adhoc

completed
2026-09-22T20:26:32.063797+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
220.1 s
total steps
346
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the objects into the safe, then close the safe.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: open red safe at centre-back, lemon right of it, beige bear left, brown bear front-centre. Moving right arm above the lemon first.
move_to
right_x0.4200right_y0.0800right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0338, 0.9988, -0.02, 0.7937, 0.6071, -0.403, -0.0196, -0.0193, 0.9996] state[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.292 right_y=0.0012 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.388, 10.2085, 1.9805, -0.0611, 0.2173, -0.1392, -0.5265, -1.4427, 9.6205, 2.0928, -0.0269, 0.0171, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.08, "right_z": 0.12, "right_gripper": 1}, "note": "Scene: open red safe at centre-back, lemon right of it, beige bear left, brown bear front-centre. Moving right arm above the lemon first."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteLemon is centred on the jaw column but ahead of the fingertips; advancing ~4 cm and descending to grasp it.
move_to
right_x0.4450right_y0.0800right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.038, 0.9987, 0.2661, 1.4864, 0.7479, 0.0319, 0.1913, 0.1169, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0023 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9987 right_x=0.3983 right_y=0.0774 right_z=0.0965 right_yaw=0.0343 right_pitch=-0.102 right_roll=-0.0297 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.3744, 6.8581, 1.917, -0.0757, 0.0171, -0.022, 0.0889, -6.5846, 8.1983, 2.0049, 0.188, 0.1538, -0.0513] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.08, "right_z": 0.02}, "note": "Lemon is centred on the jaw column but ahead of the fingertips; advancing ~4 cm and descending to grasp it."})
tool
executing move_to over 5 steps (0.5s)
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 still ahead of the jaws with clear table below it; pushing further forward at low height.
move_to
right_x0.4700right_y0.0800right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8005, 0.6064, -0.4141, -0.0193, -0.0383, 0.9986, 0.2379, 1.8343, 0.7612, 0.2684, 0.1715, 0.1017, 0.9996] state[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1723 left_yaw=0.0025 left_pitch=-0.0316 left_roll=-0.0032 left_gripper=0.9986 right_x=0.422 right_y=0.075 right_z=0.0045 right_yaw=0.0278 right_pitch=-0.2009 right_roll=-0.0494 right_gripper=0.9996 state[joint_eff]: [-0.294, -1.5385, 7.1863, 1.7558, -0.0806, -0.0366, -0.0171, -0.1709, -8.0889, 7.5282, 1.8242, 0.1148, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": 0.47, "right_y": 0.08, "right_z": 0.015}, "note": "Lemon still ahead of the jaws with clear table below it; pushing further forward at low height."})
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 noteArm moved only 1 cm last time; commanding further forward to get the jaws around the lemon.
move_to
right_x0.4900right_y0.0800right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4278, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996] state[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0022 left_pitch=-0.0465 left_roll=-0.0031 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996 state[joint_eff]: [-0.3214, -1.3607, 6.9675, 1.8193, -0.0659, -0.0513, -0.0122, -0.2393, -8.0342, 6.8034, 1.9756, 0.0659, -0.0415, -0.0122] 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": 0.49, "right_y": 0.08, "right_z": 0.01}, "note": "Arm moved only 1 cm last time; commanding further forward to get the jaws around the lemon."})
tool
executing move_to over 5 steps (0.5s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteArm stalled at x=0.43 near the table; lifting a bit while moving forward to get past the stall.
move_to
right_x0.4700right_y0.0800right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8017, 0.6064, -0.4355, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996] state[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996 state[joint_eff]: [-0.0205, -1.0598, 7.159, 1.7314, -0.0757, -0.0513, -0.0122, -0.5675, -7.9248, 6.8855, 1.9414, 0.105, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.08, "right_z": 0.07}, "note": "Arm stalled at x=0.43 near the table; lifting a bit while moving forward to get past the stall."})
tool
executing move_to over 5 steps (0.5s)
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 noteLemon now sits between the jaws in the wrist view; descending to grasp height.
move_to
right_x0.4750right_y0.0800right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9986, 0.218, 1.8339, 0.9913, 0.0853, 0.1417, 0.078, 0.9996] state[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0713 left_roll=-0.0028 left_gripper=0.9986 right_x=0.468 right_y=0.0818 right_z=0.0558 right_yaw=0.0478 right_pitch=-0.1589 right_roll=-0.0367 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.3744, 7.0769, 1.8388, -0.0513, -0.0269, -0.0073, -0.5812, -10.6051, 6.8308, 1.6386, 0.0317, -0.0659, -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": 0.475, "right_y": 0.08, "right_z": 0.02}, "note": "Lemon now sits between the jaws in the wrist view; descending to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteLemon between the jaws at table level; closing gripper.
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, 0.6064, -0.458, -0.0193, -0.0387, 0.9986, 0.2142, 1.9179, 0.9768, 0.1337, 0.1368, 0.0784, 0.9996] state[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0025 left_gripper=0.9986 right_x=0.4656 right_y=0.0803 right_z=0.0207 right_yaw=0.0464 right_pitch=-0.2087 right_roll=-0.0414 right_gripper=0.9996 state[joint_eff]: [-0.0068, -1.2239, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.7179, -9.2513, 5.7231, 1.9072, 0.0073, -0.1001, -0.0122] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon between the jaws at table level; closing gripper."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteClose was empty – lemon is still a few cm beyond the fingertips. Opening, lifting and pitching the tool forward to extend reach.
move_to
right_gripper1.0000right_z0.0800right_x0.5000right_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9986, 0.21, 1.943, 0.9604, 0.1291, 0.1349, 0.0757, 0.0084] state[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.0786 left_roll=-0.0027 left_gripper=0.9986 right_x=0.4571 right_y=0.0768 right_z=0.0028 right_yaw=0.0435 right_pitch=-0.2545 right_roll=-0.0498 right_gripper=0.0084 state[joint_eff]: [-0.0615, -1.1419, 6.9538, 1.6386, -0.022, -0.0659, -0.0073, 0.3624, -11.535, 6.9128, 1.5214, 0.0317, -0.0073, 0.6227] camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.08, "right_x": 0.5, "right_pitch": 0.4}, "note": "Close was empty \u2013 lemon is still a few cm beyond the fingertips. Opening, lifting and pitching the tool forward to extend reach."})
tool
executing move_to over 22 steps (2.2s)
step 64
top_cam
camera top_cam step 64
left_cam
camera left_cam step 64
right_cam
camera right_cam step 64
assistant
agent noteWith forward pitch the lemon now appears right at the jaw tips; descending straight down.
move_to
right_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, 0.6064, -0.4728, -0.0193, -0.0383, 0.9986, 0.2146, 2.0392, 0.7513, 1.0069, 0.1688, -0.0158, 0.9976] state[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1599 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9986 right_x=0.4942 right_y=0.081 right_z=0.0616 right_yaw=0.0692 right_pitch=0.3118 right_roll=-0.0576 right_gripper=0.9976 state[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8681, -0.0806, -0.0269, -0.0073, -0.5265, -8.3897, 4.8615, 2.42, 0.1929, -0.022, -0.0708] camera 'top_cam' (step 64): [image omitted: streamed camera frame] camera 'left_cam' (step 64): [image omitted: streamed camera frame] camera 'right_cam' (step 64): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015}, "note": "With forward pitch the lemon now appears right at the jaw tips; descending straight down."})
tool
executing move_to over 4 steps (0.4s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteLemon fills the space between the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4797, -0.0189, -0.0387, 0.9986, 0.2146, 2.2097, 0.7517, 1.1172, 0.1669, -0.0143, 0.9988] state[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1584 left_yaw=0.0025 left_pitch=-0.1007 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4892 right_y=0.0802 right_z=0.0058 right_yaw=0.0724 right_pitch=0.2525 right_roll=-0.0644 right_gripper=0.9988 state[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7753, -0.0611, -0.0562, -0.0122, -0.0479, -9.5521, 4.8068, 2.1172, 0.0562, -0.4811, 0.105] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon fills the space between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent noteGripper settled at 0.63 (~6 cm) – lemon grasped. Lifting to carry height.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4808, -0.0189, -0.0387, 0.9986, 0.2146, 2.22, 0.7525, 1.1625, 0.1642, -0.0193, 0.63] state[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1582 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4918 right_y=0.0813 right_z=0.0116 right_yaw=0.0762 right_pitch=0.2878 right_roll=-0.0632 right_gripper=0.63 state[joint_eff]: [-0.0615, -1.2376, 6.9402, 1.6728, -0.0806, -0.0464, -0.0122, -0.2803, -8.6769, 3.9043, 2.1856, 0.0317, -0.0366, 1.0281] camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.63 (~6 cm) \u2013 lemon grasped. Lifting to carry height."})
tool
executing move_to over 11 steps (1.1s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteLemon lifted with the gripper. Carrying it left over the open safe interior.
move_to
right_y0.2500right_x0.4700right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4965, -0.0189, -0.0383, 0.9986, 0.2146, 1.7, 0.8734, 0.4789, 0.1604, -0.0265, 0.6332] state[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1542 left_yaw=0.0023 left_pitch=-0.1213 left_roll=-0.0015 left_gripper=0.9986 right_x=0.4881 right_y=0.0812 right_z=0.1511 right_yaw=0.0852 right_pitch=0.245 right_roll=-0.075 right_gripper=0.6332 state[joint_eff]: [0.0068, -1.1282, 7.0222, 1.8095, -0.0806, -0.0269, -0.0073, -0.3624, -9.9761, 9.347, 2.0928, 0.0659, 0.0073, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.25, "right_x": 0.47, "right_z": 0.18}, "note": "Lemon lifted with the gripper. Carrying it left over the open safe interior."})
tool
executing move_to over 15 steps (1.5s)
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 noteLemon is over the red safe interior; shifting slightly toward the safe centre and lowering before release.
move_to
right_y0.2800right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5117, -0.0189, -0.0387, 0.9986, 0.6567, 1.8343, 1.1679, 0.2165, 0.5385, 0.123, 0.6345] state[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1513 left_yaw=0.0026 left_pitch=-0.1365 left_roll=-0.0014 left_gripper=0.9986 right_x=0.4636 right_y=0.2475 right_z=0.1663 right_yaw=0.1318 right_pitch=0.2038 right_roll=-0.1069 right_gripper=0.6345 state[joint_eff]: [-0.0479, -1.2239, 6.8991, 1.7998, -0.0611, -0.0464, -0.0122, 0.3077, -8.6222, 9.1966, 1.917, 0.2076, 0.1929, 1.033] 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_y": 0.28, "right_z": 0.12}, "note": "Lemon is over the red safe interior; shifting slightly toward the safe centre and lowering before release."})
tool
executing move_to over 3 steps (0.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent noteLemon hangs over the safe interior; releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8089, 0.6064, -0.5182, -0.0189, -0.0387, 0.9986, 0.7063, 1.9575, 1.179, 0.279, 0.5766, 0.1375, 0.6345] state[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1498 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0013 left_gripper=0.9986 right_x=0.4617 right_y=0.272 right_z=0.1228 right_yaw=0.1469 right_pitch=0.1712 right_roll=-0.1346 right_gripper=0.6345 state[joint_eff]: [-0.1573, -1.2239, 6.8855, 1.6337, -0.0708, -0.0122, -0.0122, 0.253, -10.6872, 6.7077, 2.0879, 0.2027, 0.1099, 1.033] camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon hangs over the safe interior; releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteLemon dropped inside the safe. Moving the right arm back above the brown bear in front of the safe.
move_to
right_x0.3000right_y0.2200right_z0.1200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5255, -0.0189, -0.0387, 0.9986, 0.7227, 2.006, 1.1709, 0.2939, 0.5808, 0.1432, 0.9955] state[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1483 left_yaw=0.0026 left_pitch=-0.1522 left_roll=-0.0011 left_gripper=0.9986 right_x=0.457 right_y=0.2786 right_z=0.098 right_yaw=0.1602 right_pitch=0.1376 right_roll=-0.1535 right_gripper=0.9955 state[joint_eff]: [-0.0615, -1.0735, 7.2, 1.6337, -0.0366, -0.0708, -0.0122, -0.5128, -11.8632, 7.1179, 2.1709, 0.2857, 0.1197, -0.2613] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.22, "right_z": 0.12, "right_pitch": 0.0}, "note": "Lemon dropped inside the safe. Moving the right arm back above the brown bear in front of the safe."})
tool
executing move_to over 13 steps (1.3s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteBrown bear sits directly between the jaws at the bottom of the wrist view; descending to grasp it.
move_to
right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5407, -0.0189, -0.0387, 0.9986, 0.9195, 1.4643, 0.7547, -0.0834, 0.6666, 0.3435, 0.9968] state[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1444 left_yaw=0.0027 left_pitch=-0.172 left_roll=-0.0007 left_gripper=0.9986 right_x=0.3044 right_y=0.2251 right_z=0.1117 right_yaw=0.1902 right_pitch=-0.0144 right_roll=-0.1744 right_gripper=0.9968 state[joint_eff]: [-0.1436, -1.6068, 6.8581, 1.7216, -0.0562, -0.0366, -0.0122, 0.1983, -6.8308, 7.0769, 1.8437, 0.3541, 0.105, 0.1148] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03}, "note": "Brown bear sits directly between the jaws at the bottom of the wrist view; descending to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteJaws straddle the bear's body; 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, 0.8169, 0.6067, -0.5556, -0.0189, -0.0383, 0.9986, 0.9207, 1.6863, 0.5983, 0.2279, 0.6582, 0.3477, 0.9969] state[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1412 left_yaw=0.0026 left_pitch=-0.1892 left_roll=-0.0 left_gripper=0.9986 right_x=0.2976 right_y=0.2188 right_z=0.0262 right_yaw=0.1931 right_pitch=-0.0682 right_roll=-0.2111 right_gripper=0.9969 state[joint_eff]: [-0.0479, -1.4701, 6.9265, 1.7216, -0.0806, -0.0171, -0.0122, -0.3214, -6.188, 4.588, 1.58, 0.2906, -0.0904, 0.0024] camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the bear's body; closing."})
tool
executing move_to over 10 steps (1.0s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent noteGripper closed fully (plush compresses, so reading is ambiguous); lifting to check if the bear comes along.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8173, 0.6064, -0.5636, -0.0189, -0.0387, 0.9986, 0.9207, 1.7035, 0.585, 0.2188, 0.6537, 0.3412, 0.0086] state[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1395 left_yaw=0.0028 left_pitch=-0.1979 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2925 right_y=0.2132 right_z=0.015 right_yaw=0.1975 right_pitch=-0.101 right_roll=-0.24 right_gripper=0.0086 state[joint_eff]: [-0.0068, -1.1556, 6.8855, 1.6288, -0.0366, -0.0659, -0.0122, -0.3624, -7.9248, 5.8051, 1.3993, 0.2613, 0.0562, 0.569] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Gripper closed fully (plush compresses, so reading is ambiguous); lifting to check if the bear comes along."})
tool
executing move_to over 6 steps (0.6s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteBear appears lifted with the gripper. Carrying it high over the safe.
move_to
right_z0.2000right_x0.4400right_y0.2900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5743, -0.0189, -0.0387, 0.9986, 0.9207, 1.483, 0.7227, -0.1558, 0.6392, 0.3408, 0.0099] state[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1373 left_yaw=0.0029 left_pitch=-0.2101 left_roll=0.0002 left_gripper=0.9986 right_x=0.2897 right_y=0.2128 right_z=0.0817 right_yaw=0.2064 right_pitch=-0.1209 right_roll=-0.2425 right_gripper=0.0099 state[joint_eff]: [-0.0752, -1.3744, 6.8308, 1.6532, -0.0269, -0.0513, -0.0122, -0.1846, -7.0496, 8.6906, 1.5849, 0.3932, -0.0366, 0.1197] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.44, "right_y": 0.29}, "note": "Bear appears lifted with the gripper. Carrying it high over the safe."})
tool
executing move_to over 12 steps (1.2s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteBear is held above the safe interior; lowering before release.
move_to
right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6064, -0.5854, -0.0189, -0.0387, 0.9986, 0.7517, 1.9282, 1.6684, -0.6048, 0.519, 0.1822, 0.0123] state[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1349 left_yaw=0.0029 left_pitch=-0.2231 left_roll=0.0005 left_gripper=0.9986 right_x=0.4297 right_y=0.2866 right_z=0.1845 right_yaw=0.2143 right_pitch=-0.1553 right_roll=-0.2556 right_gripper=0.0123 state[joint_eff]: [-0.2803, -1.3744, 6.8171, 1.6484, -0.0562, -0.0464, -0.0122, -0.4855, -10.5368, 8.2393, 1.5507, 0.3248, -0.0757, 0.2369] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Bear is held above the safe interior; lowering before release."})
tool
executing move_to over 5 steps (0.5s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteBear is inside the safe opening; 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, 0.8207, 0.6064, -0.5858, -0.0189, -0.0383, 0.9986, 0.7513, 1.9617, 1.4605, -0.4614, 0.5106, 0.1791, 0.0129] state[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1348 left_yaw=0.0027 left_pitch=-0.2235 left_roll=0.0007 left_gripper=0.9986 right_x=0.4163 right_y=0.2756 right_z=0.1071 right_yaw=0.2117 right_pitch=-0.2433 right_roll=-0.3033 right_gripper=0.0129 state[joint_eff]: [-0.0068, -1.0735, 7.0085, 1.4969, -0.0464, -0.022, -0.0122, 0.0205, -10.2496, 7.4051, 1.8437, 0.2564, 0.0024, 0.0513] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Bear is inside the safe opening; releasing."})
tool
executing move_to over 10 steps (1.0s)
step 173
top_cam
camera top_cam step 173
left_cam
camera left_cam step 173
right_cam
camera right_cam step 173
assistant
agent noteBrown bear released into the safe next to the lemon. Retracting the right arm up and out of the way.
move_to
right_z0.2200right_x0.3000right_y0.0500right_pitch0.0000right_yaw0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8207, 0.6064, -0.5892, -0.0189, -0.0383, 0.9986, 0.7521, 1.9621, 1.4506, -0.477, 0.5064, 0.1745, 0.9947] state[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1342 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9986 right_x=0.4119 right_y=0.2729 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2681 right_roll=-0.3171 right_gripper=0.9947 state[joint_eff]: [-0.1026, -1.2376, 6.8171, 1.5263, -0.0806, -0.0464, -0.0122, -0.2393, -10.5778, 7.2137, 1.326, 0.2076, -0.022, -0.1197] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 173): [image omitted: streamed camera frame] camera 'left_cam' (step 173): [image omitted: streamed camera frame] camera 'right_cam' (step 173): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.3, "right_y": 0.05, "right_pitch": 0.0, "right_yaw": 0.0, "right_roll": 0.0}, "note": "Brown bear released into the safe next to the lemon. Retracting the right arm up and out of the way."})
tool
executing move_to over 19 steps (1.9s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteTwo objects now in the safe (brown bear partly bulging over the front). Moving the left arm above the beige bear.
move_to
left_x0.4000left_y-0.1700left_z0.1200left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5926, -0.0189, -0.0387, 0.9986, 0.308, 0.9188, 0.8127, -0.5373, 0.2745, 0.1696, 0.9953] state[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1326 left_yaw=0.003 left_pitch=-0.2345 left_roll=0.0007 left_gripper=0.9986 right_x=0.3012 right_y=0.0494 right_z=0.2117 right_yaw=-0.0202 right_pitch=-0.0262 right_roll=-0.0203 right_gripper=0.9953 state[joint_eff]: [-0.0342, -1.2103, 6.8171, 1.5165, -0.0806, -0.0269, -0.0122, -0.1299, -2.0581, 6.9949, 2.1758, 0.1197, -0.0708, 0.0513] camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.17, "left_z": 0.12, "left_pitch": 0.0}, "note": "Two objects now in the safe (brown bear partly bulging over the front). Moving the left arm above the beige bear."})
tool
executing move_to over 16 steps (1.6s)
step 208
top_cam
camera top_cam step 208
left_cam
camera left_cam step 208
right_cam
camera right_cam step 208
assistant
agent noteBeige bear is centred on the jaw column slightly ahead; advancing 2 cm and descending to grasp.
move_to
left_x0.4050left_y-0.1600left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5995, 1.5738, 0.8295, -0.0212, -0.4744, -0.3912, 0.9986, 0.3073, 0.9249, 0.812, -0.5762, 0.2573, 0.1604, 0.9954] state[eef_state]: left_x=0.3824 left_y=-0.1593 left_z=0.0969 left_yaw=-0.0087 left_pitch=-0.0882 left_roll=0.0341 left_gripper=0.9986 right_x=0.2959 right_y=0.0505 right_z=0.2018 right_yaw=-0.0026 right_pitch=-0.0731 right_roll=-0.032 right_gripper=0.9954 state[joint_eff]: [-0.3897, -6.7897, 8.9504, 1.7753, -0.4127, 0.0855, -0.0122, -0.0479, -2.4684, 6.9128, 1.9707, 0.1783, 0.0464, -0.0073] 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": {"left_x": 0.405, "left_y": -0.16, "left_z": 0.03}, "note": "Beige bear is centred on the jaw column slightly ahead; advancing 2 cm and descending to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 213
top_cam
camera top_cam step 213
assistant
agent noteBeige bear's body is between the jaws; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5667, 1.803, 0.7792, 0.1932, -0.4583, -0.3752, 0.9986, 0.3073, 0.9276, 0.8112, -0.6125, 0.2527, 0.157, 0.9954] state[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0223 left_yaw=0.0073 left_pitch=-0.1495 left_roll=0.073 left_gripper=0.9986 right_x=0.2905 right_y=0.0496 right_z=0.194 right_yaw=0.002 right_pitch=-0.1119 right_roll=-0.0439 right_gripper=0.9954 state[joint_eff]: [0.4034, -8.2667, 5.3402, 1.7998, -0.1148, 0.0855, -0.0122, -0.1026, -2.1675, 6.8855, 1.9121, 0.0757, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"left_gripper": 0.0}, "note": "Beige bear's body is between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 223
assistant
agent noteClose came up nearly empty; bear still sits ahead of the fingertips. Opening, lifting slightly and advancing 4 cm.
move_to
left_gripper1.0000left_z0.0600left_x0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.564, 1.8229, 0.7769, 0.1875, -0.4614, -0.379, 0.039, 0.3073, 0.9279, 0.8112, -0.6357, 0.2493, 0.157, 0.9954] state[eef_state]: left_x=0.3902 left_y=-0.1496 left_z=0.0131 left_yaw=0.0169 left_pitch=-0.1714 left_roll=0.0875 left_gripper=0.039 right_x=0.2869 right_y=0.0491 right_z=0.1896 right_yaw=0.0039 right_pitch=-0.1351 right_roll=-0.0488 right_gripper=0.9954 state[joint_eff]: [-0.2803, -9.6889, 5.4632, 1.4969, -0.1734, 0.1734, 1.2869, -0.1026, -1.9897, 6.9538, 1.7558, 0.1148, 0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.06, "left_x": 0.43}, "note": "Close came up nearly empty; bear still sits ahead of the fingertips. Opening, lifting slightly and advancing 4 cm."})
tool
executing move_to over 10 steps (1.0s)
step 233
assistant
agent noteBear now spans down to the jaw tips; descending for a second grasp attempt.
move_to
left_z0.0200left_x0.4300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5076, 1.8217, 0.9562, -0.0216, -0.4305, -0.3492, 0.9953, 0.3073, 0.9295, 0.8112, -0.6647, 0.2489, 0.1566, 0.9954] state[eef_state]: left_x=0.4184 left_y=-0.1442 left_z=0.0414 left_yaw=0.0361 left_pitch=-0.2099 left_roll=0.1044 left_gripper=0.9953 right_x=0.2823 right_y=0.0477 right_z=0.1842 right_yaw=0.0031 right_pitch=-0.1643 right_roll=-0.0581 right_gripper=0.9954 state[joint_eff]: [0.5538, -9.7436, 8.4444, 1.5458, -0.1636, 0.149, -0.0073, -0.0068, -1.9077, 6.9265, 1.8291, 0.1099, -0.0513, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.02, "left_x": 0.43}, "note": "Bear now spans down to the jaw tips; descending for a second grasp attempt."})
tool
executing move_to over 2 steps (0.2s)
step 235
assistant
agent noteJaws around the bear's lower body; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5011, 1.8595, 0.9676, 0.004, -0.4305, -0.3462, 0.9964, 0.3073, 0.9295, 0.8112, -0.6765, 0.2485, 0.1566, 0.9954] state[eef_state]: left_x=0.4242 left_y=-0.1442 left_z=0.0333 left_yaw=0.041 left_pitch=-0.2107 left_roll=0.107 left_gripper=0.9964 right_x=0.2804 right_y=0.0472 right_z=0.1821 right_yaw=0.0028 right_pitch=-0.1757 right_roll=-0.0614 right_gripper=0.9954 state[joint_eff]: [0.8957, -7.4872, 5.6274, 1.4286, -0.0952, 0.0513, 0.1001, -0.0752, -1.9214, 6.7624, 1.7314, 0.0611, -0.0708, -0.0122] camera 'top_cam' (step 235): [image omitted: streamed camera frame] camera 'left_cam' (step 235): [image omitted: streamed camera frame] camera 'right_cam' (step 235): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Jaws around the bear's lower body; closing."})
tool
executing move_to over 10 steps (1.0s)
step 245
assistant
agent noteGripper settled at 0.11, bear's tummy pinched. Lifting to carry height.
move_to
left_z0.2000left_x0.4200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5014, 1.8847, 0.963, 0.0006, -0.4313, -0.3523, 0.1091, 0.3073, 0.9325, 0.8112, -0.6994, 0.2485, 0.157, 0.9954] state[eef_state]: left_x=0.4203 left_y=-0.1421 left_z=0.0208 left_yaw=0.0485 left_pitch=-0.2384 left_roll=0.1209 left_gripper=0.1091 right_x=0.2768 right_y=0.046 right_z=0.1775 right_yaw=0.0011 right_pitch=-0.2004 right_roll=-0.069 right_gripper=0.9954 state[joint_eff]: [-0.1436, -11.1521, 6.0103, 1.3309, -0.1636, 0.0366, 0.7692, -0.1436, -2.1812, 6.7487, 1.6874, 0.0611, -0.0513, -0.0122] camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.42}, "note": "Gripper settled at 0.11, bear's tummy pinched. Lifting to carry height."})
tool
executing move_to over 12 steps (1.2s)
step 257
assistant
agent noteBeige bear is held up. Carrying it over the back-left part of the safe interior.
move_to
left_x0.4600left_y-0.3000left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5026, 1.7035, 1.4014, -0.6697, -0.4309, -0.3645, 0.1112, 0.3073, 0.9337, 0.8112, -0.7242, 0.2459, 0.1566, 0.9953] state[eef_state]: left_x=0.42 left_y=-0.1426 left_z=0.1678 left_yaw=0.061 left_pitch=-0.2807 left_roll=0.1399 left_gripper=0.1112 right_x=0.2725 right_y=0.0451 right_z=0.1731 right_yaw=0.0018 right_pitch=-0.2258 right_roll=-0.0754 right_gripper=0.9953 state[joint_eff]: [-0.0342, -11.5487, 9.5795, 1.4286, -0.2613, 0.0562, 0.2125, -0.0889, -2.0034, 6.7214, 1.7265, 0.0806, -0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.3, "left_z": 0.2}, "note": "Beige bear is held up. Carrying it over the back-left part of the safe interior."})
tool
executing move_to over 14 steps (1.4s)
step 271
assistant
agent noteBear is over the safe interior with the lemon visible below; lowering before release.
move_to
left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7471, 2.3203, 2.4138, -1.1736, -0.5362, -0.6083, 0.1134, 0.3073, 0.9352, 0.8112, -0.7464, 0.2455, 0.1566, 0.9954] state[eef_state]: left_x=0.4619 left_y=-0.3 left_z=0.1922 left_yaw=0.0492 left_pitch=-0.2904 left_roll=0.1182 left_gripper=0.1134 right_x=0.2688 right_y=0.044 right_z=0.1692 right_yaw=0.0004 right_pitch=-0.2484 right_roll=-0.0824 right_gripper=0.9954 state[joint_eff]: [-0.6496, -13.1897, 7.7744, 0.6227, -0.4274, -0.0366, 0.2173, -0.1436, -2.0034, 6.694, 1.6484, 0.0317, -0.0464, -0.0073] camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.13}, "note": "Bear is over the safe interior with the lemon visible below; lowering before release."})
tool
executing move_to over 5 steps (0.5s)
step 276
assistant
agent noteBear is inside the safe walls next to the lemon; releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7494, 2.289, 2.064, -0.9611, -0.5282, -0.6113, 0.1155, 0.3073, 0.9356, 0.8112, -0.7559, 0.2455, 0.157, 0.9954] state[eef_state]: left_x=0.4507 left_y=-0.2928 left_z=0.1083 left_yaw=0.0698 left_pitch=-0.3687 left_roll=0.1919 left_gripper=0.1155 right_x=0.2671 right_y=0.0435 right_z=0.1677 right_yaw=-0.0006 right_pitch=-0.2579 right_roll=-0.0853 right_gripper=0.9954 state[joint_eff]: [0.0752, -16.1436, 6.5026, 1.1893, -0.3687, -0.0171, 0.2076, -0.1299, -1.3333, 6.735, 1.5165, 0.0757, -0.0464, -0.0122] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Bear is inside the safe walls next to the lemon; releasing."})
tool
executing move_to over 9 steps (0.9s)
step 285
assistant
agent noteAll three objects are now in the safe. Raising the left arm high above the safe to reach over the upright lid and pull it closed.
move_to
left_z0.3000left_x0.4500left_y-0.3200left_gripper0.0000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7506, 2.289, 2.0426, -0.9657, -0.5282, -0.6151, 0.9952, 0.3073, 0.9356, 0.8112, -0.7696, 0.2455, 0.157, 0.9954] state[eef_state]: left_x=0.4464 left_y=-0.2897 left_z=0.1009 left_yaw=0.0784 left_pitch=-0.3859 left_roll=0.21 left_gripper=0.9952 right_x=0.2646 right_y=0.0427 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.2709 right_roll=-0.0896 right_gripper=0.9954 state[joint_eff]: [0.0615, -12.9026, 8.1436, 0.9353, -0.3053, -0.0366, 0.0073, -0.1709, -1.8803, 6.8308, 1.5311, 0.0611, -0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.3, "left_x": 0.45, "left_y": -0.32, "left_gripper": 0.0, "left_pitch": 0.3}, "note": "All three objects are now in the safe. Raising the left arm high above the safe to reach over the upright lid and pull it closed."})
tool
executing move_to over 23 steps (2.3s)
step 308
assistant
agent noteWrist view shows the lid's top edge just beyond the fingertips; reaching forward over the top edge to get behind it.
