -7.4188, 6.7077, 1.0965, 0.5397, 0.1148, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6842, -0.0189, -0.0383, 0.9992, 1.182, 1.5108, 0.8387, -0.4248, 0.8154, 0.8791, 0.9973]\nstate[eef_state]: left_x=0.2461 left_y=0.0023 left_z=0.1155 left_yaw=0.0036 left_pitch=-0.3375 left_roll=0.0037 left_gripper=0.9992 right_x=0.2372 right_y=0.2491 right_z=0.0999 right_yaw=0.0506 right_pitch=-0.069 right_roll=-0.0523 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.1419, 6.7214, 1.5263, -0.0757, -0.0073, -0.0122, -2.5778, -5.3128, 5.135, 0.9402, 0.8376, -0.1099, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6941, -0.0189, -0.0387, 0.9992, 1.2064, 1.309, 0.6727, -0.474, 0.8078, 0.8921, 0.9973]\nstate[eef_state]: left_x=0.2441 left_y=0.0023 left_z=0.1138 left_yaw=0.0039 left_pitch=-0.3482 left_roll=0.0037 left_gripper=0.9992 right_x=0.2121 right_y=0.2078 right_z=0.0977 right_yaw=0.0706 right_pitch=-0.0805 right_roll=-0.0513 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -0.7863, 6.7624, 1.4774, -0.0659, -0.0415, -0.0122, 0.6906, -4.506, 6.612, 1.2479, 0.4518, 0.1392, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d830f65909426239fa4c238fe2131c096ba1d1a68926531a927b35e064a747d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0bdf4a6dbd682106b24d90249d9a78cd3b0e22a36b560171694499ec21b1e99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 230):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f74cdcea53e43fe9b9bf087eb0015c94b4b88f1a669237a4473cd9508f3e854a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvggKEAgSGAI4AUIIdGhpbmtpbmcSDHqxTW0Oi5sFNGWLKhoMqaTplRXK0tuvYlzuIjDAQPGZNeyx+YW/gmGX5WesHvARa5LMbI6AjSKMp5UWiYr6E/CnLHj8Onx+NXs6z08q2wcKP18kciUvYBucHLEC6TwCkLNSl4x6Ftqa4PErbG5sAPWVvu/FR3wZa2INvZYHCqaJ2eCwYTTHtztMfMQneuN1vLldt7H8u+leo9deUP4B/INXbJeNI2gdocJliuYKuZgVBe4NBZZmV++5ZUeEcPvHPeREPmCbdJSTjay5009Ooq5/4S9tK3ZK9elxK8BDq+531zvGUD5X+GIanxM8OwqIsc/InISUUuHh6uvnNsr9y3k4t4KLJkceQ8pefwja1W+j7SsipQzWg6P/e8FMO28Zx76h9BEHwq6HLhiDrK4pRwt8SycTUQfCzslxfj6HxKIMu3aobaju42lmzcHZzSkxMy6W3BVFGKF6yzCw8/8q0Vk5toEmvTmDWTW3w92KfMrYAzabUwyYv9BpSDogj5c5y597GXon/CPXHIgMmlkRF3oHjNNprSTkUcJAEO7c7BdsbR5xnOriQz1jWorbCcT6plfWlVhUrNA1tOAF+gw5QuITP+qsJo0JFCMf1wXAu0LuvHR5/w/jXcFs0BPJb1bLXOwazA7LdlEgelVpOakw89yVMzzBLNcuCBy0PWKsGf8VCcTXb73g/jQOFCajHoSp6oH+Crj6EENhpOfFC3HLyBoSARrozHOguLNmLhYYWVm2eG+Yn/y1ojaSbRDEP8nnWA5wilItyN+OPspP660uqbVzCXNdtttgkcDbK+SEKds0VE7+M3CXcObRsgOfoPAOEtPmKRVJt5jhkCdA9O7iAU9wkpcC0nT42obIT//xMqgfBnF4cxd1sHRC+7pM25dRPhqKkk+kRCY5aEKr9MfdGzAzuNcrWrWKqx6V5TCt7rEbX9XSxbCRmZsgxtDic4LcA516l4NEWV3jd6580tkQg4WxLCmByS4OWbZAQ+mIQEXgkr1zt4obPfIH462r5OjuGQkrJIPcKavCrwf9A8zrd3ENHMI3LnKBGOoNBufvePcCLm/y6C12ZI+OfAYlEtX+WiiimzoVHuA0iDo6Xd7IKeG0gs0p8D+sxgzFzDgoXb/lG6rRd+Us1wROhpFJgCffWgzmIgO2t6fy249OrY/o+Aquf+rGRBZWv37T8d5qpWPA4PszLka9e9Xj5l1vUEKtkEk/qkinkBVu0lmLhzo43rgOOs92NCS7TKZEGwn2kSBl4DYIDyBNzS/jozdyG53HlHSTWdMO9Deok5fn/ld+rwfGvJD8t2kO5t/MP2CXFnDl0LsPSYBKti9LIiYpKIhM1nI88JDapMsnuW2pFhfoQHkU0GETYO+/20221EWkv68H+CrYZgGhejzNCD1T5DJ56wva1ZgtQKEBjG8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015zTjwG42mgtnZhnGW7m4mT",
