adhoc

completed
2026-09-22T18:56:33.276408+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 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
257 s
total steps
336
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 in centre, white teddy left of it, lemon right, brown bear in front. Moving left arm above the white teddy to line up a grasp.
move_to
left_x0.3600left_y-0.1400left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0261, 0.7925, 0.6041, -0.3866, -0.0193, -0.0338, 0.9991, -0.0208, 0.7929, 0.6052, -0.4038, -0.0193, -0.033, 0.9996] state[eef_state]: left_x=0.2938 left_y=-0.0007 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2916 right_y=0.0009 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [0.212, -1.4291, 10.2496, 1.9463, -0.0757, 0.1538, -0.1001, -0.335, -1.347, 9.8256, 2.0977, -0.0366, 0.1685, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.14, "left_z": 0.15}, "note": "Scene: open red safe in centre, white teddy left of it, lemon right, brown bear in front. Moving left arm above the white teddy to line up a grasp."})
tool
executing move_to over 13 steps (1.3s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteWhite teddy is just left of the jaws near the fingertips in the wrist view; shifting 3 cm left and descending to grab it.
move_to
left_y-0.1050left_x0.3500left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5858, 1.3258, 0.7372, -0.149, -0.4553, -0.3588, 0.9991, -0.0208, 0.7979, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3469 left_y=-0.1326 left_z=0.1283 left_yaw=-0.0214 left_pitch=-0.0738 left_roll=0.0343 left_gripper=0.9991 right_x=0.2878 right_y=0.0009 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0004 right_gripper=0.9996 state[joint_eff]: [-0.3077, -5.3265, 9.2239, 1.79, -0.3541, -0.022, -0.022, -0.0205, -1.5795, 7.0769, 2.0098, -0.0562, -0.022, -0.0171] camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.105, "left_x": 0.35, "left_z": 0.03}, "note": "White teddy is just left of the jaws near the fingertips in the wrist view; shifting 3 cm left and descending to grab it."})
tool
executing move_to over 7 steps (0.7s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteTeddy is right in front of the jaws at grasp height; closing the gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4881, 1.5494, 0.4671, 0.2905, -0.3931, -0.3004, 0.9991, -0.0208, 0.8005, 0.6056, -0.4549, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.3392 left_y=-0.0994 left_z=0.0219 left_yaw=-0.0016 left_pitch=-0.1438 left_roll=0.0697 left_gripper=0.9991 right_x=0.2848 right_y=0.0009 right_z=0.1638 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0002 right_gripper=0.9996 state[joint_eff]: [0.5265, -5.9556, 5.2308, 1.8584, -0.0513, 0.0317, -0.0122, -0.0205, -1.4291, 6.9949, 1.8486, -0.0171, -0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Teddy is right in front of the jaws at grasp height; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteGripper closed to 0.11 on the teddy; lifting to check the grasp and clear the safe walls.
move_to
left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4858, 1.5597, 0.4522, 0.3065, -0.3908, -0.3042, 0.1089, -0.0208, 0.8024, 0.6056, -0.4824, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3362 left_y=-0.0974 left_z=0.0162 left_yaw=0.0016 left_pitch=-0.1525 left_roll=0.0697 left_gripper=0.1089 right_x=0.2807 right_y=0.0011 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.0877 right_roll=0.0007 right_gripper=0.9996 state[joint_eff]: [-0.3214, -6.1744, 6.2291, 1.2869, -0.2222, 0.0317, 0.7888, -0.0205, -0.9641, 7.1316, 1.9267, -0.0366, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.22}, "note": "Gripper closed to 0.11 on the teddy; lifting to check the grasp and clear the safe walls."})
tool
executing move_to over 14 steps (1.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteTeddy lifted with the left gripper; carrying it over the open safe interior.
move_to
left_x0.4200left_y-0.2900left_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4854, 1.2346, 1.034, -0.6331, -0.3889, -0.3191, 0.1108, -0.0208, 0.8036, 0.6018, -0.5007, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3354 left_y=-0.0971 left_z=0.1984 left_yaw=0.0113 left_pitch=-0.1815 left_roll=0.073 left_gripper=0.1108 right_x=0.2773 right_y=0.0012 right_z=0.1525 right_yaw=0.0005 right_pitch=-0.111 right_roll=0.0012 right_gripper=0.9996 state[joint_eff]: [-0.2393, -5.2581, 9.306, 1.5995, -0.2418, 0.1001, 0.188, -0.0205, -1.306, 7.3915, 1.8584, -0.0562, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.29, "left_z": 0.22}, "note": "Teddy lifted with the left gripper; carrying it over the open safe interior."})
tool
executing move_to over 18 steps (1.8s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteTeddy is above the safe's red interior, slightly toward the back; centring and lowering into the safe before releasing.
move_to
left_x0.3800left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7982, 1.98, 1.8835, -0.9035, -0.5606, -0.6067, 0.113, -0.0208, 0.8062, 0.6018, -0.5266, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.4142 left_y=-0.2853 left_z=0.2056 left_yaw=0.0061 left_pitch=-0.2203 left_roll=0.077 left_gripper=0.113 right_x=0.2732 right_y=0.0012 right_z=0.147 right_yaw=0.0005 right_pitch=-0.1396 right_roll=0.0018 right_gripper=0.9996 state[joint_eff]: [-0.5402, -10.5778, 8.7863, 1.0623, -0.5495, 0.0855, 0.2076, -0.1026, -1.3744, 6.9949, 1.8437, -0.0513, -0.0562, -0.0073] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_z": 0.1}, "note": "Teddy is above the safe's red interior, slightly toward the back; centring and lowering into the safe before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteTeddy is inside the safe's walls; releasing it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.8555, 1.9503, 1.4117, -0.5816, -0.5728, -0.6575, 0.1151, -0.0208, 0.8089, 0.6018, -0.5613, -0.0185, -0.0341, 0.9996] state[eef_state]: left_x=0.3728 left_y=-0.2776 left_z=0.0865 left_yaw=0.0084 left_pitch=-0.2904 left_roll=0.1409 left_gripper=0.1151 right_x=0.2674 right_y=0.0013 right_z=0.14 right_yaw=0.0003 right_pitch=-0.177 right_roll=0.0023 right_gripper=0.9996 state[joint_eff]: [-0.3214, -12.2462, 6.653, 1.4383, -0.5397, -0.0904, 0.2125, -0.0615, -1.3607, 6.8581, 1.8828, -0.0269, -0.022, -0.0073] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Teddy is inside the safe's walls; releasing it."})
tool
executing move_to over 9 steps (0.9s)
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 noteTeddy is released inside the safe; lifting the left arm out and moving it aside so the right arm can work.
move_to
left_z0.2200left_x0.3000left_y-0.0500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.857, 1.9507, 1.388, -0.5842, -0.5694, -0.6666, 0.9956, -0.0208, 0.8101, 0.6018, -0.5907, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3674 left_y=-0.2732 left_z=0.0779 left_yaw=0.0162 left_pitch=-0.3093 left_roll=0.154 left_gripper=0.9956 right_x=0.2623 right_y=0.0015 right_z=0.1346 right_yaw=0.0008 right_pitch=-0.2075 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.1026, -10.2769, 8.212, 1.0427, -0.398, 0.0562, -0.149, -0.1299, -1.2376, 7.0222, 1.7705, -0.0806, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": {"left_z": 0.22, "left_x": 0.3, "left_y": -0.05}, "note": "Teddy is released inside the safe; lifting the left arm out and moving it aside so the right arm can work."})
tool
executing move_to over 20 steps (2.0s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteTeddy is in the safe. Moving the right arm above the yellow lemon to the right of the safe.
move_to
right_x0.4200right_y0.1500right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3756, 1.1748, 1.1133, -0.9089, -0.3401, -0.2424, 0.9968, -0.0208, 0.8127, 0.601, -0.6132, -0.0189, -0.0341, 0.9996] state[eef_state]: left_x=0.3021 left_y=-0.0519 left_z=0.2053 left_yaw=0.0548 left_pitch=-0.3254 left_roll=0.1542 left_gripper=0.9968 right_x=0.2582 right_y=0.0016 right_z=0.1298 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0039 right_gripper=0.9996 state[joint_eff]: [0.1983, -4.5197, 9.1829, 1.3114, -0.1832, 0.1392, 0.1099, -0.0615, -1.3744, 6.8855, 1.6972, -0.0806, -0.0269, -0.0122] camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.15, "right_z": 0.12}, "note": "Teddy is in the safe. Moving the right arm above the yellow lemon to the right of the safe."})
tool
executing move_to over 13 steps (1.3s)
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 is centred just ahead of the jaws in the right wrist view; advancing ~3 cm and descending to grasp height.
move_to
right_x0.4400right_y0.1400right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1767, 1.1126, -0.9279, -0.3298, -0.2447, 0.9969, 0.4454, 1.6501, 1.1011, -0.379, 0.2672, 0.2893, 0.9996] state[eef_state]: left_x=0.2984 left_y=-0.0519 left_z=0.2015 left_yaw=0.0519 left_pitch=-0.3485 left_roll=0.1541 left_gripper=0.9969 right_x=0.4024 right_y=0.1444 right_z=0.1062 right_yaw=0.0316 right_pitch=-0.2907 right_roll=-0.0203 right_gripper=0.9996 state[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.4042, -0.315, -0.0464, 0.0024, 0.1983, -7.5556, 8.5265, 1.409, 0.315, 0.1392, -0.0122] 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": 0.44, "right_y": 0.14, "right_z": 0.015}, "note": "Lemon is centred just ahead of the jaws in the right wrist view; advancing ~3 cm and descending to grasp height."})
tool
executing move_to over 6 steps (0.6s)
step 117
top_cam
camera top_cam step 117
left_cam
camera left_cam step 117
right_cam
camera right_cam step 117
assistant
agent noteLemon is directly ahead but the grasp point stopped 2 cm short; nudging forward so the lemon sits between the jaws.
move_to
right_x0.4550right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1767, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.392, 1.9018, 1.0325, -0.1295, 0.2367, 0.2504, 0.9996] state[eef_state]: left_x=0.2981 left_y=-0.0519 left_z=0.2012 left_yaw=0.0534 left_pitch=-0.3498 left_roll=0.1527 left_gripper=0.9969 right_x=0.4217 right_y=0.1333 right_z=0.01 right_yaw=0.0172 right_pitch=-0.3665 right_roll=-0.0496 right_gripper=0.9996 state[joint_eff]: [-0.1162, -3.6444, 6.5026, 1.243, -0.2418, -0.0415, -0.0122, -0.5128, -8.4855, 6.3248, 1.6239, 0.0855, -0.0611, -0.0122] camera 'top_cam' (step 117): [image omitted: streamed camera frame] camera 'left_cam' (step 117): [image omitted: streamed camera frame] camera 'right_cam' (step 117): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_z": 0.01}, "note": "Lemon is directly ahead but the grasp point stopped 2 cm short; nudging forward so the lemon sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
Lemon now fills the space between the jaws. Closing.
agent noteLemon is between the right jaws at table level; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1774, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.3668, 1.977, 1.132, -0.1612, 0.2199, 0.2237, 0.9996] state[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.201 left_yaw=0.0535 left_pitch=-0.3505 left_roll=0.1531 left_gripper=0.9969 right_x=0.4434 right_y=0.1329 right_z=0.0064 right_yaw=0.0212 right_pitch=-0.379 right_roll=-0.0544 right_gripper=0.9996 state[joint_eff]: [-0.1162, -3.4667, 6.6667, 1.2332, -0.1978, -0.0024, -0.0122, -0.253, -8.841, 7.5145, 1.2869, 0.0171, -0.0024, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
Lemon now fills the space between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is between the right jaws at table level; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 noteRight gripper settled at 0.45 (≈4.3 cm), holding the lemon; lifting it clear of the safe walls.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1782, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.9892, 1.1404, -0.1619, 0.2203, 0.2173, 0.4481] state[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2008 left_yaw=0.0538 left_pitch=-0.3508 left_roll=0.153 left_gripper=0.9969 right_x=0.445 right_y=0.1327 right_z=0.0037 right_yaw=0.0226 right_pitch=-0.3834 right_roll=-0.0604 right_gripper=0.4481 state[joint_eff]: [-0.0615, -3.6444, 6.4615, 1.2088, -0.232, -0.0122, -0.0122, 0.0889, -11.1385, 5.2581, 1.243, 0.0366, 0.0024, 1.033] 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_z": 0.22}, "note": "Right gripper settled at 0.45 (\u22484.3 cm), holding the lemon; lifting it clear of the safe walls."})
tool
executing move_to over 14 steps (1.4s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteLemon lifted. Carrying it over the right half of the safe interior, beside the teddy.
move_to
right_x0.3900right_y0.3000right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.8381, 1.771, -0.9585, 0.2184, 0.2096, 0.453] state[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.4458 right_y=0.1333 right_z=0.2028 right_yaw=0.0268 right_pitch=-0.3982 right_roll=-0.0687 right_gripper=0.453 state[joint_eff]: [-0.1436, -3.6855, 6.4752, 1.2674, -0.1734, -0.0415, -0.0122, -0.2667, -9.3607, 9.1009, 1.2283, 0.105, 0.0464, 1.0281] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.3, "right_z": 0.22}, "note": "Lemon lifted. Carrying it over the right half of the safe interior, beside the teddy."})
tool
executing move_to over 14 steps (1.4s)
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 noteWrist view shows the safe interior just ahead of the lemon; advancing a few cm and lowering into the safe.
move_to
right_x0.4200right_y0.3100right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.329, -0.2478, 0.9969, 0.7864, 2.1105, 2.233, -1.2919, 0.3916, 0.5621, 0.4545] state[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0535 left_pitch=-0.3513 left_roll=0.1528 left_gripper=0.9969 right_x=0.3861 right_y=0.2965 right_z=0.2133 right_yaw=0.0626 right_pitch=-0.4297 right_roll=-0.0877 right_gripper=0.4545 state[joint_eff]: [-0.2256, -3.494, 6.4615, 1.2039, -0.1343, -0.0708, -0.0122, 0.1299, -10.3453, 8.0615, 0.989, 0.3346, 0.1929, 1.033] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.31, "right_z": 0.12}, "note": "Wrist view shows the safe interior just ahead of the lemon; advancing a few cm and lowering into the safe."})
tool
executing move_to over 7 steps (0.7s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteLemon is over the safe interior beside the teddy; lowering a bit more before releasing.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7616, 2.1662, 1.9755, -1.0264, 0.3767, 0.5312, 0.4545] state[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.405 right_y=0.3014 right_z=0.1233 right_yaw=0.0522 right_pitch=-0.4765 right_roll=-0.1283 right_gripper=0.4545 state[joint_eff]: [-0.1983, -3.494, 6.5573, 1.2039, -0.1929, -0.0513, -0.0122, -0.4855, -11.0017, 6.7761, 1.1648, 0.1343, -0.0562, 1.0281] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "Lemon is over the safe interior beside the teddy; lowering a bit more before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteLemon is inside the safe next to the teddy; 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]: [-0.3744, 1.179, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1754, 1.8278, -0.9192, 0.3687, 0.524, 0.4545] state[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2006 left_yaw=0.0539 left_pitch=-0.3515 left_roll=0.1533 left_gripper=0.9969 right_x=0.3974 right_y=0.2946 right_z=0.0782 right_yaw=0.0429 right_pitch=-0.5195 right_roll=-0.1625 right_gripper=0.4545 state[joint_eff]: [-0.1846, -3.6581, 6.4615, 1.2137, -0.232, -0.0659, -0.0122, 0.1846, -12.2872, 7.5966, 1.3016, 0.2857, 0.0513, 1.0281] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Lemon is inside the safe next to the teddy; releasing."})
tool
executing move_to over 6 steps (0.6s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteLemon released in the safe. Lifting the right arm out to approach the brown bear in front of the safe.
move_to
right_z0.2000right_x0.3000right_y0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1796, 1.8008, -0.8944, 0.3775, 0.5236, 0.9949] state[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.3972 right_y=0.2924 right_z=0.0699 right_yaw=0.0345 right_pitch=-0.5189 right_roll=-0.1749 right_gripper=0.9949 state[joint_eff]: [-0.0615, -3.5077, 6.4889, 1.2527, -0.188, -0.0171, -0.0122, 0.0205, -12.7111, 7.2684, 1.1453, 0.1783, 0.0464, -0.2613] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.3, "right_y": 0.25}, "note": "Lemon released in the safe. Lifting the right arm out to approach the brown bear in front of the safe."})
tool
executing move_to over 9 steps (0.9s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteBrown bear lies sideways in front of the safe; rotating the right gripper 90° so the jaws close across its torso, and moving above it.