move_to
left_x0.6000left_z0.3000left_pitch0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8982, 2.0995, 1.9636, -0.5224, -1.0023, -0.3531, 0.0093, 0.3073, 0.9401, 0.8112, -0.7887, 0.2455, 0.157, 0.9954] state[eef_state]: left_x=0.4524 left_y=-0.3233 left_z=0.2653 left_yaw=0.0642 left_pitch=0.224 left_roll=0.2388 left_gripper=0.0093 right_x=0.2614 right_y=0.0417 right_z=0.1616 right_yaw=-0.0038 right_pitch=-0.2935 right_roll=-0.0971 right_gripper=0.9954 state[joint_eff]: [-0.6222, -15.3778, 6.6256, 1.7411, -0.4957, 0.3004, 0.9158, -0.1846, -2.2496, 6.9265, 1.5214, 0.0659, -0.0317, -0.0171] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.6, "left_z": 0.3, "left_pitch": 0.5}, "note": "Wrist view shows the lid's top edge just beyond the fingertips; reaching forward over the top edge to get behind it."})
tool
executing move_to over 12 steps (1.2s)
step 320
assistant
agent noteGripper is now above and just behind the lid's top edge; descending behind it so it can pull the lid forward.
move_to
left_z0.1700left_x0.6000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7105, 2.5523, 2.5294, -0.1371, -0.9272, 0.0521, 0.0093, 0.3073, 0.9424, 0.8112, -0.8062, 0.2455, 0.1566, 0.9954] state[eef_state]: left_x=0.5947 left_y=-0.3206 left_z=0.2853 left_yaw=0.0957 left_pitch=0.4674 left_roll=0.2274 left_gripper=0.0093 right_x=0.2583 right_y=0.0407 right_z=0.1585 right_yaw=-0.0055 right_pitch=-0.3124 right_roll=-0.1037 right_gripper=0.9954 state[joint_eff]: [0.4444, -15.2684, 8.7726, 1.5409, 0.0659, 0.232, 0.8669, -0.0889, -2.0444, 6.6256, 1.5653, 0.0317, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 320): [image omitted: streamed camera frame] camera 'left_cam' (step 320): [image omitted: streamed camera frame] camera 'right_cam' (step 320): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_x": 0.6}, "note": "Gripper is now above and just behind the lid's top edge; descending behind it so it can pull the lid forward."})
tool
executing move_to over 8 steps (0.8s)
step 328
assistant
agent noteFingertips are at the lid's top edge; sweeping back and down toward the base to swing the lid shut over the safe.
move_to
left_x0.3800left_z0.1000left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7063, 2.5381, 2.1551, 0.2882, -0.9295, 0.0582, 0.0123, 0.3073, 0.9428, 0.8112, -0.833, 0.2455, 0.1566, 0.9954] state[eef_state]: left_x=0.5981 left_y=-0.3194 left_z=0.2095 left_yaw=0.1237 left_pitch=0.5115 left_roll=0.1805 left_gripper=0.0123 right_x=0.2533 right_y=0.0391 right_z=0.1547 right_yaw=-0.0083 right_pitch=-0.3381 right_roll=-0.1126 right_gripper=0.9954 state[joint_eff]: [-0.0205, -11.9316, 4.9846, 1.1551, 0.022, -0.1148, 0.6129, -0.1846, -1.6342, 6.8171, 1.5702, 0.1001, -0.0562, -0.0122] camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_z": 0.1, "left_pitch": 0.3}, "note": "Fingertips are at the lid's top edge; sweeping back and down toward the base to swing the lid shut over the safe."})
tool
executing move_to over 17 steps (1.7s)
step 345
assistant
agent noteI ran out of call budget with the safe still open. All three objects are inside: the lemon, the brown bear and the beige bear. One try at closing the lid failed. I reached over the lid's top edge (x≈0.6, z≈0.21) and swept back, but the fingertips were resting on or in front of the lid rather than hooked behind it, so the lid stayed upright.
give_up
hindsight- Near the table the arms stall at x≈0.43 with the tool vertical. To reach objects farther out, raise z to about 0.06, move forward, then descend. Pitching the tool forward (+0.3 to +0.4) got the grasp point to x≈0.49 at the table and made grasps work at the far edge. - The safe sits at the centre line, about x 0.40–0.52 in either arm's frame (left_y≈-0.30 / right_y≈+0.28). Dropping objects from z≈0.10–0.12 at x≈0.45 lands them inside. - The lid is hinged at the back and stands roughly upright. Its top edge is at about x≈0.57–0.6, z≈0.2, which is at the edge of the arm's reach. Plan for closing the lid from the start, and keep at least 8 calls for it. A better approach may be to rotate yaw 90° and grip the lid's top edge, then pull it in an arc. Another option is to push the lid from its front face near the top at z≈0.25 with forward pitch. - Plush bears read a fully closed gripper (0.01–0.11) even when held, so confirm the grasp by lifting. - Brown bear start position: right_x 0.30, right_y 0.22. Beige bear: left_x 0.43, left_y -0.15. Lemon: right_x 0.49, right_y 0.08. - Budget: each grasp cycle took 6–8 calls. Put two objects in per arm without extra checks to save calls.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-1.0286, 2.1593, 1.2922, 0.1516, -1.132, -0.4725, 0.0144, 0.3073, 0.9474, 0.8112, -0.8555, 0.2455, 0.1566, 0.9954] state[eef_state]: left_x=0.388 left_y=-0.3272 left_z=0.0886 left_yaw=0.076 left_pitch=0.2806 left_roll=0.2165 left_gripper=0.0144 right_x=0.2491 right_y=0.0378 right_z=0.1506 right_yaw=-0.0114 right_pitch=-0.3639 right_roll=-0.1216 right_gripper=0.9954 state[joint_eff]: [-0.3624, -14.4205, 5.2444, 1.37, -0.6569, -0.0562, 0.5104, -0.212, -1.935, 6.735, 1.4872, 0.0611, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 345): [image omitted: streamed camera frame] camera 'left_cam' (step 345): [image omitted: streamed camera frame] camera 'right_cam' (step 345): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of call budget with the safe still open. All three objects are inside: the lemon, the brown bear and the beige bear. One try at closing the lid failed. I reached over the lid's top edge (x\u22480.6, z\u22480.21) and swept back, but the fingertips were resting on or in front of the lid rather than hooked behind it, so the lid stayed upright.", "hindsight": "- Near the table the arms stall at x\u22480.43 with the tool vertical. To reach objects farther out, raise z to about 0.06, move forward, then descend. Pitching the tool forward (+0.3 to +0.4) got the grasp point to x\u22480.49 at the table and made grasps work at the far edge.\n- The safe sits at the centre line, about x 0.40\u20130.52 in either arm's frame (left_y\u2248-0.30 / right_y\u2248+0.28). Dropping objects from z\u22480.10\u20130.12 at x\u22480.45 lands them inside.\n- The lid is hinged at the back and stands roughly upright. Its top edge is at about x\u22480.57\u20130.6, z\u22480.2, which is at the edge of the arm's reach. Plan for closing the lid from the start, and keep at least 8 calls for it. A better approach may be to rotate yaw 90\u00b0 and grip the lid's top edge, then pull it in an arc. Another option is to push the lid from its front face near the top at z\u22480.25 with forward pitch.\n- Plush bears read a fully closed gripper (0.01\u20130.11) even when held, so confirm the grasp by lifting.\n- Brown bear start position: right_x 0.30, right_y 0.22. Beige bear: left_x 0.43, left_y -0.15. Lemon: right_x 0.49, right_y 0.08.\n- Budget: each grasp cycle took 6\u20138 calls. Put two objects in per arm without extra checks to save calls."})
tool
give_up: I ran out of call budget with the safe still open. All three objects are inside: the lemon, the brown bear and the beige bear. One try at closing the lid failed. I reached over the lid's top edge (x≈0.6, z≈0.21) and swept back, but the fingertips were resting on or in front of the lid rather than hooked behind it, so the lid stayed upright.
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 · 15.29 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0338, 0.9988, -0.02, 0.7937, 0.6071, -0.403, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.292 right_y=0.0012 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2085, 1.9805, -0.0611, 0.2173, -0.1392, -0.5265, -1.4427, 9.6205, 2.0928, -0.0269, 0.0171, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a307fcab61387bfca6ec50148a41d566d3758e025c64a4150db16baf48415d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06f5ddac0c7e47e45656e5873c8adecd077ce84467f30b50ccd4d4214c559807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea8ff5b924f14613082b7fc7b279d409ef7c1aa06133e226b8ace0e532b60da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 1 attempt 0 · /messages · status 200 · 5.136 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0338, 0.9988, -0.02, 0.7937, 0.6071, -0.403, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.292 right_y=0.0012 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2085, 1.9805, -0.0611, 0.2173, -0.1392, -0.5265, -1.4427, 9.6205, 2.0928, -0.0269, 0.0171, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a307fcab61387bfca6ec50148a41d566d3758e025c64a4150db16baf48415d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06f5ddac0c7e47e45656e5873c8adecd077ce84467f30b50ccd4d4214c559807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8ff5b924f14613082b7fc7b279d409ef7c1aa06133e226b8ace0e532b60da2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkBgKEAgSGAI4AUIIdGhpbmtpbmcSDE5uFGOX87g1UEMFYhoMly7qHG2++MWxW+EEIjB5shMlkE7qw1Xl9oeEJcPOShraokreNsArJtlaN8YF1Ehih0Xu7ZB0kOT5CM9SOesqrRcuz5PpESZzUHAnSpaC1tYgMqoemYSAjw6yPr5SMdEps1XZ/h8wKSL7P6N8fHxG3/liMYAnAf5wvJwUxZT80WGVjUv+dnxQK5ej6eevtzvAGkYLwy3DokT5dxysGulDRc8dhzJK1lcqy7DHwg2MHr2kifKFe5N4dXaRWbOLVfv8neOQLCi02MdwAnETNg+Hzyfh7EytVnsI8MHI59AyXJoEmsu5hAN9vo0jY/UPYZr++dS9T2EY5LFieSP0J3gfDSPqmORQ4frcwVyZCpR80q5ryLmYDjv7eikrOJ8NfDfMEda6numwlWniSR5IVGYbYX5Wqz9f62NQTOTWaWeEtT8dFtUDneinnJEPwBkGaXWVNn7Sg5O4WMQzW5RsJp9BcXY4LTzzZ8zDCqJDrE6VUnO16FpkoyMa2cLIC+8VUYYdmI7SwsEzEqmDAtBmZLJS8uaF0AGMO26bGlmkMa0kN7xVqIfPkTSVzBNP7cMLFIf0HpQHBDq1iKHz0NX22fOvPywRsnLeedjC7PZk+E4rbXQx4NF05Jasd1wLEZ/hlwOz5+PBirKQul/6Zuwvc3QPc8L45eIZAfFwAgdOtl81i8swOLRun5rWqFNxS3xrOk37g3GZikp85YICU7WMvV0PZN9th9wwRsDZZgCUQXyH+RwwwQvN/JjWt7V5sPVIIi7FNAJCxSE6qZeUibAOZkWeZZj0Am3Ng4bll3AXWocNtixNqFUaIK7hJmxw6eKOgjfZEimUL6H676Nef9genYStPkRmSItn/Faw78IHW2tdCr66WZPt26RRFNFcPfIupK+0rbpd7FLA6PvTPxZbQBabIlmZoGCiJTM1esdBzi7CNDphjA1NcFvyvZbNN0C6ggZvoH4Fz2AHffUQ+pRuUt2Z8ApT4BhcNujTlkebHeaKfABkhM3mp5f7ihCtm5ZE6AwfNzVcaYTVh1yId0f/f93WkqiT4XLi3hAnb4zOiyDVtkAKGw0iVI6QxE7sYxKvBxTICNW7TM8tc2aZbizPcsrJHz562U9irIbTHgCrENMq+fyWztY/Tpp/Yz49YFm5PBA/SNdlr6kkHLYxgJsIPgJmah3k/uMTQfDGUkU/8H0bbUtBsks4TT/95n+8MSIxrb6soCSXRSI1ZIXEMiw5xmHeWRkCg50Rz8QZ6jqDr4HSum88C1bG3CA+jjMg/HqHbVwpb6oakeawmMyGXupsVyN+o1ZBdLcenHKewULf2EKnh5ijLbfd1kGZg+pk6RS6ebkZ2GgKM7OiotAv+MT/cSVMtZItAqnrxiAbNFhL7k9Zq2yuuW8ZmvsBy8VCNYVxx3WM+VXrL/JtUCGx+Hpy8ku1WKVxNPA5aD33rSRz6LTqmA+mpFEHVgUut7FiF4D1ggHFa5torldRo8x4egkfMHKd9hV6HNXn9DMfiHdmdalUcW36WwKiubK5fSxkza102ycCqUtRgnkpoFujCG0ohrLUjfzV/wbJoGIbqS/xyGKfawA4I7Xp6//AI+ls/cGqFNumkkUS/7eHIFoFivmpV+rZe1Q7huqso3GfBNaKAyvFlkWwQkKEfEm9S5sDxrsuRt+PP4Ga8Cvj6W/YZwZi9Vnno4CB4IUa9/7q7N0cUbWNGGiZfiR/WjZ/ckkofng9ltNam/BNeNpE5r6CWd6AXrVFWnCGvZJujyOxfvi0ygf6R1t2xdCyogtnJbhqNKxyDLggibR5NiIm0Eol3njDu0DT8GOrQnzMpCJL8opxXBUGT/9+ldYQnf8FUHSqnzs+CbPjbT0HUH15Q2fI4jfzYqMQWPbeE828920eRUR2E0ourvH56qVWyGKSulzs2na4MypishRfBXjHKyhDG5HyysDBo2NJZsMA6HEExqKj2+wWE/pXTLZDeRL6H2h61SP4r7QGmZdUAlMHPeqVM73kYY2RuZBlsCE3UT0La98xAJQloc8kjYSW+QIxrtCvmk7CFoJYchfLJx9CemZsuady886L0p2HIzf7Vkp3s3Zyb2b/2LnA50t0NHEfJ1jFc/tqTuUMKdk+BYmg63+8/E+nTn2agrr7dq8oLZZ6/BkAhnLnqa53iH9Rn1hFaUEN4DRRDHbgDHzpHLL1QLNFs6O8KpEalPRXmGwvTfoMFgAU4AOVBN3o2f26Q0I1qIUyPqukzaM1nbWzQksJy8CeXnl/7OHoowgo5dUxVRW9uHxNbLKZRNvBrO6iqfcrtMqX0lkx0h+onvUoay7JFxLzpOcp4Vs+QcpAnTIZrKKWhGGf1I5SakjnVZZQhAuKsBJQHD1gXwTON9XBTmdrRJYF6YAEomgu7U0oC+ICr1R1zgTm12AHeZyiyxUDZ9bX6AmnqmlS8NK3D64m7BJlafEbz8EBR/RQh4qJ0KSQniw8ro64YF9v/0ddL96DL+uD0rawzWklmJVsBrlAFt3Xo48tp61TH+zZFoEC9x48XaakJE7knlgUzWGJfB3KNhJ2FF6ajsElIjL5DeuD+sMAEFEEbAe/J+namFJZWdgVDUrQIBnU5IZJyuxtNDBFQ58te5qBOXAPX6XU3F3BzMozuW1q1bYoSmio/o49iJDpR+NS76ft3F1gnAgA4sbgHXd8DT7DbBcZ5FamwTvuud84Itb8D56OYgO8ht31frxOe7rZRbAhcKU/FEP2ZpQU+8V1vcOf1ggUYczKTISxpSPDm4D9Sv64J9yUIc13HFY2TF+VQJOmma84iRyAkc5wjZxfCy9fj+wK+rpOTbmJn1YkYTGhrtb7ZROBZLI/pAyDmlyjn7nRFD1EYPFO6yU49Th9fAgOnivtgiYFn3qMdfCxHknJvhK7UW4AnDWnZwulWidXA89A3pZ+mWtbQAbR9VA/AxOdVXgkjQwf+GZ+CuGG9h3AwXl9AIgMoDz4Wj1HrJ4xSUXuurAzP06/TJUY989Lf7T+OtfASZYhIIeUXL823je9j0ZQSzg+XfhkZshfuMq0fHdfSzUsdSCW8PajoB84f8fc8iPqMmqM3EPclMSuhQsXzfEYnA2qZYFgjotIhiHvNCuqnL8kt8Wmkt/a9Lu1UcrKbnbRri1Xqx0J7y9RlB085kyxgDnMDYu4DhjM5zyq5Xs6iVAT+3u8MijcpVYZ7R2VA09hO1SUgcVp+81sg+cAauaHY5N5lvZU4FpTvaW5sVGIRSWkm7o+7Wy/G1H73z36PO/s3FQenJC6kfYsY81G+piAPm1YY73Zx4iEKsixHnNyQi8ijpga6bWsZ9aBjN68IQeRMmotYAcv/zFdfUZMze4Om+gySbJiFtcVSb1ucRVx5sK2g1MPMCYauAt7XAW7vW6v5TUs838p76f8TKaINGihIHH+NCIp0eu8GsUOEtOEqHQ/nwVxGzztRw8d+/5GIODnzMFRkwsWuAgQKOwSvskb/WpeFrmVSNfdbqmVpMIcG5/pBMeaX9L+N30DfUNKFEryh8QVoEakbGNWSNBbEXGayIFzAG3UvEIamCEvaf2mb07uqQHdCjWu53l2h2MAV0KpPKVFKFwCTV3Wr/J1MAsbRDUWv6Fpk/kQbUvpXngclsO7auLrt1fNdYoQRdJP6PY6OMmdxNU/0JKU6F5JFQ/iUfhbT971gpCs1TnaTbCkB23XI5IOpOiCk1XFbTfZgJK28TskQp3ULpKx0HCdBDnjGnUic1OSOFsQ6tN4YOEkgf6aegRZICrHpE1vN5n4eOJSCLRxSfJkDjIMuLS7Fzi2hUNeFlFBhhDYLHDVOgNZPjQeJHMG4E0c/LvV/nsdJhSIvv4GZ9Uah8zp5zYugAc7W1fR4OdI3jfRJEOCD00tge+axjFb942PaIOoUTii/KzxLyHWq2sv6KvdH9bbk8xEjUTNWxJUOu17R5rxPC3CezMMD/kg3n9ljmqKcADRjg4ne0H2A2qcLkBjdP9LC9VBej8Hf8n91IrQ5AuF0lYor4BZyHcS5vnzDcpcW1+9FiETymNH4CV3K5E2PBAmmn2yKosy9TpG2gYUDAI6pIPcs8M5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0144uXpX4pwo7cTPo1hpuyCS",
      "input": {
        "note": "Scene: open red safe at centre-back, lemon right of it, beige bear left, brown bear front-centre. Moving right arm above the lemon first.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.08,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0144uXpX4pwo7cTPo1hpuyCS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.038, 0.9987, 0.2661, 1.4864, 0.7479, 0.0319, 0.1913, 0.1169, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0023 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9987 right_x=0.3983 right_y=0.0774 right_z=0.0965 right_yaw=0.0343 right_pitch=-0.102 right_roll=-0.0297 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.3744, 6.8581, 1.917, -0.0757, 0.0171, -0.022, 0.0889, -6.5846, 8.1983, 2.0049, 0.188, 0.1538, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2400264cb59c688f0e3ef033186d3d0c5ace5af32ff38d9e5844a7b75495366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655e386e3ddd0eda83e7c00879988692d40f4b3fd9e10cbffabf6b4bf6990226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4961eadcef4e314bdc77b3230d97127335ccfd5b3d5e6c8e40faec5ca1d633c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.519 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0338, 0.9988, -0.02, 0.7937, 0.6071, -0.403, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.292 right_y=0.0012 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2085, 1.9805, -0.0611, 0.2173, -0.1392, -0.5265, -1.4427, 9.6205, 2.0928, -0.0269, 0.0171, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.038, 0.9987, 0.2661, 1.4864, 0.7479, 0.0319, 0.1913, 0.1169, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0023 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9987 right_x=0.3983 right_y=0.0774 right_z=0.0965 right_yaw=0.0343 right_pitch=-0.102 right_roll=-0.0297 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.3744, 6.8581, 1.917, -0.0757, 0.0171, -0.022, 0.0889, -6.5846, 8.1983, 2.0049, 0.188, 0.1538, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2400264cb59c688f0e3ef033186d3d0c5ace5af32ff38d9e5844a7b75495366",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:655e386e3ddd0eda83e7c00879988692d40f4b3fd9e10cbffabf6b4bf6990226",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4961eadcef4e314bdc77b3230d97127335ccfd5b3d5e6c8e40faec5ca1d633c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS/gYKEAgSGAI4AUIIdGhpbmtpbmcSDIhw3Bl/l9LozQ4SbRoMaJBqGoZaYRCdfIQdIjATbHvkAbx4bAaZiyXkRQ6dPK8/VKJXyRQLjCP24byz5VTuowwBHXREMS/Zn3KZvBQqmwYmPhA6pIauKZDB1uXg3pP16klEoFt8gct20xaoGdWX3ofFqDUECDKVJH39VcrNIheRrCqifeOCEhrNnVerKzeZ6/6CufAWURQFEYQuQtQSUTPdr3d8Fs6vtF6O5oLfvFz0NMlQ+lTFQ1kpJLXEpposz7sDAe8+L3iildqU5Js72Mun7FsxS9WC0WRy8Sy1z0iiUFTudGdnUBvNXOxywR3QBS88H+FNnCBn9wa7011BD1Tmc0uQAmdONScSudI+Z6g/y+iYPhiDUNhqsVnw7qFWMBxadQy9c8sxLlov/IUUs4WHvk7fev4uim9K0BiTdwmzDDCIaqgyuid5U4Tt8h8gU7noQu5AiRwdgX9N6uxl57AKVH/FDrqrJ/RovS3r/lilQS8AkLUuOG+s2gncdazKNZtS/fiX8VDBYYUHt334TIL4d+dldpDkg9o2mtoZUk2lXk57RQYiRg8zkLJYz7h93qTAaVO3cdqmN4QizK5xpprevEMHDdffXv7fAlx8tSjhTxtd91I0xBuRBATtLxqyyVAtGszarrt9YxgDqIrxjEe4wTPPAyimi+fl7LN8YnUY2gvxXsdljSOGTVqUfp6d5R/j39mSiGkacsKKeBMDTOX/x+w0dqlf0NUr1C0ScqVCA/f3lL6MWf4q7Z3yBf6sNc0j4Kas2+/rbAd8MIoM9mJTmcsiiXK4xRj7drOYCf9nq2xkOIVJXDEnQG7hJfbVvzadb+csZlM0zVAR95gFk9sPyNGNiBaaL4++/hF4R0KoXCapXVtaZ30MJhN/eZTaPiEQLfbo8oTiTd/SLZPTllSCHxohLrjeNRvG7StECgrQtNUIL+YMqh4zv2Hc8mgo2RUonYF+AQNw11rUitKYnZ5dP6en9nBl4YCZQNa08SvNBzP/g9nzEfumEQyNqAiaHJ6l4tl9DBdJC2s1cFt9tBpAo3El2HOok9Rush087KRUZ2tItckWLR9QCc0uI1nGZAaIu1i+p43P+McHLn95lbe0UbcadWzqdBktYP5v5diUQ/NMbwCXrCA0FdU480G6EEkOLClD7lCCZ8YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P7GUiKrWAnxKab5JU6TbaU",
      "input": {
        "note": "Lemon is centred on the jaw column but ahead of the fingertips; advancing ~4 cm and descending to grasp it.",
        "targets": {
          "right_x": 0.445,
          "right_y": 0.08,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01P7GUiKrWAnxKab5JU6TbaU",
      "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, 0.8005, 0.6064, -0.4141, -0.0193, -0.0383, 0.9986, 0.2379, 1.8343, 0.7612, 0.2684, 0.1715, 0.1017, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1723 left_yaw=0.0025 left_pitch=-0.0316 left_roll=-0.0032 left_gripper=0.9986 right_x=0.422 right_y=0.075 right_z=0.0045 right_yaw=0.0278 right_pitch=-0.2009 right_roll=-0.0494 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5385, 7.1863, 1.7558, -0.0806, -0.0366, -0.0171, -0.1709, -8.0889, 7.5282, 1.8242, 0.1148, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f3ee4b33adc3b2f9879028b1544a602939df548bc86f0c204376b4a50145b3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcbc1d5966915f29fcdb64a7ff89649aa5835575f6da2429f44d6ad30eddf21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5e83170121b1cb840f7c1ae7c9346e706e31d1fff1de4cc46dadf3725efa6a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.507 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6044, -0.3885, -0.0193, -0.0338, 0.9988, -0.02, 0.7937, 0.6071, -0.403, -0.0196, -0.0193, 0.9996]\nstate[eef_state]: left_x=0.2936 left_y=0.0014 left_z=0.1788 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.292 right_y=0.0012 right_z=0.1767 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.388, 10.2085, 1.9805, -0.0611, 0.2173, -0.1392, -0.5265, -1.4427, 9.6205, 2.0928, -0.0269, 0.0171, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7967, 0.6064, -0.4065, -0.0193, -0.038, 0.9987, 0.2661, 1.4864, 0.7479, 0.0319, 0.1913, 0.1169, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0023 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9987 right_x=0.3983 right_y=0.0774 right_z=0.0965 right_yaw=0.0343 right_pitch=-0.102 right_roll=-0.0297 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.3744, 6.8581, 1.917, -0.0757, 0.0171, -0.022, 0.0889, -6.5846, 8.1983, 2.0049, 0.188, 0.1538, -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, 0.8005, 0.6064, -0.4141, -0.0193, -0.0383, 0.9986, 0.2379, 1.8343, 0.7612, 0.2684, 0.1715, 0.1017, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1723 left_yaw=0.0025 left_pitch=-0.0316 left_roll=-0.0032 left_gripper=0.9986 right_x=0.422 right_y=0.075 right_z=0.0045 right_yaw=0.0278 right_pitch=-0.2009 right_roll=-0.0494 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5385, 7.1863, 1.7558, -0.0806, -0.0366, -0.0171, -0.1709, -8.0889, 7.5282, 1.8242, 0.1148, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f3ee4b33adc3b2f9879028b1544a602939df548bc86f0c204376b4a50145b3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0bcbc1d5966915f29fcdb64a7ff89649aa5835575f6da2429f44d6ad30eddf21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5e83170121b1cb840f7c1ae7c9346e706e31d1fff1de4cc46dadf3725efa6a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gYKEAgSGAI4AUIIdGhpbmtpbmcSDFW9BxdoHmFZyP47hxoMDTvFgsB5mTP9gSYTIjBs2RpoaA1sJgPs1b/mqi29RhlDhqeGOMAA09fqOro7J+x/NJdRZtWh/XP1TH9nz3sq/wWTYOaHFdreYE7S6Ro0XJEnV++zV1qmCIRY4mIUXgRbAd04P3J35IqgduU5f7XV+jgrZ+4KpH862L5w3x7ZYVuJKbGFc387eadkCnZ3nJsp+j26yksNkI4G1b/Uwme3zXrjXKMpwJWN1OfjB5Xr7ep5fseIvE0kMMzrDna6iHFQyfRMcRa7/fiM5ONhgJ4HmwzWLPEvpamPaSuVU4AeGsJRE2g2VCQUvJPCusjkKy78eZtGwPDnG6G4QB9dNVvsdxLrUctNm1klvFRYY67NvWBYqZWXk7SO0owdcl4OxH4J+Xwnuu9cZaLBfhBzNeDLDMtLdLeSiPOYR94S/rioCw1NHXYiqw/X1yTdrIN1uFtHP3BOofbyLZeAaeHITZtig+qDD1B7uyNbnSIc4mva3WU7SBL+x4UjeU2vneqsG4Jo0AF6svvyfPeZojzrukXNiNTLPgqRBlTxgAuOXPH/QVVzZ1GrXIBZCDSwkYVZdFq8TvJdv6XIa+uyyM4xMSQFQET6hdWpAMMBOYiXIpEmDR9oe7TIg/Vzihx/BKX3N2xLRP342vQavX0VdNNU70gw5txgMUZwV1ufFjBXCQdTuhjJMF1aerkKPIUo7vCFbUJbW2QTQ61qsMZzg+Eguw07I9rSPPLOuI6T4P/W3NpewPuCQ0wtRnsxoUuUqXXFcFCL2J07/ljPHaQYhMYVPcmh3TEy/pEutCbs5lVkBuBnflocuuSsLH3G01d/aJu9BZG24rhjc/l/qQlU/wuwYlvoUBaLXeH75WxHFYJAY1iKa4Q+0wjeR9Fsf+yG9tFrkBdSCREEoiF9s0nGrtaUFsJLNnBdIx77RV9k6PwODbi5m51zyM7ttfwUhcA3p9HHxH98hKON3ZnPdH+CDarXC22WumEkhBla4q5mum9dEifNZvrqPvQqWLZbju4Cwzl+A3juZ8GAS/CZYuPdUpE2FiAwy+4srYlxaEkJk9YxIrQvjZ6UoM/rwVPlcc3GuND8j5MInHSsadmad2KbY33JTLGgHhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HjUVo62ySSwhCdyNjs3b64",
      "input": {
        "note": "Lemon still ahead of the jaws with clear table below it; pushing further forward at low height.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.08,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HjUVo62ySSwhCdyNjs3b64",