      "input": {
        "note": "Brown bear now lies centred in the right wrist view just ahead of the jaws. Advancing slightly and descending onto its body.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.225,
          "right_y": 0.205,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015zTjwG42mgtnZhnGW7m4mT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6979, -0.0189, -0.0387, 0.9992, 1.1744, 1.5368, 0.4133, 0.0326, 0.8146, 0.8295, 0.9973]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1133 left_yaw=0.004 left_pitch=-0.352 left_roll=0.0038 left_gripper=0.9992 right_x=0.2154 right_y=0.191 right_z=0.0114 right_yaw=0.0713 right_pitch=-0.0687 right_roll=-0.0859 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.1966, 6.7624, 1.3553, -0.0415, -0.0562, -0.0122, -0.3761, -5.0803, 4.6017, 1.3211, 0.5104, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2672f5cc37fa8f7afd16caeaf2dd6b6a98dab79458b6879b0c65bb975c0d1f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5752b2b1c3cc2a6ca4931f92a6d94c126dd80514a9be2bf13f15db484228d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f651315d777b02ac99deecd1fa4a031d884d19e084a081bae3c5d7bd9156da45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.04 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.836, 0.6067, -0.6842, -0.0189, -0.0383, 0.9992, 1.182, 1.5108, 0.8387, -0.4248, 0.8154, 0.8791, 0.9973]\nstate[eef_state]: left_x=0.2461 left_y=0.0023 left_z=0.1155 left_yaw=0.0036 left_pitch=-0.3375 left_roll=0.0037 left_gripper=0.9992 right_x=0.2372 right_y=0.2491 right_z=0.0999 right_yaw=0.0506 right_pitch=-0.069 right_roll=-0.0523 right_gripper=0.9973\nstate[joint_eff]: [-0.0342, -1.1419, 6.7214, 1.5263, -0.0757, -0.0073, -0.0122, -2.5778, -5.3128, 5.135, 0.9402, 0.8376, -0.1099, 0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6941, -0.0189, -0.0387, 0.9992, 1.2064, 1.309, 0.6727, -0.474, 0.8078, 0.8921, 0.9973]\nstate[eef_state]: left_x=0.2441 left_y=0.0023 left_z=0.1138 left_yaw=0.0039 left_pitch=-0.3482 left_roll=0.0037 left_gripper=0.9992 right_x=0.2121 right_y=0.2078 right_z=0.0977 right_yaw=0.0706 right_pitch=-0.0805 right_roll=-0.0513 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -0.7863, 6.7624, 1.4774, -0.0659, -0.0415, -0.0122, 0.6906, -4.506, 6.612, 1.2479, 0.4518, 0.1392, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6979, -0.0189, -0.0387, 