move_to
right_x0.3300right_y0.2800right_z0.1200right_yaw1.5700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1801, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.8707, 1.7897, 1.7741, -1.2274, 0.3862, 0.6022, 0.9967] state[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2002 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3048 right_y=0.2641 right_z=0.2047 right_yaw=0.1013 right_pitch=-0.4849 right_roll=-0.117 right_gripper=0.9967 state[joint_eff]: [-0.0889, -3.7538, 6.5026, 1.2234, -0.2369, -0.0562, -0.0122, -0.2667, -6.0923, 6.4889, 0.9451, 0.4127, 0.1001, 0.1685] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.28, "right_z": 0.12, "right_yaw": 1.57}, "note": "Brown bear lies sideways in front of the safe; rotating the right gripper 90\u00b0 so the jaws close across its torso, and moving above it."})
tool
executing move_to over 10 steps (1.0s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteWith the jaws rotated, the bear's torso lies to the base side of the grasp point; shifting back ~5 cm and slightly left to centre over it.
move_to
right_x0.2800right_y0.3000right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1797, 1.1122, -0.9295, -0.3294, -0.2478, 0.9969, 0.548, 1.8526, 1.5047, -0.8852, -0.2916, -0.8551, 0.9971] state[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2003 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3331 right_y=0.267 right_z=0.1129 right_yaw=1.3779 right_pitch=-0.5398 right_roll=-0.0756 right_gripper=0.9971 state[joint_eff]: [-0.1573, -3.6034, 6.5026, 1.2088, -0.2027, -0.0611, -0.0122, -0.1983, -9.4564, 8.6359, 0.6374, -0.4176, -0.1343, 0.0269] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.28, "right_y": 0.3, "right_z": 0.1}, "note": "With the jaws rotated, the bear's torso lies to the base side of the grasp point; shifting back ~5 cm and slightly left to centre over it."})
tool
executing move_to over 5 steps (0.5s)
step 198
top_cam
camera top_cam step 198
left_cam
camera left_cam step 198
right_cam
camera right_cam step 198
assistant
agent noteThe plush monkey's torso now sits on the jaw column; descending to grasp it.
move_to
right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7036, 1.8023, 1.3437, -0.8097, -0.2501, -0.7589, 0.9973] state[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2733 right_y=0.294 right_z=0.0842 right_yaw=1.4553 right_pitch=-0.5899 right_roll=-0.033 right_gripper=0.9973 state[joint_eff]: [-0.1709, -3.9179, 6.4752, 1.2967, -0.2271, -0.0757, -0.0122, 0.0752, -11.6581, 6.8308, 1.1795, -0.1538, 0.105, 0.0122] camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.02}, "note": "The plush monkey's torso now sits on the jaw column; descending to grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent noteJaws straddle the monkey's body at table level; 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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7055, 1.8744, 1.1831, -0.6319, -0.2436, -0.7517, 0.9973] state[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2631 right_y=0.2848 right_z=0.02 right_yaw=1.4739 right_pitch=-0.634 right_roll=0.0109 right_gripper=0.9973 state[joint_eff]: [-0.1436, -3.6855, 6.5026, 1.2137, -0.2222, -0.0513, -0.0122, -0.2256, -8.6906, 6.1744, 1.0037, -0.2369, -0.0806, -0.0024] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Jaws straddle the monkey's body at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteGripper settled at 0.11 on the plush; lifting to confirm the grasp and clear the safe wall.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.6937, 1.8767, 1.1553, -0.593, -0.2695, -0.7586, 0.1144] state[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2628 right_y=0.2844 right_z=0.0147 right_yaw=1.4817 right_pitch=-0.61 right_roll=0.0224 right_gripper=0.1144 state[joint_eff]: [-0.0615, -3.6855, 6.4752, 1.2039, -0.2125, -0.0708, -0.0122, -0.1436, -10.4684, 5.4222, 0.7253, -0.1783, -0.0024, 0.7985] camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper settled at 0.11 on the plush; lifting to confirm the grasp and clear the safe wall."})
tool
executing move_to over 14 steps (1.4s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteMonkey is hanging from the right gripper; carrying it over the middle of the safe.
move_to
right_x0.3700right_y0.3400right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1828, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.6926, 1.8042, 1.8603, -1.3418, -0.2657, -0.7593, 0.1156] state[eef_state]: left_x=0.2987 left_y=-0.0521 left_z=0.1996 left_yaw=0.0545 left_pitch=-0.355 left_roll=0.155 left_gripper=0.9969 right_x=0.2681 right_y=0.2874 right_z=0.2118 right_yaw=1.4645 right_pitch=-0.5923 right_roll=-0.0055 right_gripper=0.1156 state[joint_eff]: [-0.0889, -3.6308, 6.653, 1.2234, -0.2369, -0.0513, -0.0122, -0.1299, -7.6923, 7.5145, 0.5641, -0.3101, -0.0757, 0.6716] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.34, "right_z": 0.22}, "note": "Monkey is hanging from the right gripper; carrying it over the middle of the safe."})
tool
executing move_to over 8 steps (0.8s)
step 235
assistant
agent noteMonkey is above the safe opening in the overhead view; lowering it inside before releasing.
move_to
right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1854, 1.1122, -0.9325, -0.3294, -0.2478, 0.9969, 0.6476, 2.2898, 2.5568, -1.5742, -0.2592, -0.8085, 0.1178] state[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.1983 left_yaw=0.0555 left_pitch=-0.3609 left_roll=0.1579 left_gripper=0.9969 right_x=0.351 right_y=0.3267 right_z=0.2008 right_yaw=1.4584 right_pitch=-0.6119 right_roll=-0.0144 right_gripper=0.1178 state[joint_eff]: [-0.0752, -3.9043, 6.6803, 1.2576, -0.1929, -0.0513, -0.0122, -0.6496, -10.947, 7.4598, 0.823, -0.398, 0.0708, 0.5543] 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": {"right_z": 0.11}, "note": "Monkey is above the safe opening in the overhead view; lowering it inside before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 241
assistant
agent noteMonkey seems to hang over the safe's front wall (the arm sagged back to x=0.335); moving it forward to the middle of the safe.
move_to
right_x0.4000right_y0.3300right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1854, 1.1122, -0.9386, -0.3294, -0.2478, 0.9969, 0.646, 2.1746, 1.9301, -1.1812, -0.2584, -0.8116, 0.1203] state[eef_state]: left_x=0.297 left_y=-0.0515 left_z=0.1976 left_yaw=0.0565 left_pitch=-0.3664 left_roll=0.1606 left_gripper=0.9969 right_x=0.3354 right_y=0.3139 right_z=0.0901 right_yaw=1.5263 right_pitch=-0.6912 right_roll=0.0954 right_gripper=0.1203 state[joint_eff]: [-0.1162, -3.7128, 6.4615, 1.326, -0.2076, -0.0415, -0.0122, -0.1709, -15.2547, 6.9538, 0.8913, -0.2662, -0.0171, 0.2369] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.33, "right_z": 0.11}, "note": "Monkey seems to hang over the safe's front wall (the arm sagged back to x=0.335); moving it forward to the middle of the safe."})
tool
executing move_to over 5 steps (0.5s)
step 246
assistant
Monkey is now over the safe interior. Releasing.
agent noteMonkey is inside the safe's footprint; opening the gripper to drop it in.
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]: [-0.3744, 1.1854, 1.1122, -0.9482, -0.3294, -0.2478, 0.9969, 0.5663, 2.4504, 2.442, -1.3476, -0.3164, -0.8696, 0.1231] state[eef_state]: left_x=0.2952 left_y=-0.0508 left_z=0.1964 left_yaw=0.058 left_pitch=-0.3751 left_roll=0.1649 left_gripper=0.9969 right_x=0.407 right_y=0.3281 right_z=0.1059 right_yaw=1.483 right_pitch=-0.6006 right_roll=0.0477 right_gripper=0.1231 state[joint_eff]: [-0.335, -3.6855, 6.4479, 1.2527, -0.1929, -0.0269, -0.0122, 0.1299, -13.135, 6.6393, -0.0464, -0.4371, -0.0855, 0.2808] camera 'top_cam' (step 246): [image omitted: streamed camera frame] camera 'left_cam' (step 246): [image omitted: streamed camera frame] camera 'right_cam' (step 246): [image omitted: streamed camera frame]
assistant
Monkey is now over the safe interior. Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Monkey is inside the safe's footprint; opening the gripper to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 255
assistant
agent noteAll three objects appear to be in the safe. Lifting the right arm up and out, closing the jaws, to get behind the upright lid.
move_to
right_z0.2600right_x0.4500right_y0.3300right_yaw0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9508, -0.329, -0.2478, 0.9969, 0.5671, 2.4779, 2.4351, -1.3663, -0.3111, -0.8753, 0.9945] state[eef_state]: left_x=0.2948 left_y=-0.0506 left_z=0.1959 left_yaw=0.0582 left_pitch=-0.378 left_roll=0.166 left_gripper=0.9969 right_x=0.4022 right_y=0.3245 right_z=0.0891 right_yaw=1.5147 right_pitch=-0.6362 right_roll=0.0936 right_gripper=0.9945 state[joint_eff]: [-0.1983, -3.5077, 6.6803, 1.199, -0.2271, -0.0269, -0.0122, -0.1162, -15.7744, 6.3521, 0.823, -0.2564, 0.0464, -0.0415] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.26, "right_x": 0.45, "right_y": 0.33, "right_yaw": 0.0, "right_gripper": 0.0}, "note": "All three objects appear to be in the safe. Lifting the right arm up and out, closing the jaws, to get behind the upright lid."})
tool
executing move_to over 12 steps (1.2s)
step 267
assistant
agent noteAll objects are in the safe; the lid appears to lie open flat behind it. Moving the open right gripper toward the lid's right-side rim to try to grasp and flip it closed.
move_to
right_x0.5000right_y0.2700right_z0.1000right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9512, -0.3294, -0.2478, 0.9969, 0.6762, 2.4435, 2.735, -1.5997, 0.1268, 0.519, 0.008] state[eef_state]: left_x=0.2947 left_y=-0.0506 left_z=0.1959 left_yaw=0.0586 left_pitch=-0.3782 left_roll=0.1664 left_gripper=0.9969 right_x=0.4042 right_y=0.3003 right_z=0.1728 right_yaw=0.1448 right_pitch=-0.6896 right_roll=0.0348 right_gripper=0.008 state[joint_eff]: [-0.1846, -3.5077, 6.6256, 1.1893, -0.2369, -0.0366, -0.0122, 0.1846, -17.2239, 6.1333, 1.1893, 0.2808, 0.1685, 0.7302] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.27, "right_z": 0.1, "right_gripper": 1.0, "right_pitch": 0.0}, "note": "All objects are in the safe; the lid appears to lie open flat behind it. Moving the open right gripper toward the lid's right-side rim to try to grasp and flip it closed."})
tool
executing move_to over 23 steps (2.3s)
step 290
assistant
agent noteThe safe's lid stands open at the back. Raising the right arm up and over the lid so it can come down behind it and push it forward closed.
move_to
right_x0.5900right_y0.3300right_z0.2800right_gripper0.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9516, -0.329, -0.2478, 0.9969, 0.5976, 2.085, 1.4086, -0.1158, 0.3298, 0.279, 0.9976] state[eef_state]: left_x=0.2946 left_y=-0.0506 left_z=0.1958 left_yaw=0.0583 left_pitch=-0.3787 left_roll=0.1663 left_gripper=0.9969 right_x=0.4808 right_y=0.2624 right_z=0.0666 right_yaw=0.1518 right_pitch=-0.1476 right_roll=-0.0138 right_gripper=0.9976 state[joint_eff]: [-0.1846, -3.6718, 6.4479, 1.1844, -0.2173, -0.0659, -0.0122, -0.4991, -12.9983, 6.5983, 1.7705, 0.2711, -0.0415, -0.1099] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 290): [image omitted: streamed camera frame] camera 'left_cam' (step 290): [image omitted: streamed camera frame] camera 'right_cam' (step 290): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.59, "right_y": 0.33, "right_z": 0.28, "right_gripper": 0.0, "right_pitch": 0.3}, "note": "The safe's lid stands open at the back. Raising the right arm up and over the lid so it can come down behind it and push it forward closed."})
tool
executing move_to over 15 steps (1.5s)
step 305
assistant
agent noteGripper is now beyond the back of the upright lid in the overhead view; descending behind it to push it forward.
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]: [-0.3744, 1.1854, 1.1122, -0.955, -0.3294, -0.2478, 0.9969, 0.6186, 2.3417, 2.2902, -0.3355, 0.4305, 0.1211, 0.0081] state[eef_state]: left_x=0.294 left_y=-0.0503 left_z=0.1955 left_yaw=0.0592 left_pitch=-0.3813 left_roll=0.168 left_gripper=0.9969 right_x=0.5828 right_y=0.3287 right_z=0.2618 right_yaw=0.1714 right_pitch=0.2411 right_roll=-0.0258 right_gripper=0.0081 state[joint_eff]: [-0.1162, -3.4256, 6.4342, 1.2088, -0.1929, -0.0513, -0.0122, -0.1299, -13.2444, 8.6222, 1.9756, 0.232, -0.0317, 0.6227] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 305): [image omitted: streamed camera frame] camera 'left_cam' (step 305): [image omitted: streamed camera frame] camera 'right_cam' (step 305): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Gripper is now beyond the back of the upright lid in the overhead view; descending behind it to push it forward."})
tool
executing move_to over 10 steps (1.0s)
step 315
assistant
agent noteThe arm stalled at z≈0.21 at full reach; coming in slightly to x=0.55 so it can drop down behind the lid.
move_to
right_x0.5500right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3775, 1.1858, 1.1118, -0.9668, -0.329, -0.2481, 0.9969, 0.6205, 2.3226, 1.8626, 0.2768, 0.4335, 0.1085, 0.0099] state[eef_state]: left_x=0.2915 left_y=-0.0503 left_z=0.1938 left_yaw=0.0582 left_pitch=-0.3929 left_roll=0.1732 left_gripper=0.9969 right_x=0.5888 right_y=0.334 right_z=0.2081 right_yaw=0.1467 right_pitch=0.4243 right_roll=0.0561 right_gripper=0.0099 state[joint_eff]: [0.1709, -3.3983, 6.612, 1.2967, -0.2076, -0.0366, -0.0122, -0.2393, -8.1573, 4.1094, 0.4029, 0.0073, 0.1099, 0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.55, "right_z": 0.12}, "note": "The arm stalled at z\u22480.21 at full reach; coming in slightly to x=0.55 so it can drop down behind the lid."})
tool
executing move_to over 6 steps (0.6s)
step 321
assistant
agent noteWrist view shows the lid's red inside face directly ahead, so the lid stands farther back than I can reach behind. Instead I'll rotate the jaws, open them, and go above the lid's top rim to pinch it and pull it closed.
move_to
right_x0.5800right_z0.2400right_yaw1.5700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3782, 1.1858, 1.1118, -0.9737, -0.329, -0.2478, 0.9969, 0.6628, 2.3474, 1.5307, 0.5209, 0.4603, 0.1188, 0.0119] state[eef_state]: left_x=0.2902 left_y=-0.05 left_z=0.193 left_yaw=0.0584 left_pitch=-0.3991 left_roll=0.1765 left_gripper=0.9969 right_x=0.5467 right_y=0.3318 right_z=0.0964 right_yaw=0.1795 right_pitch=0.3271 right_roll=0.0052 right_gripper=0.0119 state[joint_eff]: [-0.2803, -3.535, 6.5299, 1.2625, -0.1783, -0.0317, -0.0122, 0.212, -13.6684, 6.9949, 2.3272, 0.2808, -0.0757, 0.1929] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.58, "right_z": 0.24, "right_yaw": 1.57, "right_gripper": 1.0}, "note": "Wrist view shows the lid's red inside face directly ahead, so the lid stands farther back than I can reach behind. Instead I'll rotate the jaws, open them, and go above the lid's top rim to pinch it and pull it closed."})
tool
executing move_to over 10 steps (1.0s)
step 331
assistant
agent noteLid's top rim is just ahead of and above the open jaws in the wrist view; pushing to the reach limit to get the rim between the jaws.