      "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, 0.8017, 0.6064, -0.4278, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0022 left_pitch=-0.0465 left_roll=-0.0031 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3607, 6.9675, 1.8193, -0.0659, -0.0513, -0.0122, -0.2393, -8.0342, 6.8034, 1.9756, 0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d15eedbb22bb07975d61e284ba869064e781698701930a754e938f475aa983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2983b76f179d59420f96a907c95abcb01f50423a890807117557ae04cff107d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f0b2cd92de5a2d86ffcbcff8a913e57277c59a473dcd09c06460efbfd39dff5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 3.681 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, 0.7967, 0.6064, -0.4065, -0.0193, -0.038, 0.9987, 0.2661, 1.4864, 0.7479, 0.0319, 0.1913, 0.1169, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0015 left_z=0.1749 left_yaw=0.0023 left_pitch=-0.0202 left_roll=-0.0031 left_gripper=0.9987 right_x=0.3983 right_y=0.0774 right_z=0.0965 right_yaw=0.0343 right_pitch=-0.102 right_roll=-0.0297 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.3744, 6.8581, 1.917, -0.0757, 0.0171, -0.022, 0.0889, -6.5846, 8.1983, 2.0049, 0.188, 0.1538, -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, 0.8005, 0.6064, -0.4141, -0.0193, -0.0383, 0.9986, 0.2379, 1.8343, 0.7612, 0.2684, 0.1715, 0.1017, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1723 left_yaw=0.0025 left_pitch=-0.0316 left_roll=-0.0032 left_gripper=0.9986 right_x=0.422 right_y=0.075 right_z=0.0045 right_yaw=0.0278 right_pitch=-0.2009 right_roll=-0.0494 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5385, 7.1863, 1.7558, -0.0806, -0.0366, -0.0171, -0.1709, -8.0889, 7.5282, 1.8242, 0.1148, -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, 0.8017, 0.6064, -0.4278, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0022 left_pitch=-0.0465 left_roll=-0.0031 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3607, 6.9675, 1.8193, -0.0659, -0.0513, -0.0122, -0.2393, -8.0342, 6.8034, 1.9756, 0.0659, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d15eedbb22bb07975d61e284ba869064e781698701930a754e938f475aa983",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2983b76f179d59420f96a907c95abcb01f50423a890807117557ae04cff107d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 19):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0b2cd92de5a2d86ffcbcff8a913e57277c59a473dcd09c06460efbfd39dff5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAcKEAgSGAI4AUIIdGhpbmtpbmcSDFy7OSsfKXcTjBwCGhoMFPRo3LrhYcZrxQq2IjCrje+Y8PyMIJgivjq4OsNYzIvqD5bOjJuOuI26dCyg7K7RuNNfKkmKSV8rlcHHRqgq6Qb5h2oBaUpHya+8ijG2jBL2pQ3zShIHcxhsaqaTBB5yj1wgUXofL+fIuarBtNSyK4oggpj4LijBalYdYolMgkdrN+YREbjgTolyejulK1ERrnyjJQkuf0Iz1hjGJssUO7389JuuIrETJpESi5Lq1HImiEkNwmDWf8nyT+ph1+RjJYoz/dMH72PyROmazSSy3T+U6xyuwMGfjFEDTlPzt4TiTN6Dtzrk1ML50Xv6BjsI5IvFYb9cdA6sfCKjaPiTTXjYwXYpkiQbrV/F2wJfA8LOUYOWOhQpMsDbNM8imlOvE5g18SE12U3lOninM3lL22eeq9L6WpuLeA2nSqhZyN3Jbe/J+JKlywzeYVF3awd0Zoh28/P9Pl//0uAfCQTvIhd+6VE+BrWvdnziC28uxkiplfT0sb9JGnxvwrKLHeWi1kB44ZlgCtHRSb08vdNPZisB8NHFlMNTccAJEpWXreVz4qIhsiTKAHOPd103ikl6aRAacd46R60OSpdpuIDo2TyKZ+II3YA0pbkHIm6wRYlJiEMYlr9lsesvHjfyoeOcs+egHtEHx3e+v3xP0u62RiH7r2SahRvdPSfsqU59BE8HUnPrEL6lb/2ldWcMBDZ8VkvrNHbRwHmb9LVnfCCJFrzh63mgbr2XWlVtZ5Fqo8UP1INCBjZKooH7peekJXYlLv1rmp9sZPpvSBHLsQ2ZS5SGOruXd/8014KsjB2CrKrxQ+Lj864WeCvb/OpH2FLTohmLxpTbo5J5+88gc//XdT+491DeqaQOe8NyBG4yRb9lG6y55Kih2fQlVCont7joVvZzNpzhoqX5kspHl8IMHQV1Vx+pn9sf4yNfVkMuvyC8+cFSuQ5T66DwqdDIRpHtqxk2FRacLpmQzzcydOFHMpi9vonqoS1zyQLXzII5bjE6ckFuuKmZa1PeTyMPPlo6QZCSC4IW6oPmokmXB+dBkO0T9xwlnikVGK25y88C/YTe6B8u2e/ThMuFUp+kKGAw8H/NEcBJrLSJkfSFM3PHXt62qPy+w0PMCX5Mnyy32u+XNotYnlLXUTQcvU7J+yOC/FH1Jgbr+QRwrX5hecxr10Nh6dM6eondfii+A9BVPNittTOoIbcIlyVX7CasWLS+eWtgn6rQVnHvq8HVRFkuTEULlwBue6mV8ikYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F3dHJRjQKLSmBLesAnDHwB",
      "input": {
        "note": "Arm moved only 1 cm last time; commanding further forward to get the jaws around the lemon.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.08,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01F3dHJRjQKLSmBLesAnDHwB",
      "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, 0.8017, 0.6064, -0.4355, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0598, 7.159, 1.7314, -0.0757, -0.0513, -0.0122, -0.5675, -7.9248, 6.8855, 1.9414, 0.105, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7ed0c103673aba10824d2241b257675555681a820a84e3c71089c5fa09807f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaac112dfd7469d3feae36d888d6e04b2acb8b9a6b580e64e005af9a5d62d196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:779c7a581b7da824424df5b1494f62c4838acadaaca17b629791a73d01381c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 4.245 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, 0.8005, 0.6064, -0.4141, -0.0193, -0.0383, 0.9986, 0.2379, 1.8343, 0.7612, 0.2684, 0.1715, 0.1017, 0.9996]\nstate[eef_state]: left_x=0.2908 left_y=0.0015 left_z=0.1723 left_yaw=0.0025 left_pitch=-0.0316 left_roll=-0.0032 left_gripper=0.9986 right_x=0.422 right_y=0.075 right_z=0.0045 right_yaw=0.0278 right_pitch=-0.2009 right_roll=-0.0494 right_gripper=0.9996\nstate[joint_eff]: [-0.294, -1.5385, 7.1863, 1.7558, -0.0806, -0.0366, -0.0171, -0.1709, -8.0889, 7.5282, 1.8242, 0.1148, -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, 0.8017, 0.6064, -0.4278, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0022 left_pitch=-0.0465 left_roll=-0.0031 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3607, 6.9675, 1.8193, -0.0659, -0.0513, -0.0122, -0.2393, -8.0342, 6.8034, 1.9756, 0.0659, -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, 0.8017, 0.6064, -0.4355, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0598, 7.159, 1.7314, -0.0757, -0.0513, -0.0122, -0.5675, -7.9248, 6.8855, 1.9414, 0.105, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d7ed0c103673aba10824d2241b257675555681a820a84e3c71089c5fa09807f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aaac112dfd7469d3feae36d888d6e04b2acb8b9a6b580e64e005af9a5d62d196",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:779c7a581b7da824424df5b1494f62c4838acadaaca17b629791a73d01381c9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+AYKEAgSGAI4AUIIdGhpbmtpbmcSDBNEM2T+0b/dLSSckxoMNq15eN2tv4XlFvSRIjCJ4dvy73/eaO5e0gKjGRLExI3BrFVLFz0qYMhU5LjAghxWSHJboCQH+cT67Ct4Q+YqlQZ6/8UqCzm0sPiXCvEUodTr3P008ELkWGtaozk8dQJLKwmVyekfKb9wovecRNtHlXu30HCSzqeNbBLPMtZWDySxkwPy2EZwJDQHlTBDqshXsNAxI3jyB62WsqYBZ4UMzWD1AAC/NI1XqJmgnFLhwL1UafHmGnLTcTkohMXyB9kLwZeJ5u83bYeWQ/w3Cy1DOYCNHpBAaeO7G6dm9jVa/inwKALCwVYM/8khWRsnSKAJWdflK3K6VoFXcCj3gm4HYFro6BKFxJxDEwTlQN7UxI6CBQoUMVIQ9AGR0rMRdpYcrswotP/k8i2CcdNolaEGo4ZzPPTfKMlAoCBKlNpuEqwnzRdhrCoPhTE7Un6YZD3WbJ1JQx6ozf0VOajtKFfB2YswT354MSI3ryLj2HQP124bt0KIbrTa0NiIW6tuD5ra6/YHHZilWnH/7XHj+nFVjzazhhbFkB+5erdfgEnhQ+rDO7StFZyho+p3xjngf/bVorlL7XQ9J9i8j/O7nUlYr8vhCS4bkZ5/zmhANdahy34TL3eTc/696siLCBu65rjgGlEND0C33AXe1cupoXvd+maEPGGMjEKnFYDlk3AXmabYY6jrauq/qzlJcg6lJeUca4DvTWOFlm+eNWH6+BiLuVmzpxg0ZhCwdtKeUAO8TA4rx2v1BjA34gacmS5l7mPwCrkSmLiLmekmSEhmM011y1ynxQqqhQuDEqgDdS9Jk/uNnnjbYeXC7YOzRGoEXLYwfmWuFfJnYWUgZypMIlITEQHiABa1dz6JZ0kKa8s3NWjj3OeuJGqQa04IPzQs5XJfJkBla66o7M7RHrY6jRjA7EgQ0fbJyhMFmlqhcv/9e2sqY7YPrLGxFBuT2XtJfF3poyeLunAzF068r+Bl8SMxyp+Cs1uxTx5EgyCXtJtH0PdQA3vPD9IRtuTl5jC7HVgVfRBuuVkdK+iNjqt7tfTo4VJTfNhajEimujcddrueSGXj0noYJVa6ckP0EVkdrNPNp+K17ACoLpPfoBhqLWXnAQaWySyfqT//CIGvQ3ihwcwXXhrAcDgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FP7Sdabm6iigS25EyAjf4b",
      "input": {
        "note": "Arm stalled at x=0.43 near the table; lifting a bit while moving forward to get past the stall.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.08,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FP7Sdabm6iigS25EyAjf4b",
      "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, 0.6064, -0.4511, -0.0189, -0.0387, 0.9986, 0.218, 1.8339, 0.9913, 0.0853, 0.1417, 0.078, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0713 left_roll=-0.0028 left_gripper=0.9986 right_x=0.468 right_y=0.0818 right_z=0.0558 right_yaw=0.0478 right_pitch=-0.1589 right_roll=-0.0367 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3744, 7.0769, 1.8388, -0.0513, -0.0269, -0.0073, -0.5812, -10.6051, 6.8308, 1.6386, 0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d2b9073ce1c70638eec5439d989c7b5ff4b3dc6a3b279d4063c056edea63da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5894b609f6f90d6053a26c27e0a0689d27b90a3e3d2e04975696ab28d4b2fdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc9f4b77933759f60f197260a44e2b67ee75479aa225c1f4775b23d263f368e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 2.826 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, 0.8017, 0.6064, -0.4278, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2889 left_y=0.0015 left_z=0.1692 left_yaw=0.0022 left_pitch=-0.0465 left_roll=-0.0031 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -1.3607, 6.9675, 1.8193, -0.0659, -0.0513, -0.0122, -0.2393, -8.0342, 6.8034, 1.9756, 0.0659, -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, 0.8017, 0.6064, -0.4355, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0598, 7.159, 1.7314, -0.0757, -0.0513, -0.0122, -0.5675, -7.9248, 6.8855, 1.9414, 0.105, -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 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, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9986, 0.218, 1.8339, 0.9913, 0.0853, 0.1417, 0.078, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0713 left_roll=-0.0028 left_gripper=0.9986 right_x=0.468 right_y=0.0818 right_z=0.0558 right_yaw=0.0478 right_pitch=-0.1589 right_roll=-0.0367 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3744, 7.0769, 1.8388, -0.0513, -0.0269, -0.0073, -0.5812, -10.6051, 6.8308, 1.6386, 0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d2b9073ce1c70638eec5439d989c7b5ff4b3dc6a3b279d4063c056edea63da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5894b609f6f90d6053a26c27e0a0689d27b90a3e3d2e04975696ab28d4b2fdd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc9f4b77933759f60f197260a44e2b67ee75479aa225c1f4775b23d263f368e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSwQcKEAgSGAI4AUIIdGhpbmtpbmcSDKZLLDK8Ak2/nTHxOBoMnL3M0w3esTw5/DWFIjAVV8955RAgn+2PAyWaIZawQ9ff9+clbYW/BaddBFdYXMR52STYQ4u21fViNKHD20oq3gYUDRq0uF4/PlEowFbMevmGwhCatQwM9e2/UCgd+GsL/9NbvO+ei3aLdQZzoUKzrfKtp+vJayCUmAmCgSTHhbmLMiuoW+SehHfiCgq2zsnqXz5i7M3keIcUOJdt67XJyQ6TBDIAOFtrQgtnhXUDgBj9Nyuv8QuI7EfqXNmuRrYYg/4lpavMuC7dAuKEYZtNdXwDYZ6kHP2/xieBUp8dXfRFhvV0L6bFljsRuTkgP4FjpIhE9fS8esrPc7pWhh3Pq/hNjB4H9Y1X3R2nEUNziCEXjueMVxs9BqJwHFNHFLH6YyPa7+z4oK8rJKrWUaj1bPoEM8OJYPBaNYtJSbX72yrn/pmF5Km+XlUxfVtJ7GdH9VYL2r2KfTsScjsZdq56zRcsEK8R/1xkhwn+tqYFS/YT8OK7V3l/Q/6azJ0xP7A9tnNt19JeNuYZ6hxnAHCPTmgg8g8eWqlBYiiTD957lqRkJqHSWTXf3S4dmuWvTygxquIBpgxv7b/hYnpku7w56v7QVXm/vFafrWkvlhT0NkkyVPi4xICBDqIDdhpScICepnLXi2thxHKr6+3goKTto7Yg3d7CYBr7G9e/mUoNtReW62iqHSDjYRd8bFjyGmUqj4eBuGQf/soXG1cpdJ0KLZE5os5EWAKPGildA+uGSYcKuKiO8Ja2M8EAxFAzn6Q/QLrshFZ46/2xY+fJJFHY3Io3fc1S1qmU9ooMoxoLLsTmfVf2A0eodz/7CTVSUgwtDhYmW9in8CIRp9gC1ADxuL4/vEAmsNY9xZQuhjpyRZ1PbJnHtVKFAKGg6FLejL6+SwauAnDLyZstLQFyUEgupn8F5a9ep33Faet5il4eU8jlKpC401mxfZmihQubf2UYbYF1wBq+lxXhhHdSxxy2lZIL58jmmhnfdgZgfsowzaE4WzNQxMu4uXzGsG3Ky4rKfUdd7QDVLcTQQriuwh7I2fGvhcQgEflJAjHDjrDg/TuK4NKL6JDHku5DByIMRGurgBm+expdNRW5rnwymPzvQpKs7PTjZqf8G3Tx520et5b/IhIc1ukHrT2SbZHkKCnIEa/Ar0Jil2CU02QboP50mb/5ohefluaP3j9+5ppM1WG8anSaCybHS8vXIWs06N2K5P368AH3C11SxLz9fKapGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PazJKjiAuaERSDh7q3PDYT",
      "input": {
        "note": "Lemon now sits between the jaws in the wrist view; descending to grasp height.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.08,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01PazJKjiAuaERSDh7q3PDYT",
      "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, 0.6064, -0.458, -0.0193, -0.0387, 0.9986, 0.2142, 1.9179, 0.9768, 0.1337, 0.1368, 0.0784, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0025 left_gripper=0.9986 right_x=0.4656 right_y=0.0803 right_z=0.0207 right_yaw=0.0464 right_pitch=-0.2087 right_roll=-0.0414 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2239, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.7179, -9.2513, 5.7231, 1.9072, 0.0073, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ec9b93a12df2989b931f12e8c40f3e8490db99b318fefc495c5999af61bf2ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d55a2a17bdcfa74ffa84718a9f8680440ee030ff598fb68bf484d6f1471ccb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a031b03632d4e057bd7708f4b7b26a5927cd12eba8df7feaf2f9afc94a638868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 5.824 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, 0.8017, 0.6064, -0.4355, -0.0189, -0.0383, 0.9986, 0.2379, 1.8572, 0.765, 0.3325, 0.1608, 0.0937, 0.9996]\nstate[eef_state]: left_x=0.2878 left_y=0.0015 left_z=0.1677 left_yaw=0.0022 left_pitch=-0.0542 left_roll=-0.0029 left_gripper=0.9986 right_x=0.4315 right_y=0.0792 right_z=0.0072 right_yaw=0.0429 right_pitch=-0.1585 right_roll=-0.0386 right_gripper=0.9996\nstate[joint_eff]: [-0.0205, -1.0598, 7.159, 1.7314, -0.0757, -0.0513, -0.0122, -0.5675, -7.9248, 6.8855, 1.9414, 0.105, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9986, 0.218, 1.8339, 0.9913, 0.0853, 0.1417, 0.078, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0713 left_roll=-0.0028 left_gripper=0.9986 right_x=0.468 right_y=0.0818 right_z=0.0558 right_yaw=0.0478 right_pitch=-0.1589 right_roll=-0.0367 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3744, 7.0769, 1.8388, -0.0513, -0.0269, -0.0073, -0.5812, -10.6051, 6.8308, 1.6386, 0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8032, 0.6064, -0.458, -0.0193, -0.0387, 0.9986, 0.2142, 1.9179, 0.9768, 0.1337, 0.1368, 0.0784, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0025 left_gripper=0.9986 right_x=0.4656 right_y=0.0803 right_z=0.0207 right_yaw=0.0464 right_pitch=-0.2087 right_roll=-0.0414 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2239, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.7179, -9.2513, 5.7231, 1.9072, 0.0073, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ec9b93a12df2989b931f12e8c40f3e8490db99b318fefc495c5999af61bf2ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d55a2a17bdcfa74ffa84718a9f8680440ee030ff598fb68bf484d6f1471ccb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a031b03632d4e057bd7708f4b7b26a5927cd12eba8df7feaf2f9afc94a638868",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A8gJcGqC5y5DvCgn4Sz1Vi",
      "input": {
        "note": "Lemon between the jaws at table level; closing gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01A8gJcGqC5y5DvCgn4Sz1Vi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9986, 0.21, 1.943, 0.9604, 0.1291, 0.1349, 0.0757, 0.0084]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.0786 left_roll=-0.0027 left_gripper=0.9986 right_x=0.4571 right_y=0.0768 right_z=0.0028 right_yaw=0.0435 right_pitch=-0.2545 right_roll=-0.0498 right_gripper=0.0084\nstate[joint_eff]: [-0.0615, -1.1419, 6.9538, 1.6386, -0.022, -0.0659, -0.0073, 0.3624, -11.535, 6.9128, 1.5214, 0.0317, -0.0073, 0.6227]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd9e92993ec3a3354ad3f686aefea156ac98ac9f7f4dced6fb3370919d05581f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b0e6d6245e84220b88402b7a56d691cbbc136a38f89650abcf229c5a38e46b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:414ac7cd750305c7b30b10db5149b8073e55c81eaf67a6712138a8f183e74569",
        "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 · 3.451 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, 0.8032, 0.6064, -0.4511, -0.0189, -0.0387, 0.9986, 0.218, 1.8339, 0.9913, 0.0853, 0.1417, 0.078, 0.9996]\nstate[eef_state]: left_x=0.2856 left_y=0.0015 left_z=0.1642 left_yaw=0.0024 left_pitch=-0.0713 left_roll=-0.0028 left_gripper=0.9986 right_x=0.468 right_y=0.0818 right_z=0.0558 right_yaw=0.0478 right_pitch=-0.1589 right_roll=-0.0367 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.3744, 7.0769, 1.8388, -0.0513, -0.0269, -0.0073, -0.5812, -10.6051, 6.8308, 1.6386, 0.0317, -0.0659, -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, 0.8032, 0.6064, -0.458, -0.0193, -0.0387, 0.9986, 0.2142, 1.9179, 0.9768, 0.1337, 0.1368, 0.0784, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0025 left_gripper=0.9986 right_x=0.4656 right_y=0.0803 right_z=0.0207 right_yaw=0.0464 right_pitch=-0.2087 right_roll=-0.0414 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2239, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.7179, -9.2513, 5.7231, 1.9072, 0.0073, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9986, 0.21, 1.943, 0.9604, 0.1291, 0.1349, 0.0757, 0.0084]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.0786 left_roll=-0.0027 left_gripper=0.9986 right_x=0.4571 right_y=0.0768 right_z=0.0028 right_yaw=0.0435 right_pitch=-0.2545 right_roll=-0.0498 right_gripper=0.0084\nstate[joint_eff]: [-0.0615, -1.1419, 6.9538, 1.6386, -0.022, -0.0659, -0.0073, 0.3624, -11.535, 6.9128, 1.5214, 0.0317, -0.0073, 0.6227]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd9e92993ec3a3354ad3f686aefea156ac98ac9f7f4dced6fb3370919d05581f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45b0e6d6245e84220b88402b7a56d691cbbc136a38f89650abcf229c5a38e46b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414ac7cd750305c7b30b10db5149b8073e55c81eaf67a6712138a8f183e74569",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwoKEAgSGAI4AUIIdGhpbmtpbmcSDKvnNAgHmNTmhtXjsRoM4RXg8zmGDU7fy3dcIjBX3k+Be3/3UEWCqdLEzPjSvCjnRwtOLuyhk9h6t1jCwkNdhXEMDfwV4LGGB+QEuUoqpAkXW1KkGhEZCTO0/0+8/6D3Tokpn68iB+s/stfAT8ZNt1QZ+986CS48XsV6PezDJgm95mRtKBNYdsGlicxtKVV9u3O7UTITNYIkhwJ1iUAWHATUxh4YxQY3sPMtRTLcXgEY2GX2UW5cbhUGC710C9/7nDyygFMC6w4PdUw6yCFgKnHyaFajDbte0Tnw8BHW62iyIhSTSRY0ZG8nQlmqMwdnTafEeWt+XVZXiJiDoUQMeYQhcTaaaayiqBo+rjW6dmTherYzXMk//Y4y0RvORXQ108GX5nlJcFEEPYloCK7IiESgQsvYug75VvmpDddzvEHskl6Zg1XGTJA92FFSvEEPwA5y9vlp1UCb3tDovOfk3u0p+e20WwzUK/IiNCujs4vqDQYkIGxHCf2HYCrkCKmplL3lIo4Y9Dp0EgLlamdUSU4E+mi1eQ1dzXS/IP+M4POg9MrFmNdVYtgQxDcVFnAn3FXU1VCDbidBJeAQL+A4HNUkxBQQmRGFhLAyAYf3NmhgN1we4u7DWWT0rHbBz3/b8xpIJdchVkpw90zdU5O0R37zzGdxIpGjjOvzVSl/TKpzai1rBhiI4GggcBJArJib9BnvKymOlw3G6vJkKv3HnhMz8tl+3a1s4QyXXaMuBoGR+TTgiJeAwbK7+rfvtPn0aIPRyaeV5SJrZe8oqzBRA6fQSHB2AKLS+IatGazkfe1kwPPbjsMfQJ2/+ySI/+RJGZH/SNuVPffw0q5keNRHNpYDNeC/5pZndkmzep/tg04ubUmHFKsQGRvgswfriHtsRnAc4NghQQiVWvUimKn207AiZbOlFpDq+gUs7m6+NW8R1nUQ4bRDSUsY6Vk3lFPmgmt0QUEsFT5WAoWK+/C010OLEXO8zstTmsIzTZ/41nbFJ62Qufxjc1LNEoqL1sqtelEEzoUemharZ/3Xv525qVR2hwp0i/EcS84lglP73GTYspYuA0hlNcwUq9reNI0yrnDzV4rcSnhDyWUdfho3GcRlJb1PC8I3aFLJgNdj8bt/B7/dOSzYABGA3jwGGbAE8BZfDpDLQ3Ss6qJClxk768/yNcMcpm6SBjhVM8gB5pG1KfdHZWWYDw1+S3TKJHOJYfcmDrCUcDYjpwfG2nQBEX52kBzs6BcF86pxqfvSXyxYoJ+nH9sGiMvr59pP7nV0yj9Bv74KuCNLogpRN7gRYwrG/2Fzo7gN0EBCnRWNgh5uKipOEC475TGrlvENQg9LtdQP2k7fYDnRRHKV+enoXI1zAfnqyX7c0ooLU6EiTWgRqjUrng8J77t8+FMzIVV1B+Y0ALB7+3dLusUlD9tSk8Z6V9IUndvkyKVrpcJhyWisKkVbGApGXpvRW6jYVggRNs3Nk9YsCNVwyE848tl6nYEoq19eFB0818+IkudomXyP8pVCRGSSvmyzuiq33Uueq1/EsXyw+nGQeXVDbiOpNUelXD8o5t3pcRd4piIT+GjUfSANTeCaAiJZJGDh2aZ2udEsZkm7CETwWFdyS/YmS2YzEOD8pB6rmxOVB/Vzb+V5XIs1qmexaFjrNw5izUKY78vCpWUIWgR44v/49XeMLozUWlsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TZxJDPYTc3fn56yc4Hh9hZ",
      "input": {
        "note": "Close was empty – lemon is still a few cm beyond the fingertips. Opening, lifting and pitching the tool forward to extend reach.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.4,
          "right_x": 0.5,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01TZxJDPYTc3fn56yc4Hh9hZ",
      "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, 0.6064, -0.4728, -0.0193, -0.0383, 0.9986, 0.2146, 2.0392, 0.7513, 1.0069, 0.1688, -0.0158, 0.9976]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1599 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9986 right_x=0.4942 right_y=0.081 right_z=0.0616 right_yaw=0.0692 right_pitch=0.3118 right_roll=-0.0576 right_gripper=0.9976\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8681, -0.0806, -0.0269, -0.0073, -0.5265, -8.3897, 4.8615, 2.42, 0.1929, -0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0530f40bfee99b282191fc3de5d83a2422edafc18bedff471a9d94a76ed6f120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:078f9a7991b4ef1f8bdde143eae8f565511c7457d8201d9ccd7138606fd9c27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66efc29b82eb3d62800d76484a0b3bb3652dbd3d5f31b30b2e022287eab047a3",
        "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 · 2.847 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, 0.8032, 0.6064, -0.458, -0.0193, -0.0387, 0.9986, 0.2142, 1.9179, 0.9768, 0.1337, 0.1368, 0.0784, 0.9996]\nstate[eef_state]: left_x=0.2846 left_y=0.0016 left_z=0.1628 left_yaw=0.0028 left_pitch=-0.0782 left_roll=-0.0025 left_gripper=0.9986 right_x=0.4656 right_y=0.0803 right_z=0.0207 right_yaw=0.0464 right_pitch=-0.2087 right_roll=-0.0414 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -1.2239, 7.0906, 1.7167, -0.0757, -0.0562, -0.0122, -0.7179, -9.2513, 5.7231, 1.9072, 0.0073, -0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9986, 0.21, 1.943, 0.9604, 0.1291, 0.1349, 0.0757, 0.0084]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.0786 left_roll=-0.0027 left_gripper=0.9986 right_x=0.4571 right_y=0.0768 right_z=0.0028 right_yaw=0.0435 right_pitch=-0.2545 right_roll=-0.0498 right_gripper=0.0084\nstate[joint_eff]: [-0.0615, -1.1419, 6.9538, 1.6386, -0.022, -0.0659, -0.0073, 0.3624, -11.535, 6.9128, 1.5214, 0.0317, -0.0073, 0.6227]",
      "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, 0.6064, -0.4728, -0.0193, -0.0383, 0.9986, 0.2146, 2.0392, 0.7513, 1.0069, 0.1688, -0.0158, 0.9976]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1599 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9986 right_x=0.4942 right_y=0.081 right_z=0.0616 right_yaw=0.0692 right_pitch=0.3118 right_roll=-0.0576 right_gripper=0.9976\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8681, -0.0806, -0.0269, -0.0073, -0.5265, -8.3897, 4.8615, 2.42, 0.1929, -0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0530f40bfee99b282191fc3de5d83a2422edafc18bedff471a9d94a76ed6f120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:078f9a7991b4ef1f8bdde143eae8f565511c7457d8201d9ccd7138606fd9c27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 64):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66efc29b82eb3d62800d76484a0b3bb3652dbd3d5f31b30b2e022287eab047a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wYKEAgSGAI4AUIIdGhpbmtpbmcSDCCTME9F7mrWNodYVBoM1dl+flyThkXkd0TDIjAYqyuyCxDoE+sSKDD6M3rYirFCaugRs1BEGe4Q+CxnZ4hv5hzxhjSEyp5GThHauLEqjAaCSvciRAyZy3nAmMFrBIScG1alBXECxsHfr6WWMirYEZWIRoWD9XwJJRNzkMtkOV2SVoSM3/QxIsTddumbW7s27JntPKfeh557ZnBojnYNfkBxlS2YJsHOycb9qUwqUIQDdPUqLJHSUZjc/PLcpT7odBEiJRZ6AtHlC47tlfuN88Z3+DDfpLrgEypBwGuffiCxmp1lbeddhMpmLD3HFvS5icLg2qgY3vj/AhGzYJEP7pY5Th9c4C93UX/ftiWhPTOoj7XD0B77DeKkjFLjQ37sgMhpnU/P2URQP2SHhaAsXezCLn/kTPD2fHX0GFRd6eKTzdsyoQxShc/lsVjj0PPfCjAKLwzF4V3nISvI8UFTFioUCtDgGENClh5UsfbnqHejrmdIJF8pif/21T1oyqS8hhaSVzhKMkLB6QY8px1x2AV715Fvuw4UFGcUxxFR4BH3btFkx4BFujkZ6m5KMcpOaMkJAr3KOGxJAKghbteSAfgigY3X93PEZZhv8rbEECzxCbzgKN3+zweEybupuylCSP6f6Tc7SGLgLX1D2zzv8ESj9BnYYFOq2IASo26xHrHjp6ijzl+JKXBF2+zDeVuoDZo3bRWDiDDnmDZNXhWIRSJBatkXKnoBVerfLw0PYucRHc98RhU6tYRt8mX6cR2K2LrTuT7qDvKYLbAF99SkU8DPCPD2f7O7bBdMymPj5oJEuk1O0RJLd2cvl/SVNz+aoUpShoVGpwtyq5AVG7UWWX8jj3N1JHHUg4yHRtSAz/0FOd1Ob0kAXLykjh3ez/uAUCJoSWh+0mQqxcFKt8wIdw+K1ZQMCHDhoROlXXXDm/FWBfKfxtG9PWLVNfENIcyoz+TxOonYZaKMxKZ/SPa58acYRMe5Cll7Ta8fvnd/ijoJwP+2cbnJVO/SNggYtM+fiQ4UwrI3PNbqQTWw5wbpLUxc9Byy4JosPSbVvMWd8GJpUMAuMYHY/0ZTFxOE9Oo/lniz4cuLbNTxWnPBV0KOmLKfySTcaMOqB7UC93vd42RMBfoxd3kduHZNm0IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KHrba6Er6kPd1NHkgyhiGj",
      "input": {
        "note": "With forward pitch the lemon now appears right at the jaw tips; descending straight down.",
        "targets": {
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01KHrba6Er6kPd1NHkgyhiGj",