0.9992, 1.1744, 1.5368, 0.4133, 0.0326, 0.8146, 0.8295, 0.9973]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1133 left_yaw=0.004 left_pitch=-0.352 left_roll=0.0038 left_gripper=0.9992 right_x=0.2154 right_y=0.191 right_z=0.0114 right_yaw=0.0713 right_pitch=-0.0687 right_roll=-0.0859 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.1966, 6.7624, 1.3553, -0.0415, -0.0562, -0.0122, -0.3761, -5.0803, 4.6017, 1.3211, 0.5104, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2672f5cc37fa8f7afd16caeaf2dd6b6a98dab79458b6879b0c65bb975c0d1f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5752b2b1c3cc2a6ca4931f92a6d94c126dd80514a9be2bf13f15db484228d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f651315d777b02ac99deecd1fa4a031d884d19e084a081bae3c5d7bd9156da45",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bear fills the view between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T2sT1cLzmrGo7S5VXTJYEr",
      "input": {
        "note": "The brown bear fills the right wrist view between the jaws at z≈0.01; closing on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01T2sT1cLzmrGo7S5VXTJYEr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6983, -0.0189, -0.0387, 0.9992, 1.1709, 1.5482, 0.3992, 0.0219, 0.807, 0.8196, 0.0086]\nstate[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1132 left_yaw=0.004 left_pitch=-0.3524 left_roll=0.0038 left_gripper=0.9992 right_x=0.2121 right_y=0.1835 right_z=0.0035 right_yaw=0.0744 right_pitch=-0.0918 right_roll=-0.123 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -1.0325, 6.694, 1.3651, -0.0708, -0.0757, -0.0122, 0.0479, -5.7504, 5.4359, 1.0916, 0.3932, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7e2cc424cfce53701f196a86a86badf3d44cb0b887322c3b0e967d4e886ab60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da20a9c13940c8ed2b276c3308d47fd65a94dde463b1f403d0527abdf88ce15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f49564ae7770f638f299221839d00fb41507bf96f19b1cb310a01b74597b675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.201 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6941, -0.0189, -0.0387, 0.9992, 1.2064, 1.309, 0.6727, -0.474, 0.8078, 0.8921, 0.9973]\nstate[eef_state]: left_x=0.2441 left_y=0.0023 left_z=0.1138 left_yaw=0.0039 left_pitch=-0.3482 left_roll=0.0037 left_gripper=0.9992 right_x=0.2121 right_y=0.2078 right_z=0.0977 right_yaw=0.0706 right_pitch=-0.0805 right_roll=-0.0513 right_gripper=0.9973\nstate[joint_eff]: [-0.0615, -0.7863, 6.7624, 1.4774, -0.0659, -0.0415, -0.0122, 0.6906, -4.506, 6.612, 1.2479, 0.4518, 0.1392, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6979, -0.0189, -0.0387, 0.9992, 1.1744, 1.5368, 