move_to
right_x0.6000right_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3782, 1.1912, 1.1114, -0.9844, -0.3294, -0.2474, 0.9969, 0.2787, 2.7152, 2.5767, -0.4244, -1.0164, -0.5385, 0.9946] state[eef_state]: left_x=0.2885 left_y=-0.0493 left_z=0.1902 left_yaw=0.0615 left_pitch=-0.4139 left_roll=0.1847 left_gripper=0.9969 right_x=0.582 right_y=0.3265 right_z=0.16 right_yaw=1.3798 right_pitch=0.3065 right_roll=-0.0254 right_gripper=0.9946 state[joint_eff]: [-0.1573, -3.9043, 6.4205, 1.2821, -0.2076, 0.0073, -0.0122, 0.5402, -16.841, 8.8547, 1.4042, -0.6227, -0.0269, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 331): [image omitted: streamed camera frame] camera 'left_cam' (step 331): [image omitted: streamed camera frame] camera 'right_cam' (step 331): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.6, "right_z": 0.21}, "note": "Lid's top rim is just ahead of and above the open jaws in the wrist view; pushing to the reach limit to get the rim between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 335
assistant
agent noteI got all three objects (white teddy, lemon, plush monkey) into the safe, but I couldn't close it. The open lid stands up behind the box, about x ≥ 0.6 in the right arm's frame. At that distance the right arm stalls at z≈0.15–0.21, so it can't get behind the lid to push it forward or reach over its top rim to pull it down. With my remaining budget I don't see a way to reach the lid.
give_up
hindsight- The safe sits on the table centre line, at about x 0.33–0.45 for its interior. The lid is hinged at the back and stands open at about x 0.55–0.62, which is at or past the arms' reach at useful heights. Plan how to close the lid first: before loading, try it from the front/top while the arm can still approach at lower reach, or have the operator place the safe closer to the bases. - At x≈0.58 the right arm can't get above z≈0.21. Commanding x=0.6 stalls at about 0.575. - Top-cam mapping near the safe: image x 110 ≈ right_y 0.38 (left_y −0.27), about 2 px/cm across. A grasp point at x≈0.37 shows up around image y 120. - Grasps that worked: the white teddy with the left arm at (0.34, −0.10, z 0.02), yaw 0. The lemon with the right arm at (0.445, 0.133, z 0.005), yaw 0; it settled at 0.45. The plush monkey lying sideways with the right arm at yaw 1.57, (0.263, 0.285, z 0.015); it settled at 0.11. - The arms sag and fall short by 1–2 cm at long reach, so check the readback x before releasing over the safe. - Wrist-view axes rotate with yaw: at yaw +90°, image-up is +y and image-right is +x.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3782, 1.1923, 1.111, -0.989, -0.329, -0.2478, 0.9969, 0.2771, 2.8796, 2.9059, -0.7082, -1.0382, -0.5739, 0.9953] state[eef_state]: left_x=0.2876 left_y=-0.049 left_z=0.1892 left_yaw=0.0626 left_pitch=-0.4195 left_roll=0.187 left_gripper=0.9969 right_x=0.5754 right_y=0.3256 right_z=0.1463 right_yaw=1.3837 right_pitch=0.2646 right_roll=0.056 right_gripper=0.9953 state[joint_eff]: [-0.0889, -3.7812, 6.5026, 1.16, -0.2076, -0.0562, -0.0122, -0.3214, -14.147, 8.8547, 1.4872, -0.2662, 0.1538, 0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I got all three objects (white teddy, lemon, plush monkey) into the safe, but I couldn't close it. The open lid stands up behind the box, about x \u2265 0.6 in the right arm's frame. At that distance the right arm stalls at z\u22480.15\u20130.21, so it can't get behind the lid to push it forward or reach over its top rim to pull it down. With my remaining budget I don't see a way to reach the lid.", "hindsight": "- The safe sits on the table centre line, at about x 0.33\u20130.45 for its interior. The lid is hinged at the back and stands open at about x 0.55\u20130.62, which is at or past the arms' reach at useful heights. Plan how to close the lid first: before loading, try it from the front/top while the arm can still approach at lower reach, or have the operator place the safe closer to the bases.\n- At x\u22480.58 the right arm can't get above z\u22480.21. Commanding x=0.6 stalls at about 0.575.\n- Top-cam mapping near the safe: image x 110 \u2248 right_y 0.38 (left_y \u22120.27), about 2 px/cm across. A grasp point at x\u22480.37 shows up around image y 120.\n- Grasps that worked: the white teddy with the left arm at (0.34, \u22120.10, z 0.02), yaw 0. The lemon with the right arm at (0.445, 0.133, z 0.005), yaw 0; it settled at 0.45. The plush monkey lying sideways with the right arm at yaw 1.57, (0.263, 0.285, z 0.015); it settled at 0.11.\n- The arms sag and fall short by 1\u20132 cm at long reach, so check the readback x before releasing over the safe.\n- Wrist-view axes rotate with yaw: at yaw +90\u00b0, image-up is +y and image-right is +x."})
tool
give_up: I got all three objects (white teddy, lemon, plush monkey) into the safe, but I couldn't close it. The open lid stands up behind the box, about x ≥ 0.6 in the right arm's frame. At that distance the right arm stalls at z≈0.15–0.21, so it can't get behind the lid to push it forward or reach over its top rim to pull it down. With my remaining budget I don't see a way to reach the lid.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 16.38 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0261, 0.7925, 0.6041, -0.3866, -0.0193, -0.0338, 0.9991, -0.0208, 0.7929, 0.6052, -0.4038, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0007 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2916 right_y=0.0009 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.212, -1.4291, 10.2496, 1.9463, -0.0757, 0.1538, -0.1001, -0.335, -1.347, 9.8256, 2.0977, -0.0366, 0.1685, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d660f7ab00cd47a14e7f992b12461c383a6d4dabe39cd69ea9d3c0f69ca976a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a01113ddc9ff880ef90f0b37981d3f4a59940822236f0811d667982d928a47f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba2f65ceef2338338379317069d53f27f0b48ee450829cfac007868584c2498b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 4.671 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]: [-0.0261, 0.7925, 0.6041, -0.3866, -0.0193, -0.0338, 0.9991, -0.0208, 0.7929, 0.6052, -0.4038, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0007 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2916 right_y=0.0009 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.212, -1.4291, 10.2496, 1.9463, -0.0757, 0.1538, -0.1001, -0.335, -1.347, 9.8256, 2.0977, -0.0366, 0.1685, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d660f7ab00cd47a14e7f992b12461c383a6d4dabe39cd69ea9d3c0f69ca976a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a01113ddc9ff880ef90f0b37981d3f4a59940822236f0811d667982d928a47f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba2f65ceef2338338379317069d53f27f0b48ee450829cfac007868584c2498b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RA9UNfSq8P8g65uejKBcGr",
      "input": {
        "note": "Scene: open red safe in centre, white teddy left of it, lemon right, brown bear in front. Moving left arm above the white teddy to line up a grasp.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.14,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01RA9UNfSq8P8g65uejKBcGr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5858, 1.3258, 0.7372, -0.149, -0.4553, -0.3588, 0.9991, -0.0208, 0.7979, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1326 left_z=0.1283 left_yaw=-0.0214 left_pitch=-0.0738 left_roll=0.0343 left_gripper=0.9991 right_x=0.2878 right_y=0.0009 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.3265, 9.2239, 1.79, -0.3541, -0.022, -0.022, -0.0205, -1.5795, 7.0769, 2.0098, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17fa73dd1025d4cafc92acd1b75246f5eabed396b651c1fcf0defdc50b8bf4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c78efc1bd8761b098436470f237f79d25f3cc717f4c0467089585278f8c60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:164cbae89a51f835de497b16f7f8bef8f1c6eb9f187a107b246d05988f4dde52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 2 attempt 0 · /messages · status 200 · 3.516 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]: [-0.0261, 0.7925, 0.6041, -0.3866, -0.0193, -0.0338, 0.9991, -0.0208, 0.7929, 0.6052, -0.4038, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0007 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2916 right_y=0.0009 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.212, -1.4291, 10.2496, 1.9463, -0.0757, 0.1538, -0.1001, -0.335, -1.347, 9.8256, 2.0977, -0.0366, 0.1685, -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]: [-0.5858, 1.3258, 0.7372, -0.149, -0.4553, -0.3588, 0.9991, -0.0208, 0.7979, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1326 left_z=0.1283 left_yaw=-0.0214 left_pitch=-0.0738 left_roll=0.0343 left_gripper=0.9991 right_x=0.2878 right_y=0.0009 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.3265, 9.2239, 1.79, -0.3541, -0.022, -0.022, -0.0205, -1.5795, 7.0769, 2.0098, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17fa73dd1025d4cafc92acd1b75246f5eabed396b651c1fcf0defdc50b8bf4ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c78efc1bd8761b098436470f237f79d25f3cc717f4c0467089585278f8c60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164cbae89a51f835de497b16f7f8bef8f1c6eb9f187a107b246d05988f4dde52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwggKEAgSGAI4AUIIdGhpbmtpbmcSDE9oe9YsoM9W4jqZTxoM58ZRRxVpN85+EGXNIjA7lwGfD4YqiZvYHN7OSPLns++nbIMJEs2DYO1I1UhOAwp3M1Y+x87vxmF0mhyq+rAq3wchKynxJz8cyTEA5TMy4GvVMyNm9e+ngs/ECuFyXpAWK0KzXrDwuCV8avoRHJ7kkIMZFfbXsjyMr05V/Uucp8cOwkhK8YjnVEr0HJO8DW5AVQy9EqkZa08Bu7LMFNoQw9XuH00edlsHaIMCn78308Gh4jpDBTSQ1LhE/oHX0aMvOpZtXk/jpJKilFDK1NyzWnDC2QYBx5Yrq/farVdclKXBxwRknqKIEjn7wLAkAIGObVkPcgLwQmlQ39VXmw4msEyG/NwMT7Xl0ye3kEgJ1qP2KIJ7PkdnDQPreWJyUbl+IY/g6zrsylrhfqC3zA7DjljxUubHTQuHEeFlCHhxzU5VgyZmJGsPA8BDsalyQBr3Kafr5oToi6LKwIGc5zrDv2Y1Vq8pttEVe8dreLLbVAMolAuOMpfceVg04Qsjjem9u5WOYr6jk4zrVA5xKFDM0ptSYRy5uZh0esZ6McsYWR4iPqBII8tlHFCwudz+EfLtYvIogWWPKy0LuOUQVAQziL+a50ManPYTvyY1zAtwYxJd7KOMlZG+5QHE/3/Smei8z4LXU7YybEfTg3weAdh5Jjts30Q7RYsIQgTgIkTBonLpLYkpmNp0DeehQy4FPX5BDhAq2gORV8ZBqGuBz7AgVNF4ZzMNQhZgwVVhi7cMLebkNWD6GX7NhION6s0mZLMNUFHleuR6Q7SOnxC6RNCZbhV6u7evBoLCb61CXEC6N0z1oFdZQdeunq401f4OKF6XQUziNMRxUC7j1b7qjoHiTm7kLxnx82VMaZeBjyt7cKDBfLar/Gug5BS7+0fEfkJArgVMLn7rnNXPOgeJ/81OBilK0JmBDEojORydH0y0VNMrycTo3b7SS120h4kGD4ZuUzUJd7pZETMPnTKZu7+yMgRIBYaM001mKodETbvqmRX0eGCqVJdq756dwX6IZ/DDekh51tpxuDQhb7a1LSL0u1ApD5/NMzLm6iIu15TiMVHfvsHS21HDWNZgm/LRTDqM5fntFSXagsl9blO2+Je8xhfy10b3r5C9pwmiiwN+i+MOcme6mCpuRxl/wwoEEK9pPeE8eXmj/mzdxqyvV9RTJczEkBwnkRHrHCmNzrxHqemqFCaNaaVp6dHxkBfSzXSORz0GJtw+PZfqpO7UmZ9/w+WkBU9zunk2uZ8A6P7BUb07+GNs89V+xvHfJds37RdhBIIKnHuStqbEcATmRsINZJMYH5cdHDRLRlUQOS9FTMYpvum9XN7tTTb3uWookat4kwX/3KTYoh8rvnT8H/IpkR6kXzU+N8vfoZt7xvuErNKrdePVGE0APS0ED8xywqsVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Vvb1VKWuwhn4UxAuDKyc33",
      "input": {