      "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, 0.804, 0.6064, -0.4797, -0.0189, -0.0387, 0.9986, 0.2146, 2.2097, 0.7517, 1.1172, 0.1669, -0.0143, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1584 left_yaw=0.0025 left_pitch=-0.1007 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4892 right_y=0.0802 right_z=0.0058 right_yaw=0.0724 right_pitch=0.2525 right_roll=-0.0644 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7753, -0.0611, -0.0562, -0.0122, -0.0479, -9.5521, 4.8068, 2.1172, 0.0562, -0.4811, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8162a606646d5c81dc1f79d7eab095b1ee43988c81ae2e09724a48827e046dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:961ab1aa241563bcae1f70af75f7033b5a1615b33ea9cc369b5ee1dd6f9c2ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b930edd4f558fcce3f2b2ab08559edab3eb0d0655a3a252882e5700c064d2cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 8.075 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, 0.8032, 0.6064, -0.4583, -0.0189, -0.0387, 0.9986, 0.21, 1.943, 0.9604, 0.1291, 0.1349, 0.0757, 0.0084]\nstate[eef_state]: left_x=0.2845 left_y=0.0016 left_z=0.1627 left_yaw=0.0024 left_pitch=-0.0786 left_roll=-0.0027 left_gripper=0.9986 right_x=0.4571 right_y=0.0768 right_z=0.0028 right_yaw=0.0435 right_pitch=-0.2545 right_roll=-0.0498 right_gripper=0.0084\nstate[joint_eff]: [-0.0615, -1.1419, 6.9538, 1.6386, -0.022, -0.0659, -0.0073, 0.3624, -11.535, 6.9128, 1.5214, 0.0317, -0.0073, 0.6227]",
      "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, 0.6064, -0.4728, -0.0193, -0.0383, 0.9986, 0.2146, 2.0392, 0.7513, 1.0069, 0.1688, -0.0158, 0.9976]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1599 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9986 right_x=0.4942 right_y=0.081 right_z=0.0616 right_yaw=0.0692 right_pitch=0.3118 right_roll=-0.0576 right_gripper=0.9976\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8681, -0.0806, -0.0269, -0.0073, -0.5265, -8.3897, 4.8615, 2.42, 0.1929, -0.022, -0.0708]",
      "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, 0.804, 0.6064, -0.4797, -0.0189, -0.0387, 0.9986, 0.2146, 2.2097, 0.7517, 1.1172, 0.1669, -0.0143, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1584 left_yaw=0.0025 left_pitch=-0.1007 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4892 right_y=0.0802 right_z=0.0058 right_yaw=0.0724 right_pitch=0.2525 right_roll=-0.0644 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7753, -0.0611, -0.0562, -0.0122, -0.0479, -9.5521, 4.8068, 2.1172, 0.0562, -0.4811, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8162a606646d5c81dc1f79d7eab095b1ee43988c81ae2e09724a48827e046dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:961ab1aa241563bcae1f70af75f7033b5a1615b33ea9cc369b5ee1dd6f9c2ecb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b930edd4f558fcce3f2b2ab08559edab3eb0d0655a3a252882e5700c064d2cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Umm6J1JD6GUac77SBm4nW",
      "input": {
        "note": "Lemon fills the space between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013Umm6J1JD6GUac77SBm4nW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4808, -0.0189, -0.0387, 0.9986, 0.2146, 2.22, 0.7525, 1.1625, 0.1642, -0.0193, 0.63]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1582 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4918 right_y=0.0813 right_z=0.0116 right_yaw=0.0762 right_pitch=0.2878 right_roll=-0.0632 right_gripper=0.63\nstate[joint_eff]: [-0.0615, -1.2376, 6.9402, 1.6728, -0.0806, -0.0464, -0.0122, -0.2803, -8.6769, 3.9043, 2.1856, 0.0317, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1df16636baca02ba4ddafc3b0c7d1780888c27f1368d32600623177123a0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217dcc0f2c4e75d09601ed3736c8e1affb7b552ef5525edd0238ac56c6b3089d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34f9b2130fbc385809daeff1732a49f6be6246891ed5d0aa60daae32e832ff4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 3.131 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, 0.6064, -0.4728, -0.0193, -0.0383, 0.9986, 0.2146, 2.0392, 0.7513, 1.0069, 0.1688, -0.0158, 0.9976]\nstate[eef_state]: left_x=0.2823 left_y=0.0017 left_z=0.1599 left_yaw=0.0026 left_pitch=-0.093 left_roll=-0.0018 left_gripper=0.9986 right_x=0.4942 right_y=0.081 right_z=0.0616 right_yaw=0.0692 right_pitch=0.3118 right_roll=-0.0576 right_gripper=0.9976\nstate[joint_eff]: [-0.1026, -1.2513, 7.0632, 1.8681, -0.0806, -0.0269, -0.0073, -0.5265, -8.3897, 4.8615, 2.42, 0.1929, -0.022, -0.0708]",
      "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, 0.804, 0.6064, -0.4797, -0.0189, -0.0387, 0.9986, 0.2146, 2.2097, 0.7517, 1.1172, 0.1669, -0.0143, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1584 left_yaw=0.0025 left_pitch=-0.1007 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4892 right_y=0.0802 right_z=0.0058 right_yaw=0.0724 right_pitch=0.2525 right_roll=-0.0644 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7753, -0.0611, -0.0562, -0.0122, -0.0479, -9.5521, 4.8068, 2.1172, 0.0562, -0.4811, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4808, -0.0189, -0.0387, 0.9986, 0.2146, 2.22, 0.7525, 1.1625, 0.1642, -0.0193, 0.63]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1582 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4918 right_y=0.0813 right_z=0.0116 right_yaw=0.0762 right_pitch=0.2878 right_roll=-0.0632 right_gripper=0.63\nstate[joint_eff]: [-0.0615, -1.2376, 6.9402, 1.6728, -0.0806, -0.0464, -0.0122, -0.2803, -8.6769, 3.9043, 2.1856, 0.0317, -0.0366, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b1df16636baca02ba4ddafc3b0c7d1780888c27f1368d32600623177123a0c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:217dcc0f2c4e75d09601ed3736c8e1affb7b552ef5525edd0238ac56c6b3089d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34f9b2130fbc385809daeff1732a49f6be6246891ed5d0aa60daae32e832ff4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015PpK3b3N8kju7UozwjQBdq",
      "input": {
        "note": "Gripper settled at 0.63 (~6 cm) – lemon grasped. Lifting to carry height.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_015PpK3b3N8kju7UozwjQBdq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.4965, -0.0189, -0.0383, 0.9986, 0.2146, 1.7, 0.8734, 0.4789, 0.1604, -0.0265, 0.6332]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1542 left_yaw=0.0023 left_pitch=-0.1213 left_roll=-0.0015 left_gripper=0.9986 right_x=0.4881 right_y=0.0812 right_z=0.1511 right_yaw=0.0852 right_pitch=0.245 right_roll=-0.075 right_gripper=0.6332\nstate[joint_eff]: [0.0068, -1.1282, 7.0222, 1.8095, -0.0806, -0.0269, -0.0073, -0.3624, -9.9761, 9.347, 2.0928, 0.0659, 0.0073, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97e8c8a6fef00a9a9931af8295732dd3b8660b15f0202b48ddc88aedc2bc403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a17ce5f4ce0d82289065c9908bb11787c42d9fcdf7c7897ac7499dcec1178b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7aa3c12be2bbebca1a0f07f4c141885c03c2f200a7a014d54e50b5515fd35659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 4.046 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, 0.804, 0.6064, -0.4797, -0.0189, -0.0387, 0.9986, 0.2146, 2.2097, 0.7517, 1.1172, 0.1669, -0.0143, 0.9988]\nstate[eef_state]: left_x=0.2813 left_y=0.0016 left_z=0.1584 left_yaw=0.0025 left_pitch=-0.1007 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4892 right_y=0.0802 right_z=0.0058 right_yaw=0.0724 right_pitch=0.2525 right_roll=-0.0644 right_gripper=0.9988\nstate[joint_eff]: [-0.0615, -1.2786, 7.1043, 1.7753, -0.0611, -0.0562, -0.0122, -0.0479, -9.5521, 4.8068, 2.1172, 0.0562, -0.4811, 0.105]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.804, 0.6064, -0.4808, -0.0189, -0.0387, 0.9986, 0.2146, 2.22, 0.7525, 1.1625, 0.1642, -0.0193, 0.63]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1582 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4918 right_y=0.0813 right_z=0.0116 right_yaw=0.0762 right_pitch=0.2878 right_roll=-0.0632 right_gripper=0.63\nstate[joint_eff]: [-0.0615, -1.2376, 6.9402, 1.6728, -0.0806, -0.0464, -0.0122, -0.2803, -8.6769, 3.9043, 2.1856, 0.0317, -0.0366, 1.0281]",
      "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, 0.8078, 0.6064, -0.4965, -0.0189, -0.0383, 0.9986, 0.2146, 1.7, 0.8734, 0.4789, 0.1604, -0.0265, 0.6332]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1542 left_yaw=0.0023 left_pitch=-0.1213 left_roll=-0.0015 left_gripper=0.9986 right_x=0.4881 right_y=0.0812 right_z=0.1511 right_yaw=0.0852 right_pitch=0.245 right_roll=-0.075 right_gripper=0.6332\nstate[joint_eff]: [0.0068, -1.1282, 7.0222, 1.8095, -0.0806, -0.0269, -0.0073, -0.3624, -9.9761, 9.347, 2.0928, 0.0659, 0.0073, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d97e8c8a6fef00a9a9931af8295732dd3b8660b15f0202b48ddc88aedc2bc403",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a17ce5f4ce0d82289065c9908bb11787c42d9fcdf7c7897ac7499dcec1178b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aa3c12be2bbebca1a0f07f4c141885c03c2f200a7a014d54e50b5515fd35659",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V8efRQzSYEym4F1EuUaZYJ",
      "input": {
        "note": "Lemon lifted with the gripper. Carrying it left over the open safe interior.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.25,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01V8efRQzSYEym4F1EuUaZYJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6064, -0.5117, -0.0189, -0.0387, 0.9986, 0.6567, 1.8343, 1.1679, 0.2165, 0.5385, 0.123, 0.6345]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1513 left_yaw=0.0026 left_pitch=-0.1365 left_roll=-0.0014 left_gripper=0.9986 right_x=0.4636 right_y=0.2475 right_z=0.1663 right_yaw=0.1318 right_pitch=0.2038 right_roll=-0.1069 right_gripper=0.6345\nstate[joint_eff]: [-0.0479, -1.2239, 6.8991, 1.7998, -0.0611, -0.0464, -0.0122, 0.3077, -8.6222, 9.1966, 1.917, 0.2076, 0.1929, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e01e09ab653ac3a09a8a4c415f15c3e9072fe69e754c6aa3fa0947c7a0b8e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6796eb8c22f74124892af24877594fb5babc3c24af9b3a2980bdd67168b34413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c45f75880b2958d80f9a0cbd7c0aa47193bd31ad38ede038437f447e242b246f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 2.949 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, 0.804, 0.6064, -0.4808, -0.0189, -0.0387, 0.9986, 0.2146, 2.22, 0.7525, 1.1625, 0.1642, -0.0193, 0.63]\nstate[eef_state]: left_x=0.2811 left_y=0.0016 left_z=0.1582 left_yaw=0.0025 left_pitch=-0.1018 left_roll=-0.0022 left_gripper=0.9986 right_x=0.4918 right_y=0.0813 right_z=0.0116 right_yaw=0.0762 right_pitch=0.2878 right_roll=-0.0632 right_gripper=0.63\nstate[joint_eff]: [-0.0615, -1.2376, 6.9402, 1.6728, -0.0806, -0.0464, -0.0122, -0.2803, -8.6769, 3.9043, 2.1856, 0.0317, -0.0366, 1.0281]",
      "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, 0.8078, 0.6064, -0.4965, -0.0189, -0.0383, 0.9986, 0.2146, 1.7, 0.8734, 0.4789, 0.1604, -0.0265, 0.6332]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1542 left_yaw=0.0023 left_pitch=-0.1213 left_roll=-0.0015 left_gripper=0.9986 right_x=0.4881 right_y=0.0812 right_z=0.1511 right_yaw=0.0852 right_pitch=0.245 right_roll=-0.075 right_gripper=0.6332\nstate[joint_eff]: [0.0068, -1.1282, 7.0222, 1.8095, -0.0806, -0.0269, -0.0073, -0.3624, -9.9761, 9.347, 2.0928, 0.0659, 0.0073, 1.033]\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 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, 0.8078, 0.6064, -0.5117, -0.0189, -0.0387, 0.9986, 0.6567, 1.8343, 1.1679, 0.2165, 0.5385, 0.123, 0.6345]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1513 left_yaw=0.0026 left_pitch=-0.1365 left_roll=-0.0014 left_gripper=0.9986 right_x=0.4636 right_y=0.2475 right_z=0.1663 right_yaw=0.1318 right_pitch=0.2038 right_roll=-0.1069 right_gripper=0.6345\nstate[joint_eff]: [-0.0479, -1.2239, 6.8991, 1.7998, -0.0611, -0.0464, -0.0122, 0.3077, -8.6222, 9.1966, 1.917, 0.2076, 0.1929, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e01e09ab653ac3a09a8a4c415f15c3e9072fe69e754c6aa3fa0947c7a0b8e72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6796eb8c22f74124892af24877594fb5babc3c24af9b3a2980bdd67168b34413",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c45f75880b2958d80f9a0cbd7c0aa47193bd31ad38ede038437f447e242b246f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQgKEAgSGAI4AUIIdGhpbmtpbmcSDHK1T6QaxW+QgDG+BRoM2+7WxRRUySbxBYRlIjDUT26NHEnsy/q4176esQa0glHu9viJQlFFgBfPR/JYWaJOaTigvsKja0QroHY52iAq0gfv1kuza+aaIs0nS/SA7EutMfYQlwJmA5XCiwnIKWIzY6D9nDm2DkqR1/TSj+Q6SzPsqQXsOLFueGCYJSXIe2ZTVq1FXsEZWmi6SJDgo6C+RexJHsVZTLF07ScmC0FpUxlU0AtmndQ7tOvaUlDz/7QCdYuOJyRxwfWVLEFx4n7Sqnpu2XvYMKbebp27Z028UZ2Q5QckZ353pak9uXibLmmoGh+C6rbLMx3aPbspkPp+HV2x9EEr3jOJjfyHMJLpHwCwJHaNKwZ6ajHzhkSRs4va7RIA4dQtV9DTotzZYgKx2dfEPV9gyNLLHRkBD7o/8cdWqtPzu1JGNAbDB38trQb23xn4zTkkQLPlL5UV4sUU7l+BhwTA1m+9MPc3BZhM8wT67SiIW//R/AwonhykyRaCoyXcP9101khLygExJ3uwMMnFi4kFzW2rq4psicxc7iXgj5zpjDn05mrtRSowudC+B3hGGMXT/KHIEI81btuigtKyTMZgmMtjFSwdH9JX3CkCvFIrRMhLPjgxzEcmP26y1M9oNOD2q7vINxAy8r0loWeKV8Q1n8j6JORZmOxLpRst4bLYjOXmgJosartStfGl9D+8Lu8A/KAy/YPmmLHzHPJJ8u5d8ne0sd/o/FAOMlg0KYSj7qzGNpVzD3Yiqj2KPyDHabNcUxIw3NyOZV5qyHxId4dDngxX2BVmmQB9ZRlSc1tNOAKnetot37TimDToey1LLrUdaUN2QRwTjZBPQQ4AJ4L65t+nxwfg0oxiNR/657XLiWFET/+fg/uBh8KQw08EvgDplLV2a2chKmvGLN1klEvgbmbC7gupKpNQmkMOINogUEuQO4PiPkKAjGwCC9bUhHFvfNZdHk2aWn12ogXnqgJQe0+6H3tNVeNiaIDH2bWQ954QOlfiigexm7tdxOQqjCxAefldzAjX3UIbuPOAaMobBC0dV92N9M3ceoT4x3mGGgIDT85a4kPIFefjA6ElIlvkj1xxnCM2tz8jSfW2t4J3eMhOlbin+nLqQvZNbNOwZm2n9nCI3118J4x/VX7bQqK19j97B/MulxXpbUrUKgnnejhNR4sULfrO48/FA3AgUJPkFhEB+ZaX+6j10oeVKfhS6s5PFlFtx+AprXYazbf6JOzpC3d89NFhr9Kq1J5gDkCSdQrYw640hw76/YBrA9sgL4u1FyfZh7LcrGYbIKWVyWNeaA/jjJnA4PBULJYEK5kcmfUY2GwxtpqWF0U7vqzzy6BBAtzSo09RvtutWiv88FcJZb1pG5Dw4YpX4ht5IOg0fqvU9irnqjH0FwIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X6pPd4Chvs5nPiJJuE9g9Q",
      "input": {
        "note": "Lemon is over the red safe interior; shifting slightly toward the safe centre and lowering before release.",
        "targets": {
          "right_y": 0.28,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01X6pPd4Chvs5nPiJJuE9g9Q",
      "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, 0.8089, 0.6064, -0.5182, -0.0189, -0.0387, 0.9986, 0.7063, 1.9575, 1.179, 0.279, 0.5766, 0.1375, 0.6345]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1498 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0013 left_gripper=0.9986 right_x=0.4617 right_y=0.272 right_z=0.1228 right_yaw=0.1469 right_pitch=0.1712 right_roll=-0.1346 right_gripper=0.6345\nstate[joint_eff]: [-0.1573, -1.2239, 6.8855, 1.6337, -0.0708, -0.0122, -0.0122, 0.253, -10.6872, 6.7077, 2.0879, 0.2027, 0.1099, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24cf8016cdee6b976c4bc1d65b0ff6b70cc642e6b9ed146b9d14dc3d4d876cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ae3360910fac4f06450c4e3aaae2d8f5be16ab540277fd30c67b4b442a632f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bd6def788d09b24a704fbec2be9076dc14f8446acddae17c1fa8c4c03b66a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 5.502 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, 0.8078, 0.6064, -0.4965, -0.0189, -0.0383, 0.9986, 0.2146, 1.7, 0.8734, 0.4789, 0.1604, -0.0265, 0.6332]\nstate[eef_state]: left_x=0.2788 left_y=0.0017 left_z=0.1542 left_yaw=0.0023 left_pitch=-0.1213 left_roll=-0.0015 left_gripper=0.9986 right_x=0.4881 right_y=0.0812 right_z=0.1511 right_yaw=0.0852 right_pitch=0.245 right_roll=-0.075 right_gripper=0.6332\nstate[joint_eff]: [0.0068, -1.1282, 7.0222, 1.8095, -0.0806, -0.0269, -0.0073, -0.3624, -9.9761, 9.347, 2.0928, 0.0659, 0.0073, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8078, 0.6064, -0.5117, -0.0189, -0.0387, 0.9986, 0.6567, 1.8343, 1.1679, 0.2165, 0.5385, 0.123, 0.6345]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1513 left_yaw=0.0026 left_pitch=-0.1365 left_roll=-0.0014 left_gripper=0.9986 right_x=0.4636 right_y=0.2475 right_z=0.1663 right_yaw=0.1318 right_pitch=0.2038 right_roll=-0.1069 right_gripper=0.6345\nstate[joint_eff]: [-0.0479, -1.2239, 6.8991, 1.7998, -0.0611, -0.0464, -0.0122, 0.3077, -8.6222, 9.1966, 1.917, 0.2076, 0.1929, 1.033]",
      "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, 0.8089, 0.6064, -0.5182, -0.0189, -0.0387, 0.9986, 0.7063, 1.9575, 1.179, 0.279, 0.5766, 0.1375, 0.6345]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1498 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0013 left_gripper=0.9986 right_x=0.4617 right_y=0.272 right_z=0.1228 right_yaw=0.1469 right_pitch=0.1712 right_roll=-0.1346 right_gripper=0.6345\nstate[joint_eff]: [-0.1573, -1.2239, 6.8855, 1.6337, -0.0708, -0.0122, -0.0122, 0.253, -10.6872, 6.7077, 2.0879, 0.2027, 0.1099, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24cf8016cdee6b976c4bc1d65b0ff6b70cc642e6b9ed146b9d14dc3d4d876cfb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ae3360910fac4f06450c4e3aaae2d8f5be16ab540277fd30c67b4b442a632f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bd6def788d09b24a704fbec2be9076dc14f8446acddae17c1fa8c4c03b66a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pk51Q1Qy85XDo6WnTaTAKA",
      "input": {
        "note": "Lemon hangs over the safe interior; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Pk51Q1Qy85XDo6WnTaTAKA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6064, -0.5255, -0.0189, -0.0387, 0.9986, 0.7227, 2.006, 1.1709, 0.2939, 0.5808, 0.1432, 0.9955]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1483 left_yaw=0.0026 left_pitch=-0.1522 left_roll=-0.0011 left_gripper=0.9986 right_x=0.457 right_y=0.2786 right_z=0.098 right_yaw=0.1602 right_pitch=0.1376 right_roll=-0.1535 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.0735, 7.2, 1.6337, -0.0366, -0.0708, -0.0122, -0.5128, -11.8632, 7.1179, 2.1709, 0.2857, 0.1197, -0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19dc11d59a848378012c35d997432924e1cb6a3a2ee23b97b92c80a81d2f559b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc76c4599352fc611e59c7e3cfc2e704fd2bb71dcd37868a9a5700734972de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f52f00962cf60a0a584bf02ee5531f06c1afb3119a233770a807eccb3cb915d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.805 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, 0.8078, 0.6064, -0.5117, -0.0189, -0.0387, 0.9986, 0.6567, 1.8343, 1.1679, 0.2165, 0.5385, 0.123, 0.6345]\nstate[eef_state]: left_x=0.2764 left_y=0.0017 left_z=0.1513 left_yaw=0.0026 left_pitch=-0.1365 left_roll=-0.0014 left_gripper=0.9986 right_x=0.4636 right_y=0.2475 right_z=0.1663 right_yaw=0.1318 right_pitch=0.2038 right_roll=-0.1069 right_gripper=0.6345\nstate[joint_eff]: [-0.0479, -1.2239, 6.8991, 1.7998, -0.0611, -0.0464, -0.0122, 0.3077, -8.6222, 9.1966, 1.917, 0.2076, 0.1929, 1.033]",
      "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, 0.8089, 0.6064, -0.5182, -0.0189, -0.0387, 0.9986, 0.7063, 1.9575, 1.179, 0.279, 0.5766, 0.1375, 0.6345]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1498 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0013 left_gripper=0.9986 right_x=0.4617 right_y=0.272 right_z=0.1228 right_yaw=0.1469 right_pitch=0.1712 right_roll=-0.1346 right_gripper=0.6345\nstate[joint_eff]: [-0.1573, -1.2239, 6.8855, 1.6337, -0.0708, -0.0122, -0.0122, 0.253, -10.6872, 6.7077, 2.0879, 0.2027, 0.1099, 1.033]",
      "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, 0.8097, 0.6064, -0.5255, -0.0189, -0.0387, 0.9986, 0.7227, 2.006, 1.1709, 0.2939, 0.5808, 0.1432, 0.9955]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1483 left_yaw=0.0026 left_pitch=-0.1522 left_roll=-0.0011 left_gripper=0.9986 right_x=0.457 right_y=0.2786 right_z=0.098 right_yaw=0.1602 right_pitch=0.1376 right_roll=-0.1535 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.0735, 7.2, 1.6337, -0.0366, -0.0708, -0.0122, -0.5128, -11.8632, 7.1179, 2.1709, 0.2857, 0.1197, -0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19dc11d59a848378012c35d997432924e1cb6a3a2ee23b97b92c80a81d2f559b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dcc76c4599352fc611e59c7e3cfc2e704fd2bb71dcd37868a9a5700734972de2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f52f00962cf60a0a584bf02ee5531f06c1afb3119a233770a807eccb3cb915d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShQoKEAgSGAI4AUIIdGhpbmtpbmcSDJ/VQVIHmpMK4sp8JxoMvm7CYgfgbbTuGxuNIjBM6zYphEVGUguje631bZA7R6hKUF//KBn/5+0lNebt5HMrPGIQN4Js0OsY3i9OAS8qogm2aHSGpFydA/UYf6Kpk7euV66UAKVas1c/YWa7Zvvh6BKwB8vJu44oJ9ELElzxwbgUxCdWaAGHaX9eHdVNZ9zXDJaYdtMwyZjvs++uKlGP+hKi15c9t463rP96+jMc3BYkuxJzpHp5w+CMcd/yUJIrsSkxzZMPn7mM9aGendpwAYnPNH9zEcq71PxYU0HTNg+QkqL2FAgxfT7yKhW6gpsB9A749PMSZrYiXhuJlbb9AoWMB6G9YhG/o2Nr71dKsIfmAGIEmMZhn2jvMDK5KdAiaT+2ZKe4Nkpv5icZluCgmLrC5iWyTbdWDh4wsV2o0byMI67DZCFDh6CDG2Bs2q75ygHlRQHvXdv4rI7Vc7UkM1FcMn5DZp1KSVmLgoRfNw+FG31CU2n2oelPvFjBkGikBbH+ZN5+V+d4Q5jZkc+nEnIRLTJYQ53IMpTFsGXdvnfmYTFlQuyFz3xuB1hwA2VTN1P3oh+cn2bZp3Z7f1DRI5Bm4KHI2UKKCic2RPsU7Aen+VxTsxoaIYCh/79iJZT6Y62CS2HdO2TbZ+yPghWj/x+kVetMS0rXL4NVDGue7SPK6RrcRmJ7B0Udkp3mC2z4+dWaisVnD9mYJGTLIxXerIq9BuBIqf2yRagcOZIKA9pjEZWbl+2RXd29NkM19ofFC5AcStKEu+WdTsYgYquKCPal6kTuCflBT7gfWK+yBn1BKBOvmqzUiM5b7At6k2NLlvWa8vCZLvc55frXdConEVrtojfc3331APiYA57zHfVyAcHyn68se4Jfhv04Tq83HjRTcWUMq66/ObYsRdi6ELs7BIAaB4f5vSEWf0AWYg9BCWIGK+iZN54sU61GRzVPR1MEYXgX0LBufgH87Tz5tKb6RrEdWKWnxf10/rIz+bKCgk2z85NUImv8SV3qLKfX1ZEIrklM1ekcIrj+nDD+sdlCPyO04wldbAOSjiwA5y1AbXKn4PsQI+S0Uar1LideUAkq9YGUfDV7+isbzh9ebDBbmj2KW+iT3264QgodHa3MBFoOrGB9jyMubaOJpaEJApcBthZ1d+BNcaXFBKVGGpO2cARK0m49151VNMKP9v2KgfJI0W5JZV2fNKJ0owJXUamxyDPlir22ZsJ5ualoJw855UkQVqVpIzVuTxW3DEO+bQQMpHHMAoPxBLm/Oh0HbOqAhGLRUtsWSBkRfI/OSH81+Tgw95PQ3paXu1GX9WOkocLfn8g8yQQ18y9ShGcYjeOD0bnA0SxI6dlnnFN0L/bR4SehNQHxuOL7a2R4RxmXIp+dQQYxtaXM7MwOqDV0wo0KhVvDRTBzxwN8iieWk+gGvc+dNrgr+SCgWIJfh6bp0/msSX6xApVEkUreNr/7076HVMi1hnYx3fwQbKtnuHvEPkxNPXA0UemvzvEZaV7i8nuBySPs1s52g199mvmIxH33XOBjaT9tuynCp8MWHqbLBgfMxhHpUYOwZdYipVqx7CSeeh79wjIEBqjcIQH64rNSGwDzINl61nWFdr27c9qIV9VQbVL+qYI7woAYP3ZoT4qCw/xJI9LTbGNoQH0UqpbOn+B6aFnHaD2nciosiUcZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019tddybG2ziSmweTb31tCtU",
      "input": {
        "note": "Lemon dropped inside the safe. Moving the right arm back above the brown bear in front of the safe.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.3,
          "right_y": 0.22,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_019tddybG2ziSmweTb31tCtU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6064, -0.5407, -0.0189, -0.0387, 0.9986, 0.9195, 1.4643, 0.7547, -0.0834, 0.6666, 0.3435, 0.9968]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1444 left_yaw=0.0027 left_pitch=-0.172 left_roll=-0.0007 left_gripper=0.9986 right_x=0.3044 right_y=0.2251 right_z=0.1117 right_yaw=0.1902 right_pitch=-0.0144 right_roll=-0.1744 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -1.6068, 6.8581, 1.7216, -0.0562, -0.0366, -0.0122, 0.1983, -6.8308, 7.0769, 1.8437, 0.3541, 0.105, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf5ef5fd192f4b18193e3246c65e2787f9bccde8778a26080d7477b706dc16ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672d2d2f154ed460fc2ac2092180ee0a0b3918cd6f6ae028b94edcffb05c2a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30189964871a8cdcc573ecc91d3025de66da86071086405277a177770ed2c85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 4.883 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, 0.8089, 0.6064, -0.5182, -0.0189, -0.0387, 0.9986, 0.7063, 1.9575, 1.179, 0.279, 0.5766, 0.1375, 0.6345]\nstate[eef_state]: left_x=0.2753 left_y=0.0017 left_z=0.1498 left_yaw=0.0026 left_pitch=-0.1442 left_roll=-0.0013 left_gripper=0.9986 right_x=0.4617 right_y=0.272 right_z=0.1228 right_yaw=0.1469 right_pitch=0.1712 right_roll=-0.1346 right_gripper=0.6345\nstate[joint_eff]: [-0.1573, -1.2239, 6.8855, 1.6337, -0.0708, -0.0122, -0.0122, 0.253, -10.6872, 6.7077, 2.0879, 0.2027, 0.1099, 1.033]",