0.4133, 0.0326, 0.8146, 0.8295, 0.9973]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1133 left_yaw=0.004 left_pitch=-0.352 left_roll=0.0038 left_gripper=0.9992 right_x=0.2154 right_y=0.191 right_z=0.0114 right_yaw=0.0713 right_pitch=-0.0687 right_roll=-0.0859 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.1966, 6.7624, 1.3553, -0.0415, -0.0562, -0.0122, -0.3761, -5.0803, 4.6017, 1.3211, 0.5104, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6983, -0.0189, -0.0387, 0.9992, 1.1709, 1.5482, 0.3992, 0.0219, 0.807, 0.8196, 0.0086]\nstate[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1132 left_yaw=0.004 left_pitch=-0.3524 left_roll=0.0038 left_gripper=0.9992 right_x=0.2121 right_y=0.1835 right_z=0.0035 right_yaw=0.0744 right_pitch=-0.0918 right_roll=-0.123 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -1.0325, 6.694, 1.3651, -0.0708, -0.0757, -0.0122, 0.0479, -5.7504, 5.4359, 1.0916, 0.3932, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7e2cc424cfce53701f196a86a86badf3d44cb0b887322c3b0e967d4e886ab60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da20a9c13940c8ed2b276c3308d47fd65a94dde463b1f403d0527abdf88ce15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f49564ae7770f638f299221839d00fb41507bf96f19b1cb310a01b74597b675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgAkKEAgSGAI4AUIIdGhpbmtpbmcSDBMRBLU+E+CjvvsArxoMEVsVhfZCsASiYz5FIjCvTwVQJFwe607s/CsTYItq63PQ8o+2HHQ2HD5MZUFpTyrix7gafdHxT1N2rhaJumgqnQjBmN4WN4TQ42QC4rgnTsdkYu3I11FkaqlGatKU46SYjTToqZWDB4T0qdTlHHtmeGc7FWnBv2g8dm9G83/HBbmbKLHdDR0WbKwy2KgAl1U/gM4Si2X4dVRlE5glvH5RO2EZ0UawkHqq8DW21R63LaST1XyQthXb8SvwC69R3hUbylJrincgfVPvAWoJ6UCvfEBgjpQb5f2XRVuz6VjTKS5HmBHgdb9Yq/5ISByz6ol4tPt1s86qfnsdG7lQ6r464tRgrdnQHIZ/n3nK/dbnDyHFcJ6RcHnpI2eJ2asv+criiQsZDFs8EcwMrV+rj8v2z703IwPP3hTuDYNDD476WGbxyvKX70dSzwzzEq3kzTig/SS3iI5+mmQDWA36f3SaXahrIxywwZciD5/XTVdOv2SLEtcrCXhrl/YxRm/vtyz2NS6QBdw/qagym/wXPQkOftXA64ZH0Ypct6bPCSidq/fiApIkbe67y2HcAyBim0PlHEkRtMdTjWTnLATh+TdqTyQJwhSKUFClBQxN+zeVreHtYUt2wezgl008KkRcgwNXHWa41v+o6uiyLbLErUqoMtlmPf0qKZ9ue46QxP/G0OcIDBuL7PB5ECyo9lsPmNr2RC9Kqcq+Ax6w1ljrOnGPl2T6k61ZJv8hbE0PYxYbqV9XgV8XdN95kgUDu0RojHAj7/GE8JRwZHtXx1R6le608kYOQ8aF7TlbZOs/5+PyiapxRsT0s6E/51f29rDb1Cq6nCsHN66Bet7NKfT6K/TjadByWGoIhZqkHqWNPG+rYIJmt8fcCzuZInfTwOL5dELs8PN6ZrhBBv+QSFmo69ODWSSMGEm5g+KoAFYjwkFn/TaNHV6WVhElfUYvpZFRFrzStDsKEvwh9ENVOryFzHx6Z2NZ2kSJVO/RsRQoSHhvbC9FYblKwiQBuZCIC5H/HYFi4QIGWWykFcOniNEhhGLqUMJkNEzkZi40JO6nr/GqUg2x7/gkx4oeMXucSOiZmnwWf5SASLQTdtTYWyil8hdS21XREZMgX6puCg0ZO+mM+mY9HM7HbznudG2JqHDurAbXkSYNqKdSR8IeeAs2dhIYiQLNcHJ3nxXgxJXB8LV0XlW5+PssfEVe6Bnl8CrY2LxzM7zBWUgiiSiM2oYzEAQnIo7apT5ujAGpvwyYRB4Aue06KdqPAvyHX36UnBUind3xpnsDTvpj0ns9lv81bOxmBoXXryF3UpExZx6o4oaw9+CXYCcIOKuSRhndX+xcWp6p51KQB/JpMpoaBP4jc7Mbq0SU+iNZrNJrVJnwcbRfhsYHHe8OJMkabyWfAVhXMveodvvlXrb5NWYbbUaOafBmGdk+zxLnAbxABGTf6F0XBOiAvyXGZUhIUZ0yJlJOESqIMczSOOuirAQc7+3W6t0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HXzJ5BznAD99e9tDXcqJmg",