        "note": "White teddy is just left of the jaws near the fingertips in the wrist view; shifting 3 cm left and descending to grab it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.105,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Vvb1VKWuwhn4UxAuDKyc33",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4881, 1.5494, 0.4671, 0.2905, -0.3931, -0.3004, 0.9991, -0.0208, 0.8005, 0.6056, -0.4549, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.0994 left_z=0.0219 left_yaw=-0.0016 left_pitch=-0.1438 left_roll=0.0697 left_gripper=0.9991 right_x=0.2848 right_y=0.0009 right_z=0.1638 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -5.9556, 5.2308, 1.8584, -0.0513, 0.0317, -0.0122, -0.0205, -1.4291, 6.9949, 1.8486, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fda6a5402181d0162d164756391600414dee6f14841a23dfe2efed86c2785d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2624f15d22ce9c3224b049e48ed80ad9dd9d034d8aab3fe761fbe7df325f3af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3adfbe7f991eafab2fe6c7f9d891d0b5c6455d86793c7b7153dbb86e555f3d14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 6.405 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]: [-0.0261, 0.7925, 0.6041, -0.3866, -0.0193, -0.0338, 0.9991, -0.0208, 0.7929, 0.6052, -0.4038, -0.0193, -0.033, 0.9996]\nstate[eef_state]: left_x=0.2938 left_y=-0.0007 left_z=0.179 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9991 right_x=0.2916 right_y=0.0009 right_z=0.1759 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [0.212, -1.4291, 10.2496, 1.9463, -0.0757, 0.1538, -0.1001, -0.335, -1.347, 9.8256, 2.0977, -0.0366, 0.1685, -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]: [-0.5858, 1.3258, 0.7372, -0.149, -0.4553, -0.3588, 0.9991, -0.0208, 0.7979, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1326 left_z=0.1283 left_yaw=-0.0214 left_pitch=-0.0738 left_roll=0.0343 left_gripper=0.9991 right_x=0.2878 right_y=0.0009 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.3265, 9.2239, 1.79, -0.3541, -0.022, -0.022, -0.0205, -1.5795, 7.0769, 2.0098, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4881, 1.5494, 0.4671, 0.2905, -0.3931, -0.3004, 0.9991, -0.0208, 0.8005, 0.6056, -0.4549, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.0994 left_z=0.0219 left_yaw=-0.0016 left_pitch=-0.1438 left_roll=0.0697 left_gripper=0.9991 right_x=0.2848 right_y=0.0009 right_z=0.1638 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -5.9556, 5.2308, 1.8584, -0.0513, 0.0317, -0.0122, -0.0205, -1.4291, 6.9949, 1.8486, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fda6a5402181d0162d164756391600414dee6f14841a23dfe2efed86c2785d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2624f15d22ce9c3224b049e48ed80ad9dd9d034d8aab3fe761fbe7df325f3af3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3adfbe7f991eafab2fe6c7f9d891d0b5c6455d86793c7b7153dbb86e555f3d14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAYKEAgSGAI4AUIIdGhpbmtpbmcSDO5r+I56eKRQegBeIRoMnJ59ZffKTlBOkjMGIjB7Kmu4f1jo/NBexHsw7esMbkGxnoXZHehN+FZgol25AZCNbx5+T9XvSMiLfuKZcTkq5QUx7Gs6SXDKJooBi3S7rKYQj+WeYCzykm/NRMXgCv+QALQ+usm3gPdbV5sQeWW+WtBScGVCGtDRnNvyjRzaquyVYw9GMwQAt9FfRYa+Xm5Nlk/+okF52/NQH1veTqQFSwrsy9Ca3ymQrUnR67t9FXaEu2lKP1rcyYDbwHVzMLwlIcq96YnlKqOtlM35d0u0JlSiBmp+TyQquaiizZZDLLUTCmptLOfFxhfTZHbkkB4xQWEBOiav8hqH/fXk1WCb6i9fKyawHGByDLzrAkW8Qp8SWEkYGebyltH6xuoQD0HBAmMkO8AT1LNuVqRbclWeSGguTGNyUMFjnx9poc8rIdXgE/kszrA59UzzDlWf/Y3CzSnCAdHwnUOEB7kPITD/ZRyO1DNeVbWEyZ9dPmZ9y85bslZEffhwU3mD4phsshRa8LUUwUFQ3l2KaWM33youimfygNMspRcSwGqk+Q7tqePhwcl9JS5MIQTioOz6gkw1tLP9l4tJQGgUVVzskoxGekctEXFlGhEUggektMBGF9Jyu2HbBNPZ/uPJbAgKDAhug6kbQlDAK68FOSDLBNNu+5Kba/5OccL7nikBrSr4p3UTvyvwmp7iPfqIXfrvlFlflGQJ4F5jWjCCDlpFwhO6cSd9/Qere9zz1YHmqMxI8UtzN2qyz9k8hGg3eL+iSTRp/lI+WeDSTXeLZiAHlQlD8C7nk5NO6YKwg/cONGAvaPtHtgX9nS4EVvK19EZFFlyTf7zT8LDn5YF8yLK6l5f3ohkpziBq1PvsJEqqoMNBd5j+w2wMRMmizs3itMPkxSjCG4OdPOun3sP4J2p8TteFeGXo/LRAt4InIQeEOixQBubOK4Q1ZmOMneEz8JLJ0xO2Wa2YcOpur/gyOBhlqpp1OTHqol3fltE8NjZrgf5UPlxv3cSvABr1yo63ps+kVbbAEf7LdaoyoNhI35m8/sLYnBmEoLXARlvOpSp1fdwE/nG2wVAd+7IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CxRiPkr8rzpa3modaAkskh",
      "input": {
        "note": "Teddy is right in front of the jaws at grasp height; closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CxRiPkr8rzpa3modaAkskh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4858, 1.5597, 0.4522, 0.3065, -0.3908, -0.3042, 0.1089, -0.0208, 0.8024, 0.6056, -0.4824, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3362 left_y=-0.0974 left_z=0.0162 left_yaw=0.0016 left_pitch=-0.1525 left_roll=0.0697 left_gripper=0.1089 right_x=0.2807 right_y=0.0011 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.0877 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.1744, 6.2291, 1.2869, -0.2222, 0.0317, 0.7888, -0.0205, -0.9641, 7.1316, 1.9267, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9cd997ef0d509cd9dca21cda208d0f5df1167cd3f58953c5d1f0b6a6f9a1f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678047c3b9c58d56a290a43e23f83c91c1bc3b330671d7dec7d3257a8cc72825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb7d23f3d3019dc2681180961a329a663392fe246daa7ff8030a6ba21e14f7ad",
        "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 · 9.34 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]: [-0.5858, 1.3258, 0.7372, -0.149, -0.4553, -0.3588, 0.9991, -0.0208, 0.7979, 0.6056, -0.4332, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3469 left_y=-0.1326 left_z=0.1283 left_yaw=-0.0214 left_pitch=-0.0738 left_roll=0.0343 left_gripper=0.9991 right_x=0.2878 right_y=0.0009 right_z=0.1688 right_yaw=0.0003 right_pitch=-0.0339 right_roll=-0.0004 right_gripper=0.9996\nstate[joint_eff]: [-0.3077, -5.3265, 9.2239, 1.79, -0.3541, -0.022, -0.022, -0.0205, -1.5795, 7.0769, 2.0098, -0.0562, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4881, 1.5494, 0.4671, 0.2905, -0.3931, -0.3004, 0.9991, -0.0208, 0.8005, 0.6056, -0.4549, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.0994 left_z=0.0219 left_yaw=-0.0016 left_pitch=-0.1438 left_roll=0.0697 left_gripper=0.9991 right_x=0.2848 right_y=0.0009 right_z=0.1638 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -5.9556, 5.2308, 1.8584, -0.0513, 0.0317, -0.0122, -0.0205, -1.4291, 6.9949, 1.8486, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4858, 1.5597, 0.4522, 0.3065, -0.3908, -0.3042, 0.1089, -0.0208, 0.8024, 0.6056, -0.4824, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3362 left_y=-0.0974 left_z=0.0162 left_yaw=0.0016 left_pitch=-0.1525 left_roll=0.0697 left_gripper=0.1089 right_x=0.2807 right_y=0.0011 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.0877 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.1744, 6.2291, 1.2869, -0.2222, 0.0317, 0.7888, -0.0205, -0.9641, 7.1316, 1.9267, -0.0366, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9cd997ef0d509cd9dca21cda208d0f5df1167cd3f58953c5d1f0b6a6f9a1f21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678047c3b9c58d56a290a43e23f83c91c1bc3b330671d7dec7d3257a8cc72825",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb7d23f3d3019dc2681180961a329a663392fe246daa7ff8030a6ba21e14f7ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8AkKEAgSGAI4AUIIdGhpbmtpbmcSDGgORhEC5W5HyojGERoMaj678K2k2KBu+4nWIjD9RIhpk2I4ZeoXnFeRmi6jWhaj+E3dru001bYOxhGpeom1DCnj7sTbzNuvoqgw0BIqjQlpAZ2mJw4YGtG7nIehtVCdyOgCPA/fq9LzVRdCp5a+UEECv7xf6OFtQ7JagoR5QQHxXs9XzoGFeOjKV9QKOe/QyC/S5qXDc9qVhYbS/X+sHRVoFesShwxovEBchZm17m3U9Jib9gL2g6YZye42wDNjKw6GwnNvFDGyLqsPwL7XufAdDxIzf14oWhKF5LWySVnJ8ogJdNvIE8hv0EHQauaOj/0QomDBNL7Iv4d29UcwB8kPNwIRkSWNJZ1RdMNoKGjN/7TYcYRNQ9kskTmz33cePVzLSYQzlwJRHovQ3NHVqS9mdsMU4hLaSTtDiCy7HSBMhjNQm+UEdMUx//wjWhMov+Qi32/3EzAlOTDKLkoVTL3IXAk20Ef/dFdUchfcd3aytMnKEv2C2BN6hHZIA88rHmKzEnG/ireMMthglUveTAtUgCQq3AQ7Ab+f9R0AhPiglv3YQt5bbsnEmkoAYyxP8zRI+j/qHOwgyd2ecNjLCkVeyirlZpQdB55a2dMjcxQkGW8Vfybvu531LqxukH1Mnad6Cb26U50SEdmp1hSkgj5D53cMoxcTByA4rf7yQ/OL3PIMbSy6s+Fy6vi1rzzSrN/O3+ElxZ71QQ3UEBrEWcwRDPiYjfmShxnls9r15KqI5LayuRW7GY1akSY4kL8VQLPbCp9vsyyKrHRYZvWE8Ir/Ys1d/b8ZqwSlYohFLXHoCap0gSSLfwEokp0n7e2YfamfuwGD708qrrrzWXX0PI0PmWxjboYufNLgHqn9uM8kO9cjEA03CfLjeoA4WwhDwumsPQYh7sXD2GxteGhaYXK8btaUPu8mtvZmsgsFfnp5Tb8NdHhri+9VQTYmwafjAYz71jmoJCbU93t12w5aBegbrbL/+tx/0saz4YR4EeCyK+wUJ1ZJ4z6BPHXtWj5S1n/rNyklendc0hsaINrQsVpdax9vgBvclKH7XFFALnrsErv8v45b2gY4Y7wxbx2Oxnf3WKaRDRstapJ9Q6cN3xxZBp0xphUgEjj0YnNX9LyO7rv8OGlUQpjyLBCERBY8cCBKGivZVdHBV+afGwoMHj8atUtNE1SbJhuMwIsvn+vgNSW9PgLr6HBQwZAsfbAVNW72R2ynEORQJ/86HMipBgoF7ZOQcOPgcsr8k+uSgGV/+7Rw0F/elJsCcCy3C6ofdSaKG/nkU4w18Vq0bzwhVovM84GkQd3ewOCFvgX9+wrZyd65011YKYkcGmo/ZsAaUG0PNjsOcqkMfVJyy8GMsiv/xXV/tNhm2ZUF3CcMHSej+L43qyLtPlzgbtHvXDq3e4wmk88+14KMa6OkKQG+3Ic6OD9gANn7VCtDwpaGOAXhmJJtha+7OUU0u+WM6o9g3Wtg68uuhQf5ltiaxYH3hm6aGzBpZItC5VjRvrmWoDuGz/yq/aOKJHva4ntmg1NDU/JnJ73tga6llmK1M58L+3eLcPBj/x4b2aVTXvXfWY/5bNtA8QtpLtJQ2OaKq+U285si5Ym3dUtFbA6Zj8cwT5rgOhXGbqHOqhPoUMAfHpOTdcM5sR8FtOLg+yWrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AJNq9UY9e3vXZU73udPXf5",
      "input": {
        "note": "Gripper closed to 0.11 on the teddy; lifting to check the grasp and clear the safe walls.",
        "targets": {
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01AJNq9UY9e3vXZU73udPXf5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4854, 1.2346, 1.034, -0.6331, -0.3889, -0.3191, 0.1108, -0.0208, 0.8036, 0.6018, -0.5007, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3354 left_y=-0.0971 left_z=0.1984 left_yaw=0.0113 left_pitch=-0.1815 left_roll=0.073 left_gripper=0.1108 right_x=0.2773 right_y=0.0012 right_z=0.1525 right_yaw=0.0005 right_pitch=-0.111 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.2581, 9.306, 1.5995, -0.2418, 0.1001, 0.188, -0.0205, -1.306, 7.3915, 1.8584, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5af43097834f5b8a56809ff3aed4dcfb32bea8a8b86574dc3af2964d4c6d8327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb276816e1f69c2d8a18d24d13b8a724d243ab327aaa005f9c2924dbd465ce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:19ac71af749e9ffbc4561275b5562c73492e9bdc18e1a3970e56b27517bd6df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.632 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]: [-0.4881, 1.5494, 0.4671, 0.2905, -0.3931, -0.3004, 0.9991, -0.0208, 0.8005, 0.6056, -0.4549, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3392 left_y=-0.0994 left_z=0.0219 left_yaw=-0.0016 left_pitch=-0.1438 left_roll=0.0697 left_gripper=0.9991 right_x=0.2848 right_y=0.0009 right_z=0.1638 right_yaw=0.0 right_pitch=-0.0584 right_roll=-0.0002 right_gripper=0.9996\nstate[joint_eff]: [0.5265, -5.9556, 5.2308, 1.8584, -0.0513, 0.0317, -0.0122, -0.0205, -1.4291, 6.9949, 1.8486, -0.0171, -0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4858, 1.5597, 0.4522, 0.3065, -0.3908, -0.3042, 0.1089, -0.0208, 0.8024, 0.6056, -0.4824, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3362 left_y=-0.0974 left_z=0.0162 left_yaw=0.0016 left_pitch=-0.1525 left_roll=0.0697 left_gripper=0.1089 right_x=0.2807 right_y=0.0011 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.0877 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.1744, 6.2291, 1.2869, -0.2222, 0.0317, 0.7888, -0.0205, -0.9641, 7.1316, 1.9267, -0.0366, -0.0757, -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]: [-0.4854, 1.2346, 1.034, -0.6331, -0.3889, -0.3191, 0.1108, -0.0208, 0.8036, 0.6018, -0.5007, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3354 left_y=-0.0971 left_z=0.1984 left_yaw=0.0113 left_pitch=-0.1815 left_roll=0.073 left_gripper=0.1108 right_x=0.2773 right_y=0.0012 right_z=0.1525 right_yaw=0.0005 right_pitch=-0.111 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.2581, 9.306, 1.5995, -0.2418, 0.1001, 0.188, -0.0205, -1.306, 7.3915, 1.8584, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5af43097834f5b8a56809ff3aed4dcfb32bea8a8b86574dc3af2964d4c6d8327",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb276816e1f69c2d8a18d24d13b8a724d243ab327aaa005f9c2924dbd465ce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19ac71af749e9ffbc4561275b5562c73492e9bdc18e1a3970e56b27517bd6df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwwgKEAgSGAI4AUIIdGhpbmtpbmcSDCF8AwzdcukgO8iPvhoMWcFeRJRphiDgcsjRIjCMmfOk2IfOPXcYHsv0M8vJTDTFkgxlh/qFMN7y2BgpJlwksIlsYEpRo9b9+/+JE3wq4AcYFIl6+zNF1OlgS2AkhG+AD/z5gqFlhWldFZXtncsY7K2AD2Ufb20+nWLjf/5pmkArFLAjGbWFLho8IGA4xUyTrLhDUeiQek5WifLunlGpf/mZb8gsXjULIHX4I86tgMDPgBeO5objjJa91LGALphhomySxHokz35s3nCQCx6NOkuyVKXvW55hov4O4FIUYUugmqt9t/TjCGwopg5Nydclio+L/0QS4r31+HQJgwZm8jKKl5zC01HoqZ79wabSPbbhSWUkRRnLW8exGT0lHtDUiVxcdjKCsIyt67ESTvVdEMoIRVgHU788w0GtrtxAQj//o5Y2yuxQTtpBpd5CiSUYNlvu6owkghODYctHHrTmD4MMdP9Rk9DaQOeVqpykzDWFXijoqeUlrqFA9wB0kuD6Z/RBSnmRBwPRlBbBjwvbQ1ri69/YKFOTvAawK5a1l6ctNMnMoigcqH5E2jbTfiPTHjL2fx3zK1X/omR2clKLR7fp2XSNT/sji0QC2DswGm+3HCOTsXx7ZSBfUE74rQhVHbAOc2kvq5u+y8ckCfumk1b59wV+3yRUE3ww7qhKuIE1Lg1M5E+t+gERPzs9fJ1i8K6N2Yf9FG4nVlgCVY/vdbNSqxDHg8frqIaju+qpJZGZRRG5T+qREYDAXlrz6WqYJ1iFUx2gqCNn6d8rTigi03Yr0WMCUuWGCHQVmfo5enqIPypxjKPw8wEbU9d27jB+O/4W+A3ffy0qHGbHi30Te0Zt/L964NVoNCxvziea7CZ33cJ44HTNMxQZIp+A3XXAwyx3cmsWUqTh+iMTRRAGtP2gttX7juU+wzT8EjdKOEEASRJJz+1r9jMpFaz3oB39lSFT3skiOQwoLVi95XBdrg5VsKbGry3BAV41Vohqi0TtdAyJnvZmC9PePivin4ie2MYAb9kkl55l9p7hwgCoB+YrcauRbDX8q7rVeFsSPWJBRvZzkfxRsFDMkYiUvq1JCBu2rdlR+WQJsIKkD2DdPapZ7Zmg+EjUCMR1sCcstkQo9NfrLZcY1ybl3uCSKetjrCgR0G1xGsA14YkDZcsG/Zrm4UsWSIbkNfzEEaqw97FLkL1J1umQVpVCWAVA2I/fMs9H3zPBu0OoRhP2MlhBwoJof9wAAMJXcErJCzoA6zp29JDBuq1BelXfMb59q6H4QqBTFmrIbHFau2bLcKGjZ7/xjvl+voFv4p8wDaZAIIGGNDnLrtozIpKudr++l+0Ph4GDJmB4Z1Qwc1R8P3wXBQ8DgNnCBaAWUIp4USG7t5RzSZ7/f8CCKasQwQkcFFCGZulR/1cgJPoTFpiCu77cnxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MHhSGBo8c2inpNhgHVpssF",
      "input": {