      "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, 0.8097, 0.6064, -0.5255, -0.0189, -0.0387, 0.9986, 0.7227, 2.006, 1.1709, 0.2939, 0.5808, 0.1432, 0.9955]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1483 left_yaw=0.0026 left_pitch=-0.1522 left_roll=-0.0011 left_gripper=0.9986 right_x=0.457 right_y=0.2786 right_z=0.098 right_yaw=0.1602 right_pitch=0.1376 right_roll=-0.1535 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.0735, 7.2, 1.6337, -0.0366, -0.0708, -0.0122, -0.5128, -11.8632, 7.1179, 2.1709, 0.2857, 0.1197, -0.2613]",
      "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, 0.8143, 0.6064, -0.5407, -0.0189, -0.0387, 0.9986, 0.9195, 1.4643, 0.7547, -0.0834, 0.6666, 0.3435, 0.9968]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1444 left_yaw=0.0027 left_pitch=-0.172 left_roll=-0.0007 left_gripper=0.9986 right_x=0.3044 right_y=0.2251 right_z=0.1117 right_yaw=0.1902 right_pitch=-0.0144 right_roll=-0.1744 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -1.6068, 6.8581, 1.7216, -0.0562, -0.0366, -0.0122, 0.1983, -6.8308, 7.0769, 1.8437, 0.3541, 0.105, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf5ef5fd192f4b18193e3246c65e2787f9bccde8778a26080d7477b706dc16ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672d2d2f154ed460fc2ac2092180ee0a0b3918cd6f6ae028b94edcffb05c2a4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30189964871a8cdcc573ecc91d3025de66da86071086405277a177770ed2c85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSygcKEAgSGAI4AUIIdGhpbmtpbmcSDMWjtBQqALjXERbfHRoMMB2GV/NuSshWeih9IjDU/5lLmPnuLnEfDujUKfCw2R8/uf/rUqUwp51Cblr79pIQHjl+zzjNSyahZnLidV4q5wYnuHKYOqHQUVEs5IkekKuRdFMwdBuZY48j2MxVNOjVINJ0iTS23PU8Cd0j3bKYiY7AGv4ZbCK1+PZvpkcXlarbTZhP6Tcxk/dJjoQ9mlO6fen10u0IB9es+jnlEInYqjCz0WdgVO/SgZv4GZ7zscUlD/WX/D7+TQdK8LIqpXuMonWWNzYCIj8VEWVaD0W2jNe6TxOTnNzYgSXBlkiYJCJSdFlIaebOYmGBqp8VJ8sOrnRfKbsjepvB1UBC5TRSCh09uRxcIqwgb44e9GeacB+teQCTRyw78wtcJ4Xt4HO3/gBwqKMfYPiJrTEB5mQNmvx2GcnvEJcbp1oX2EX6E6wdDQUTApZJYucoz1FQua9F9UgMABbPZlO4ZONQqkJeHObBjy3sgNqfoR6m8hkJbjD5fFisf0ONNdl+m5bzMw+NK1YF5l7pYqQAIwlxv4YEzW1GRb/DksmH0IRBdeEUyc2UuTt9JHjPn2oCDFKUtynY2xg76/bgLNdqhRtZgzG/U5SMb0palea4IIsdm1+CIQ9l9OInXELvipo0wbN/KgYnhHK72TIk6ScbORBgZXNOCMAOkiHXkf4eMAtBJRhIdG2+Dr3ux8YQNmVFMMtsaY6QHn3h1021ueVjRy5y52+wfM6IK/4pjlqmDbPlSgkceaqNmRfTQB/29YoMYBZbvUl0eI5xI8gPQrh1nU00lweQ1VkYnSf4RvjV5MDSS6Z5U3ig3z0uGBtHmfTMk6AvVEuwWx1LPJlDtEz8CnbwgmwsLX931CYJ+bquJwkghO4aad1l2vlfvA5mkptvlBSmtRB0ZyvbiwPjToPV6iaDvtcF6JhzTbEJhjRkGUEo730WIIv0NjvKZfHerOOHO7z8mZsGzp7SK2qd2KfCumpfglDa9wPQ+qTZt/JeXgTxfvxgnXxXnyM03g0yxgT4FLRx+522U0gGrbBk6dxeZ3UREXzafiF6IeOd3t47ItK6bKhctOU2FV8WKqAP7ES9XgkD96teoM9X1NuqS1ghiDr7f7KNbf9hyXYFktCUYrWSMAIsgdePcbcIrFF4u5UZin6HuSB8TQdb/nutHDvCqCZ0+lFHDY8VmUfQhZdm+Gih/67Nc/YjyEm79e0pwl3a1i4xGF2BBVqXKJy/28ABxQMQ+FTYF3ePE3TZ7VBfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J4ZwcuH9CRFoPa85rJKXTA",
      "input": {
        "note": "Brown bear sits directly between the jaws at the bottom of the wrist view; descending to grasp it.",
        "targets": {
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01J4ZwcuH9CRFoPa85rJKXTA",
      "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, 0.8169, 0.6067, -0.5556, -0.0189, -0.0383, 0.9986, 0.9207, 1.6863, 0.5983, 0.2279, 0.6582, 0.3477, 0.9969]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1412 left_yaw=0.0026 left_pitch=-0.1892 left_roll=-0.0 left_gripper=0.9986 right_x=0.2976 right_y=0.2188 right_z=0.0262 right_yaw=0.1931 right_pitch=-0.0682 right_roll=-0.2111 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.4701, 6.9265, 1.7216, -0.0806, -0.0171, -0.0122, -0.3214, -6.188, 4.588, 1.58, 0.2906, -0.0904, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a2f1b5b49a90b5d7b72e0369ed1326e06a669fec6e515d3cf483956d81ef71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec641c31cbb0d66fc3194c6521ae889fe09d72ef24ca22cb82e898804bbd5e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:773cee4cb3d20ec6da4b58c811906d7c6ed5a3e516f299d462ea4a2d5b061bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 3.399 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, 0.8097, 0.6064, -0.5255, -0.0189, -0.0387, 0.9986, 0.7227, 2.006, 1.1709, 0.2939, 0.5808, 0.1432, 0.9955]\nstate[eef_state]: left_x=0.2742 left_y=0.0017 left_z=0.1483 left_yaw=0.0026 left_pitch=-0.1522 left_roll=-0.0011 left_gripper=0.9986 right_x=0.457 right_y=0.2786 right_z=0.098 right_yaw=0.1602 right_pitch=0.1376 right_roll=-0.1535 right_gripper=0.9955\nstate[joint_eff]: [-0.0615, -1.0735, 7.2, 1.6337, -0.0366, -0.0708, -0.0122, -0.5128, -11.8632, 7.1179, 2.1709, 0.2857, 0.1197, -0.2613]",
      "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, 0.8143, 0.6064, -0.5407, -0.0189, -0.0387, 0.9986, 0.9195, 1.4643, 0.7547, -0.0834, 0.6666, 0.3435, 0.9968]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1444 left_yaw=0.0027 left_pitch=-0.172 left_roll=-0.0007 left_gripper=0.9986 right_x=0.3044 right_y=0.2251 right_z=0.1117 right_yaw=0.1902 right_pitch=-0.0144 right_roll=-0.1744 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -1.6068, 6.8581, 1.7216, -0.0562, -0.0366, -0.0122, 0.1983, -6.8308, 7.0769, 1.8437, 0.3541, 0.105, 0.1148]",
      "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, 0.8169, 0.6067, -0.5556, -0.0189, -0.0383, 0.9986, 0.9207, 1.6863, 0.5983, 0.2279, 0.6582, 0.3477, 0.9969]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1412 left_yaw=0.0026 left_pitch=-0.1892 left_roll=-0.0 left_gripper=0.9986 right_x=0.2976 right_y=0.2188 right_z=0.0262 right_yaw=0.1931 right_pitch=-0.0682 right_roll=-0.2111 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.4701, 6.9265, 1.7216, -0.0806, -0.0171, -0.0122, -0.3214, -6.188, 4.588, 1.58, 0.2906, -0.0904, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a2f1b5b49a90b5d7b72e0369ed1326e06a669fec6e515d3cf483956d81ef71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec641c31cbb0d66fc3194c6521ae889fe09d72ef24ca22cb82e898804bbd5e77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:773cee4cb3d20ec6da4b58c811906d7c6ed5a3e516f299d462ea4a2d5b061bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Eg7swguynyvn11EQytG23H",
      "input": {
        "note": "Jaws straddle the bear's body; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Eg7swguynyvn11EQytG23H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6064, -0.5636, -0.0189, -0.0387, 0.9986, 0.9207, 1.7035, 0.585, 0.2188, 0.6537, 0.3412, 0.0086]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1395 left_yaw=0.0028 left_pitch=-0.1979 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2925 right_y=0.2132 right_z=0.015 right_yaw=0.1975 right_pitch=-0.101 right_roll=-0.24 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -1.1556, 6.8855, 1.6288, -0.0366, -0.0659, -0.0122, -0.3624, -7.9248, 5.8051, 1.3993, 0.2613, 0.0562, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3946d8ea29ceaa6ea3e3826693e1ec8e507d0f0153b200b589eedde392532fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e057d4b21834c105147dbe25e31f9f2d94307d3267f692a8c580b1b1f8bf7db6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3597e741e332e840f6cf27cb1050281e0cc6124a8c3b71a1300cc50650aef2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.849 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, 0.8143, 0.6064, -0.5407, -0.0189, -0.0387, 0.9986, 0.9195, 1.4643, 0.7547, -0.0834, 0.6666, 0.3435, 0.9968]\nstate[eef_state]: left_x=0.2718 left_y=0.0018 left_z=0.1444 left_yaw=0.0027 left_pitch=-0.172 left_roll=-0.0007 left_gripper=0.9986 right_x=0.3044 right_y=0.2251 right_z=0.1117 right_yaw=0.1902 right_pitch=-0.0144 right_roll=-0.1744 right_gripper=0.9968\nstate[joint_eff]: [-0.1436, -1.6068, 6.8581, 1.7216, -0.0562, -0.0366, -0.0122, 0.1983, -6.8308, 7.0769, 1.8437, 0.3541, 0.105, 0.1148]",
      "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, 0.8169, 0.6067, -0.5556, -0.0189, -0.0383, 0.9986, 0.9207, 1.6863, 0.5983, 0.2279, 0.6582, 0.3477, 0.9969]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1412 left_yaw=0.0026 left_pitch=-0.1892 left_roll=-0.0 left_gripper=0.9986 right_x=0.2976 right_y=0.2188 right_z=0.0262 right_yaw=0.1931 right_pitch=-0.0682 right_roll=-0.2111 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.4701, 6.9265, 1.7216, -0.0806, -0.0171, -0.0122, -0.3214, -6.188, 4.588, 1.58, 0.2906, -0.0904, 0.0024]",
      "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, 0.8173, 0.6064, -0.5636, -0.0189, -0.0387, 0.9986, 0.9207, 1.7035, 0.585, 0.2188, 0.6537, 0.3412, 0.0086]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1395 left_yaw=0.0028 left_pitch=-0.1979 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2925 right_y=0.2132 right_z=0.015 right_yaw=0.1975 right_pitch=-0.101 right_roll=-0.24 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -1.1556, 6.8855, 1.6288, -0.0366, -0.0659, -0.0122, -0.3624, -7.9248, 5.8051, 1.3993, 0.2613, 0.0562, 0.569]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3946d8ea29ceaa6ea3e3826693e1ec8e507d0f0153b200b589eedde392532fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e057d4b21834c105147dbe25e31f9f2d94307d3267f692a8c580b1b1f8bf7db6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3597e741e332e840f6cf27cb1050281e0cc6124a8c3b71a1300cc50650aef2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDLeApq+Ms6/GDdUsvhoMUlE45HoV0DPktHp6IjBp+ewdP8+v9ovltCJWCIG++Qb0ZXbbuGJUPu0ajKsEYpv+lyd+fmB+oWIVmB2BGygqswaJIGGDbS/JRDp17ZRj4j0f5qtPKyzA9ATlPdBfiCPtZiSMYit6Gg6prSNANCNzeSL0jRlRAYEv958g7/HhCh7w+/GJjMe0rBaXlMyhUiPJOJt4NH8q18ffroBv4RXkPjecHxxhiYLQD4AxbM951fKiGhQIkWL1zF7/DYUCfcbP6/5VTh0fGTf6Oa7Ml8bpODNekkyDJh6glgz85M0Flt+b4ET0rsCWbV2N7Fw+ZHFYV+hmdt7P9+CT0glNfKaII7QEdcY4ApODkI4aoIxvF7x/2mUo6NuYi+b2dqDhQmYdc6OlaeLvUdjS5ZhC81aRj6LmjdVg/m69x0odYnkrjqfaFIVUmcA5ZT40OztA2b56xxbQs4veUfO90/gaIcgyMybtiWYAq/EudWVpkvHjblyu81MC9osTw4FxXGJzBH+LgtY5bjTUE8v8+K5ocR/Q6dHrnuwGb8GnuheRthHgvg7C9332D+LipJ86pxE3D2288zs1O4og/9CrM0ICg4MGcajvkujEg1ZOfTcDolSn4Drvq5Br33P2ksk/ZlDLFnnkoq9C/0qX6vxakeGhbEeg8XXlAjBATcqeYqk2JrhwiZ0Vr4WteF2ucYo08Y/Q3HyXfVbFsrDCWlsCEijGz6N2yXuWDgWgrUeXss/zhESW5uHzqlGAgPIplCucfNCPAR0BJ2/YlNlGOV/y8xQAL5SYGF5oSsDM48nP42IYJl6zYqZwtGPsWML7UxnL0vulS2Azo0pbqz9BanjGNrd7w3MaKtWae/DPceIBVs3UTeG1P7Tr+KTgJTTN6nhaGz2RGNIFWL/BkltiifLeZGE97tGH/Hfzq28aZFMjFAWUrorKACwrR1cUNCuJ9dA1XZCOMehvttCKvFXWO97Bf6T0AOREZeOJvKQx1GL1zudQJjjRbmoPyZHaEJGof1ecOo8UzbMdRWMBKegK/8gangBuqFRxictr2Ul3ofmgay8/r/Pr9hN+9ZVzwP74ghmPiGoRk3pbbd0sR3ywUUeFj/ubREZM9+s7GzbiV2YnM0s75Yxob34OzchKeL4CSk+QnkCydz+0evdk+ZA1wWAGIEADgCovbv+ATF0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQDfRVfvZxgp2yVubA9n5J",
      "input": {
        "note": "Gripper closed fully (plush compresses, so reading is ambiguous); lifting to check if the bear comes along.",
        "targets": {
          "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_01NQDfRVfvZxgp2yVubA9n5J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6064, -0.5743, -0.0189, -0.0387, 0.9986, 0.9207, 1.483, 0.7227, -0.1558, 0.6392, 0.3408, 0.0099]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1373 left_yaw=0.0029 left_pitch=-0.2101 left_roll=0.0002 left_gripper=0.9986 right_x=0.2897 right_y=0.2128 right_z=0.0817 right_yaw=0.2064 right_pitch=-0.1209 right_roll=-0.2425 right_gripper=0.0099\nstate[joint_eff]: [-0.0752, -1.3744, 6.8308, 1.6532, -0.0269, -0.0513, -0.0122, -0.1846, -7.0496, 8.6906, 1.5849, 0.3932, -0.0366, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5afe3092415a12a97b3740b8899bf9bc08145a37c1121d9085b446971865155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056a7ea5d43246e350da016526129c9993a637c674b7e772de86be18b8372514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d79c7700b087fb02f1a58b2ded0594f821c7840d0a752d9d7d7575c5b7f9225b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 2.954 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, 0.8169, 0.6067, -0.5556, -0.0189, -0.0383, 0.9986, 0.9207, 1.6863, 0.5983, 0.2279, 0.6582, 0.3477, 0.9969]\nstate[eef_state]: left_x=0.2694 left_y=0.0018 left_z=0.1412 left_yaw=0.0026 left_pitch=-0.1892 left_roll=-0.0 left_gripper=0.9986 right_x=0.2976 right_y=0.2188 right_z=0.0262 right_yaw=0.1931 right_pitch=-0.0682 right_roll=-0.2111 right_gripper=0.9969\nstate[joint_eff]: [-0.0479, -1.4701, 6.9265, 1.7216, -0.0806, -0.0171, -0.0122, -0.3214, -6.188, 4.588, 1.58, 0.2906, -0.0904, 0.0024]",
      "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, 0.8173, 0.6064, -0.5636, -0.0189, -0.0387, 0.9986, 0.9207, 1.7035, 0.585, 0.2188, 0.6537, 0.3412, 0.0086]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1395 left_yaw=0.0028 left_pitch=-0.1979 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2925 right_y=0.2132 right_z=0.015 right_yaw=0.1975 right_pitch=-0.101 right_roll=-0.24 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -1.1556, 6.8855, 1.6288, -0.0366, -0.0659, -0.0122, -0.3624, -7.9248, 5.8051, 1.3993, 0.2613, 0.0562, 0.569]",
      "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, 0.8188, 0.6064, -0.5743, -0.0189, -0.0387, 0.9986, 0.9207, 1.483, 0.7227, -0.1558, 0.6392, 0.3408, 0.0099]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1373 left_yaw=0.0029 left_pitch=-0.2101 left_roll=0.0002 left_gripper=0.9986 right_x=0.2897 right_y=0.2128 right_z=0.0817 right_yaw=0.2064 right_pitch=-0.1209 right_roll=-0.2425 right_gripper=0.0099\nstate[joint_eff]: [-0.0752, -1.3744, 6.8308, 1.6532, -0.0269, -0.0513, -0.0122, -0.1846, -7.0496, 8.6906, 1.5849, 0.3932, -0.0366, 0.1197]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5afe3092415a12a97b3740b8899bf9bc08145a37c1121d9085b446971865155",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056a7ea5d43246e350da016526129c9993a637c674b7e772de86be18b8372514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d79c7700b087fb02f1a58b2ded0594f821c7840d0a752d9d7d7575c5b7f9225b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqAcKEAgSGAI4AUIIdGhpbmtpbmcSDChf3559EzK+KUrV1xoMXBchleKGBpVHsYkCIjCvfguREIxzrg6JDFoZ6Mu3EL4fzlIRNBMU1zc9LXm6t3+LFMCfVTdf+E1meNzcBoIqxQZ8xbsTu1SbjoKaTLWtECTiSJbwlzzRGL3yqAUZHZewUEGZBitSvg8jnUeE3vHDKl01XYcMHKY2uKVrWCq6Xz4sLzCFuZgbFdF+ONa2K/lkmAGO7/D2xFBMamaaurQ5sHaw2PI1bOEKKC1nsQFS6BHPXcMC5nYx4av7ucmQAWx0yWN56DUD651gxpKo98LUFZZ0j4S6ySm43hMz79BbMlwQoV7ElFxBJHLKjAM26NwhU+u/7Ut1vQsABcSWE4lOIk07hWZj2Q1K6a6O+tzyOxovrERkEuOBNbetZGBIKl05Qtj7yZl9tTSDOwVBjD8tYHZBUwElbsK1e6PoaDw2shGakto82mD26nrdr9vw8+XFielxTMyuILOEdahDWNwOA5jkER9h0g4mdB6U7cNJlytcBzP5nL6z6DktFb1e0XUGURK7N/HIkmWjnrb+bnJSDJzr1F+pYrO714Md1X9qpcjZrlRYqX15+f3cAdyHBVW3GvjGKwCV6JBxZQymqyZ66d/0GWkkr3N0TTPo7Ci+0fp+d2zWSK98A0JKmhIWZWQrJoSc0I9htjnoCej7zbz2MntQuHRBJ1bKvsfI0yodgLmJRANN58O/3OEv+ulXw6fnNwl7FDPKamdTUEWuGmVDtBD1EvlxQ03tAlF6Ict9lDTsHMZeeSXcEJWoi+JETPonyH11428KQK1m0xfTuIPVarR8GwfP4E61RS3s2vXwufM5qOQEF0UcV8ewRH2dhkUG1RKx66xLvON0CcXqz4Dh6rK4qbUbiyZUYCWe2aq7zcXnAm9LFVvYZAxONcOtDDLB7XazW0FKzYZz5ypXYKxyrYUnUMhK8XtTmSAFrh1j6/v28y/iYaXHOeIzfRZEMHnXkYhdXjOnus/OG5wq4zb2bHhv4inFliVG56kci3uxZFfmehnw7nFBjke78P5KqZsVZkRP1IJEuztiwrsr3jyO4h4drIyEPB6Hy2dkTH9McYbKjdFA1Ac8pejwkmsUDJkncS/x9GEiJxvH2cyRTwq2E5N0R2+74HbOYszfwcNTDnPODQyrD9KWo7yY+4x4aKQs9lbNsKXLHwxr++BIvylCDizoXk6oGphuKhtSzEa3+qoQR3KNJMsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012LsUfVH4Hx93b2v2aSZnSU",
      "input": {
        "note": "Bear appears lifted with the gripper. Carrying it high over the safe.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.29,
          "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_012LsUfVH4Hx93b2v2aSZnSU",
      "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, 0.6064, -0.5854, -0.0189, -0.0387, 0.9986, 0.7517, 1.9282, 1.6684, -0.6048, 0.519, 0.1822, 0.0123]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1349 left_yaw=0.0029 left_pitch=-0.2231 left_roll=0.0005 left_gripper=0.9986 right_x=0.4297 right_y=0.2866 right_z=0.1845 right_yaw=0.2143 right_pitch=-0.1553 right_roll=-0.2556 right_gripper=0.0123\nstate[joint_eff]: [-0.2803, -1.3744, 6.8171, 1.6484, -0.0562, -0.0464, -0.0122, -0.4855, -10.5368, 8.2393, 1.5507, 0.3248, -0.0757, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1634d6182bc2739cee27b838a29d5dfca28d7f59304118aee242bc77dafc4ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da40012c5639d26b327c54f77f593613e674525b8963b17ed39396037e1c508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f67c8092d59b61abce4742b909f361cc306b8972cf3969c5fd1de39bacd692d",
        "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 · 3.315 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, 0.8173, 0.6064, -0.5636, -0.0189, -0.0387, 0.9986, 0.9207, 1.7035, 0.585, 0.2188, 0.6537, 0.3412, 0.0086]\nstate[eef_state]: left_x=0.268 left_y=0.0019 left_z=0.1395 left_yaw=0.0028 left_pitch=-0.1979 left_roll=-0.0001 left_gripper=0.9986 right_x=0.2925 right_y=0.2132 right_z=0.015 right_yaw=0.1975 right_pitch=-0.101 right_roll=-0.24 right_gripper=0.0086\nstate[joint_eff]: [-0.0068, -1.1556, 6.8855, 1.6288, -0.0366, -0.0659, -0.0122, -0.3624, -7.9248, 5.8051, 1.3993, 0.2613, 0.0562, 0.569]",
      "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, 0.8188, 0.6064, -0.5743, -0.0189, -0.0387, 0.9986, 0.9207, 1.483, 0.7227, -0.1558, 0.6392, 0.3408, 0.0099]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1373 left_yaw=0.0029 left_pitch=-0.2101 left_roll=0.0002 left_gripper=0.9986 right_x=0.2897 right_y=0.2128 right_z=0.0817 right_yaw=0.2064 right_pitch=-0.1209 right_roll=-0.2425 right_gripper=0.0099\nstate[joint_eff]: [-0.0752, -1.3744, 6.8308, 1.6532, -0.0269, -0.0513, -0.0122, -0.1846, -7.0496, 8.6906, 1.5849, 0.3932, -0.0366, 0.1197]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6064, -0.5854, -0.0189, -0.0387, 0.9986, 0.7517, 1.9282, 1.6684, -0.6048, 0.519, 0.1822, 0.0123]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1349 left_yaw=0.0029 left_pitch=-0.2231 left_roll=0.0005 left_gripper=0.9986 right_x=0.4297 right_y=0.2866 right_z=0.1845 right_yaw=0.2143 right_pitch=-0.1553 right_roll=-0.2556 right_gripper=0.0123\nstate[joint_eff]: [-0.2803, -1.3744, 6.8171, 1.6484, -0.0562, -0.0464, -0.0122, -0.4855, -10.5368, 8.2393, 1.5507, 0.3248, -0.0757, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1634d6182bc2739cee27b838a29d5dfca28d7f59304118aee242bc77dafc4ba1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4da40012c5639d26b327c54f77f593613e674525b8963b17ed39396037e1c508",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f67c8092d59b61abce4742b909f361cc306b8972cf3969c5fd1de39bacd692d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gYKEAgSGAI4AUIIdGhpbmtpbmcSDL2QSk4kjmK0wmHTcBoMg69rEmF1xzCr+HfJIjCiOD2Hyjg99PD1nnl383vFOgLk7J8BSueX0ttFnXlk5yfo21naClUKP5vO+SohxtYq9wWYzTlwQGhDArgmpfk5AnyqCiDu7N/ADq6tZ+guEbYPulReFDcIa33bFE3Y9s6cgCy+4ezm35NcFSWLREh7n93RUiPuphDKi++dZrAlNGxm0YRAdjeBjo2UIaoNnKqOpetFcuoTbIlsWj7XO/sNcxOrzSiP9DnIey75rbJIXYvOvEjH+8OLlt+yQR7b4dKOKrpf2m0wVB88T28hB1ii5B5Mhbir4nzfSV+2a/LwQrre/B1CtRD1xJxc7rhrKRFSEP59j672YYptwMQ7XZ048r+FpAWT3necOxywEcC+J8IpvgM6ye1CNyhFiKdQS4Lvz+aieMjDmgR1IJipGTBOXWtXNWogdg8gHUPSpctEmE8ORovDsC8t/PmAbkMBgCL84igNfhtC66h+AsBUlbWLn6mtYRS5/JokZxUG3/sBQa1QorX6m883B8p3ZcUCZ2PPmH4UbNHOiNi930StJyPUVU6jXNgMd73u3sMR0RWhnmRHZzgJF6+B/i9N1cEBLF1GXntjRHLs2G3KVNQ9Pu1ExTUaSZMWxQUyQyRn904sq3REtC9OFQI9U613cHCYPetV80xxKp10WU/DESMIaQgWGirFsohXAgY5KyfTgY3owUzuprybNFGaLee3tm0whvoz20cFn2hPjSt5+4YFIQwop/XtQYtUkjhXXJET/Y1OEBifxY0Y/fRNDq8XXwxqzUcuFjCgfHA8csOPxB0fUF5d3ET41bGTZAAV9F6HDLzrN5/aq7Gues3TWVYjNbdAaBppoZg8aK6QYhfkZucDAhlH3ZEpShjPBwZkGrnaL4C7otNlyEtr/1jfL0omx6LQt81dz2xQ1Jiau59mTYDLedsd0BETRz2u3u535nvEL10WwVEw1AvZuPFxQGfrPbStSD+bbRvcvBA47/5lhnCMFSllrcACDj5DR3fiaNywKzvj8BDEWLWn0U08avJLrNa6iPDIlUh5r0uYhC661gONZrDoyGC1ieBlyR4vl+/3dL1K5/p29xwPeQPrQFkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JsLDbqekbE6MMzBx9CGGaC",
      "input": {
        "note": "Bear is held above the safe interior; lowering before release.",
        "targets": {
          "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_01JsLDbqekbE6MMzBx9CGGaC",
      "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, 0.6064, -0.5858, -0.0189, -0.0383, 0.9986, 0.7513, 1.9617, 1.4605, -0.4614, 0.5106, 0.1791, 0.0129]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1348 left_yaw=0.0027 left_pitch=-0.2235 left_roll=0.0007 left_gripper=0.9986 right_x=0.4163 right_y=0.2756 right_z=0.1071 right_yaw=0.2117 right_pitch=-0.2433 right_roll=-0.3033 right_gripper=0.0129\nstate[joint_eff]: [-0.0068, -1.0735, 7.0085, 1.4969, -0.0464, -0.022, -0.0122, 0.0205, -10.2496, 7.4051, 1.8437, 0.2564, 0.0024, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50d03d3dc285fcd5738cd815771bf253950afe178ec6d011564db2d30e8662a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d110f0251020f72dbd0c584e160f357ee65032689bd6688e697a797a07dd657e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3374f7d64cbd0456d96a221c1104cd36a0a87885cfb21fa78fa90ca7069399aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 3.969 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, 0.8188, 0.6064, -0.5743, -0.0189, -0.0387, 0.9986, 0.9207, 1.483, 0.7227, -0.1558, 0.6392, 0.3408, 0.0099]\nstate[eef_state]: left_x=0.2662 left_y=0.0019 left_z=0.1373 left_yaw=0.0029 left_pitch=-0.2101 left_roll=0.0002 left_gripper=0.9986 right_x=0.2897 right_y=0.2128 right_z=0.0817 right_yaw=0.2064 right_pitch=-0.1209 right_roll=-0.2425 right_gripper=0.0099\nstate[joint_eff]: [-0.0752, -1.3744, 6.8308, 1.6532, -0.0269, -0.0513, -0.0122, -0.1846, -7.0496, 8.6906, 1.5849, 0.3932, -0.0366, 0.1197]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6064, -0.5854, -0.0189, -0.0387, 0.9986, 0.7517, 1.9282, 1.6684, -0.6048, 0.519, 0.1822, 0.0123]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1349 left_yaw=0.0029 left_pitch=-0.2231 left_roll=0.0005 left_gripper=0.9986 right_x=0.4297 right_y=0.2866 right_z=0.1845 right_yaw=0.2143 right_pitch=-0.1553 right_roll=-0.2556 right_gripper=0.0123\nstate[joint_eff]: [-0.2803, -1.3744, 6.8171, 1.6484, -0.0562, -0.0464, -0.0122, -0.4855, -10.5368, 8.2393, 1.5507, 0.3248, -0.0757, 0.2369]",