      "input": {
        "note": "Gripper closed to ~0.01, but a plush bear can compress that far, so I'm lifting to check whether it comes up with the jaws.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.25,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HXzJ5BznAD99e9tDXcqJmg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.7052, -0.0189, -0.0387, 0.9992, 1.0172, 1.1282, 0.8318, -0.6064, 0.7269, 0.6422, 0.0102]\nstate[eef_state]: left_x=0.2419 left_y=0.0024 left_z=0.1122 left_yaw=0.004 left_pitch=-0.3593 left_roll=0.004 left_gripper=0.9992 right_x=0.2461 right_y=0.1817 right_z=0.1779 right_yaw=0.0771 right_pitch=-0.0393 right_roll=-0.0369 right_gripper=0.0102\nstate[joint_eff]: [-0.1709, -1.1966, 6.694, 1.3895, -0.0611, -0.0464, -0.0122, -0.3624, -4.9162, 8.5812, 1.5897, 0.359, 0.0122, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f226d0b340b540a07382d3d6c4cbb9307d8c7e6e73a5045a1e99cbe09f93d501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71501397750b94d037b938aa0901db377044883d65f5270df51f74ed63694709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a1d34be219cb8366a2e26bd8331dbb2bfb47ce590300f26d602fe45f3913926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 3.524 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6979, -0.0189, -0.0387, 0.9992, 1.1744, 1.5368, 0.4133, 0.0326, 0.8146, 0.8295, 0.9973]\nstate[eef_state]: left_x=0.2434 left_y=0.0023 left_z=0.1133 left_yaw=0.004 left_pitch=-0.352 left_roll=0.0038 left_gripper=0.9992 right_x=0.2154 right_y=0.191 right_z=0.0114 right_yaw=0.0713 right_pitch=-0.0687 right_roll=-0.0859 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -1.1966, 6.7624, 1.3553, -0.0415, -0.0562, -0.0122, -0.3761, -5.0803, 4.6017, 1.3211, 0.5104, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6983, -0.0189, -0.0387, 0.9992, 1.1709, 1.5482, 0.3992, 0.0219, 0.807, 0.8196, 0.0086]\nstate[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1132 left_yaw=0.004 left_pitch=-0.3524 left_roll=0.0038 left_gripper=0.9992 right_x=0.2121 right_y=0.1835 right_z=0.0035 right_yaw=0.0744 right_pitch=-0.0918 right_roll=-0.123 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -1.0325, 6.694, 1.3651, -0.0708, -0.0757, -0.0122, 0.0479, -5.7504, 5.4359, 1.0916, 0.3932, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.7052, -0.0189, -0.0387, 0.9992, 1.0172, 1.1282, 0.8318, -0.6064, 0.7269, 0.6422, 0.0102]\nstate[eef_state]: left_x=0.2419 left_y=0.0024 left_z=0.1122 left_yaw=0.004 