        "note": "Teddy lifted with the left gripper; carrying it over the open safe interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.29,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01MHhSGBo8c2inpNhgHVpssF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 1.98, 1.8835, -0.9035, -0.5606, -0.6067, 0.113, -0.0208, 0.8062, 0.6018, -0.5266, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2853 left_z=0.2056 left_yaw=0.0061 left_pitch=-0.2203 left_roll=0.077 left_gripper=0.113 right_x=0.2732 right_y=0.0012 right_z=0.147 right_yaw=0.0005 right_pitch=-0.1396 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -10.5778, 8.7863, 1.0623, -0.5495, 0.0855, 0.2076, -0.1026, -1.3744, 6.9949, 1.8437, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26b69d46da46107e9fec966a41e9f838341fb73e36f49d16c1b800f7736c2894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc87fa03d0bfe0e33f0737af4eed9fc9016ac24d90a6456f95772fdbf528a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:201c31ecb6c4f8f860549d3d59b874bee24ae0ba923fe798823a3c0101ebb314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 3.789 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]: [-0.4858, 1.5597, 0.4522, 0.3065, -0.3908, -0.3042, 0.1089, -0.0208, 0.8024, 0.6056, -0.4824, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3362 left_y=-0.0974 left_z=0.0162 left_yaw=0.0016 left_pitch=-0.1525 left_roll=0.0697 left_gripper=0.1089 right_x=0.2807 right_y=0.0011 right_z=0.1579 right_yaw=0.0004 right_pitch=-0.0877 right_roll=0.0007 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -6.1744, 6.2291, 1.2869, -0.2222, 0.0317, 0.7888, -0.0205, -0.9641, 7.1316, 1.9267, -0.0366, -0.0757, -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]: [-0.4854, 1.2346, 1.034, -0.6331, -0.3889, -0.3191, 0.1108, -0.0208, 0.8036, 0.6018, -0.5007, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3354 left_y=-0.0971 left_z=0.1984 left_yaw=0.0113 left_pitch=-0.1815 left_roll=0.073 left_gripper=0.1108 right_x=0.2773 right_y=0.0012 right_z=0.1525 right_yaw=0.0005 right_pitch=-0.111 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.2581, 9.306, 1.5995, -0.2418, 0.1001, 0.188, -0.0205, -1.306, 7.3915, 1.8584, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 1.98, 1.8835, -0.9035, -0.5606, -0.6067, 0.113, -0.0208, 0.8062, 0.6018, -0.5266, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2853 left_z=0.2056 left_yaw=0.0061 left_pitch=-0.2203 left_roll=0.077 left_gripper=0.113 right_x=0.2732 right_y=0.0012 right_z=0.147 right_yaw=0.0005 right_pitch=-0.1396 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -10.5778, 8.7863, 1.0623, -0.5495, 0.0855, 0.2076, -0.1026, -1.3744, 6.9949, 1.8437, -0.0513, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26b69d46da46107e9fec966a41e9f838341fb73e36f49d16c1b800f7736c2894",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbc87fa03d0bfe0e33f0737af4eed9fc9016ac24d90a6456f95772fdbf528a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:201c31ecb6c4f8f860549d3d59b874bee24ae0ba923fe798823a3c0101ebb314",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+wgKEAgSGAI4AUIIdGhpbmtpbmcSDHI1SISjHlWcehYhLBoMxQJmKHEX4jE6UCxSIjDtj08ubzuJUQBEWRbXHzadz2sX0OzUHqbKytPleQGmD/hN5945L6LE6pMUXEJjkx0qmAhxntiKD8GYySBIKWN5QhqsfF2rFlI0/rl6RYFPli+Ou4jq+vvUsA5rwu1x3i0xLbfjnX42X6TWNTIhoUlbGwV25kVrY3Q7qjJJa4DsNgc2jGNJiSHLT3bF115w3bFW3MNBt/Gdbfo0Iv7eNOHO2hs7vSff28MM3Aj+0QwKesNnrxiepdAMTp3XcXfay/E+FHLJtamOPccyFl44tfryq/5wUuZNznjA1d+ZXNrUngg58KBam+5lxr0RcyrhzFri3/vkESRC+QZtANUHdfjr0Qqcq9xqaw+gOVAC2i3au4OoLh4iXAfGmCB231ihlGfUbZY7qd8xx4NVe1dq7MVOEnVq/6Z2R9sQFKy+lNDKeIt7noeoghlUZqA/KEOPsDA7ZC6sAlrW6gHYKBp5F2WuvsKpIA76bD9EcWI1qsXenzx5mHch0kG7U1GsPVmMevBZ1oP4SANH85wpKnxYgUosON0pxPqezf5ITfIoVS8VvY+6Y+0Dw50yVMbkHteZdTZ9XbAKmOz9otpTIkd5y/5BJiEbJ3+/pQ1d5hVocbCIkNpcS3/gE4XRSdhh35ZmgE5sk/iUcAl/EOMTzGER1pNkIT17Y1H05DvUm0doss0FPAtbjkQc3wHm2f8kEJ/EDO3SQ9/xgrPHjyX3UVBXWmhXipJOZZ5oZrhd2N1wpyhsSKMk+QLEbWOQ5pGcnktwCX1lJ31nltx6oz8dBcODWL6qgpPPIX31k19HYJ91N6tZeSj7etzW3vuVVNYLOXJe6R9vcLoFUuoNINSbEgeyMA3B8nkvP8j37qPwdYxP84xU6wkARJiKKGD6tcsCYLk2b6R42nuVlKAyAhSjGNsErRB5TidzU0SrZGIADSKHIzO9SrLEWi5d6o4+8R5OeLtM5DI3AF+aqHp0VBWYAFINtJIneJSGzx9z9c/Mim1goEIefvDSrQe+9XOpEXn6Je0O7s7E5fQgVounVCe2l4rAxP7cX7Ec+iRjRcTRZz45uHUlJ/nh+1qPzIIxBf3TQJ3EzvHCpXqiE8E7qq2Rtr+kcMCF5fSaA+FHi2VXzvg8tfFA3NNxH5clw1Y+T6HdIhiT2qmWv39ngjn1pRmLgb86tNG1XzxlLGOQHuZwYefgrP2Pmih/B8zcxn6IdFj38ayGn832uJAbYTd7LhrQj8Xuivtr1hBqFA533oioFEXUAlPZ0z/XpG2X7WHNGZMdVjz5XIjkC9Mzq7fgbIS2XjyiqzRGQE31H//6TEblg6rBa2swNt0PxaxLfPNJECabeK/XNqi4jyS0bZlXgFZ8VbM94kpRzcXvCFjuuWmo+fTUdXp9ERTr7T+pyP8CGoA6BojroMGZwRfYkD+0V0ofJMu1PrvqJKPfCu3fiROnVETsV4Cc2w1amAiMeShcN6GTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JFEaCm64ZwK3YrvMHCXiX2",
      "input": {
        "note": "Teddy is above the safe's red interior, slightly toward the back; centring and lowering into the safe before releasing.",
        "targets": {
          "left_x": 0.38,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JFEaCm64ZwK3YrvMHCXiX2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.8555, 1.9503, 1.4117, -0.5816, -0.5728, -0.6575, 0.1151, -0.0208, 0.8089, 0.6018, -0.5613, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3728 left_y=-0.2776 left_z=0.0865 left_yaw=0.0084 left_pitch=-0.2904 left_roll=0.1409 left_gripper=0.1151 right_x=0.2674 right_y=0.0013 right_z=0.14 right_yaw=0.0003 right_pitch=-0.177 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -12.2462, 6.653, 1.4383, -0.5397, -0.0904, 0.2125, -0.0615, -1.3607, 6.8581, 1.8828, -0.0269, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399a416e483def3d3bfeba3456c9c7336b8a8dca5a0641bd625dd1afe7286f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b11202a5fefaa1e5f7917a84da9c67f4748dfb44db2300ef2f908bc7a97299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:140de78c246ff7f85cdd6cfecc92a879b09fc8bbb22f7c817f0e1b5952fa5f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 7.032 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]: [-0.4854, 1.2346, 1.034, -0.6331, -0.3889, -0.3191, 0.1108, -0.0208, 0.8036, 0.6018, -0.5007, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3354 left_y=-0.0971 left_z=0.1984 left_yaw=0.0113 left_pitch=-0.1815 left_roll=0.073 left_gripper=0.1108 right_x=0.2773 right_y=0.0012 right_z=0.1525 right_yaw=0.0005 right_pitch=-0.111 right_roll=0.0012 right_gripper=0.9996\nstate[joint_eff]: [-0.2393, -5.2581, 9.306, 1.5995, -0.2418, 0.1001, 0.188, -0.0205, -1.306, 7.3915, 1.8584, -0.0562, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7982, 1.98, 1.8835, -0.9035, -0.5606, -0.6067, 0.113, -0.0208, 0.8062, 0.6018, -0.5266, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2853 left_z=0.2056 left_yaw=0.0061 left_pitch=-0.2203 left_roll=0.077 left_gripper=0.113 right_x=0.2732 right_y=0.0012 right_z=0.147 right_yaw=0.0005 right_pitch=-0.1396 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -10.5778, 8.7863, 1.0623, -0.5495, 0.0855, 0.2076, -0.1026, -1.3744, 6.9949, 1.8437, -0.0513, -0.0562, -0.0073]",
      "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]: [-0.8555, 1.9503, 1.4117, -0.5816, -0.5728, -0.6575, 0.1151, -0.0208, 0.8089, 0.6018, -0.5613, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3728 left_y=-0.2776 left_z=0.0865 left_yaw=0.0084 left_pitch=-0.2904 left_roll=0.1409 left_gripper=0.1151 right_x=0.2674 right_y=0.0013 right_z=0.14 right_yaw=0.0003 right_pitch=-0.177 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -12.2462, 6.653, 1.4383, -0.5397, -0.0904, 0.2125, -0.0615, -1.3607, 6.8581, 1.8828, -0.0269, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:399a416e483def3d3bfeba3456c9c7336b8a8dca5a0641bd625dd1afe7286f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25b11202a5fefaa1e5f7917a84da9c67f4748dfb44db2300ef2f908bc7a97299",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:140de78c246ff7f85cdd6cfecc92a879b09fc8bbb22f7c817f0e1b5952fa5f47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDEY7regN9DfvUdvCaxoMfEDTJnxxLNiH09emIjBfFVH5uyB4UFwKu0D/WyvVTzNuShrqCQUgaQ/TOTT+8X+4bRX1WTTRnJQDTQQ9mrcqpweMdP+J0CnOL4Ysy1JsVvsvKkN4TedyVE6qFloKhc1mH/NgTbgLs49Ttal9iLeRJVHB5oOTnjvCLoomSQ+dt7lAymSP8gMCe6VHWisL6orKRUlA0D6EA4UlIE1M1F9kdAYWjZKBIEUN5bgY9OdgBVYuY47xE8yfeleN0JEGgnZDO1qK1MoMVRCF4fqQr9HTIFP1htXloSXPdBv+NUOldHiAEo0NIF/V3/dSv1hk2FzWljvqhhj/oS97hUcU1IW4DUi18ed9+KEhnU0FagVUaUWrXXYLnljj8FC9+vrp4XcWUSJlX1bx+YWBCvIeCkKCbRCuDEk+LI3yPB64iCVa5DTYXa/iQxAH3bYTlTNz5wcISkx8IeuFpn8Xd7wKoqMhHk7JrQlM9MORm0OfuHpQphIvHJB7K2y6nru7bIrA6b82VK1rSxrPGMqkHOfyKkj3eOqaCQ/TCB8tw3+dgKrYskW30Md4Cli7SCzEFD/c3f/+QIhVLHn9MTlTvAa5MIO6sww30VFs97WVV7XcJGBqIirED4FMoeMGrh4/+DJ0U2pNAu6WwlsleUM1Ux9hywdD8Oc/+S6MYmTmWIvbYAEKcdZKFqVOBS7zQasDcen2wiV/pehmeo2ZkqwMUQ8qfAOzKhiZWKdTRkwYpjqP4C1chATWkbvBi+PtMD5RNZ4x6fzNaKlJpypg50QLzYRPaGTgarsfnIlc/2Mywo6EukisFtsBpt4zShb9fJtH0muFTfLcJy4eJc5HZ3pSh+6+bgJUM8fQswbCbflb/+fL7gGq+uRwaxXsL2JQcuPhggDqU0d8mULXYH+nRdY4guS20s5g3oQ9ghvb8lDXNRi/9OfVwmpql2SethgEB86sev7uHkwzWb0jb4NoccUzO5TWcecSeog2N1VhrpTQxFlFnlJf56YADm/nQkAxG20vaXcMx/IW4kF+fomRjvfXzN4ZSp896ZJIpCoXd19y56hhJOqIqsBFS1L0Ss4qbg89DtjLKpJVKS0XIcdsSa2eLmIQfqwNsZrht5mgs8SZki+RFskSyy5VB2wuCrYI9hnIKoIbUk8L4F5HWa8BRT1oP8ni9ag3oaBC6UDrsT981W43chKXFfGkM6mGan7LfttuExXhF9ub4KCmd1Vf8oG142wCO50z3kbKV0PeRXq4M/+HZa3bV42rRdIqAHRe5zujbFj/7Fw5GsSTj7wOAFaIRofCnN7Bwr5um8Y5/mYNIRL7xvIwxmCRF1kg1zoWVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QRokbj6RHKkKPvfta1Vz3w",
      "input": {
        "note": "Teddy is inside the safe's walls; releasing it.",
        "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_01QRokbj6RHKkKPvfta1Vz3w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.857, 1.9507, 1.388, -0.5842, -0.5694, -0.6666, 0.9956, -0.0208, 0.8101, 0.6018, -0.5907, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3674 left_y=-0.2732 left_z=0.0779 left_yaw=0.0162 left_pitch=-0.3093 left_roll=0.154 left_gripper=0.9956 right_x=0.2623 right_y=0.0015 right_z=0.1346 right_yaw=0.0008 right_pitch=-0.2075 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.2769, 8.212, 1.0427, -0.398, 0.0562, -0.149, -0.1299, -1.2376, 7.0222, 1.7705, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20375063f5474de1187a25a65ef71ee99b61e3240123600c22e00a17bc7afde3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5066673db4bf9788d47d6b21c74803f6055031df184a49fb0f6f67fdd51e7fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5ef9b40c87e34b235e272d93c23c4902398e5c4b8d787b25c912af1b80af35b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 7.111 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]: [-0.7982, 1.98, 1.8835, -0.9035, -0.5606, -0.6067, 0.113, -0.0208, 0.8062, 0.6018, -0.5266, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.4142 left_y=-0.2853 left_z=0.2056 left_yaw=0.0061 left_pitch=-0.2203 left_roll=0.077 left_gripper=0.113 right_x=0.2732 right_y=0.0012 right_z=0.147 right_yaw=0.0005 right_pitch=-0.1396 right_roll=0.0018 right_gripper=0.9996\nstate[joint_eff]: [-0.5402, -10.5778, 8.7863, 1.0623, -0.5495, 0.0855, 0.2076, -0.1026, -1.3744, 6.9949, 1.8437, -0.0513, -0.0562, -0.0073]",
      "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]: [-0.8555, 1.9503, 1.4117, -0.5816, -0.5728, -0.6575, 0.1151, -0.0208, 0.8089, 0.6018, -0.5613, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3728 left_y=-0.2776 left_z=0.0865 left_yaw=0.0084 left_pitch=-0.2904 left_roll=0.1409 left_gripper=0.1151 right_x=0.2674 right_y=0.0013 right_z=0.14 right_yaw=0.0003 right_pitch=-0.177 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -12.2462, 6.653, 1.4383, -0.5397, -0.0904, 0.2125, -0.0615, -1.3607, 6.8581, 1.8828, -0.0269, -0.022, -0.0073]",
      "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]: [-0.857, 1.9507, 1.388, -0.5842, -0.5694, -0.6666, 0.9956, -0.0208, 0.8101, 0.6018, -0.5907, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3674 left_y=-0.2732 left_z=0.0779 left_yaw=0.0162 left_pitch=-0.3093 left_roll=0.154 left_gripper=0.9956 right_x=0.2623 right_y=0.0015 right_z=0.1346 right_yaw=0.0008 right_pitch=-0.2075 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.2769, 8.212, 1.0427, -0.398, 0.0562, -0.149, -0.1299, -1.2376, 7.0222, 1.7705, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20375063f5474de1187a25a65ef71ee99b61e3240123600c22e00a17bc7afde3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5066673db4bf9788d47d6b21c74803f6055031df184a49fb0f6f67fdd51e7fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ef9b40c87e34b235e272d93c23c4902398e5c4b8d787b25c912af1b80af35b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDMIM3pSmG7JXq72MrBoMe5O/LgphrdjP+p86IjC+caFYOQEcsvDCBvg3pYr5xM7gWvdvVCs38ly4lk+vUrqUbk7D0JSkU00vTgsXLMMq2AcE8EgMfsutEryOcQPP1bYSOp3CeZeRjJ0gsZYHPnMDDd8GizAnaDOHyi7X3gOenZ7HIv+ok6mrP7h8/JjHMDVR37cB4CZfq0HDmKK264vtaLO4UaxG4sn5oqu97EJEdk9incBJ/Az52tWQlNCZLqET4tcRFISZi1P9gXJiTn17DMRzWrxTaYJqJNI0A2f3fgsMUNPpjT5YGPvxoXvz+4Dw/gVQnbfW26bHzIgSLIdRbsdwzHud+MDfBpARFfz3J5rIDOJRaYv19z9Tlfx15QqNf4xb8SEs9l/By77ZIcxrGe9Oa+bcsX/7A1BoqN+/woht8ENfoeh2mWwPe6aNMh7QB3bI3tBI62aTSEBXziRumFszr9zdqaXKiTeCC/b4qilrkWnxYxzu5ANy2PekASVS4D+zKFiR2Cn/8cRsjN7FVZgErHLI9YrHQU41Uvvl67fhW0uIN9Vuyc1txbdKAnUWwHx3v3zBNyYAgj07Rl7q1dHm4ZBFwNhEw9jGxfavRQCmja22KQykWVczYV8Tki36/MFNwvzaW0NxtaBOZKpmhNxR0JXR9Dj+I38oE+Ko1OMMwSBL0O1y1MkEBwPiV0B1HdmlhoHglIJjzJRT9va3j641dHONOXAHcBLJWVDdMf39+Sp3Hg0tg8wb5bA4LWofLbMpgL+4/Um0jpoVZL6liAWkyf5G7IFBbq/kNBCaaWKDeulAnxKYwTvh4DY7Cwr+ubuniw9Qd0z2hXUki76WDnTGGw29JydYmtx55lF3qBcwduFFMzsqtVFR4wt1dvSYmcRbFV3TXOav5E+H1UG0gfeyRFe9CdUbjpQHWCqzfmkEVGu1flLPBxZ0B+U4buuzUdx3npF6L9E/4hpeC+BlZRfxoRdqxZ2ArtL5PqBLUj9mduRL1R3DeozKwwFhIESsSW4Bi9BkK20OvVGZBwN/D3cRtvQelNpCngalHSrxK1b7DhgTj1GG/MD8Zc84MqLS/HmRyTJYLBZx0/rM95SO7aIGUAkv95BXCUj1nfpRfVU0WRJr3iHseO1riuNsYYmd+d0G4+/XCQH/Hf7IA94srnGStv7KgkAP3jU81Ao2k/JjzFYSxeto3F+39vs5q3JuHBZEhq+QsXmdQxec0r7LQ33vyPnyIhdLu8bNFKyU+TOIQzDC4ZeDbc73+AQOXDBZwvygvMyFEF4km7mQK2NWL+WF2zF6DFktAKfe+eIMtJsLd9h49zcC4XkZp3NR+aMKYKZglYnaQRoaHPqwfwl6NWWUAPgOOUY3VJHSmOPl0qOpNeHnPLuXiUwt0cqIBIkM6Fa6n++q4/IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RNMDWZ2syeY35i3uZ2rZ4w",