      "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, 0.8207, 0.6064, -0.5858, -0.0189, -0.0383, 0.9986, 0.7513, 1.9617, 1.4605, -0.4614, 0.5106, 0.1791, 0.0129]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1348 left_yaw=0.0027 left_pitch=-0.2235 left_roll=0.0007 left_gripper=0.9986 right_x=0.4163 right_y=0.2756 right_z=0.1071 right_yaw=0.2117 right_pitch=-0.2433 right_roll=-0.3033 right_gripper=0.0129\nstate[joint_eff]: [-0.0068, -1.0735, 7.0085, 1.4969, -0.0464, -0.022, -0.0122, 0.0205, -10.2496, 7.4051, 1.8437, 0.2564, 0.0024, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50d03d3dc285fcd5738cd815771bf253950afe178ec6d011564db2d30e8662a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d110f0251020f72dbd0c584e160f357ee65032689bd6688e697a797a07dd657e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3374f7d64cbd0456d96a221c1104cd36a0a87885cfb21fa78fa90ca7069399aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T7vEmqPS36Df4ur9H1twf6",
      "input": {
        "note": "Bear is inside the safe opening; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01T7vEmqPS36Df4ur9H1twf6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6064, -0.5892, -0.0189, -0.0383, 0.9986, 0.7521, 1.9621, 1.4506, -0.477, 0.5064, 0.1745, 0.9947]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1342 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9986 right_x=0.4119 right_y=0.2729 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2681 right_roll=-0.3171 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.2376, 6.8171, 1.5263, -0.0806, -0.0464, -0.0122, -0.2393, -10.5778, 7.2137, 1.326, 0.2076, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ce14afbd0b3b5a6e99a7f532561fbc0ad42d69c99bb97be6d8c7f5df42306e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b3a432d326fe678c729831104f555c87b62cc750cca5b441cf6e314d8af4331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0c25531c42f4f1a19b644ac85acc6ffbaa3cbcd0a0c009f2258ebd7b3f651401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 5.196 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8207, 0.6064, -0.5854, -0.0189, -0.0387, 0.9986, 0.7517, 1.9282, 1.6684, -0.6048, 0.519, 0.1822, 0.0123]\nstate[eef_state]: left_x=0.2643 left_y=0.0019 left_z=0.1349 left_yaw=0.0029 left_pitch=-0.2231 left_roll=0.0005 left_gripper=0.9986 right_x=0.4297 right_y=0.2866 right_z=0.1845 right_yaw=0.2143 right_pitch=-0.1553 right_roll=-0.2556 right_gripper=0.0123\nstate[joint_eff]: [-0.2803, -1.3744, 6.8171, 1.6484, -0.0562, -0.0464, -0.0122, -0.4855, -10.5368, 8.2393, 1.5507, 0.3248, -0.0757, 0.2369]",
      "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, 0.8207, 0.6064, -0.5858, -0.0189, -0.0383, 0.9986, 0.7513, 1.9617, 1.4605, -0.4614, 0.5106, 0.1791, 0.0129]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1348 left_yaw=0.0027 left_pitch=-0.2235 left_roll=0.0007 left_gripper=0.9986 right_x=0.4163 right_y=0.2756 right_z=0.1071 right_yaw=0.2117 right_pitch=-0.2433 right_roll=-0.3033 right_gripper=0.0129\nstate[joint_eff]: [-0.0068, -1.0735, 7.0085, 1.4969, -0.0464, -0.022, -0.0122, 0.0205, -10.2496, 7.4051, 1.8437, 0.2564, 0.0024, 0.0513]",
      "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, 0.8207, 0.6064, -0.5892, -0.0189, -0.0383, 0.9986, 0.7521, 1.9621, 1.4506, -0.477, 0.5064, 0.1745, 0.9947]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1342 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9986 right_x=0.4119 right_y=0.2729 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2681 right_roll=-0.3171 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.2376, 6.8171, 1.5263, -0.0806, -0.0464, -0.0122, -0.2393, -10.5778, 7.2137, 1.326, 0.2076, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ce14afbd0b3b5a6e99a7f532561fbc0ad42d69c99bb97be6d8c7f5df42306e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b3a432d326fe678c729831104f555c87b62cc750cca5b441cf6e314d8af4331",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 173):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c25531c42f4f1a19b644ac85acc6ffbaa3cbcd0a0c009f2258ebd7b3f651401",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1wcKEAgSGAI4AUIIdGhpbmtpbmcSDMGdejHsripxsgnnlRoMRs8TXDXBY8o39mxRIjBR8lQUqCb3+73GeLcBss6uYT7Mz5nzcAb34qBHixEhUjzaVXqnnp745g8ATVKmCQsq9Aam/tAIUH/XgUmGVnI4EiOsWaOFF0dx8mcz9qNw2mtXCm7xH0feyD7C70wOT8zE9RFtvk3wDSX+Tqo4LkyZE2O1+Kh26CnJcnJCwdpcN3fpxtPJ34fWIYdqYCs6CYbRLxqVfvhyeY/9UaREwsKrRAJ9p6zI5hdroBpQXYNnWmHGkysRADFb+GMCR1WTyURChmfl7lVuSlf4oOPrHNxdUzPR5FxRguRk4A5JVb4epVa5zK/pBODTtETEi0rpOtAUxot7j5EL1QDF0E7BoJpWimCGhjFIGyJShg3gn+lCgjUO5lvTOKtKTvlJaco4TB5hP8GWAYQWDIwlLIvvkEdZWVCdOI7uDohn60muEZJ3anXLlNNNQbyPs4Qn37PKdqCbM7pm+2tZkqX9SvKr1G0JCuR4GjT4GuuuXkyvrKnKDhAdC5RyACThNokTqC9PCilLjQaE1fMGDeRMlcGOaofKLkuVi+7AWTRa1iE8+nU/82AUeHq0QOXZK0LpBU6sQXkJx9fV4R+v11aIkgLfDpCUNOEE6LjFchEp3P0SH9PcFVHbPnuni4594ZrPRfXLsm8GGeSnoFGtJArr6tp2R8mRbnH57h0JBDkRSQOW3bT/9IJIxr9/4f+Xk6CoeZwPT4Ybl2XH2TZPxeIQD6QfcFZT8b0XWyqh+zKLvaxMoRzFsOE6MM9rxPr1y2bmkD6Os8AAj5MlXNoohHECdSI5ruEgZexIMH5NscXKPNwRxkqM3P7P/NY1eeAeCJ6DvU8jfoxBJwD8YqgEZCFpmjPGy/Jek7+C9gD41cCZpj5+kbPnKUkvlfRAY/eVgXjNKAtnROQK6jORqv9YjWGU1cHomyhmMdPKX1FadX2Op+p0CeVyRQxe1fKw33um4ivun9fUNIpsc2mS1ZJX3FwSKgLCQbWuB+gL65zrYaU+yOcLdc3V3MJkz+q0TvROAK9oUYYSPb8x65yJNIrsjHl31flWTSpaTgQCQZtUPu9TpJ40I/BODA3sWskLOCDKo40r6ItZJTFbRf49dd1fwzwZ1kIKfhcNHBNDmPDYsKfvH20XNBujZzHkOnImC4i7FJPa4fAb6PpR2faDAk8YDVmCGgExr1zP/c6lkWZnDEes+OwFBn5ki3jlksQP625JDcUvEr8nyen2qHp/9fXmlut8tSBQ1CBTBgZfmAabaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qb793CW4grWPCqoCdnfekc",
      "input": {
        "note": "Brown bear released into the safe next to the lemon. Retracting the right arm up and out of the way.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_yaw": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Qb793CW4grWPCqoCdnfekc",
      "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, 0.8249, 0.6064, -0.5926, -0.0189, -0.0387, 0.9986, 0.308, 0.9188, 0.8127, -0.5373, 0.2745, 0.1696, 0.9953]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1326 left_yaw=0.003 left_pitch=-0.2345 left_roll=0.0007 left_gripper=0.9986 right_x=0.3012 right_y=0.0494 right_z=0.2117 right_yaw=-0.0202 right_pitch=-0.0262 right_roll=-0.0203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.2103, 6.8171, 1.5165, -0.0806, -0.0269, -0.0122, -0.1299, -2.0581, 6.9949, 2.1758, 0.1197, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d06bdd95a2aba7fb12ea966f0f4651a697d9bf25ae935a98f6db9c743f129aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38758afa405a28850834c35f7710e6043a80f972321d3a3db0a54e8ed111c890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0044e7aa84291c42679404c94d9909c0678eb238ac27609b0e6172c1ff1556b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.665 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, 0.8207, 0.6064, -0.5858, -0.0189, -0.0383, 0.9986, 0.7513, 1.9617, 1.4605, -0.4614, 0.5106, 0.1791, 0.0129]\nstate[eef_state]: left_x=0.2642 left_y=0.0019 left_z=0.1348 left_yaw=0.0027 left_pitch=-0.2235 left_roll=0.0007 left_gripper=0.9986 right_x=0.4163 right_y=0.2756 right_z=0.1071 right_yaw=0.2117 right_pitch=-0.2433 right_roll=-0.3033 right_gripper=0.0129\nstate[joint_eff]: [-0.0068, -1.0735, 7.0085, 1.4969, -0.0464, -0.022, -0.0122, 0.0205, -10.2496, 7.4051, 1.8437, 0.2564, 0.0024, 0.0513]",
      "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, 0.8207, 0.6064, -0.5892, -0.0189, -0.0383, 0.9986, 0.7521, 1.9621, 1.4506, -0.477, 0.5064, 0.1745, 0.9947]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1342 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9986 right_x=0.4119 right_y=0.2729 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2681 right_roll=-0.3171 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.2376, 6.8171, 1.5263, -0.0806, -0.0464, -0.0122, -0.2393, -10.5778, 7.2137, 1.326, 0.2076, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5926, -0.0189, -0.0387, 0.9986, 0.308, 0.9188, 0.8127, -0.5373, 0.2745, 0.1696, 0.9953]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1326 left_yaw=0.003 left_pitch=-0.2345 left_roll=0.0007 left_gripper=0.9986 right_x=0.3012 right_y=0.0494 right_z=0.2117 right_yaw=-0.0202 right_pitch=-0.0262 right_roll=-0.0203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.2103, 6.8171, 1.5165, -0.0806, -0.0269, -0.0122, -0.1299, -2.0581, 6.9949, 2.1758, 0.1197, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d06bdd95a2aba7fb12ea966f0f4651a697d9bf25ae935a98f6db9c743f129aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38758afa405a28850834c35f7710e6043a80f972321d3a3db0a54e8ed111c890",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0044e7aa84291c42679404c94d9909c0678eb238ac27609b0e6172c1ff1556b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQkKEAgSGAI4AUIIdGhpbmtpbmcSDFLZKJTaLXEPxNJWyxoMjk0hbJ5dyeNnKCfIIjAqntUp6MC3z93GWfOgt4/fuMtmIbDC/DogUT0gK2ftt2PbiXoSpS7QTUbC0kxbn0Iq5ggpwj/pzaHWoc/meQcUzfVLqR4Du5FeofkMbBKlLTVZarB7H1ki/x4qrinOCvtuNS0wBL29oJ6u8SkIb2cs6JFEkdWXdpIzN9eCRwTcwbe8HmVvyd1VLuC5z22sAzsuwSjzF0rKs1FdmqRSbLeI/xFcSgmHyIsS2407b5gjyKhTH80f3ttFbpbeq2MyZHZC3QIMwEubQM4AtkoZmaIPlGQodZStzbEdad9BM7/3xUZZ10PWn7PwYa+szRynKsA0v87bE0KGDNtzX0Nl3Z5bWShSPGBg3pj12O3QWK9iiIetOIeve6R8p1G8x9NVGXwQq/SwEG2gC5XL6GGaTDXhURgazb7CpJp9hY2PvDNwiT/5D90j1iuO8mZ+9lV5miOdvVp3Dpp+S9Ii6dIK6OmkHhZIcJVdjNTlev8B5SP7Q0K3mhE1QMmJ0Avbq2O5Kjlon4Wq4v1NI/bmCbvWimGNtMhI35iTJlgWtNX+RnT+E3CKae/BHbOr78DrGcSN2RY4D1nn4XQynCvluUmMFZRp/7sAMLx6EMiBDOyOcuf1vFBttsq/2/OlPClc9QL150u2dsDZ+CAf7PxKtKmUV/hh39FVxd6XI8mKhLeLfwZTikIadoAMwhomJjlaLHf0a1V8Shq15OiGiWKfggVwiBcieGwGPc3DgTRNGi7xiOK8XkCmwmOqEB+6fUHwskPt14+pluwiotn5u6Ot2ztob3GsNl9RIl3NVLsIfc8cZwbOwQRJheUzKnRtd6y69Fotk2z+jsWZXV2YCK5yHSy+UWq4DX5AeeidDb4sl3+up5UZouBf1CSlGhrzY3IKhKcGePoaMnOAH0O38V6FzxvSyW6iJtmS8yXBCLTOBIgREohXd2IXNCBVA2d84ykazNFvstKDlvxjeBcE8MD+XsfcGTA80W979Loluo7eyOKGgkyi4JVSx3DnXWqSyu9TdVJRfCi1YP29vQyM1+9zPBJqGj4sFcoWTgsS+6pY3Whj5jpO0z+9tzPmgg36eCcy3/oHZg1t6U3NhUe39hIVJ0ThlAdGqI3ctJupu2UaAqDNCvjmfgWlXwBNFusCnzF9BldBJkZFGFO6vas1HA7rh8XVPt15zB2YOAAu3x9pANJSsS7ra07QC55gKyhfl5Ls7P8Y2QbMg/CyHF8WXNYc2eTPAT32Hm+W+D1YLGmgxeHFGUo00uEkgQyFK6n1aRer48OE7RRBeSYG1y8qDDP2pgVDjrblkkOeRlsGxEO4LwjA2IXs7oRH4ZmloORv55J9vrOtlXHnKjfrRtqfNQxiDnurS+hhgzl0wxkm5AtBcJPtcPyEShEXggMu4O//rS03fKjH6gUaUdeNSBR4sxhTV0VEHhTkeQj/WgbhLuffBkRbkkGFwL+T2Kj1uUPZ8mh4AwH8yMCc5xDKcZdfXr6pqrf1hEYeRCvst9IIedGq5HpItSZjeHIB7xaq08UJaXW1bm8hKwUzHnC7buO52d8HqLoN0/ye2YxUkNwT20dvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X2Aprtv86DQm9pK2rR3ax7",
      "input": {
        "note": "Two objects now in the safe (brown bear partly bulging over the front). Moving the left arm above the beige bear.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.17,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01X2Aprtv86DQm9pK2rR3ax7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5995, 1.5738, 0.8295, -0.0212, -0.4744, -0.3912, 0.9986, 0.3073, 0.9249, 0.812, -0.5762, 0.2573, 0.1604, 0.9954]\nstate[eef_state]: left_x=0.3824 left_y=-0.1593 left_z=0.0969 left_yaw=-0.0087 left_pitch=-0.0882 left_roll=0.0341 left_gripper=0.9986 right_x=0.2959 right_y=0.0505 right_z=0.2018 right_yaw=-0.0026 right_pitch=-0.0731 right_roll=-0.032 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -6.7897, 8.9504, 1.7753, -0.4127, 0.0855, -0.0122, -0.0479, -2.4684, 6.9128, 1.9707, 0.1783, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf035a59b643635144b2326de751b2540dd8a3f0f336a10a19997e250086c851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923a538b29fda176d213cec62d28752ea6b1a77147285be86eab1bddec388f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6dec6586611f63102d24b90a572854319a196d907cc1778927db328b915551c8",
        "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 · 3.125 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, 0.8207, 0.6064, -0.5892, -0.0189, -0.0383, 0.9986, 0.7521, 1.9621, 1.4506, -0.477, 0.5064, 0.1745, 0.9947]\nstate[eef_state]: left_x=0.2636 left_y=0.0019 left_z=0.1342 left_yaw=0.0027 left_pitch=-0.2269 left_roll=0.0008 left_gripper=0.9986 right_x=0.4119 right_y=0.2729 right_z=0.101 right_yaw=0.2147 right_pitch=-0.2681 right_roll=-0.3171 right_gripper=0.9947\nstate[joint_eff]: [-0.1026, -1.2376, 6.8171, 1.5263, -0.0806, -0.0464, -0.0122, -0.2393, -10.5778, 7.2137, 1.326, 0.2076, -0.022, -0.1197]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8249, 0.6064, -0.5926, -0.0189, -0.0387, 0.9986, 0.308, 0.9188, 0.8127, -0.5373, 0.2745, 0.1696, 0.9953]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1326 left_yaw=0.003 left_pitch=-0.2345 left_roll=0.0007 left_gripper=0.9986 right_x=0.3012 right_y=0.0494 right_z=0.2117 right_yaw=-0.0202 right_pitch=-0.0262 right_roll=-0.0203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.2103, 6.8171, 1.5165, -0.0806, -0.0269, -0.0122, -0.1299, -2.0581, 6.9949, 2.1758, 0.1197, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5995, 1.5738, 0.8295, -0.0212, -0.4744, -0.3912, 0.9986, 0.3073, 0.9249, 0.812, -0.5762, 0.2573, 0.1604, 0.9954]\nstate[eef_state]: left_x=0.3824 left_y=-0.1593 left_z=0.0969 left_yaw=-0.0087 left_pitch=-0.0882 left_roll=0.0341 left_gripper=0.9986 right_x=0.2959 right_y=0.0505 right_z=0.2018 right_yaw=-0.0026 right_pitch=-0.0731 right_roll=-0.032 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -6.7897, 8.9504, 1.7753, -0.4127, 0.0855, -0.0122, -0.0479, -2.4684, 6.9128, 1.9707, 0.1783, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf035a59b643635144b2326de751b2540dd8a3f0f336a10a19997e250086c851",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:923a538b29fda176d213cec62d28752ea6b1a77147285be86eab1bddec388f9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6dec6586611f63102d24b90a572854319a196d907cc1778927db328b915551c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmQcKEAgSGAI4AUIIdGhpbmtpbmcSDIxmHAd4YQl7IvYldRoMW/gmTQmscuss5kMGIjBNltDrNJyjkjCqFV+CLk8JcJKmmJkTOh8e/HfbxDb94Jci2h+Vo4HUXIU4cIx45AQqtgYNQoLhwoONr75vrnJtK100geGy4+4WHw72PNr97pY7bMg4qQ6uq8M7uf8T5fng8xLwXwQAE9Dobf+BYdeIITKix7NHXVsXSrY094G+NxQYxCaQOj/gf8yRDCXe9baRNIJJ7+QkhCDWNvZD4Ngs/02hGs9jK4J1eoLSrNiZ/Qsp6lMQycSdRjuz3ZQkOYjmPA49QmhVMY+yWRHHHQqJc50rr3rYiknuRvFnbshQPFJbnk17FeHZhMZJjDzI6BBJT57fSSe+Wc3VPnt6h/isUfazNIW0NiduCgqIaL7y0JtMk6PhIwWYixl+prlCJZu9v9Z+SRZK4P/bfpvqZm7uTYk9x3h25+rX1RWQYZdFVwukr+7KWREyrFkDLReWEx58zfkVA05vzIv/pqvJCEkqBsWZlBYOk6zD2HHsVtqLufXGAihNeK0R2Lj0X4UInBrfaW/d9SJZTV9Q2qM32FQDfmmllnqo7GeGO774urlivvKJrTpezqj0jun50hCdm0x2HJXJwsFP/Va0cuJkYwfDNX3A+qU7Ze8LCTIEkEiECzW+/K4Y2ErTazoqArgx0YHMkPnYHSIi3Wx9/1AVF/EezOLfqp+VDs69IgqUIn5nDYcQM5gWnPucgXeq61Y2skcw1G8kiGdtEWT4/dX7+tB8aj1cGGf+K/t8jadCAQNDFyipDzieH8ZQIXLwFOT/9Y7C0axBdKqld1DNIY+XcfVaGwrzwHfjD32Qi3tf6GPr7oB/XAVxAj94rg9CjW5FrrPzNwvKVz0fyfjPbUeM2avY9dPQvpdkjt9NwLZr+LjMBlx43/In6KLciwvIHGnyigfBJAr4DHoaG/8sAETOa1sKX+1BJZSRz+HTSWeuF9EYdYp3fa1gXMKqIewX+VlwQExNirqo6cJmuwFaWkLrsBeUyUSnMyASbpj2njrssp3WR5TBjd9/xMK7Y9NBnZrFn/F12JD2x6opWdaUA/49M6GQcy0qs+kEbCh3GqWrugdHP8Bw7EOtlA2WtbBFV1Jlcc9xb+PlxDtioj86Wd4i3wA1tOULlcKNJPjWOWEyCW25Eg0uDkm1+GkhGpGxkElQnBQE3yHhV6sjXWUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G6r7DhmHBCtjBuLxugiV82",
      "input": {
        "note": "Beige bear is centred on the jaw column slightly ahead; advancing 2 cm and descending to grasp.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.16,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01G6r7DhmHBCtjBuLxugiV82",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5667, 1.803, 0.7792, 0.1932, -0.4583, -0.3752, 0.9986, 0.3073, 0.9276, 0.8112, -0.6125, 0.2527, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0223 left_yaw=0.0073 left_pitch=-0.1495 left_roll=0.073 left_gripper=0.9986 right_x=0.2905 right_y=0.0496 right_z=0.194 right_yaw=0.002 right_pitch=-0.1119 right_roll=-0.0439 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -8.2667, 5.3402, 1.7998, -0.1148, 0.0855, -0.0122, -0.1026, -2.1675, 6.8855, 1.9121, 0.0757, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f68f03f074ebfb5be24446ac645630b8714bd1a348c24b2c9aa8005cd740725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38bf4e8ecf3a4f3499e33c7237944fc9f75487fc752e61aa273fd1d9736923ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5acadfeeee63d2bbc6b49c32212cba06e84a6d130ce4c666dc78e62d2dde0302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.288 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, 0.8249, 0.6064, -0.5926, -0.0189, -0.0387, 0.9986, 0.308, 0.9188, 0.8127, -0.5373, 0.2745, 0.1696, 0.9953]\nstate[eef_state]: left_x=0.2631 left_y=0.002 left_z=0.1326 left_yaw=0.003 left_pitch=-0.2345 left_roll=0.0007 left_gripper=0.9986 right_x=0.3012 right_y=0.0494 right_z=0.2117 right_yaw=-0.0202 right_pitch=-0.0262 right_roll=-0.0203 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -1.2103, 6.8171, 1.5165, -0.0806, -0.0269, -0.0122, -0.1299, -2.0581, 6.9949, 2.1758, 0.1197, -0.0708, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5995, 1.5738, 0.8295, -0.0212, -0.4744, -0.3912, 0.9986, 0.3073, 0.9249, 0.812, -0.5762, 0.2573, 0.1604, 0.9954]\nstate[eef_state]: left_x=0.3824 left_y=-0.1593 left_z=0.0969 left_yaw=-0.0087 left_pitch=-0.0882 left_roll=0.0341 left_gripper=0.9986 right_x=0.2959 right_y=0.0505 right_z=0.2018 right_yaw=-0.0026 right_pitch=-0.0731 right_roll=-0.032 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -6.7897, 8.9504, 1.7753, -0.4127, 0.0855, -0.0122, -0.0479, -2.4684, 6.9128, 1.9707, 0.1783, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5667, 1.803, 0.7792, 0.1932, -0.4583, -0.3752, 0.9986, 0.3073, 0.9276, 0.8112, -0.6125, 0.2527, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0223 left_yaw=0.0073 left_pitch=-0.1495 left_roll=0.073 left_gripper=0.9986 right_x=0.2905 right_y=0.0496 right_z=0.194 right_yaw=0.002 right_pitch=-0.1119 right_roll=-0.0439 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -8.2667, 5.3402, 1.7998, -0.1148, 0.0855, -0.0122, -0.1026, -2.1675, 6.8855, 1.9121, 0.0757, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f68f03f074ebfb5be24446ac645630b8714bd1a348c24b2c9aa8005cd740725",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38bf4e8ecf3a4f3499e33c7237944fc9f75487fc752e61aa273fd1d9736923ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5acadfeeee63d2bbc6b49c32212cba06e84a6d130ce4c666dc78e62d2dde0302",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2wYKEAgSGAI4AUIIdGhpbmtpbmcSDBHF+xMc2X4bOTbLJRoM/6ztqRyRVODfogfOIjCXouFyDFkJ+prNj4MJ6gOoVX+BAKY9Xt1Yc7dWvhABxVODw49UndJL/G1MgWVRRnEq+AUc37bY0LkHKuWF6QyHf44yroKaXnBCMgx6GOUgQYIXRg/1stJjYzZxTZftYr+fbXxwgromk/7nQVxlGPvJRvpnLN47oZaEEch5eAMenbxjI3B4HMQkTAc4Zlu7IsNqRgV7R4+r28c/Z8EvGWNkpExNmFPjmSLbMi52ham+zy4N9S8N/t7D06gt0aXMhQRbrQYjxENetQOEJzl2Czh6qgIzm6EMMEgAg2DXnRQUQQKXXbk8TLoiEaaCekgC8BoZ8J0CkNpX81WZDhxUfu4PXZzN6W48bTsf/prSDMXGTraSg3HTUbQZpsNnGa3LViKQHsTov487Mml8Gxw2dHkUB/dF8HN9WpZE7oOxmtveMcUoo5PuIzLOT3LanIF4v+jQst8FYNhDOXnGRyF1O9uXlyVXqBjQ5TsWwJiL7lDBla872mS4W9R86tVRxFgXiHeQmc41R7XSjoCx6lnP04smP9PpByFbYopphQu9eQ7M8p1iguB3u2e6ANHWBYjUrO1ayWJWJOJOGkGqdV2B2ynIgbGeE4Wzt3yV1beqNAu36bTV8yGyl3nKljlRuUxlonDlOYkoGAaHDMEx3pg1SQXM3XGQn5M0iYDCp5EPPYko5kwhc9gIKW2npGdsO8A+EDNUHXCaeI3jywjCSdtsFRJnMybO4RuFB10mXffHe6PK/DLcNlx8iLGBCOJn6q8vy2dwk+bJZ+67FidTN7xsKaBaBMpDhIY3vu7u2mwvz/zH2oWv4YryQNfAfNw7XzfQQwFbYakecWppDtK7rQu35REHlDM7oCmGk26yZg7iNE2NuzlcXrBG5IhNrX68OYVVTpTWC1c6WMdZjeNKppDDD1RiGrB4DpP1DtV7mC/PvfBOdhBnj2rX0MnGKwhl3DTkxCCbVyK7hHLqeZbS+t5sDSVRP3Iv97+NdLVUAQ2/EgCQgYWGPT522Y2RSTZXbcZIklgCjBMcu0VWkArbrvkvzhsw4tMltVP0pt7zwPoHPTLc1f/mTXwThePFHW5XGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Re8QUHtrWiyFDSJ569BuSm",
      "input": {
        "note": "Beige bear's body is between the jaws; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Re8QUHtrWiyFDSJ569BuSm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.564, 1.8229, 0.7769, 0.1875, -0.4614, -0.379, 0.039, 0.3073, 0.9279, 0.8112, -0.6357, 0.2493, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3902 left_y=-0.1496 left_z=0.0131 left_yaw=0.0169 left_pitch=-0.1714 left_roll=0.0875 left_gripper=0.039 right_x=0.2869 right_y=0.0491 right_z=0.1896 right_yaw=0.0039 right_pitch=-0.1351 right_roll=-0.0488 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -9.6889, 5.4632, 1.4969, -0.1734, 0.1734, 1.2869, -0.1026, -1.9897, 6.9538, 1.7558, 0.1148, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2fd5d9429edb58dbddd34c7db41161b937829f9e94804fb440acdd02420088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3febf77fdf772e765ac03be87c7d7c3d68d9f11636f5884cba7134346ec7138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a39fd7e63428c5866aa7a03b5a38c0660db4f1ee4d7337dbc91518a023accca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.945 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]: [-0.5995, 1.5738, 0.8295, -0.0212, -0.4744, -0.3912, 0.9986, 0.3073, 0.9249, 0.812, -0.5762, 0.2573, 0.1604, 0.9954]\nstate[eef_state]: left_x=0.3824 left_y=-0.1593 left_z=0.0969 left_yaw=-0.0087 left_pitch=-0.0882 left_roll=0.0341 left_gripper=0.9986 right_x=0.2959 right_y=0.0505 right_z=0.2018 right_yaw=-0.0026 right_pitch=-0.0731 right_roll=-0.032 right_gripper=0.9954\nstate[joint_eff]: [-0.3897, -6.7897, 8.9504, 1.7753, -0.4127, 0.0855, -0.0122, -0.0479, -2.4684, 6.9128, 1.9707, 0.1783, 0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5667, 1.803, 0.7792, 0.1932, -0.4583, -0.3752, 0.9986, 0.3073, 0.9276, 0.8112, -0.6125, 0.2527, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0223 left_yaw=0.0073 left_pitch=-0.1495 left_roll=0.073 left_gripper=0.9986 right_x=0.2905 right_y=0.0496 right_z=0.194 right_yaw=0.002 right_pitch=-0.1119 right_roll=-0.0439 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -8.2667, 5.3402, 1.7998, -0.1148, 0.0855, -0.0122, -0.1026, -2.1675, 6.8855, 1.9121, 0.0757, -0.022, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.564, 1.8229, 0.7769, 0.1875, -0.4614, -0.379, 0.039, 0.3073, 0.9279, 0.8112, -0.6357, 0.2493, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3902 left_y=-0.1496 left_z=0.0131 left_yaw=0.0169 left_pitch=-0.1714 left_roll=0.0875 left_gripper=0.039 right_x=0.2869 right_y=0.0491 right_z=0.1896 right_yaw=0.0039 right_pitch=-0.1351 right_roll=-0.0488 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -9.6889, 5.4632, 1.4969, -0.1734, 0.1734, 1.2869, -0.1026, -1.9897, 6.9538, 1.7558, 0.1148, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c2fd5d9429edb58dbddd34c7db41161b937829f9e94804fb440acdd02420088",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b3febf77fdf772e765ac03be87c7d7c3d68d9f11636f5884cba7134346ec7138",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a39fd7e63428c5866aa7a03b5a38c0660db4f1ee4d7337dbc91518a023accca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDF4vke1unz9yv9RJPhoMAqARpxL761I9cBu+IjCFmYYb++s2/jskqP8RR2C+TG+x70C7ESOsmKqPn77FYggJR6Od5UH4rr8AvKye/VYqpwd4t5mXduZZGPAsklFGUNSZlyXqvTAyb6kRlRL6Fhf3i2V/zFk6MLbOnFDPfQHK+gKjD2Nq8yDwS9jHODUr+JkcabFgwxSk2y2ti9PaIxrf/xpl+JBEiDSUpTaGBOKfdz7n28il7QXDxTA22Ax+BGQHccF+vUvUawt8wghhJciQ/DAoKwgOyaA8Bn3IvwPntwV/M16VvRgxIhR1ZBSLePxwCcv/ZWgur/2IZsQBsKV6b7W5nqxNjn4TiT5196acDPqzyv+D/TV3i8g/siWEhLgkRprnQhlRSkVaWAgTTeHr7iAj5UJAFepYXc/spkjdzgH4iHF/ZPtQc5eQGdYrElIO0eTlmzvyT8yLR4OJEhHDQWx4ZuWVpKLXcRBA/tJL7h8XNlUtwHj1qg2eqBHcI/RBVG730T0MkEpEumKZ8hV52IJt9iGZK3JZ6Z58+OSzBH3Y422X+MgX5nCqbmr1Wd2mV0KvB0JOiwJvEGTDYv6uSSs9z0MFGSS0FSuGawcLz9wk6fLWFQIRNCmmESbq/01nuAWRdqao52po/R0gkwohBHpv+ALEuSyx8Oy+twnbrRGRRIuPJJXgrVPfxWH3H/wAjr/XGhwhTtJZbyUcFRjDyLCa1Blf6oVlT5h8dC+kbdQzE1ivLvVLwLBfXAJqfXBg9hz7KV3Q6Xrd+iPf0M/QHYkdIaOc6RtmBCzp2ybA8hSUnqiaQom8NVzXjz4HsMd4IgIuCDoyBv8SjDQRkGEgET9w536+AdiUEJFiWq7nE2RjO60DO2tZtbkm0NUebag4YcBo5Bpe5kri/Z/Myc0hQWKzE2I/2QO/ywfisYKl4EtlKD/aO1VAWkJvMgTr3Ut1maPzfidFc6z2bM/9jcyBSgFRLPEsyaW+0dHHDg+/AH8IzlhzbG6C4dUVImsTCV0pbmZjqM/R9scn+IpKpfUMFldoQ7iVr/M+qcJDu5zXh/JT9vf3Q4Ib4LEXJ/I+Ev3TQbdLCkxNL/macWIp0A4TLu63LY0NBF/Vym26sAKyOED4z0K9lUxY+jLQyBJnFoBXN0pdzbPmQO7Nq88uYIw1FLfa4Q1wSnYSMqyi7j+cyhKJETmXFfWrtYLpEBY4y/OAO2hrjIyPY4t9wBbgt4+U0JX/pOynfRzWLRVx3eWagRI8SYtRb8uvVOAvIabfgjA4LhigLRmuQYF76hbcxb6RBoytmfsX0YWDdGVG2ESozF3/ZWvkJBlMs0jZGdeeaUp0RSXVWFXJBBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UxXRaNTJZ957HzZLFecGte",