left_pitch=-0.3593 left_roll=0.004 left_gripper=0.9992 right_x=0.2461 right_y=0.1817 right_z=0.1779 right_yaw=0.0771 right_pitch=-0.0393 right_roll=-0.0369 right_gripper=0.0102\nstate[joint_eff]: [-0.1709, -1.1966, 6.694, 1.3895, -0.0611, -0.0464, -0.0122, -0.3624, -4.9162, 8.5812, 1.5897, 0.359, 0.0122, 0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f226d0b340b540a07382d3d6c4cbb9307d8c7e6e73a5045a1e99cbe09f93d501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71501397750b94d037b938aa0901db377044883d65f5270df51f74ed63694709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a1d34be219cb8366a2e26bd8331dbb2bfb47ce590300f26d602fe45f3913926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsggKEAgSGAI4AUIIdGhpbmtpbmcSDJFTXxkzdFCgP0geaBoM9aP1YNZlq2C5QXN9IjA2WXnS1Gu7STHo72d1bH/VGQeznIpdZ/yawCmYCHc8AJubG/gBcvSTLTnx/aBydh0qzwc6j5w55Y8F4qYAGD3TSx4qd/iLgzUhZXLt7XJB6HWZSTZKJ+uTKzMK4NppPtM7/Xv//Y+6DSXE9MN2MWbMclsr7EgoKVZXo7aNBOsAOF8F/szYvqAFqVBZAxDXWdEj0tYUQUA608efD9S/y5Stbc6BUcthjYLc3tHHzTNpU4qUYmt0VjD8QRnERK/FUNhBJlWl6giQMmWgXBYatMhchRaO2ay4FvIs416GlOyxNoHRdl4buq/krK2rpViYUUPUZ741dv47Vug4aNVL/k3Lfa2m9sMDUxuXJixYYzbIP27KpF/xSGiDzzqnohcSb2xCCJoWtnI78pc2f9CqpzUNtxz/d3hrlGzSiyB4CVvJ5+8d9wkCMbvGxpOSsf93zf+vspVWg/srgNQzGqQE1H+AqDnS7bBqne8SowQ/oAQqOVIXBVeAiPazTiPJJnP56ARbAFvUtyDnRimjW3SRVBKPb91aWpo1YJz9eDdGqeM+1lSQsCW3f+HzWbXqKwsfY8hDRPhNHgfQ+gpo0VmSG0gXnXOxCXvQ1JS5fdnkdYB/gbt73NpVq9IxtCCQOWIQuKpCMGIy3lIGe9LrHBn3ziJkJHB4dSAZ+9Sb20dXylMI0e43ac79t95eUz/pLMAMzpw55sAFeMJHL69vz2qfyrFp6hPvDT3PNG6FNwpSrFOVEgc6nDUgHtyhWlZ2wR4TkHdbKd+Lm2LOrbW40gj/oz2vDgpEv40Uo1RMU8u2RPd2DrxqVCi3RuG9LYHhV0V1voFc7Lwn13jya9X/JXH9stFdv4eZFVap2L7Eyzlg5OxYKOsZF1c0m/yxbOoEwCDAR6ixY1BsRd1vxe45xbvhUI3Ymc0GL22ibtSZPP8OHsV4afob7W+C0xTHyDj/GkxEsnzTGB8UFK/tDKCtWhBDqY3C6zOmBug/pJwIxQY6Dz/lXzjXqRIJk1z6vjv54UQgr8xAV/U93mJrxITo1RIa2Hnb/c9JCqn214zBrnL1VDClmZ1i6VWEMoQKXajvhT1xaqqhs6cHL/JRtcDQME8ssYTWMpYLze01qRCq8WhjtVwczm3KxFY+efJEZIaOc4lRnsQJxfCsoe0bytCgySOImCLLSjuU8tF9dqFk2Tt2ipuHQw62A0hLLcnHp9b6WxUgVZUNav2ig2EffrZ9P7kHXAzhgCWuW90RY+9udY+VPnR6VpO6v4ccOZ+JYLjdI/I0i8rEjR+UkPd7FjVE8xDYSdTFm7AZS/gAQQvaumMY+bbn0Jnq4xkKgncRltiXGUH365exNDw9nCU0jhpP9mvyrAIQK6AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AqYu5mG5tbP1gjThU3MybN",
      "input": {
        "note": "Brown bear is hanging from the right jaws and gone from the table in the top view. Carrying it over the safe interior, at the same spot where the lemon went in.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.41,