      "input": {
        "note": "Teddy is released inside the safe; lifting the left arm out and moving it aside so the right arm can work.",
        "targets": {
          "left_x": 0.3,
          "left_y": -0.05,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01RNMDWZ2syeY35i3uZ2rZ4w",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3756, 1.1748, 1.1133, -0.9089, -0.3401, -0.2424, 0.9968, -0.0208, 0.8127, 0.601, -0.6132, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3021 left_y=-0.0519 left_z=0.2053 left_yaw=0.0548 left_pitch=-0.3254 left_roll=0.1542 left_gripper=0.9968 right_x=0.2582 right_y=0.0016 right_z=0.1298 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.5197, 9.1829, 1.3114, -0.1832, 0.1392, 0.1099, -0.0615, -1.3744, 6.8855, 1.6972, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12e1eb1dbda9d2ce35517f57638fc1ac307c23bed637115bc08a3484209367a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2243901134d9778d1ce4dfab083ea5d973ed8a0db1085b9dcb7edfd14f0f93a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1906b243d20a50da5b71ef20088e2b3ff44ad3c04c8e7e58ee76de06ad44f8d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.41 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]: [-0.8555, 1.9503, 1.4117, -0.5816, -0.5728, -0.6575, 0.1151, -0.0208, 0.8089, 0.6018, -0.5613, -0.0185, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3728 left_y=-0.2776 left_z=0.0865 left_yaw=0.0084 left_pitch=-0.2904 left_roll=0.1409 left_gripper=0.1151 right_x=0.2674 right_y=0.0013 right_z=0.14 right_yaw=0.0003 right_pitch=-0.177 right_roll=0.0023 right_gripper=0.9996\nstate[joint_eff]: [-0.3214, -12.2462, 6.653, 1.4383, -0.5397, -0.0904, 0.2125, -0.0615, -1.3607, 6.8581, 1.8828, -0.0269, -0.022, -0.0073]",
      "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]: [-0.857, 1.9507, 1.388, -0.5842, -0.5694, -0.6666, 0.9956, -0.0208, 0.8101, 0.6018, -0.5907, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3674 left_y=-0.2732 left_z=0.0779 left_yaw=0.0162 left_pitch=-0.3093 left_roll=0.154 left_gripper=0.9956 right_x=0.2623 right_y=0.0015 right_z=0.1346 right_yaw=0.0008 right_pitch=-0.2075 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.2769, 8.212, 1.0427, -0.398, 0.0562, -0.149, -0.1299, -1.2376, 7.0222, 1.7705, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3756, 1.1748, 1.1133, -0.9089, -0.3401, -0.2424, 0.9968, -0.0208, 0.8127, 0.601, -0.6132, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3021 left_y=-0.0519 left_z=0.2053 left_yaw=0.0548 left_pitch=-0.3254 left_roll=0.1542 left_gripper=0.9968 right_x=0.2582 right_y=0.0016 right_z=0.1298 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.5197, 9.1829, 1.3114, -0.1832, 0.1392, 0.1099, -0.0615, -1.3744, 6.8855, 1.6972, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12e1eb1dbda9d2ce35517f57638fc1ac307c23bed637115bc08a3484209367a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2243901134d9778d1ce4dfab083ea5d973ed8a0db1085b9dcb7edfd14f0f93a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1906b243d20a50da5b71ef20088e2b3ff44ad3c04c8e7e58ee76de06ad44f8d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAwKEAgSGAI4AUIIdGhpbmtpbmcSDBFRMW+isIq4Cxb5kBoM2ns+El+e45yzr5riIjBQWemAHQBG1EgElnPJrIB4y/GEGyGgH7p5Shjua2ihne3Co4a+HOPUrQffUcfuRJ0qrQuMrM/lr++kGEWxoZ10qFppNfAa6YY0RVpbJzS3bmR98AeZ07kwbY8swIwwMM/qwAXGEI5Q9r/RcgLQv2ctgHm3oxYg/Pks9kcStEvcC7ViHxs9MBAZP/xg/tKyy428LzGzJ6cAHBJg97+/n9V+MLjtxilntsxl+wVz5sr8Neyt2M2U4BBB4iNKYs9fbBcUKwDeuqVEcvkCn/fOJYhV1QoHMABBXsGHCuqRMG6feuLP29WngJ/QGh0fXTlxtQGqGu2R+24T8ORxSCKcEkSVKGU5wirkr0E4U10XdQxZPvpoWX0pNUkyWfMj+VVhbPd9XmehUQAUTx1atkEZF7Mpccm4LMjsT+yjur2kmGlrRiyk/hu1N8FDBb6OQgRoWhBktpYwOd9OmftyBgaLXmSGzizaGuY3e002ab+25ChYR4mB0uSZTmig/eN21dQ3WJFLsWNLASOOpJGyRV3/xGIvcp+t9cev4kQqgJVP72dLCtPCFqaHoy1WAnWbSRbe5wB1lA0qJwOb66rwmkeCFSaoFp+9d9KgURgpHZIJsEgyrAh//DyM14I5XAhw2jlqmpNzlVwIDZKk/XA/zUWmI+oyFuChPDJpbCZHXcGuzgfB5z9vEEvCC3nEhEH6ee7zKxKqdadyTXyACyGxF4r+EOa9caDwBfqKHL7lSfSr5aDJTyRYMnixwJxI521bUpAQKMqJHxkh07FBfx0d5MZYLFTo0yfvd1NZ7o2RbSnVcHlXD2b2svFb3/pNLwoo/6Es6JFsMveflshCwE2NlNgIQG8spfUHFNg9rTsIT/fC25Si0NLv6jrBboYvuXeYaZqnCeQ5A9KvZ79aOqv0AmpewcC96KLwgqSbaKZ4lnUw+DGxpZVESyc3YYWwM2dDnTTfK903eFlvC2A/eoOLU1pe9wJaKxSqHmVfGl4hF8UiLcYAueo4XgNTP1q3BbJwi74XOaWVdrF8i0YDRWLO+4b8uQgO7BUvk4GXnE+/0cjostXyspBBXz8oRGKaDpNpjBp5i4Fcws49DDwWIT6ProFyywMAn4LKRxl5rv86F3SvY2Nmwk8b/cjRVFoSH8WVuFMmoAH+U/4RCFj40+v2ehOqRAnuJE3ggXn5hpk65YoxXrw0m8igYyO3t0iaPI6VLXxAJipE0WUlODl4ZjFAGezFi3B1pyPBExWgN3v7dtImUEsVwivUMt6RObm+En7jbZPRdDLmtZrgA9vZdZtTQ/L9vvtQ0G6+LsCuxmmZeumwenOaipTxLgRfiBlB3odR2sBXeVIJF9eiMQnDwuBdeK02BH0GMP86q4vlka5dn+CA+58KkYzO8nqTKTjzAk2jFsLaOx7+UZfplRrhvaiksba0LQYF7aO+C3l3qe04OGAoMenamiBA9sAFOqTizOdMZWVHC8hcwbLoyooAg15+Nt2mVH4e77dhLuOHRU+7mPe3eEgjmGoEjP5VlyZ0J3Ib/zpkccNduXHkTp5k5jdXSmNJWKQIvAtkwKSmW3c62iIxzrumF7EZDkgZ0FPl6mLoieGbJH7PCs7sv8O2R4Thrapkk8WtlfYQ/KegUsb4JjpZ8U7y3Y+2Pb48XinbFYYHu4bFrDeVMHyELEN7YKkWRJC+ZF9gtniGj9Da0K5GlSHnv9Wkcw5H3c2DNYUPTzBgt1n6zgNSrqWYkwJTC6DjHOt0HmU+6Hh51j3Ryghc6///ekKVVjzZlrl7YKrwE6XHwbyHA6NQzGS5p9T3zeFGa73wco7saWd4D+Z2JaR8zM3oTRp0EWg45mjBmKQLEFs7rKGQFX3vvLEw6IlYa7qRloz2jjNO4UmIxt+MCAv1lKwJQQLqeX/p8MDsdGVRlWn+p7Son5ilUhjeyO8FQ0vZbgygzTFa+2VrmznKMETp71oscuOd4nkFPr+iWlMoLgI4EPztBDga1Rp0QK9K7xi4xzX9TMV9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SrugMxkfKBPAjZArFN9sAK",
      "input": {
        "note": "Teddy is in the safe. Moving the right arm above the yellow lemon to the right of the safe.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.15,
          "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_01SrugMxkfKBPAjZArFN9sAK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1767, 1.1126, -0.9279, -0.3298, -0.2447, 0.9969, 0.4454, 1.6501, 1.1011, -0.379, 0.2672, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2984 left_y=-0.0519 left_z=0.2015 left_yaw=0.0519 left_pitch=-0.3485 left_roll=0.1541 left_gripper=0.9969 right_x=0.4024 right_y=0.1444 right_z=0.1062 right_yaw=0.0316 right_pitch=-0.2907 right_roll=-0.0203 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.4042, -0.315, -0.0464, 0.0024, 0.1983, -7.5556, 8.5265, 1.409, 0.315, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc8fb8f864f5001f4b5cd4396e84b2b697c2fc16b0fb6eb3c6c4bca2927e444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8bfac1024bef716b72150a1f17111f6c538747840941335fe709aa66e23a9df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f422be6aecc2ac960d74f1c60afeac3be07c53a8f2cef1dd8f289d059635fdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.235 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]: [-0.857, 1.9507, 1.388, -0.5842, -0.5694, -0.6666, 0.9956, -0.0208, 0.8101, 0.6018, -0.5907, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3674 left_y=-0.2732 left_z=0.0779 left_yaw=0.0162 left_pitch=-0.3093 left_roll=0.154 left_gripper=0.9956 right_x=0.2623 right_y=0.0015 right_z=0.1346 right_yaw=0.0008 right_pitch=-0.2075 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -10.2769, 8.212, 1.0427, -0.398, 0.0562, -0.149, -0.1299, -1.2376, 7.0222, 1.7705, -0.0806, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3756, 1.1748, 1.1133, -0.9089, -0.3401, -0.2424, 0.9968, -0.0208, 0.8127, 0.601, -0.6132, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3021 left_y=-0.0519 left_z=0.2053 left_yaw=0.0548 left_pitch=-0.3254 left_roll=0.1542 left_gripper=0.9968 right_x=0.2582 right_y=0.0016 right_z=0.1298 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.5197, 9.1829, 1.3114, -0.1832, 0.1392, 0.1099, -0.0615, -1.3744, 6.8855, 1.6972, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1767, 1.1126, -0.9279, -0.3298, -0.2447, 0.9969, 0.4454, 1.6501, 1.1011, -0.379, 0.2672, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2984 left_y=-0.0519 left_z=0.2015 left_yaw=0.0519 left_pitch=-0.3485 left_roll=0.1541 left_gripper=0.9969 right_x=0.4024 right_y=0.1444 right_z=0.1062 right_yaw=0.0316 right_pitch=-0.2907 right_roll=-0.0203 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.4042, -0.315, -0.0464, 0.0024, 0.1983, -7.5556, 8.5265, 1.409, 0.315, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fc8fb8f864f5001f4b5cd4396e84b2b697c2fc16b0fb6eb3c6c4bca2927e444",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8bfac1024bef716b72150a1f17111f6c538747840941335fe709aa66e23a9df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f422be6aecc2ac960d74f1c60afeac3be07c53a8f2cef1dd8f289d059635fdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS/wcKEAgSGAI4AUIIdGhpbmtpbmcSDC17QY8eqZkE4dtBkhoMkqJaYbLZqXWJNw/5IjDjHW48Zv81glnEhMXtri2M9ARClIWz0vDllsFGgi7YcrdYGKwYy+ra00fJcbnUUTQqnAcHjnpUlwTH6tDFQLBOw8CfLjBFWUAJTazjIk5r8PU45iIbqXnzXTKMBAAyOCgiQDyasXZK3dVVwNq+RdsfaOvjAbZe0w1z1vwqHLpZVwZDMaqvPs8BdWi4VI7G8QtDs+a9DEKd6mVDcNxEFxpvszfAMomiqUvBD/ypxaWiQLafBPwhSsyiyhGRpLEXzhst0ZmXTSCgtO1D0f3qCcVjVAFCRObszx2MesFOmwZ0J2Zhmt5gUTY2tFU5rs8oxSDfc+DQZ1ld+ZmOou742/7R5Gvhe/+uBBmkLZqGB0XSZbPf6E9bqjEAttZQ/V4qSn9uPrgQfJ8u1B4cwiKjQUd2k9jhjd3PmqleiPngzrGzJXjkCX88TR8vY7s2K3xN0cr9NX3QjRcA6/X71aNNI28N9O5eubyw4UNGuDFpwqxEEEICNVz95n1MELNX/zSZxwiOiDMQ5WxiQOlJS/pxmljoHxD6HjDOjb4tq82WQkMpdaKG39SigeiWW/+wEEj8wzNztW/FTyjju0m9O4BASsl/rwYJ1fWyag2yaOdeKTprwPc19wQppQ2yI3xSXTDl8nWC8J9gBExnnR5qxb7/DbHcQ8LJJZL1yJgezMusuW2fKdMhsE8mDJbsT9sydOToRH3iCG6orNXqhxBuL6kN3rcf+T03d5XXVK5+Hkzy+HTvVyDQQJ0BidpehosCL7AAEFh4CyfQa2CU6XLK7pT2ZCGSBUcTtk2OxLKePH+XCFaaDxMo9iLR+yD9gF4tEU+NxVrI+oqXhYK0tWPP4KMEltfiY1WO75DpyQUrL8/Lqf3oQHYKkTioSvysREmPX7by8PAvs56P/wIQ7iGcjQP1pMgVk/xJdTpJkQhzkV+5kCwaCi5SX4Iar5WNpgbQWwXdggerUjf+ByoaT8QUMTFGeyskx8q2kmiCoimpdSMucUc9pToSMrYilYpO2WEoIpt0FUWa625zGfnqhJwZqdfcy0BSmtSdmlrUgxeM0tBNLUX9hQBscHQMKmRaujy5m6f9baqnaUzJRbE1k9DaePkEe94i4X+86wjAhM/66cZwqSLg0DoKH3pRwDgWOh5WmbLkvG7XT4jLLwQhXSEhpZ4tOoWhMICLkw+C/CAukZBKj7sNkkOI/vS0kSi17OlqiDU4tys33FWqM+hbgtpKIJ96Jzu6hDPCGhjyw74Tv1LsuzSDOXnY+AJWZ6g1jHWFgMpL+bVFm2mEJlihh+Rjf+SiuQ4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D5pfxVwJykyo5QU6cnE7mD",
      "input": {