      "input": {
        "note": "Close came up nearly empty; bear still sits ahead of the fingertips. Opening, lifting slightly and advancing 4 cm.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.43,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UxXRaNTJZ957HzZLFecGte",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5076, 1.8217, 0.9562, -0.0216, -0.4305, -0.3492, 0.9953, 0.3073, 0.9295, 0.8112, -0.6647, 0.2489, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4184 left_y=-0.1442 left_z=0.0414 left_yaw=0.0361 left_pitch=-0.2099 left_roll=0.1044 left_gripper=0.9953 right_x=0.2823 right_y=0.0477 right_z=0.1842 right_yaw=0.0031 right_pitch=-0.1643 right_roll=-0.0581 right_gripper=0.9954\nstate[joint_eff]: [0.5538, -9.7436, 8.4444, 1.5458, -0.1636, 0.149, -0.0073, -0.0068, -1.9077, 6.9265, 1.8291, 0.1099, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f91a30d66232fc326de55e049a0650c7a2d283d4a499c4df817dd102721963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9930310beb36674ad53226929ef323e2013eded1cf04fa0afdbde4f5de72e92c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8a10c420cd9af9de15111d114665d0ffe283a42a19c284ed51811f4d94773ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 2.937 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]: [-0.5667, 1.803, 0.7792, 0.1932, -0.4583, -0.3752, 0.9986, 0.3073, 0.9276, 0.8112, -0.6125, 0.2527, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3928 left_y=-0.1531 left_z=0.0223 left_yaw=0.0073 left_pitch=-0.1495 left_roll=0.073 left_gripper=0.9986 right_x=0.2905 right_y=0.0496 right_z=0.194 right_yaw=0.002 right_pitch=-0.1119 right_roll=-0.0439 right_gripper=0.9954\nstate[joint_eff]: [0.4034, -8.2667, 5.3402, 1.7998, -0.1148, 0.0855, -0.0122, -0.1026, -2.1675, 6.8855, 1.9121, 0.0757, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.564, 1.8229, 0.7769, 0.1875, -0.4614, -0.379, 0.039, 0.3073, 0.9279, 0.8112, -0.6357, 0.2493, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3902 left_y=-0.1496 left_z=0.0131 left_yaw=0.0169 left_pitch=-0.1714 left_roll=0.0875 left_gripper=0.039 right_x=0.2869 right_y=0.0491 right_z=0.1896 right_yaw=0.0039 right_pitch=-0.1351 right_roll=-0.0488 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -9.6889, 5.4632, 1.4969, -0.1734, 0.1734, 1.2869, -0.1026, -1.9897, 6.9538, 1.7558, 0.1148, 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 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5076, 1.8217, 0.9562, -0.0216, -0.4305, -0.3492, 0.9953, 0.3073, 0.9295, 0.8112, -0.6647, 0.2489, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4184 left_y=-0.1442 left_z=0.0414 left_yaw=0.0361 left_pitch=-0.2099 left_roll=0.1044 left_gripper=0.9953 right_x=0.2823 right_y=0.0477 right_z=0.1842 right_yaw=0.0031 right_pitch=-0.1643 right_roll=-0.0581 right_gripper=0.9954\nstate[joint_eff]: [0.5538, -9.7436, 8.4444, 1.5458, -0.1636, 0.149, -0.0073, -0.0068, -1.9077, 6.9265, 1.8291, 0.1099, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64f91a30d66232fc326de55e049a0650c7a2d283d4a499c4df817dd102721963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9930310beb36674ad53226929ef323e2013eded1cf04fa0afdbde4f5de72e92c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8a10c420cd9af9de15111d114665d0ffe283a42a19c284ed51811f4d94773ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwcKEAgSGAI4AUIIdGhpbmtpbmcSDIIjVpdbnQXjp/P0+hoMKXcymZmCtLVehPOPIjBJduJZICAEAt0UEVntRmspFBxnFCyztHYlRKymkEIoV72RIDpNOmdPsQjxLzGNragq7AZihHJcHNubn+c45u0B24ZQBEtypoi/bIhLRAN45bfvhlKu0jWl6d6atsl3ExjBeOw0Mkhly5aA2+sX5VGf9oTp0TZy7sR7ayOu52kQBLaleXf0yTjYUUv+Kq8BdXKhS7KfbpqTXCTAt6oygWQfbl9JEyxuGaQhgzSGFYxK+cgNJqAnMYjqYxiY67C7ymErAShLQzdcEfa4xDtos9sSR6kVfMvlFwNZcCkqWn03xO8FZb3/ClWBjv93aB5b6/q5Tdmds1GbzF3yqlQGk5wWXKzBKAt8ZtNAWnd0+kR06F+9L2xSSGPZv5WqBmzzW/sojnaYclJ//8QQ6T95IHr4YbRr7lOeZw6BBHqZo/fcQtHbhxYNmYIvU8XgOFdmIEl0zoB/ZWlqj/l5ePCbs/tSKLPw0Cr7Bea/48eQC4gEkLCjV9Xjh5embz+LhTtYFjQk+JFOX+OAMh/yRF6bQzoxYQq2Zkmd29sdUspt4CtfrPT3GDFsat9KZji4dFrWH7+WlVMZ3h8kPf2Z1nmZ9SKqOHnk+Z6kl+e4uLvjtjUofsXyoSGE7nvRAE3fZJr9uB6fk9QNoXVx+kcUhOZYkQbUC/g6ZbW/v/6EPPgYJv1r5SJDGRiyMSW6hDZ/ltQ9Pn7r/j9jt+XEQRPsKclOP1W0w8NTA9ZJfhv5o3O6TXcm2aFtqSP0WajvE2SRMK6o4QY4Hm6V3h5iCV37VYU44O651P49fvaIYsOO96i53rL1s1rq7eAriW/3shj88Dn9UdguwyL5lMoLApph0ZF6axOXXWBjeKgz662BiPJYRlVE4hl3RZLhk3iaTcCCBDwxSoYkrUHq0YFC3yB6otGnBM9hKbFQcwuawJ0mr2d0P9J1f0F4QZBporALel8+tzu/tOzsKYy4h4id7iSkEszvmMd4g5K0xaYi2YpWmElLYDHKHmkLRCMJTx60ARf5GsM06fqJNh0lVvps6bfj57Be26x9QETcpDtxq65nmK/91ug5O5INzwxq4S+NS/yghymIVMMRgkNGAd0mWJbJljrmd+JYGjSGEajXlms9yna1clU6BjJQZFDhlm59mkk5bL1XgUnJIdUFXWuBSy9xqmsriw39OfrcjUh+F/tEgiOWsc1JTTI4qPx8RKZIok892yYfHYu+mMNV6PrvYTxrNgUHjkQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TueCUegCNekDuVyVzUbm7m",
      "input": {
        "note": "Bear now spans down to the jaw tips; descending for a second grasp attempt.",
        "targets": {
          "left_x": 0.43,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TueCUegCNekDuVyVzUbm7m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5011, 1.8595, 0.9676, 0.004, -0.4305, -0.3462, 0.9964, 0.3073, 0.9295, 0.8112, -0.6765, 0.2485, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4242 left_y=-0.1442 left_z=0.0333 left_yaw=0.041 left_pitch=-0.2107 left_roll=0.107 left_gripper=0.9964 right_x=0.2804 right_y=0.0472 right_z=0.1821 right_yaw=0.0028 right_pitch=-0.1757 right_roll=-0.0614 right_gripper=0.9954\nstate[joint_eff]: [0.8957, -7.4872, 5.6274, 1.4286, -0.0952, 0.0513, 0.1001, -0.0752, -1.9214, 6.7624, 1.7314, 0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80d90c10d84aef5471b875bf15336dafeb22c3db19c40434db710fb0c3473e1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce8a243ee55090a09fe60a35a835fbab24c9754c31138db5522c246f25daeb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbeef49a71273b6688e5a6e9a1af8e4577b5d64b1bdc91558aefa06841e71031",
        "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 · 5.235 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]: [-0.564, 1.8229, 0.7769, 0.1875, -0.4614, -0.379, 0.039, 0.3073, 0.9279, 0.8112, -0.6357, 0.2493, 0.157, 0.9954]\nstate[eef_state]: left_x=0.3902 left_y=-0.1496 left_z=0.0131 left_yaw=0.0169 left_pitch=-0.1714 left_roll=0.0875 left_gripper=0.039 right_x=0.2869 right_y=0.0491 right_z=0.1896 right_yaw=0.0039 right_pitch=-0.1351 right_roll=-0.0488 right_gripper=0.9954\nstate[joint_eff]: [-0.2803, -9.6889, 5.4632, 1.4969, -0.1734, 0.1734, 1.2869, -0.1026, -1.9897, 6.9538, 1.7558, 0.1148, 0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.5076, 1.8217, 0.9562, -0.0216, -0.4305, -0.3492, 0.9953, 0.3073, 0.9295, 0.8112, -0.6647, 0.2489, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4184 left_y=-0.1442 left_z=0.0414 left_yaw=0.0361 left_pitch=-0.2099 left_roll=0.1044 left_gripper=0.9953 right_x=0.2823 right_y=0.0477 right_z=0.1842 right_yaw=0.0031 right_pitch=-0.1643 right_roll=-0.0581 right_gripper=0.9954\nstate[joint_eff]: [0.5538, -9.7436, 8.4444, 1.5458, -0.1636, 0.149, -0.0073, -0.0068, -1.9077, 6.9265, 1.8291, 0.1099, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5011, 1.8595, 0.9676, 0.004, -0.4305, -0.3462, 0.9964, 0.3073, 0.9295, 0.8112, -0.6765, 0.2485, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4242 left_y=-0.1442 left_z=0.0333 left_yaw=0.041 left_pitch=-0.2107 left_roll=0.107 left_gripper=0.9964 right_x=0.2804 right_y=0.0472 right_z=0.1821 right_yaw=0.0028 right_pitch=-0.1757 right_roll=-0.0614 right_gripper=0.9954\nstate[joint_eff]: [0.8957, -7.4872, 5.6274, 1.4286, -0.0952, 0.0513, 0.1001, -0.0752, -1.9214, 6.7624, 1.7314, 0.0611, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80d90c10d84aef5471b875bf15336dafeb22c3db19c40434db710fb0c3473e1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bce8a243ee55090a09fe60a35a835fbab24c9754c31138db5522c246f25daeb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbeef49a71273b6688e5a6e9a1af8e4577b5d64b1bdc91558aefa06841e71031",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VzJoU6NNWaMAyqRwzqH2k3",
      "input": {
        "note": "Jaws around the bear's lower body; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VzJoU6NNWaMAyqRwzqH2k3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5014, 1.8847, 0.963, 0.0006, -0.4313, -0.3523, 0.1091, 0.3073, 0.9325, 0.8112, -0.6994, 0.2485, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4203 left_y=-0.1421 left_z=0.0208 left_yaw=0.0485 left_pitch=-0.2384 left_roll=0.1209 left_gripper=0.1091 right_x=0.2768 right_y=0.046 right_z=0.1775 right_yaw=0.0011 right_pitch=-0.2004 right_roll=-0.069 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -11.1521, 6.0103, 1.3309, -0.1636, 0.0366, 0.7692, -0.1436, -2.1812, 6.7487, 1.6874, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4648f8a0720347e22f7ed9a2c5e99c1726c6637233e0544ad4919f67fb0a4fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f22a36b9f383f9d737b1660bc1830666f0c7ff9b58c90cb7ee2bc2b8a96b113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f63c053fdc8ce822b6c142ff97edd38aede22bf6b4341c1aa820deacba80a8c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 3.662 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]: [-0.5076, 1.8217, 0.9562, -0.0216, -0.4305, -0.3492, 0.9953, 0.3073, 0.9295, 0.8112, -0.6647, 0.2489, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4184 left_y=-0.1442 left_z=0.0414 left_yaw=0.0361 left_pitch=-0.2099 left_roll=0.1044 left_gripper=0.9953 right_x=0.2823 right_y=0.0477 right_z=0.1842 right_yaw=0.0031 right_pitch=-0.1643 right_roll=-0.0581 right_gripper=0.9954\nstate[joint_eff]: [0.5538, -9.7436, 8.4444, 1.5458, -0.1636, 0.149, -0.0073, -0.0068, -1.9077, 6.9265, 1.8291, 0.1099, -0.0513, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5011, 1.8595, 0.9676, 0.004, -0.4305, -0.3462, 0.9964, 0.3073, 0.9295, 0.8112, -0.6765, 0.2485, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4242 left_y=-0.1442 left_z=0.0333 left_yaw=0.041 left_pitch=-0.2107 left_roll=0.107 left_gripper=0.9964 right_x=0.2804 right_y=0.0472 right_z=0.1821 right_yaw=0.0028 right_pitch=-0.1757 right_roll=-0.0614 right_gripper=0.9954\nstate[joint_eff]: [0.8957, -7.4872, 5.6274, 1.4286, -0.0952, 0.0513, 0.1001, -0.0752, -1.9214, 6.7624, 1.7314, 0.0611, -0.0708, -0.0122]",
      "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]: [-0.5014, 1.8847, 0.963, 0.0006, -0.4313, -0.3523, 0.1091, 0.3073, 0.9325, 0.8112, -0.6994, 0.2485, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4203 left_y=-0.1421 left_z=0.0208 left_yaw=0.0485 left_pitch=-0.2384 left_roll=0.1209 left_gripper=0.1091 right_x=0.2768 right_y=0.046 right_z=0.1775 right_yaw=0.0011 right_pitch=-0.2004 right_roll=-0.069 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -11.1521, 6.0103, 1.3309, -0.1636, 0.0366, 0.7692, -0.1436, -2.1812, 6.7487, 1.6874, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4648f8a0720347e22f7ed9a2c5e99c1726c6637233e0544ad4919f67fb0a4fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f22a36b9f383f9d737b1660bc1830666f0c7ff9b58c90cb7ee2bc2b8a96b113",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f63c053fdc8ce822b6c142ff97edd38aede22bf6b4341c1aa820deacba80a8c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzQkKEAgSGAI4AUIIdGhpbmtpbmcSDDY+BiKUXKp/7ekqTRoMEjO/dvpmA1N8JsJtIjChquVqIFaXgdHO+JnsxgFGx9W1ZAE6TgCmTWMFnhSsQ2GxRJa2Dd8LFj73jYz3f08q6ggj0J7bsW6aHjuTH2ips+nTlJotZM1wg7d6MpBRp0r0GuGNHiRlk5o9we8KYmmP06bLENSMuk8QFGDt7SbSO243IfSqu25Zu1j1pvvuN9/rlAGKEj6vk4bL3MQHkUvKCbOFtMMz/EV8RMYF7AirWoloQcSR8whjbE7XWjiMl8paEuhGxlaFD7EquFEuWoSiAr7kBq2YTEFUu3TBfqkkYrf+wX1KVPG8TAWrh4IBxL0QaWW3G8kK8t+dXPPJzlieZqMF6fpvsf002L+osLrHrs2ieCU9VShc3Ga1F+J88d/w8VAJUqk+N0KkizZeBuAl6Ah5WZOjHngnD8CmpKSLUKyZFEjCg0qYtWgDUlIF01HiJQzGPlWNGfAlXaLeuZRgk6GgDew3epzBpe76MTPnrfifCEtVcrRjgw4j5XcaMIWgOgc9IpsF+KiAe+3Fa+3OfyKyJcZECzBBtc9mEbsU2Qx3aO8IbKT2tFcSTfDuESDC5AhlXUEY08n6SZi3XspVVsWb8BRxT4ZGByXzbLMWUZqtqSK/4nDbyNI5wqT/mRtAAzWZ7fvCLTTFNuIwGRTQtX4gMn+YSXu4W53hV3YqL/ioHRgm5CIiFVLBbfXWCR8FKhWKJkxgVti8pw4Cr34+bgo12pU8sBxNIldyl0RzLnxfyww8oJqT/iTu47qBEiBSDXFWbGfDrN/+ZTZkR/15HLxB9oGIVBRcc/LLR5u9KrALvTAviDzRqjFDqYiVSHnKaof4ik0L2T7xftJrcoAHOT1xmjijbL1oSziRi/06E0Wvn7l2JaewKkPQO18ZGzF1oJQyvvcKgmL2pum6BK0cZtIMucyQ/CLkG6tFxcXHS8WJ+X7HKfF7vrp+vYEbQFySZcBYNLEuL5txUCHUEmge9uOsm5gnmfbRGkqxFNt1goHsm2vD0Wrbz07f+GZYNGUV+ptQJVukh74XFnKIVric9C6Oo/TVC9JzQnsAZSNCThFlvmhVf5HjR7/TxNOpj+Yf1e7zSuedTP1h7bw7phlTDuG7VIaTJbASfWYR7Ms08+xLinNukrhMqz9gv9WRX019jcP1NiBF+gJrQraqhsXiIgaQPHx299/4zivHqgEP43o0XBfygDwZagEl/EzIAnuY0kcJNhTVwZgdqeCPddFt/EKScUerx361TotOO3PyMxX9dx0iZkkV/EJ2Y/Bnw/c7/v7AwBk7NKEyPRu/RCmLT18SsMPgxvvn9KRAb/Ikxc5lmHLXK6TuyHxT4MGbFrJmnEnQSjNFeu1hwc+PCq2rKXWPlmseGJH2jU90f/T82Ut4MgIDLCbRoQR7dRB3aHUwzVXtcNkQpuPQ7CZ3DkA+CSti0QE6aeFuzwPhIlgfeW1XE5VhFihVOKDaQu8+dN+2hsZ+JJRMOPckYn470/cyb/rqqLF5YbM4ULeDLRgPvqmzFSvTswm3uDSTQ6bwHus6GednRFXoeka5kJpJvnJcjX4xsUD0EOtuvVutWTnZhXuxvgsVIaP7vpvNEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EdfNQftP3yvNg84CDGmYn8",
      "input": {
        "note": "Gripper settled at 0.11, bear's tummy pinched. Lifting to carry height.",
        "targets": {
          "left_x": 0.42,
          "left_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_01EdfNQftP3yvNg84CDGmYn8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5026, 1.7035, 1.4014, -0.6697, -0.4309, -0.3645, 0.1112, 0.3073, 0.9337, 0.8112, -0.7242, 0.2459, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.42 left_y=-0.1426 left_z=0.1678 left_yaw=0.061 left_pitch=-0.2807 left_roll=0.1399 left_gripper=0.1112 right_x=0.2725 right_y=0.0451 right_z=0.1731 right_yaw=0.0018 right_pitch=-0.2258 right_roll=-0.0754 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.5487, 9.5795, 1.4286, -0.2613, 0.0562, 0.2125, -0.0889, -2.0034, 6.7214, 1.7265, 0.0806, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4282488da6f66f308ca23058b96ca311046622e95a2048493c0231e93f23dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4b7f5b686ea0e8c6e5691eedb03049a6d7b0b67f486ad4a746d9dbfd73868c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b2122f8e5dab6430fc6a152cead9033c19cbe6a3f6d766abb87b8d8fcb92aca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.07 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]: [-0.5011, 1.8595, 0.9676, 0.004, -0.4305, -0.3462, 0.9964, 0.3073, 0.9295, 0.8112, -0.6765, 0.2485, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4242 left_y=-0.1442 left_z=0.0333 left_yaw=0.041 left_pitch=-0.2107 left_roll=0.107 left_gripper=0.9964 right_x=0.2804 right_y=0.0472 right_z=0.1821 right_yaw=0.0028 right_pitch=-0.1757 right_roll=-0.0614 right_gripper=0.9954\nstate[joint_eff]: [0.8957, -7.4872, 5.6274, 1.4286, -0.0952, 0.0513, 0.1001, -0.0752, -1.9214, 6.7624, 1.7314, 0.0611, -0.0708, -0.0122]",
      "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]: [-0.5014, 1.8847, 0.963, 0.0006, -0.4313, -0.3523, 0.1091, 0.3073, 0.9325, 0.8112, -0.6994, 0.2485, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4203 left_y=-0.1421 left_z=0.0208 left_yaw=0.0485 left_pitch=-0.2384 left_roll=0.1209 left_gripper=0.1091 right_x=0.2768 right_y=0.046 right_z=0.1775 right_yaw=0.0011 right_pitch=-0.2004 right_roll=-0.069 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -11.1521, 6.0103, 1.3309, -0.1636, 0.0366, 0.7692, -0.1436, -2.1812, 6.7487, 1.6874, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5026, 1.7035, 1.4014, -0.6697, -0.4309, -0.3645, 0.1112, 0.3073, 0.9337, 0.8112, -0.7242, 0.2459, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.42 left_y=-0.1426 left_z=0.1678 left_yaw=0.061 left_pitch=-0.2807 left_roll=0.1399 left_gripper=0.1112 right_x=0.2725 right_y=0.0451 right_z=0.1731 right_yaw=0.0018 right_pitch=-0.2258 right_roll=-0.0754 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.5487, 9.5795, 1.4286, -0.2613, 0.0562, 0.2125, -0.0889, -2.0034, 6.7214, 1.7265, 0.0806, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4282488da6f66f308ca23058b96ca311046622e95a2048493c0231e93f23dc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4b7f5b686ea0e8c6e5691eedb03049a6d7b0b67f486ad4a746d9dbfd73868c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b2122f8e5dab6430fc6a152cead9033c19cbe6a3f6d766abb87b8d8fcb92aca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+gYKEAgSGAI4AUIIdGhpbmtpbmcSDKZ8hbQzh+IAtTGJhxoMT/WsoBe3ejFwNXk+IjBp3s/0gf9hco8teaHJbB74LjtY1sTA4JlSXlO56SUewEv14kGZ2BJwzacuTNAvqBkqlwYWeCVGin8cCgy4y5ocOxvDxc/wSHO9Voy1r6MjjzSnXT5R8d7hir14bkGYhyblON6CpxRe46vPgAo0/xMnM+nwFD7vsLfcZGUJKpWza+3xUOrNHmzzgmLlPcgbqgc4ys9apJh0R0t/lBsJfAX3UrdZpICgo9a2vXdi39R5EhjtdQAeOBv3VtfOtAgMzCZ5sSbpQgbsLnCJtnJaKaJfyA1TGajU/w5zKROHlvHmGC7TeUeC9Dn2or9y2WNIPfNIobm26X2q44BBmsH1J+6KxxGPXyNS1fyCUftd47CSmwUqVCrKD9831rQSLNrNDH0tW22xODgshDGjYNi+Z04rJf3OKP2KRWmxccZI++OAZTxn1MRlngYmFmkJAxZa/QyJjMLcKsAZ3j5I2rZdSRK24VN15YgCVCoqB6G9PA6DvmvkXUn0g5mUT85ch829WlpQN4dc8dkPSw9K6xaqKrDgD7dhKB+hjaElFTkqXoOd8ZyU2soyAkfv0CLQTAK/ZMO4jP0W01YldtGyEc3JTSkEqlzIEv3uJtv0uLnlzE0i1gQnsiMgYz33HoqX5+AuUUzuaRl2BiYcXuYE1mX2KgcFDBCKywJJQNxfqjPJabTN4bOb9PbJJvGR47DynUl8RYI5QbTAjwrx9ESFfDT+SxEr1nZeYy0PM7U/MYf8W6jQoRTLYsBs2t64Z1fETYKpdktfSIDLCiqMSFyoxSKeKr8cWshO85rJAV542tIKI9CDz/R43rHfCS0dVVMF9b92kAWce1x3ZGwXOtEoH+7rIsk84h4p4tdpUwmsiK89qgN+MlCJCBHINpdUYaZ+ZEu3GlUjWvMpqOONku4bU7VdGKUI1GdDHvNbW5N9KGjx3cDRdLbOVKxwj1LwIttvsXDBatVAYYbUmDiQpogICwcgvmMBkcBH4b+TBNicdtksoLq+hY4f1cL/losyX7XcMl2nCzrJ+WzD5CVSJ+2FJeINKB5J+Nb6mAiJoa0Qk2OYbCgwlK0LEeoMf7KtkspfMWukvPHr9LumXPGYLWF1c0bD1R4aPS09V5Ob5BwawRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014XujhMK2ncCfv23XHnqbHX",
      "input": {
        "note": "Beige bear is held up. Carrying it over the back-left part of the safe interior.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.3,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_014XujhMK2ncCfv23XHnqbHX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7471, 2.3203, 2.4138, -1.1736, -0.5362, -0.6083, 0.1134, 0.3073, 0.9352, 0.8112, -0.7464, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4619 left_y=-0.3 left_z=0.1922 left_yaw=0.0492 left_pitch=-0.2904 left_roll=0.1182 left_gripper=0.1134 right_x=0.2688 right_y=0.044 right_z=0.1692 right_yaw=0.0004 right_pitch=-0.2484 right_roll=-0.0824 right_gripper=0.9954\nstate[joint_eff]: [-0.6496, -13.1897, 7.7744, 0.6227, -0.4274, -0.0366, 0.2173, -0.1436, -2.0034, 6.694, 1.6484, 0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2563face2370af03cc264a085d5e26700eff066817b9cb67ca2188896b69d4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b1dcc523344f304fda747ee0f9c28e6e532b29edf6333457cd4225b35db7f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:772b95e3f0f7387ec3d3af956d415c58dde653cc9ba42066989d044fb7a2d6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 2.937 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]: [-0.5014, 1.8847, 0.963, 0.0006, -0.4313, -0.3523, 0.1091, 0.3073, 0.9325, 0.8112, -0.6994, 0.2485, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4203 left_y=-0.1421 left_z=0.0208 left_yaw=0.0485 left_pitch=-0.2384 left_roll=0.1209 left_gripper=0.1091 right_x=0.2768 right_y=0.046 right_z=0.1775 right_yaw=0.0011 right_pitch=-0.2004 right_roll=-0.069 right_gripper=0.9954\nstate[joint_eff]: [-0.1436, -11.1521, 6.0103, 1.3309, -0.1636, 0.0366, 0.7692, -0.1436, -2.1812, 6.7487, 1.6874, 0.0611, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5026, 1.7035, 1.4014, -0.6697, -0.4309, -0.3645, 0.1112, 0.3073, 0.9337, 0.8112, -0.7242, 0.2459, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.42 left_y=-0.1426 left_z=0.1678 left_yaw=0.061 left_pitch=-0.2807 left_roll=0.1399 left_gripper=0.1112 right_x=0.2725 right_y=0.0451 right_z=0.1731 right_yaw=0.0018 right_pitch=-0.2258 right_roll=-0.0754 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.5487, 9.5795, 1.4286, -0.2613, 0.0562, 0.2125, -0.0889, -2.0034, 6.7214, 1.7265, 0.0806, -0.0659, -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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7471, 2.3203, 2.4138, -1.1736, -0.5362, -0.6083, 0.1134, 0.3073, 0.9352, 0.8112, -0.7464, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4619 left_y=-0.3 left_z=0.1922 left_yaw=0.0492 left_pitch=-0.2904 left_roll=0.1182 left_gripper=0.1134 right_x=0.2688 right_y=0.044 right_z=0.1692 right_yaw=0.0004 right_pitch=-0.2484 right_roll=-0.0824 right_gripper=0.9954\nstate[joint_eff]: [-0.6496, -13.1897, 7.7744, 0.6227, -0.4274, -0.0366, 0.2173, -0.1436, -2.0034, 6.694, 1.6484, 0.0317, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2563face2370af03cc264a085d5e26700eff066817b9cb67ca2188896b69d4af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b1dcc523344f304fda747ee0f9c28e6e532b29edf6333457cd4225b35db7f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:772b95e3f0f7387ec3d3af956d415c58dde653cc9ba42066989d044fb7a2d6af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgwcKEAgSGAI4AUIIdGhpbmtpbmcSDN7vxJFaxV3M2mmyQBoMCF5vqbQaKb7BupYSIjA4ibUfHtgx+9BJJath8y2DE+7PpQRkMdOtsG3yAeb0VxfIMpbQm6h3OJMPGik5iQUqoAYdZYPBaJwwgcq93Y9IOBUa4+/eKT096A/hqZ97z+OIQ/DsJIWuDgm0coELRCozK66R0VvmeKuFO+ny7nJZ+/Xa7UNjefHbtNWbKoeivvvO78AZ1M9KaMI3/aR9dKSkdVTPgE6rWvJgqI/0tXNubSuJ2wwDpWoVxMj06+OtpBwoeGtQNO914oLBwGyA9vL8ucWBp+bxUe0mimQgk4Hi9q0ehQR86hXo8qh/yH+4zecv60uRc/73BcjE2sfGgGmQFW2LX6eV1J+/xupzs/8gX7UiUoCm7AQq1WMFg48OkYX6IFIeSg9E92yHzZ0l4DsIXT45/GQm1/XgzKNoZZ501Y15fdbd6HVf8oLR12PFjRfw79c1FADDQsCNjlFKMfHnBVtLkKgn92vY7X+xtZzAa5qWHJKoExjySOevo0V1b5UMA8h6iTm6xtalQ0f9p2suqPsuKysVOctMYHlHp48nchqGA3vHlPDdNA/BlxmH0oqSCgYVxaaK6WWLk7CupImWq+HPyP6JuoNU3u98FzdY87qBOKr9P29vr/qs45OX+n7OAlVWktKyOLtOhbd0QoO54RxIhhOKL9c3Jy5XW8MPgV6GzFrofJKMbtq0EOuuC/DXCNhEQu0GzGAi8wJlsBI14uVkWRg2xr//Sj8Qy+ADHm4mnSBFb5qm0mkf/y5Ri/P1vdcUB8xY9XR6ssA8V/8y5wlyhzFUGVKhJ8Lihn1eiLE6m2kcjdif5mZh4CWQptnk0dDLGV85i5s5zOs/7s85YFMWqSUyyu0QCDXGERzOYwDMaclANOzlgmtUmE2Gip+rcQPEX5rF/UD7oijwtzPHuPo1lUvWpp4DIcxAgG4Q0huBV3PUct482ErIped8bReDHukfgf7Y3bo3krTWuSaAKBEfwRb4TbkQpQ8FVQPonCcGWgn7w+t70BmniznfdT5i83TSJjK2fLr2r7/mAvCmCgFwTFWQty3IZCGN+rXeZ1e8TpizEolLC/tCoD+Tpcjfm9Zbf957RzAzFEoq/U55lS6sKBHunVtSSmzxFEvpVs23jA24sXCx1MS1Ky68SOHNBBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CUynBkQ6ymgnbURVxBqf7U",
      "input": {
        "note": "Bear is over the safe interior with the lemon visible below; lowering before release.",
        "targets": {