          "right_y": 0.29,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01AqYu5mG5tbP1gjThU3MybN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8387, 0.6067, -0.7197, -0.0189, -0.0387, 0.9992, 0.8303, 1.8172, 1.4651, -0.4973, 0.6399, 0.5228, 0.0119]\nstate[eef_state]: left_x=0.239 left_y=0.0024 left_z=0.1097 left_yaw=0.0042 left_pitch=-0.3757 left_roll=0.0044 left_gripper=0.9992 right_x=0.3957 right_y=0.2818 right_z=0.181 right_yaw=0.0163 right_pitch=-0.0591 right_roll=-0.0491 right_gripper=0.0119\nstate[joint_eff]: [-0.1162, -1.2923, 6.6667, 1.4481, -0.0757, -0.0757, -0.0122, -0.5402, -9.6342, 8.9094, 1.5897, 0.3785, -0.0269, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fbca43bcad5858d3315351016e713c1f2440c9a7edffbb14258dc3f1069a658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22592d918620cf030dd0eab2653ea9f517196152902739e9466edf93504b9698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2e4c9532e5a4b5c866e37a8b5e25936897941ce88c42fd3f73234a8273c2ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 12.39 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.6983, -0.0189, -0.0387, 0.9992, 1.1709, 1.5482, 0.3992, 0.0219, 0.807, 0.8196, 0.0086]\nstate[eef_state]: left_x=0.2433 left_y=0.0023 left_z=0.1132 left_yaw=0.004 left_pitch=-0.3524 left_roll=0.0038 left_gripper=0.9992 right_x=0.2121 right_y=0.1835 right_z=0.0035 right_yaw=0.0744 right_pitch=-0.0918 right_roll=-0.123 right_gripper=0.0086\nstate[joint_eff]: [-0.0342, -1.0325, 6.694, 1.3651, -0.0708, -0.0757, -0.0122, 0.0479, -5.7504, 5.4359, 1.0916, 0.3932, 0.0855, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8368, 0.6067, -0.7052, -0.0189, -0.0387, 0.9992, 1.0172, 1.1282, 0.8318, -0.6064, 0.7269, 0.6422, 0.0102]\nstate[eef_state]: left_x=0.2419 left_y=0.0024 left_z=0.1122 left_yaw=0.004 left_pitch=-0.3593 left_roll=0.004 left_gripper=0.9992 right_x=0.2461 right_y=0.1817 right_z=0.1779 right_yaw=0.0771 right_pitch=-0.0393 right_roll=-0.0369 right_gripper=0.0102\nstate[joint_eff]: [-0.1709, -1.1966, 6.694, 1.3895, -0.0611, -0.0464, -0.0122, -0.3624, -4.9162, 8.5812, 1.5897, 0.359, 0.0122, 0.149]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8387, 0.6067, -0.7197, -0.0189, -0.0387, 0.9992, 0.8303, 1.8172, 1.4651, -0.4973, 0.6399, 0.5228, 0.0119]\nstate[eef_state]: left_x=0.239 left_y=0.0024 left_z=0.1097 left_yaw=0.0042 left_pitch=-0.3757 left_roll=0.0044 left_gripper=0.9992 right_x=0.3957 right_y=0.2818 right_z=0.181 right_yaw=0.0163 right_pitch=-0.0591 right_roll=-0.0491 right_gripper=0.0119\nstate[joint_eff]: [-0.1162, -1.2923, 6.6667, 1.4481, -0.0757, -0.0757, -0.0122, -0.5402, -9.6342, 8.9094, 1.5897, 