        "note": "Lemon is centred just ahead of the jaws in the right wrist view; advancing ~3 cm and descending to grasp height.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.14,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01D5pfxVwJykyo5QU6cnE7mD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1767, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.392, 1.9018, 1.0325, -0.1295, 0.2367, 0.2504, 0.9996]\nstate[eef_state]: left_x=0.2981 left_y=-0.0519 left_z=0.2012 left_yaw=0.0534 left_pitch=-0.3498 left_roll=0.1527 left_gripper=0.9969 right_x=0.4217 right_y=0.1333 right_z=0.01 right_yaw=0.0172 right_pitch=-0.3665 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.6444, 6.5026, 1.243, -0.2418, -0.0415, -0.0122, -0.5128, -8.4855, 6.3248, 1.6239, 0.0855, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:524046c32904e15cd6cf48923156b31f89afbc2a05d63df4656dc4e015892edf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64b5e3cdb70ec59e41fc92a60f1d7f634828ee5ae6d1fda0d2a43f092bec3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:55afb601264f38b07d78136244345724e56fc60de3f6dc4b5ed12697a3494c38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 3.828 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]: [-0.3756, 1.1748, 1.1133, -0.9089, -0.3401, -0.2424, 0.9968, -0.0208, 0.8127, 0.601, -0.6132, -0.0189, -0.0341, 0.9996]\nstate[eef_state]: left_x=0.3021 left_y=-0.0519 left_z=0.2053 left_yaw=0.0548 left_pitch=-0.3254 left_roll=0.1542 left_gripper=0.9968 right_x=0.2582 right_y=0.0016 right_z=0.1298 right_yaw=0.0009 right_pitch=-0.2334 right_roll=0.0039 right_gripper=0.9996\nstate[joint_eff]: [0.1983, -4.5197, 9.1829, 1.3114, -0.1832, 0.1392, 0.1099, -0.0615, -1.3744, 6.8855, 1.6972, -0.0806, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1767, 1.1126, -0.9279, -0.3298, -0.2447, 0.9969, 0.4454, 1.6501, 1.1011, -0.379, 0.2672, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2984 left_y=-0.0519 left_z=0.2015 left_yaw=0.0519 left_pitch=-0.3485 left_roll=0.1541 left_gripper=0.9969 right_x=0.4024 right_y=0.1444 right_z=0.1062 right_yaw=0.0316 right_pitch=-0.2907 right_roll=-0.0203 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.4042, -0.315, -0.0464, 0.0024, 0.1983, -7.5556, 8.5265, 1.409, 0.315, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1767, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.392, 1.9018, 1.0325, -0.1295, 0.2367, 0.2504, 0.9996]\nstate[eef_state]: left_x=0.2981 left_y=-0.0519 left_z=0.2012 left_yaw=0.0534 left_pitch=-0.3498 left_roll=0.1527 left_gripper=0.9969 right_x=0.4217 right_y=0.1333 right_z=0.01 right_yaw=0.0172 right_pitch=-0.3665 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.6444, 6.5026, 1.243, -0.2418, -0.0415, -0.0122, -0.5128, -8.4855, 6.3248, 1.6239, 0.0855, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:524046c32904e15cd6cf48923156b31f89afbc2a05d63df4656dc4e015892edf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e64b5e3cdb70ec59e41fc92a60f1d7f634828ee5ae6d1fda0d2a43f092bec3e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 117):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55afb601264f38b07d78136244345724e56fc60de3f6dc4b5ed12697a3494c38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDGNMECXxjVzYRhjbUhoMxC63htXjkXv51/7qIjB5VTwxAlyAjPjdaj4X5WsdnOIZql6SKJxo9wE47rsIWZEO3pcaa2mxdgOHDIF9hCkq2wbiEJYzo/3pMZyDddQe6qM4dQGTC2v1TNG2TF51Pc4JJqdi5PM3aE8MnEPlMvXTuja1jqwaKwn8O/9XaVzZUx6x7I9Gl8F/pWwt2RwCZrXAbyShqLuzw+UT6ryUoAy9B1Soxx/uDOJy98U++N5zyavzs9XycG7BzIpBEB2CruE5zaTfH1alMcpcWlDtYYFA08EWr2ExC+rhZT5B3SqCDdLyqpkwhp7xwelPmVQK5YjihJQ1g/HBPKgnV4m+AHhyHxvtLcc0H4yDc8wjoxBZCSf1/dWPzZbJeg5DCAo2DTO5C9hldBYUKzmmPT2oRqEAj2Lz2SZcOoRTPoH6OJeB6BAAiM5Qz1wFlu3Ahbx0dWj3T1NvfQd/S3NMwdDwMhvFTEB8VHUwCEDt5Ha9RxI5kU9eLfJtJtTKST7KC5VYenVwzCSOVjGv0WAsZqCyMCfo//vzplnFV2wY3hoBvtohsfQyq8kKBAITTB1eDdoTubVarJENDWT+hahSNNP251z6ZYbxzPzpg/tgIQsJfX4Rd9i9wrgLx7n9BXw74L101xXkO736mNan2Kr0AyWE9Dd2mWGNieU15mJUzqrdxMIAVptgutIs9J6bAlbGs9hNqP9fVacx4PTodgNiBF+2ZAPJ8+wJiAsnWUtqHWeS4nIBowk7oszSNp1d2pjZLXB925Sp2t/RNUQsF2CNzjwo0ltTCCZUHmt3kYQIA9HGRJiU1ME0PSI2jv7qWDGyMGEfeOz0TIehpO+i5U404Iw04Ek2EsZ79cVmOsoT9bjjHjnkv3TWOWh131BIdZLsmNAPy3p7Mclm3DTVzTls7AQA+F/Cj9NhS3l8lUKCG7u25qpVSazEwhn9pgE+ASKl5E9OHBOkWN0W07TIQ6EpGbHb7UvKkF6yCunblrbV9I3sZW0M5MkbWhjXl/16GrwBoPOeNBla/mgJgfuSUwGXXnWjriJwOrEZQZ5wnSPtlvoeBPnggyJA6OoHpx/3ALeRfzdjAXf5Z/3weZcH0Dt/klDKomTJ0WGd+NIHUolhaHGTaycU1RxYwJ7q4k3BdYjmVYrCTI8hCjiQByLZYPtp5PkmIS15q7sqk64CdTC71DREAibYvavH3i5AzUpkhAUAOoNmLEpIFPD+3IpcgvLnzMagGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CSx4sdBhetChUMAPqte2Za",
      "input": {
        "note": "Lemon is directly ahead but the grasp point stopped 2 cm short; nudging forward so the lemon sits between the jaws.",
        "targets": {
          "right_x": 0.455,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CSx4sdBhetChUMAPqte2Za",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1774, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.3668, 1.977, 1.132, -0.1612, 0.2199, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.201 left_yaw=0.0535 left_pitch=-0.3505 left_roll=0.1531 left_gripper=0.9969 right_x=0.4434 right_y=0.1329 right_z=0.0064 right_yaw=0.0212 right_pitch=-0.379 right_roll=-0.0544 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.4667, 6.6667, 1.2332, -0.1978, -0.0024, -0.0122, -0.253, -8.841, 7.5145, 1.2869, 0.0171, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c56ca1a26131d931eece590759f55e3b6da386f568a5660771e1830eb1308a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bedbb839c26e8677f9c36b094d25369f0485d828f5778441ac044423870350b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8469762338a167bbecfd4f0e4aa1a2d0381fdde88759642e3afffcc6c259c2ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 6.755 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]: [-0.3744, 1.1767, 1.1126, -0.9279, -0.3298, -0.2447, 0.9969, 0.4454, 1.6501, 1.1011, -0.379, 0.2672, 0.2893, 0.9996]\nstate[eef_state]: left_x=0.2984 left_y=-0.0519 left_z=0.2015 left_yaw=0.0519 left_pitch=-0.3485 left_roll=0.1541 left_gripper=0.9969 right_x=0.4024 right_y=0.1444 right_z=0.1062 right_yaw=0.0316 right_pitch=-0.2907 right_roll=-0.0203 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -3.6308, 6.5162, 1.4042, -0.315, -0.0464, 0.0024, 0.1983, -7.5556, 8.5265, 1.409, 0.315, 0.1392, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1767, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.392, 1.9018, 1.0325, -0.1295, 0.2367, 0.2504, 0.9996]\nstate[eef_state]: left_x=0.2981 left_y=-0.0519 left_z=0.2012 left_yaw=0.0534 left_pitch=-0.3498 left_roll=0.1527 left_gripper=0.9969 right_x=0.4217 right_y=0.1333 right_z=0.01 right_yaw=0.0172 right_pitch=-0.3665 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.6444, 6.5026, 1.243, -0.2418, -0.0415, -0.0122, -0.5128, -8.4855, 6.3248, 1.6239, 0.0855, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1774, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.3668, 1.977, 1.132, -0.1612, 0.2199, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.201 left_yaw=0.0535 left_pitch=-0.3505 left_roll=0.1531 left_gripper=0.9969 right_x=0.4434 right_y=0.1329 right_z=0.0064 right_yaw=0.0212 right_pitch=-0.379 right_roll=-0.0544 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.4667, 6.6667, 1.2332, -0.1978, -0.0024, -0.0122, -0.253, -8.841, 7.5145, 1.2869, 0.0171, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01c56ca1a26131d931eece590759f55e3b6da386f568a5660771e1830eb1308a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bedbb839c26e8677f9c36b094d25369f0485d828f5778441ac044423870350b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8469762338a167bbecfd4f0e4aa1a2d0381fdde88759642e3afffcc6c259c2ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "text": "Lemon now fills the space between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012xocWZjZB3DRgmr3fkxmTT",
      "input": {
        "note": "Lemon is between the right jaws at table level; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012xocWZjZB3DRgmr3fkxmTT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1782, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.9892, 1.1404, -0.1619, 0.2203, 0.2173, 0.4481]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2008 left_yaw=0.0538 left_pitch=-0.3508 left_roll=0.153 left_gripper=0.9969 right_x=0.445 right_y=0.1327 right_z=0.0037 right_yaw=0.0226 right_pitch=-0.3834 right_roll=-0.0604 right_gripper=0.4481\nstate[joint_eff]: [-0.0615, -3.6444, 6.4615, 1.2088, -0.232, -0.0122, -0.0122, 0.0889, -11.1385, 5.2581, 1.243, 0.0366, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7e313f1b80e2a9c360e244e8f0e89978ce6d6ce64f6010eb7a19c219cc3b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b5c77fbaf88778bb7afef768e0b66c14a1fdb5b5305e992afded6e3f8f9e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cfe33981bb0f89c5759bd66755c0569dc6fabd4d5f142864e5b4d0103e6a034b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 3.259 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]: [-0.3744, 1.1767, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.392, 1.9018, 1.0325, -0.1295, 0.2367, 0.2504, 0.9996]\nstate[eef_state]: left_x=0.2981 left_y=-0.0519 left_z=0.2012 left_yaw=0.0534 left_pitch=-0.3498 left_roll=0.1527 left_gripper=0.9969 right_x=0.4217 right_y=0.1333 right_z=0.01 right_yaw=0.0172 right_pitch=-0.3665 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.6444, 6.5026, 1.243, -0.2418, -0.0415, -0.0122, -0.5128, -8.4855, 6.3248, 1.6239, 0.0855, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1774, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.3668, 1.977, 1.132, -0.1612, 0.2199, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.201 left_yaw=0.0535 left_pitch=-0.3505 left_roll=0.1531 left_gripper=0.9969 right_x=0.4434 right_y=0.1329 right_z=0.0064 right_yaw=0.0212 right_pitch=-0.379 right_roll=-0.0544 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.4667, 6.6667, 1.2332, -0.1978, -0.0024, -0.0122, -0.253, -8.841, 7.5145, 1.2869, 0.0171, -0.0024, -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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1782, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.9892, 1.1404, -0.1619, 0.2203, 0.2173, 0.4481]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2008 left_yaw=0.0538 left_pitch=-0.3508 left_roll=0.153 left_gripper=0.9969 right_x=0.445 right_y=0.1327 right_z=0.0037 right_yaw=0.0226 right_pitch=-0.3834 right_roll=-0.0604 right_gripper=0.4481\nstate[joint_eff]: [-0.0615, -3.6444, 6.4615, 1.2088, -0.232, -0.0122, -0.0122, 0.0889, -11.1385, 5.2581, 1.243, 0.0366, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a7e313f1b80e2a9c360e244e8f0e89978ce6d6ce64f6010eb7a19c219cc3b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76b5c77fbaf88778bb7afef768e0b66c14a1fdb5b5305e992afded6e3f8f9e52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfe33981bb0f89c5759bd66755c0569dc6fabd4d5f142864e5b4d0103e6a034b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQwKEAgSGAI4AUIIdGhpbmtpbmcSDAOmpbsjTcmQ9ub7ZBoMBplybbOQQHyC2+LSIjBZ4rghqQTqHhVjhwZZWZawSDHOb9RIz+YA+NO41OIRI+4qj4hklq8fuBjqA1cRUUYq1gtiUyEVZbjkApj3sxYC8LvihpGmnQOqmDrOff070evvicrj/5C+k8TBhBqmuXdk40KKEfZnsA3D1Oaf3aO8TZLiJzlJS+ISz5URb/8p/yWkFOaq+BXnraERXWJZO2zJZfQNkfFuVMWMgmm1mIhknzI3U5LDJp9cWEvnwkzuYUF9ZvUkQHd/Lq+ZwZ9azexNFI1JzoZ9zIuSSPxC3tc5UyIjs07MfCCk+thliudS71c+YRuqn+5x8U3YH/7EvemxOxtksmwSz1eM/JF2PKovzRkhiFADE4X7LLy94uOvtnbiTDiSZNMw9Tsazf5XLocYXCchNU8ziTeJB+8tFB1YIFCEiw3hYkZ8hBFdsNrnkj2Yh/rlM/EXNijeNoH1lmn7JLUPIIxW6G8OpKNTJEcbgK5vNFx4ochc80Ct169XkPiKuubf62CrVB7iRGKJN3abqxVPuMsdL2xkzd5IY41OU91TQbYtIQSuiP+rtE8Xrh0ZNitU0tnD4H9Fhn0g3ikQ2GVZNrNSahobMM30HFFFQ3T6XOVocXHmpT2MTdyZSFkb6+dVEkwtiegAtDOl45FygQttY850bq2mvasU60pvQnJc8NlTp8F53JQKykr9NipWWoWx9ymQBsjVkljfViJqCsq/iSKFHfgWKh7sfoyweVd0zI+GREniCzKzQh4kNipJ2hBwgqCoQBMx9j2CzaLzAINXBmCnhYOnpPChYR9RVIRhLFJlYk50yT6tTBrf7USqy6JMmv0jwwSj9vw3A9ZcQ+0knmk6Usx9FWxBiriA5ldHlcArP0f7T4nYtATnOPdVyVIpJ3ZOIufNA2JtGzyU9X6xvgsBogGsn8453IgXqGelTo1Twnd7HyoJkvDhmTycuybygxHj37EcQ53Je9+9B6hS6xgQ3teeUHfQglg7kPXzEoPgwX+EUswEE4daFtTpNUR3TlgqU2+uGqAKxBTbur6Noo+ysFmwp7OTPUb3wgtlTZ2Bhv6JHWBGYbJMG/tEHkfppo3AL6lEzu7pUvoAzy0okeKl1GYCxQFyizAcrO0fV027XR8g4E+Td8EXr/Zw0QjnBHuIfsHnZG1yinxKkYANYMAUA/kcnJPnTZ68D8wAtLfxZqllStud9RqSN3CV9/mFl0h22iAcuL0SStJUGHrGA54qApug53stmK8x7WanBee520Tqj+QrtOlD9N5iRjROy1LlGohzm7wDHytxpLlxb1kh3br+17dz28ULB3b/RtRy9umz0scU/k72SfQ8t0fVF1n0bOqyBxn961xNhyh3V4+qy9VM+EFAYNnRI5fhi6Z+J6QATPY5zXDHQasE1ab6iGtMmpxO+pJwLu7Eb3HKFYwcTWVPKRQKnSaiF1qs4eYaT+xpISW8SY77q4yf5g67h7DozrwuxBWsN1/MlAuCRC1iL88NU8wZHb87gDx7txvrcs7SBpgGXEM5dLuVjbI0/lAHs7XDYWuCtPtQWnD8NyrvUdK2fnSNBjYKHsZc40T46eyj8LgSA/x/TNDyximH8Af0wunvredRPLb/IZHpcCwiBAUfLQUI7nK0969rvShrrAT3MrwIZ12eFWbgjrJj0XhNLeKslgYi9kz/SLZ7JrGXU6FXONdeuSlCCZXKmjLbxBGMFi0OiBR7bqoBxOU3HNIxHPyCLInJ73C8bfD5QK1l8kkd9ZY/dEGLC7fvPpgrMupWFnV3JlrPWhLkz7dUKNb6Hwl5PKaZolqZt2oDgceu8GyKDNryWm3YHEvN2YQz6Z1hGRcaZr5y5eTNgruLxtKjIunIQUFesWdJWbgHEspKe4lQ1qRWgkzBW4XHLnH7IJ64SAmoJYndUrNCSnUoGX3wmut8tpDVvHjUb0GxL+Vi5jAtHg57PJTK5btal0ltCCqXDFK3ebpoNyB79+8DU07X3W5cMfVXkA39iZmliqpSCstXmwGZcwe+k/L+dKqjs/G8KuDfWDHZZpnjwsf1CuwuXZ/+HOmGDLewRbjc6uE5ywUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013fsXShjiWRedzLuLwE29W4",
      "input": {