          "left_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CUynBkQ6ymgnbURVxBqf7U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7494, 2.289, 2.064, -0.9611, -0.5282, -0.6113, 0.1155, 0.3073, 0.9356, 0.8112, -0.7559, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4507 left_y=-0.2928 left_z=0.1083 left_yaw=0.0698 left_pitch=-0.3687 left_roll=0.1919 left_gripper=0.1155 right_x=0.2671 right_y=0.0435 right_z=0.1677 right_yaw=-0.0006 right_pitch=-0.2579 right_roll=-0.0853 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -16.1436, 6.5026, 1.1893, -0.3687, -0.0171, 0.2076, -0.1299, -1.3333, 6.735, 1.5165, 0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e47d0881023ff23f54cba5d049b9fe53c1b01434f6b785b2c305f8d6a0158b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c5f638f83b3f7f37687f7c375a6d0db51eaf79b8b0d3464153fa8ef598b8533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:833a29c29b809edf195b122a181bafbb757b4b63a43ca4f34e089bbba907d7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 15.28 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]: [-0.5026, 1.7035, 1.4014, -0.6697, -0.4309, -0.3645, 0.1112, 0.3073, 0.9337, 0.8112, -0.7242, 0.2459, 0.1566, 0.9953]\nstate[eef_state]: left_x=0.42 left_y=-0.1426 left_z=0.1678 left_yaw=0.061 left_pitch=-0.2807 left_roll=0.1399 left_gripper=0.1112 right_x=0.2725 right_y=0.0451 right_z=0.1731 right_yaw=0.0018 right_pitch=-0.2258 right_roll=-0.0754 right_gripper=0.9953\nstate[joint_eff]: [-0.0342, -11.5487, 9.5795, 1.4286, -0.2613, 0.0562, 0.2125, -0.0889, -2.0034, 6.7214, 1.7265, 0.0806, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.7471, 2.3203, 2.4138, -1.1736, -0.5362, -0.6083, 0.1134, 0.3073, 0.9352, 0.8112, -0.7464, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4619 left_y=-0.3 left_z=0.1922 left_yaw=0.0492 left_pitch=-0.2904 left_roll=0.1182 left_gripper=0.1134 right_x=0.2688 right_y=0.044 right_z=0.1692 right_yaw=0.0004 right_pitch=-0.2484 right_roll=-0.0824 right_gripper=0.9954\nstate[joint_eff]: [-0.6496, -13.1897, 7.7744, 0.6227, -0.4274, -0.0366, 0.2173, -0.1436, -2.0034, 6.694, 1.6484, 0.0317, -0.0464, -0.0073]",
      "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]: [-0.7494, 2.289, 2.064, -0.9611, -0.5282, -0.6113, 0.1155, 0.3073, 0.9356, 0.8112, -0.7559, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4507 left_y=-0.2928 left_z=0.1083 left_yaw=0.0698 left_pitch=-0.3687 left_roll=0.1919 left_gripper=0.1155 right_x=0.2671 right_y=0.0435 right_z=0.1677 right_yaw=-0.0006 right_pitch=-0.2579 right_roll=-0.0853 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -16.1436, 6.5026, 1.1893, -0.3687, -0.0171, 0.2076, -0.1299, -1.3333, 6.735, 1.5165, 0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e47d0881023ff23f54cba5d049b9fe53c1b01434f6b785b2c305f8d6a0158b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c5f638f83b3f7f37687f7c375a6d0db51eaf79b8b0d3464153fa8ef598b8533",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:833a29c29b809edf195b122a181bafbb757b4b63a43ca4f34e089bbba907d7d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E7r67SEPRQFZ2gY3H8PCgD",
      "input": {
        "note": "Bear is inside the safe walls next to the lemon; releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01E7r67SEPRQFZ2gY3H8PCgD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7506, 2.289, 2.0426, -0.9657, -0.5282, -0.6151, 0.9952, 0.3073, 0.9356, 0.8112, -0.7696, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4464 left_y=-0.2897 left_z=0.1009 left_yaw=0.0784 left_pitch=-0.3859 left_roll=0.21 left_gripper=0.9952 right_x=0.2646 right_y=0.0427 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.2709 right_roll=-0.0896 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -12.9026, 8.1436, 0.9353, -0.3053, -0.0366, 0.0073, -0.1709, -1.8803, 6.8308, 1.5311, 0.0611, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa00484abff42d3de000caec74129e1bc1678641efad7184f3ff44522d6ddb72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ee1e0c9826b12b8033f99a64968c61b83a9ec0d505d2884617dabbb81589ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:447a5d6b526d8ca95301d8ab193a3ca1fb8a550be0842a66051dc28b1d157a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.853 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]: [-0.7471, 2.3203, 2.4138, -1.1736, -0.5362, -0.6083, 0.1134, 0.3073, 0.9352, 0.8112, -0.7464, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.4619 left_y=-0.3 left_z=0.1922 left_yaw=0.0492 left_pitch=-0.2904 left_roll=0.1182 left_gripper=0.1134 right_x=0.2688 right_y=0.044 right_z=0.1692 right_yaw=0.0004 right_pitch=-0.2484 right_roll=-0.0824 right_gripper=0.9954\nstate[joint_eff]: [-0.6496, -13.1897, 7.7744, 0.6227, -0.4274, -0.0366, 0.2173, -0.1436, -2.0034, 6.694, 1.6484, 0.0317, -0.0464, -0.0073]",
      "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]: [-0.7494, 2.289, 2.064, -0.9611, -0.5282, -0.6113, 0.1155, 0.3073, 0.9356, 0.8112, -0.7559, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4507 left_y=-0.2928 left_z=0.1083 left_yaw=0.0698 left_pitch=-0.3687 left_roll=0.1919 left_gripper=0.1155 right_x=0.2671 right_y=0.0435 right_z=0.1677 right_yaw=-0.0006 right_pitch=-0.2579 right_roll=-0.0853 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -16.1436, 6.5026, 1.1893, -0.3687, -0.0171, 0.2076, -0.1299, -1.3333, 6.735, 1.5165, 0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7506, 2.289, 2.0426, -0.9657, -0.5282, -0.6151, 0.9952, 0.3073, 0.9356, 0.8112, -0.7696, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4464 left_y=-0.2897 left_z=0.1009 left_yaw=0.0784 left_pitch=-0.3859 left_roll=0.21 left_gripper=0.9952 right_x=0.2646 right_y=0.0427 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.2709 right_roll=-0.0896 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -12.9026, 8.1436, 0.9353, -0.3053, -0.0366, 0.0073, -0.1709, -1.8803, 6.8308, 1.5311, 0.0611, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa00484abff42d3de000caec74129e1bc1678641efad7184f3ff44522d6ddb72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13ee1e0c9826b12b8033f99a64968c61b83a9ec0d505d2884617dabbb81589ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:447a5d6b526d8ca95301d8ab193a3ca1fb8a550be0842a66051dc28b1d157a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016QrzR4m1UQhJchiJETvXhP",
      "input": {
        "note": "All three objects are now in the safe. Raising the left arm high above the safe to reach over the upright lid and pull it closed.",
        "targets": {
          "left_gripper": 0.0,
          "left_pitch": 0.3,
          "left_x": 0.45,
          "left_y": -0.32,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_016QrzR4m1UQhJchiJETvXhP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8982, 2.0995, 1.9636, -0.5224, -1.0023, -0.3531, 0.0093, 0.3073, 0.9401, 0.8112, -0.7887, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4524 left_y=-0.3233 left_z=0.2653 left_yaw=0.0642 left_pitch=0.224 left_roll=0.2388 left_gripper=0.0093 right_x=0.2614 right_y=0.0417 right_z=0.1616 right_yaw=-0.0038 right_pitch=-0.2935 right_roll=-0.0971 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -15.3778, 6.6256, 1.7411, -0.4957, 0.3004, 0.9158, -0.1846, -2.2496, 6.9265, 1.5214, 0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed652d33e48ec17d00b870f766c369c0927359eabe0f55e24529591273fa5467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb4eabbe68db1b75909fd2da525ed90338cb897ca0d1d16dca51fdce72b668c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e6377eef8d912aa9eaa79e47e8911a69f461709a05bae41ea7050765cb6759a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 6.227 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]: [-0.7494, 2.289, 2.064, -0.9611, -0.5282, -0.6113, 0.1155, 0.3073, 0.9356, 0.8112, -0.7559, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4507 left_y=-0.2928 left_z=0.1083 left_yaw=0.0698 left_pitch=-0.3687 left_roll=0.1919 left_gripper=0.1155 right_x=0.2671 right_y=0.0435 right_z=0.1677 right_yaw=-0.0006 right_pitch=-0.2579 right_roll=-0.0853 right_gripper=0.9954\nstate[joint_eff]: [0.0752, -16.1436, 6.5026, 1.1893, -0.3687, -0.0171, 0.2076, -0.1299, -1.3333, 6.735, 1.5165, 0.0757, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7506, 2.289, 2.0426, -0.9657, -0.5282, -0.6151, 0.9952, 0.3073, 0.9356, 0.8112, -0.7696, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4464 left_y=-0.2897 left_z=0.1009 left_yaw=0.0784 left_pitch=-0.3859 left_roll=0.21 left_gripper=0.9952 right_x=0.2646 right_y=0.0427 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.2709 right_roll=-0.0896 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -12.9026, 8.1436, 0.9353, -0.3053, -0.0366, 0.0073, -0.1709, -1.8803, 6.8308, 1.5311, 0.0611, -0.022, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8982, 2.0995, 1.9636, -0.5224, -1.0023, -0.3531, 0.0093, 0.3073, 0.9401, 0.8112, -0.7887, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4524 left_y=-0.3233 left_z=0.2653 left_yaw=0.0642 left_pitch=0.224 left_roll=0.2388 left_gripper=0.0093 right_x=0.2614 right_y=0.0417 right_z=0.1616 right_yaw=-0.0038 right_pitch=-0.2935 right_roll=-0.0971 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -15.3778, 6.6256, 1.7411, -0.4957, 0.3004, 0.9158, -0.1846, -2.2496, 6.9265, 1.5214, 0.0659, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed652d33e48ec17d00b870f766c369c0927359eabe0f55e24529591273fa5467",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb4eabbe68db1b75909fd2da525ed90338cb897ca0d1d16dca51fdce72b668c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6377eef8d912aa9eaa79e47e8911a69f461709a05bae41ea7050765cb6759a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9ggKEAgSGAI4AUIIdGhpbmtpbmcSDKXJYYZWrNPD2jiKBhoM1zpEXGUw7ae5GgjSIjA7+kRrZIe+rui4QteRip5ZIgfeVgXpzRRSV51Nmymj8EoQ7/c5Tj6v8tcVLYcdfZQqkwiQwK8Gx5NN4yvUmEAalBGVZYucERKEBbzA48g9CRHKuG/wS3qbd0hZrwtDlJfBdcclJ+m3v96rXWnxXHMjo2MzLzLZ5lwdUuaWfDtRL5GT02ugDNQrfhG2uj6bD4Guw8uPgoQyWOl0dggonII3uNOdDy26OrplFqhqHJfRswoYSVlosnLORl/yUxG0j2wJRTdRdpx+AKKIp/Ewf9Qv4yhcIgOJu25GxNW6JLDf62qz1pJvjWJpWB9X2VSPW8LrA3UfBZPd/7+/3UeB5osSY30otak+WvQN55zu89WCX3bJKfix2qgmbAkR2s5oXs+B19EgdI4pOID0+iXmx0RenQKd+qT4KpRt5y6ay5xQQrjqgnsfnnB7ky1OqkxZ4tGc96n6591VgKG7MP6hzWTkkU0PGlfnDBUi5Dw1XekJDULgilrQeTxWouoWdMKN9lg7DnrBd0EiJkfkPPPt/hNaaLsOipteyio/OGus52djQBhcDyK8LOQTNl2oUeLdHpzHS372k2zfGMwP+wKYn2Zexk2NAy5nJMuB5pzGZ9xal32TRXMzC/zC7cqlfm8En0pWfcLUAcwIvtSwjOjpIxGE1VBez0cfX8ij83uyadl0Ow0ed1wcJQAN4EbeQnNM1zSfxzc6NMP0Uy0JiDkDg6nq5neFPmDkx2JeoPsEbUEH0TtYWy9sdpsRUKW/8Kv9Hl4Q0sqKeUpOjpGmtdM2yEUIPfS02U0gpiGrXaijW5yMceZpKXQEgEduyUn6ClwRwVTr2M6NOImPeU1g/523LrwJBq/WHu4pNrQ0fkLTUOC1nJrHmQJ1PR6NIxa5loj67+D7fwyrqgLxa51lFOMbU8v9xBPKr6BuTjobC0GgspOINQS512RaEr3dIdairWo6wJ6jo2Aiq9RFuMUc0I9Yfjp37WTm2FnVwC5Vwl3yfyZTOpiZmSRtUgNro/wsw3HrK3RDzELoJc9QfQM7yXw9HyopdOP4BRHbRnOgcGxiJ6q0pHvRAyDKHVZNuDV211/rKsjfWcxzXFcw97HV7C0e+IZBzmvw/Ko3jJvSqwaGseFjpEdvJwh/PWYNjEhFQn2e3bj4PyYlBgmo/3ZQZp6522ZWMNefgZaQiIHiCBqbgh/C2d3mnSQdg9QTile6meCouNekWcY2AUDxoWinOvvW6VAiIfPBepoG4ulzrIweFIKg6RkalRpUFKkNFhvw8oIJPiYPRWllRc0f93AHS1CmtOyIRFNNHhxhUqHjx4gw71TrhnPIt2Nc22s7EPth6maQ++kX47abd2Jv8dOVX86Ibz6bq7noRWkKQQ9HNPVEYwrUH+s75KGwH67ScfYv5LXgsNOvI9AKrx1f56mottWqjULLvgMtQsPyVrymqInbaXnS+n340Gsv+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NJxDgdaRvLRtsGAdV8Ns4T",
      "input": {
        "note": "Wrist view shows the lid's top edge just beyond the fingertips; reaching forward over the top edge to get behind it.",
        "targets": {
          "left_pitch": 0.5,
          "left_x": 0.6,
          "left_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01NJxDgdaRvLRtsGAdV8Ns4T",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7105, 2.5523, 2.5294, -0.1371, -0.9272, 0.0521, 0.0093, 0.3073, 0.9424, 0.8112, -0.8062, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.5947 left_y=-0.3206 left_z=0.2853 left_yaw=0.0957 left_pitch=0.4674 left_roll=0.2274 left_gripper=0.0093 right_x=0.2583 right_y=0.0407 right_z=0.1585 right_yaw=-0.0055 right_pitch=-0.3124 right_roll=-0.1037 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -15.2684, 8.7726, 1.5409, 0.0659, 0.232, 0.8669, -0.0889, -2.0444, 6.6256, 1.5653, 0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1b94bf997ad57a6e9540da30baf0b9c79bfb398386682652b485a2a1f61a6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b22174fd81ec1fa3315dcee3d39e5a1b8521860e6ab6c2476b873165aaa7c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6695adb3fe2a404297e6d8c12831db4fb836873382e066494b9ed59c0b0f3eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 4.463 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]: [-0.7506, 2.289, 2.0426, -0.9657, -0.5282, -0.6151, 0.9952, 0.3073, 0.9356, 0.8112, -0.7696, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4464 left_y=-0.2897 left_z=0.1009 left_yaw=0.0784 left_pitch=-0.3859 left_roll=0.21 left_gripper=0.9952 right_x=0.2646 right_y=0.0427 right_z=0.1656 right_yaw=-0.0017 right_pitch=-0.2709 right_roll=-0.0896 right_gripper=0.9954\nstate[joint_eff]: [0.0615, -12.9026, 8.1436, 0.9353, -0.3053, -0.0366, 0.0073, -0.1709, -1.8803, 6.8308, 1.5311, 0.0611, -0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.8982, 2.0995, 1.9636, -0.5224, -1.0023, -0.3531, 0.0093, 0.3073, 0.9401, 0.8112, -0.7887, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4524 left_y=-0.3233 left_z=0.2653 left_yaw=0.0642 left_pitch=0.224 left_roll=0.2388 left_gripper=0.0093 right_x=0.2614 right_y=0.0417 right_z=0.1616 right_yaw=-0.0038 right_pitch=-0.2935 right_roll=-0.0971 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -15.3778, 6.6256, 1.7411, -0.4957, 0.3004, 0.9158, -0.1846, -2.2496, 6.9265, 1.5214, 0.0659, -0.0317, -0.0171]",
      "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]: [-0.7105, 2.5523, 2.5294, -0.1371, -0.9272, 0.0521, 0.0093, 0.3073, 0.9424, 0.8112, -0.8062, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.5947 left_y=-0.3206 left_z=0.2853 left_yaw=0.0957 left_pitch=0.4674 left_roll=0.2274 left_gripper=0.0093 right_x=0.2583 right_y=0.0407 right_z=0.1585 right_yaw=-0.0055 right_pitch=-0.3124 right_roll=-0.1037 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -15.2684, 8.7726, 1.5409, 0.0659, 0.232, 0.8669, -0.0889, -2.0444, 6.6256, 1.5653, 0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1b94bf997ad57a6e9540da30baf0b9c79bfb398386682652b485a2a1f61a6a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96b22174fd81ec1fa3315dcee3d39e5a1b8521860e6ab6c2476b873165aaa7c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 320):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6695adb3fe2a404297e6d8c12831db4fb836873382e066494b9ed59c0b0f3eac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpAsKEAgSGAI4AUIIdGhpbmtpbmcSDOHV5cTMjZdxe3KhnxoMp1RIdvr0eqUbIiJsIjBVXjgld1e0d2w4njE9QQS6RJWeDRH9zKhrPEJPNF65FliKS2K110Nb/xlVIZMUraUqwQrw/x32Dp0SKzqD0tvg2O7ReD+LEedXGlFHZOWYJ3Ot6lVk9Ps2N+YguqMc8Oo60smAg0R3/AV7HVBrClbiDnZW/ngvh2QKsnx8WvjCGWyHd4N9fY0fUExXCFDpAmHq27XIPoiPMqgV0j0KExmjrSQ0bEASCspUrUkM9S62cv/QqD7yC/f+FnzFpw82YH527CO+nptP8chcTaVt9d4CAHQE/T4L2bbCrDw5bfn9uPP984nimAoTG0tt1xy6XPNYX4Cmhozas8jEtrAxVZpZ0rtZtjKPIvTFcSGSIZ16AwKEujCKIr3gYyZ9TJnOwQ9PV5EvI40Z2qE4rwAvLvda43R04fTtb4esEZgi7l2i7MrBc4bUMyemBt1GAuAThFGYAqxyFY2R5cl7DPIFqI0G8PpHfVUmy0Rqd/GKWdD5IxREcE8/KkIkSuyt9I0Z4FejixpBqXXpQvict2x20tdFJlR5X1K0DRB/8xrKddiTH5Li2Cj7aXOKYRiFPe409V9sJH7uXtsGNuBEoJWbwoNwjnXPl5tyJmj/8h2lnQOkxwxJBQE4j+3QcTuBIH2PqH6/bHI/Rqquzf8r/z/0r7jltkFKmJ7prEsh9pzTBtcmf4fd9kg2CtRk2RUmoySnY1QUbx7wIfLnVQZtfqUDyK9a79AxwOy60cRUAasYBrJc9qQpMID3UwZC3OtcXB4WLwTGayGLdnW1GhOZ8o6oeVuJux6wWQLDpTypNfhW+qgZbQ8SJ3w68PERLjnm16L0BtppMcng5O+lqByPLvNXP4Nw/oyWdo2rKsatqJfVaWYuPLre0OCBfPrAHUsm6QyV3TnjNnjDhqpcWMjTfkFGOMd/5tFGdgFSztVnrn1xL/KKdknIwOZgAVIOQo+PqOrj5QnH1l83xTv7EXiE3PVW/5dhvRCJvyuGUTn8FhcSti9u9P1wmvBu3qf4lEIFBF51kqSxlhBk2H2nALYUY3ed/bnNGPPrwdb7WYQ4YxG2fOvrjK6s52unQqsmfGvHfwz3Il7b5LV3PwxjwM8DjMMQf8Uprm0KzIw7s2Fd6CFzQ3TnGzMaFsS7Fq4y7BDfmKUKyEWarEglRDd3lJIei1Z7MLy9GkmSn6wJRy1qyLs6SBwRUbf9vj9EQWUcc5FPGcTBww29S96zADaBUowUZIixH2Jg+p1K4aJ0OZroTGW40S1F73ID27Xw4uK+AbwpYEEJNdacc2pDJWyI+GDDzweU9/p5qHUHCx91Dr2hrvCm+NaBBvraGravglaOAoh8Dd1VrpmMDb71c6s3MtvcpbJ7aqWsUW6jgWjKKleL6a59SjIWVyyoumfLEuV+R6irhz11rG7vOnLsoQd4bCq8DcHwI0Dps8+yRyhYnRs97TegF5Z5t8sKPardPFGN2naEoTyp2+arU5bf1nPVRHhypMlFw+RQ1yInURyMyJKEj1OXrgCUyOISJEyRssh8OnbjTlBalj3IGI1ukykTkX4hq0TF78zTkhoTxwGzboB3Ha0TK2RzGHnYBBeA+Hx/VyBMafR/nn9r1ovfViMjtcEA4QsEjjO7mb+O1EKuy5J76uBn91I67xmAv0JXgrFXjlidZhVk0oLaiYBXB/Hg3s5EcR2IClb3no5Q13bq0Kt5AW8KEo5s5PvcJNYSF056BoLliBRJWI7+JajZ5VGooSxid+is5graBnGLHfboOan/D4yfacF22KZ0TjrOcNx5eXyxVHsq1GhVfG0ToT0po9TIhOM0R/V6jCyQ0Hx1kRiQieGilPxGP9iG3u+/XkKui8W+VlqKfJC/Oe2mGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A52Da9dBBKTDX7YwfvgHoU",
      "input": {
        "note": "Gripper is now above and just behind the lid's top edge; descending behind it so it can pull the lid forward.",
        "targets": {
          "left_x": 0.6,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01A52Da9dBBKTDX7YwfvgHoU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7063, 2.5381, 2.1551, 0.2882, -0.9295, 0.0582, 0.0123, 0.3073, 0.9428, 0.8112, -0.833, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.5981 left_y=-0.3194 left_z=0.2095 left_yaw=0.1237 left_pitch=0.5115 left_roll=0.1805 left_gripper=0.0123 right_x=0.2533 right_y=0.0391 right_z=0.1547 right_yaw=-0.0083 right_pitch=-0.3381 right_roll=-0.1126 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -11.9316, 4.9846, 1.1551, 0.022, -0.1148, 0.6129, -0.1846, -1.6342, 6.8171, 1.5702, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd133435a1d1e3c442fae4a4384270930f0e1fa9165aeb207f57d72bf3855d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4d8e9dcec03dfd7aad317c77ded09cbc993c6838cdc5564648adec28d4f1adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:007d88078306bf7b5567194888a5ebcc95964ad95909905b06d20d005e5f2d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 36 attempt 0 · /messages · status 200 · 10.21 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]: [-0.8982, 2.0995, 1.9636, -0.5224, -1.0023, -0.3531, 0.0093, 0.3073, 0.9401, 0.8112, -0.7887, 0.2455, 0.157, 0.9954]\nstate[eef_state]: left_x=0.4524 left_y=-0.3233 left_z=0.2653 left_yaw=0.0642 left_pitch=0.224 left_roll=0.2388 left_gripper=0.0093 right_x=0.2614 right_y=0.0417 right_z=0.1616 right_yaw=-0.0038 right_pitch=-0.2935 right_roll=-0.0971 right_gripper=0.9954\nstate[joint_eff]: [-0.6222, -15.3778, 6.6256, 1.7411, -0.4957, 0.3004, 0.9158, -0.1846, -2.2496, 6.9265, 1.5214, 0.0659, -0.0317, -0.0171]",
      "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]: [-0.7105, 2.5523, 2.5294, -0.1371, -0.9272, 0.0521, 0.0093, 0.3073, 0.9424, 0.8112, -0.8062, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.5947 left_y=-0.3206 left_z=0.2853 left_yaw=0.0957 left_pitch=0.4674 left_roll=0.2274 left_gripper=0.0093 right_x=0.2583 right_y=0.0407 right_z=0.1585 right_yaw=-0.0055 right_pitch=-0.3124 right_roll=-0.1037 right_gripper=0.9954\nstate[joint_eff]: [0.4444, -15.2684, 8.7726, 1.5409, 0.0659, 0.232, 0.8669, -0.0889, -2.0444, 6.6256, 1.5653, 0.0317, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7063, 2.5381, 2.1551, 0.2882, -0.9295, 0.0582, 0.0123, 0.3073, 0.9428, 0.8112, -0.833, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.5981 left_y=-0.3194 left_z=0.2095 left_yaw=0.1237 left_pitch=0.5115 left_roll=0.1805 left_gripper=0.0123 right_x=0.2533 right_y=0.0391 right_z=0.1547 right_yaw=-0.0083 right_pitch=-0.3381 right_roll=-0.1126 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -11.9316, 4.9846, 1.1551, 0.022, -0.1148, 0.6129, -0.1846, -1.6342, 6.8171, 1.5702, 0.1001, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd133435a1d1e3c442fae4a4384270930f0e1fa9165aeb207f57d72bf3855d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4d8e9dcec03dfd7aad317c77ded09cbc993c6838cdc5564648adec28d4f1adc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:007d88078306bf7b5567194888a5ebcc95964ad95909905b06d20d005e5f2d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuggKEAgSGAI4AUIIdGhpbmtpbmcSDG4MowIgBKzTI1LbCxoM3xdaOlx38MCJzmzVIjAl1XTIrlGEqEjL8/OsrCNKb5l6r4nHrI6oa6Ni5HeO5nI018X/tSp5T6razPCGQNcq1wfvw4FMeqh7/QPUdLGTvx132VlaunxmI+tV9z/YIDaOZ3s47MaKc5ifGNzhxEOgUizYYoFqILAo3T/t0bPLQZfNzaxlzkpnC0+Ah2M6PlRWrSz7i+YYNzV3bVTkMMzx2WJp39TgF5zwl+rtQpqmEoJf0AQ2JlOAzYLXAFMleDLMw4ALCKxQ93v3wj42/6XskdGT4WGxMbaBRS63S7giDdI77ALrw89KvbkvSWAYJRXyVfwJft+UvRtOKXhTFr7WpQ66dlcjBIbolePwVL/bs6KUPOdPPQJ1e+XfRhXlPru6AXkehGSmq+6H1cOnGOXj1nGqCvr+eI4om8R1dneAlJbG2ez0OyarI8k+8QWGYvA0GE1ruju/wE8kBpKezR9OhFB9w+Uz5cqjV64fH88pv3PJQoPFuoxuoiiKTt5cZjoHwAVE5W0qPlf5OEGW85k+V97fIT7gJWRt+wi26DRTcToIJScUDo+4Q92y18xbVElID2wmkgQe3hjaLWTB2o5/ryNMfmbpzTlcXXv/AAxK01eAqtHKUkibuWqmyBbYp+2yATW8yhkT0Shw1g5twDBGL1iHfraWdMwIfgEEv0FloZlUYxcjArEd2jIA9wcWnxzjfLevbXY7YjwcWOLaDztGXixI2Kag/rqLJmcYr+2Gl8QCg8fl2pJxc4jU5q2h3RgjnGxtpjuzH8SVtKleNRqvBUHxp1shiRL6Fi7tj0BxsYROuPh49AHmCBZBGPBIWWIiLiO1EnqzTRGtsYf2aZHHEASpVk0VIoMQf0Ie1/ZO+2ww5AZtzl5EZSKIwegqma+PbmKlV+KzpTL7CB+T+5rVyZkuWcDGYxmwP0kzxu0d8A7hHKdYKJtdFmf16vJRVAGVHtP9xPTKIM8IW4k4UdkwGIKOcF+FXyvJM3tSzxe7tCOXEJNGjlEzjMxj8OsToRvQSnhcqGsRg9QOgonLHTXivYVBmsVuQ+Nnjy/vaSl65no2ytZanLEgTVjppPnyE9ad4fr+6joMa+LfHpB4SLr+wiAPekF45cVvgWIqFjr1OUKcvaGyjFEwi9oTEpsV9EHci4r7/FICjT90UOIRUjzxHyfbjOMrYeeOzVBTCRECyzisXSX96NZJxnLCkMT9dNZEwCo78C1e4Pmzz6fPUot4hv5hheGw6iuI+xP+nHsP0U7GyVs+SVYASVPdDLOxjkYnZjobpf5FXx4EIidbAriq82X/UIln9rS1eOuiiwkwS2sbke8qJj7DZX8if8lIOPzHoJNwDtu2asNy8qe7tWFCcA5Ho87I0DvfYTN4zpI7RI/28Z1ndFgJhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1mthhwp98cfnC4CJV1LyA",
      "input": {
        "note": "Fingertips are at the lid's top edge; sweeping back and down toward the base to swing the lid shut over the safe.",
        "targets": {
          "left_pitch": 0.3,
          "left_x": 0.38,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01C1mthhwp98cfnC4CJV1LyA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-1.0286, 2.1593, 1.2922, 0.1516, -1.132, -0.4725, 0.0144, 0.3073, 0.9474, 0.8112, -0.8555, 0.2455, 0.1566, 0.9954]\nstate[eef_state]: left_x=0.388 left_y=-0.3272 left_z=0.0886 left_yaw=0.076 left_pitch=0.2806 left_roll=0.2165 left_gripper=0.0144 right_x=0.2491 right_y=0.0378 right_z=0.1506 right_yaw=-0.0114 right_pitch=-0.3639 right_roll=-0.1216 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -14.4205, 5.2444, 1.37, -0.6569, -0.0562, 0.5104, -0.212, -1.935, 6.735, 1.4872, 0.0611, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:588833c8a8eee7359b42ac834e56a066d0d31cdc8027e00199b2993f60f20d2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 345):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:949381a33235147fe65a776c601da27728e02d1deb56f1853f9135e01dab5df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 345):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b62463cb21c3e2e50ba29d6c6ab750478fdfd50d4b062e56176bac0ef2e9d8aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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