0.3785, -0.0269, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2fbca43bcad5858d3315351016e713c1f2440c9a7edffbb14258dc3f1069a658",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22592d918620cf030dd0eab2653ea9f517196152902739e9466edf93504b9698",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2e4c9532e5a4b5c866e37a8b5e25936897941ce88c42fd3f73234a8273c2ae8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjQcKEAgSGAI4AUIIdGhpbmtpbmcSDJsoXbvEORuspVNttxoM1K7JOyfaLWwZarkgIjAK+PDfWO/Xzy8wPUv7jbFmcK7Ym/wEku4UCeFHQTsVRGDPqgNb8NeT1akh6HYK0kEqqgYWvqI34aRhXhJMY+5WdxJFU0qRxtDnQJsqWcXV21EmZMgg3ElTVxZYHduWeZ9PMSqfw0/KZXOvghcBrvA3yKvA0gYB/e7yN1V3gfFdqHHsbpAuBrFEPFBLQcrS4mTeOJ+4UnCgm2oDGmJKkAlmK7mKhOKjG5x5Qu3nudLLuhwVawcpsBZXwkvYVkZn5eQS11oKwMnEabwl933l1QgbD0FxZMWDobQoxM0zm2RSdJNzoVUCzuIy2cJVF6P0FsqMH9rK8vg9RovVD8vGhzfSMAVBPuW87n4SdweLbJHjxqsgp6jmCBjMe+Kp9Uwyw1tAiqyMZQg3z6FXHr1zmmoPXIYPxS1zxBKldD0XCtAdnFxUSR2JP7xyFeFkHakJvJZos/m52K1G7EO0BHv+8xHMd5Lfm2bC490C7cktAdnPco6oFIv/F7RpmfAuUPzGbsNn6jXXwKTh8wK8rearFehtU4NM9LzH1JUhEE7GM74NN+W4E0YR4K/wr9Lt7djRpf9/o8vHus5D1u2i8Z1np+tFaKrIQKrSJMSw2vwdhF/CapLXD6xhD4tlnudX+PFAjBlEdkqwaOEHWUZsTO2SVQe9EnnxYhx7/xwSlkyXhZKys5THDRbcQ87saPJKQos5E0N4P3VkxM8nyGlTliIvW/1tCxaDLqWAdZY3Pr6VVQX6xmqgxbzvfDfH6QgHJeouhAHW4+cpm+T+FAY51DzjWs4TinxI3FWcXlyeZeJ0pAphXUHsqF9hVVa/lccnWk1nXmiahQ3wPmvt2lGaW80byhi4AHUJnwJorLb9+G65LIrVqnQPNVNffa5bvZv/twaxhg9r1e5DnNza+n0QhLIsAqqx8L1kblJV5V+js5hKOjGkru5WaaEHrUlYmaJTiU7ZIs0xKeEw7vV50VNo61yR2sNOl3OacuYAcw+RcrPyrQ+eL0/zEEnhuoB7S2cnxMA1YU4b9syJt9lA+G8FrejE4QOZ4JiMQ1ivPR16pU5Vf+06OkSahGFJ1ZG5ZIGObRADSfHde0qv/G1eazKVP+ZfCnhi0+XmY1zku2/RWokZmN1F9G3UgRCw6fIiBeME+kcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KjULtAVuNcde3khzAPMvwS",
      "input": {
        "note": "The right gripper is over the safe's red interior with the bear hanging below it. Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KjULtAVuNcde3khzAPMvwS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8417, 0.6067, -0.7204, -0.0189, -0.0383, 0.9992, 0.8299, 1.8366, 1.4658, -0.5068, 0.6312, 0.522, 0.9952]\nstate[eef_state]: left_x=0.2389 left_y=0.0024 left_z=0.1089 left_yaw=0.004 left_pitch=-0.3795 left_roll=0.0047 left_gripper=0.9992 right_x=0.3951 right_y=0.2828 right_z=0.1704 right_yaw=0.0209 right_pitch=-0.0834 right_roll=-0.0656 right_gripper=0.9952\nstate[joint_eff]: [-0.0205, -1.3197, 6.735, 1.3455, -0.0611, -0.0122, -0.0122, 0.0068, -11.3436, 6.6803, 1.3895, 0.3492, -0.0171, -0.2076]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607cb11ae9fa042331936999ad0d0f8c9e2d28fc666d7c109439123e10400562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 282):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fcccf405f4204432f47703729590772f8f8af02220ae9dd6ad07dd388974aee2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 282):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a93a965df041e146c47b211e8026003429ddc2d6337f674acc0846e1bb65a42b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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