        "note": "Right gripper settled at 0.45 (≈4.3 cm), holding the lemon; lifting it clear of the safe walls.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013fsXShjiWRedzLuLwE29W4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.8381, 1.771, -0.9585, 0.2184, 0.2096, 0.453]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.4458 right_y=0.1333 right_z=0.2028 right_yaw=0.0268 right_pitch=-0.3982 right_roll=-0.0687 right_gripper=0.453\nstate[joint_eff]: [-0.1436, -3.6855, 6.4752, 1.2674, -0.1734, -0.0415, -0.0122, -0.2667, -9.3607, 9.1009, 1.2283, 0.105, 0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa99faeddfe476291e417a73db8921134a0b07661ce8a78f83204d59bf66ace6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:162471b95751f607933f4977b46c1996f465c77636b5ab48e659c5bdd8ce2e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bedfe0cc0c8c240d0ba82f593b2eb34ea63550b684f9702b24131ee82ecbc1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 5.086 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]: [-0.3744, 1.1774, 1.1122, -0.9291, -0.3294, -0.2474, 0.9969, 0.3668, 1.977, 1.132, -0.1612, 0.2199, 0.2237, 0.9996]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.201 left_yaw=0.0535 left_pitch=-0.3505 left_roll=0.1531 left_gripper=0.9969 right_x=0.4434 right_y=0.1329 right_z=0.0064 right_yaw=0.0212 right_pitch=-0.379 right_roll=-0.0544 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -3.4667, 6.6667, 1.2332, -0.1978, -0.0024, -0.0122, -0.253, -8.841, 7.5145, 1.2869, 0.0171, -0.0024, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3744, 1.1782, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.9892, 1.1404, -0.1619, 0.2203, 0.2173, 0.4481]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2008 left_yaw=0.0538 left_pitch=-0.3508 left_roll=0.153 left_gripper=0.9969 right_x=0.445 right_y=0.1327 right_z=0.0037 right_yaw=0.0226 right_pitch=-0.3834 right_roll=-0.0604 right_gripper=0.4481\nstate[joint_eff]: [-0.0615, -3.6444, 6.4615, 1.2088, -0.232, -0.0122, -0.0122, 0.0889, -11.1385, 5.2581, 1.243, 0.0366, 0.0024, 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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.8381, 1.771, -0.9585, 0.2184, 0.2096, 0.453]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.4458 right_y=0.1333 right_z=0.2028 right_yaw=0.0268 right_pitch=-0.3982 right_roll=-0.0687 right_gripper=0.453\nstate[joint_eff]: [-0.1436, -3.6855, 6.4752, 1.2674, -0.1734, -0.0415, -0.0122, -0.2667, -9.3607, 9.1009, 1.2283, 0.105, 0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa99faeddfe476291e417a73db8921134a0b07661ce8a78f83204d59bf66ace6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:162471b95751f607933f4977b46c1996f465c77636b5ab48e659c5bdd8ce2e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bedfe0cc0c8c240d0ba82f593b2eb34ea63550b684f9702b24131ee82ecbc1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GgtC5uMqb4EUdgbF7qfdpx",
      "input": {
        "note": "Lemon lifted. Carrying it over the right half of the safe interior, beside the teddy.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.3,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GgtC5uMqb4EUdgbF7qfdpx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.329, -0.2478, 0.9969, 0.7864, 2.1105, 2.233, -1.2919, 0.3916, 0.5621, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0535 left_pitch=-0.3513 left_roll=0.1528 left_gripper=0.9969 right_x=0.3861 right_y=0.2965 right_z=0.2133 right_yaw=0.0626 right_pitch=-0.4297 right_roll=-0.0877 right_gripper=0.4545\nstate[joint_eff]: [-0.2256, -3.494, 6.4615, 1.2039, -0.1343, -0.0708, -0.0122, 0.1299, -10.3453, 8.0615, 0.989, 0.3346, 0.1929, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aab5d5f3136e03f66a1dc8f4c6509eae98bfbe9ea07c397d525976251929561f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0946dddf084b86b9de26cb4c64e6fcf90fdaea38f48f82a4084ab24500b36cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78950cb0f0d9f0a019a3e9296af3e67cea0deb5bef3d971288d2f9bb1c64fef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 4.019 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]: [-0.3744, 1.1782, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.9892, 1.1404, -0.1619, 0.2203, 0.2173, 0.4481]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2008 left_yaw=0.0538 left_pitch=-0.3508 left_roll=0.153 left_gripper=0.9969 right_x=0.445 right_y=0.1327 right_z=0.0037 right_yaw=0.0226 right_pitch=-0.3834 right_roll=-0.0604 right_gripper=0.4481\nstate[joint_eff]: [-0.0615, -3.6444, 6.4615, 1.2088, -0.232, -0.0122, -0.0122, 0.0889, -11.1385, 5.2581, 1.243, 0.0366, 0.0024, 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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.8381, 1.771, -0.9585, 0.2184, 0.2096, 0.453]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.4458 right_y=0.1333 right_z=0.2028 right_yaw=0.0268 right_pitch=-0.3982 right_roll=-0.0687 right_gripper=0.453\nstate[joint_eff]: [-0.1436, -3.6855, 6.4752, 1.2674, -0.1734, -0.0415, -0.0122, -0.2667, -9.3607, 9.1009, 1.2283, 0.105, 0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.329, -0.2478, 0.9969, 0.7864, 2.1105, 2.233, -1.2919, 0.3916, 0.5621, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0535 left_pitch=-0.3513 left_roll=0.1528 left_gripper=0.9969 right_x=0.3861 right_y=0.2965 right_z=0.2133 right_yaw=0.0626 right_pitch=-0.4297 right_roll=-0.0877 right_gripper=0.4545\nstate[joint_eff]: [-0.2256, -3.494, 6.4615, 1.2039, -0.1343, -0.0708, -0.0122, 0.1299, -10.3453, 8.0615, 0.989, 0.3346, 0.1929, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aab5d5f3136e03f66a1dc8f4c6509eae98bfbe9ea07c397d525976251929561f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0946dddf084b86b9de26cb4c64e6fcf90fdaea38f48f82a4084ab24500b36cbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78950cb0f0d9f0a019a3e9296af3e67cea0deb5bef3d971288d2f9bb1c64fef0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStgkKEAgSGAI4AUIIdGhpbmtpbmcSDB8Rm+BMHK0UNTgbWBoMdIO8uwexqYhoBXDwIjA2bxI5Hn7l6ItY8OvGgJ5mS6fh1rYyI0rYKKJ3u73J3v7hhXsGB6lYDzIGfoA/TtUq0whIFd42z9dMdaLfRLlHWlQU2ET8h42bifKyqt6i4ybp8wXzRdp7Go2OvjU0VZ0zIvzL0JYYkpZUP/NEyXJrrtPvS79XFiGpTAd9Gj1XTYvj0jQqcpw1BWugrzQzRRASJhWA15gZpr16wl4fiJs2sSAzk6EJAnvVlPgrNR4+iZ4pjC6Vv/JCeyDVMUAnHrL+169SYYKN02XF6IiOUqNku6KvRPs32o5/EpCEdYpqAoBYUuVEAr8ypp6U6/4U+OSYFif8zo8KjEriqtDdjXIdz7doiXB+KN83IsGUNBXB1NyXuWtMD8fkbBsWNNKqfho5+U7bYansKXQO/1E7UJHr+Lt6sZK5quna84jPo3EsoNQ2uPzRsz5XJQYjcdmuQeogHJRKOOsk3MI462+aEAUJurc/KzNd8EqNJ3QNvXdM36s2W8gwjuVLqylNPGsWy1P/x7vjFjsCHGfXpz+46vSJc8ofqU6Au9J2a4tC+EzvL3jY89imUvwpfyRI+hqlxHAK2QprnwJNY4rhkJJMVuCQsFNiIGvMPwppcg4D7OhCinFfTrX46szyzhcopzMOSRxqnXULZh84LLtnXgkOnZcC5m6JKlB7DwEyqUiwOjPy7WPFV8NH1kN82PGdGJzojh6fjO18ItUiqEPHmkG3h4DvFdPQ/ZSMyRK96cGnzkqB11HFL4RpTv9MGOJkKr1aZgNK1CUGMhlC3mwvzKfnicm5lPhdLtvspveWkXRMUxdhM9SfHodPwQ7SYzDzakScl75hgqdCaIvYO/jfSnjA3ogbIhKMKpJEKR5WPfoBglIqlmbXVNzewju4s4gSy1FxYGw2jEMZmbtAk2DnQG1DMuIu4hUx3L6lvRZi95vAuAipA9VIIG4uoINBkVBph1xBY7P7v2Wv42dnQLK/SJjqhFHa+VyPMDfvJWkuiTqNlZ4Myb2Ge4HSx3jWQXsLpwDkRiqLN2iQc9kma/eBFNnYxzI6Gw8wW9dMukvp7U1Lo/GIvMzrnIXvgGrw8BNirPcfdNnLWpwfQnqMWY824cRGsOsj0YHQe7Sdx7x55X8M2boEL1/SQMkTNfpFR8lPstwE8/wK0AnVGpva1M2vDG3gqO3v22MUSD2+c2Xr6uRJaI6D55rmZ8TV6DS0WbD8XT7fNZQLbZ9NeLPlgiiLoveS2VPpHF97nBMSaONvZ3rRQtSmDBVshWV1R4k+u2fUHIpeo3t8KmisSAjCeXklkmdq6l5Ow8umkQrR79C25BYxFj6J4qeZBEJS7EVjP/9D9sheHUXouhJU6a9oXEHKREDS6MfgGl6E/LJiAe85e04G/8DQRfOh/Y6M55rYVfyX3GJV+dGaJuONE58Myoa8cKjB3aNI7+KLFnPyuz6/Keg7R2tI4qRjV9TZo0MSf0UYW3M/BPwMVrFKr2Q4YYpOeD32+OjzgGYZl6SlAC+ii+N+L5HvomdexIjwYBDqDB+g4NfTfcIP5QJlZ3UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RzChptAowuL4eLz9oAmmqq",
      "input": {
        "note": "Wrist view shows the safe interior just ahead of the lemon; advancing a few cm and lowering into the safe.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.31,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01RzChptAowuL4eLz9oAmmqq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7616, 2.1662, 1.9755, -1.0264, 0.3767, 0.5312, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.405 right_y=0.3014 right_z=0.1233 right_yaw=0.0522 right_pitch=-0.4765 right_roll=-0.1283 right_gripper=0.4545\nstate[joint_eff]: [-0.1983, -3.494, 6.5573, 1.2039, -0.1929, -0.0513, -0.0122, -0.4855, -11.0017, 6.7761, 1.1648, 0.1343, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4118097cb2a386c7dfaaf9dea3619f298753153a9c97eebce88d44fc7f2654c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a31e329e03cfde8bd136d304adda8a6bcfe2566d2fa4cbbd1a4212d58a10a4a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dae5f371018ca9f9d180f8208567f49b12aed0bd464cd10bde241a074ae3c421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.021 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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.3653, 1.8381, 1.771, -0.9585, 0.2184, 0.2096, 0.453]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.4458 right_y=0.1333 right_z=0.2028 right_yaw=0.0268 right_pitch=-0.3982 right_roll=-0.0687 right_gripper=0.453\nstate[joint_eff]: [-0.1436, -3.6855, 6.4752, 1.2674, -0.1734, -0.0415, -0.0122, -0.2667, -9.3607, 9.1009, 1.2283, 0.105, 0.0464, 1.0281]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.329, -0.2478, 0.9969, 0.7864, 2.1105, 2.233, -1.2919, 0.3916, 0.5621, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0535 left_pitch=-0.3513 left_roll=0.1528 left_gripper=0.9969 right_x=0.3861 right_y=0.2965 right_z=0.2133 right_yaw=0.0626 right_pitch=-0.4297 right_roll=-0.0877 right_gripper=0.4545\nstate[joint_eff]: [-0.2256, -3.494, 6.4615, 1.2039, -0.1343, -0.0708, -0.0122, 0.1299, -10.3453, 8.0615, 0.989, 0.3346, 0.1929, 1.033]",
      "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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7616, 2.1662, 1.9755, -1.0264, 0.3767, 0.5312, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.405 right_y=0.3014 right_z=0.1233 right_yaw=0.0522 right_pitch=-0.4765 right_roll=-0.1283 right_gripper=0.4545\nstate[joint_eff]: [-0.1983, -3.494, 6.5573, 1.2039, -0.1929, -0.0513, -0.0122, -0.4855, -11.0017, 6.7761, 1.1648, 0.1343, -0.0562, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4118097cb2a386c7dfaaf9dea3619f298753153a9c97eebce88d44fc7f2654c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a31e329e03cfde8bd136d304adda8a6bcfe2566d2fa4cbbd1a4212d58a10a4a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dae5f371018ca9f9d180f8208567f49b12aed0bd464cd10bde241a074ae3c421",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AcKEAgSGAI4AUIIdGhpbmtpbmcSDBjcLGnjeutoRW0pzhoMQFZdbUL2nBlm/ZAtIjA1o5pIoD+a+GKoCz6Lzxh9z8jOi6dukx9g/4Sfmq/6/OR0GObv4yiUu4eZngfe3YwqkQf4O2ZiL9bXl4Br2Oz456q+Uq+pK/3Z/5OAjbyfJR9ArcMdCLsIr7idR8Fi83OBtehrsM8MvCp2ZrqI7ErqiSfr9psr00io+uLGIBvdYaA0juDGEyi10Jys7npcpp55IhDM7G4q12WA083vGpFJkS4HZ1awTXItdwRsnXNJ0IB8713Svsi5a/SPaousr6p3rJOXMnWp7Wh7dzu8vT9E2C67O1i4Z+F9cAdBPK81RM51xLIrLxh1Y7fEDN57qKNTfl0OuN+cfXFT5kyk/He2EaHizeGoAKIAoQCD9+hUeCS0ccN1Pv2ec/cH78+ll5n8dIpg3G+Bl3i6DtzKMQNUfVS22Ip95HR13ZpsE+znn2t2/yTe+exxlLi5jwTrQ4zzDyP+QT4N/C8rHSMG9Tq9wc699RZ/ahE0wkxzYUjFScbNQ3mVgcGX2qGpb6wOn5dushAsaboyZUpWlqkrf3Z5eYkQU9bcIErf9A0Mw7oGlLjKGKqTVZYZ0nVjraUOxDjDRQRI4ti+dAAMearlzOoV+VOZaxYCsViAh08MbssAM0Nb1Lccepr8FCfHHCcByCXxmdqsbd3RYdhxiUlTW35P9vI8bi9XAdd0gwC9zBxVCCyODxnAjjvDKBp6vPBbNMLSjdzIJwgncMbIxC3Rn62SHHCmD6gk6Xk49qpOf06sJLE/F71KmQSie8PI4pooaHdGjmfR9tHCMRCXN93Vy7hgNDViJLCIoNxvLMYRKHCHw1VWLuHEtZZjlIej/FQW7OTSrBe7PLSejx//2MzLVzASgswCvmL8BYVz/JYDp/u8uNf1sLjYXgLydfYAN9IKXFLObVQaR1Ep3aQxE+cNeaMuN31VvOpo5pZYXlOCxr5JJj+bzoYb+jXd3KX4MztkxIzLaI5U/NNkZqJOXPle8c1q111j92OOHrlaKdiwB13FkBQjtDQHd26hN568gm/QVM67HCuiuepAE0+WtUjwG/Xwub9Dg2ETPrqIvXxqpyO3VHONd5vnbpOQkajPhu8qgwA9gGBkjKbxncUt1o64qfKq7WULIjdFVr+D9MO2VFIhPOWyMIwdTAdWf69w7Osdvc3J2sl1i4d3LwPynfXJOGSNx36ScsDnkH9oY+6Phn+zdGmxL0/bs+T4lrGsyH9xxUAGJ+SyeQvEQ7+5REeL17eX3oncCNOucDnRCiguxcw/fMv5HssBgfF5F5MnrjQ1SsdcDxKEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018WkAcGcXx2x5whbq1z6ZaX",
      "input": {
        "note": "Lemon is over the safe interior beside the teddy; lowering a bit more before releasing.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_018WkAcGcXx2x5whbq1z6ZaX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.179, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1754, 1.8278, -0.9192, 0.3687, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2006 left_yaw=0.0539 left_pitch=-0.3515 left_roll=0.1533 left_gripper=0.9969 right_x=0.3974 right_y=0.2946 right_z=0.0782 right_yaw=0.0429 right_pitch=-0.5195 right_roll=-0.1625 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -3.6581, 6.4615, 1.2137, -0.232, -0.0659, -0.0122, 0.1846, -12.2872, 7.5966, 1.3016, 0.2857, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25434319226ffd6004839dd150329ea1c171c78d8005dc6234b04d767ee40035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae40ef049b6637a01b174d12f720c1ee89e3f09081d30eeced2131fceadf775f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7afb65a429888f30ce364e41c67b0c40f48db5af0508b9c2a1aa9e912f789c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.837 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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.329, -0.2478, 0.9969, 0.7864, 2.1105, 2.233, -1.2919, 0.3916, 0.5621, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0535 left_pitch=-0.3513 left_roll=0.1528 left_gripper=0.9969 right_x=0.3861 right_y=0.2965 right_z=0.2133 right_yaw=0.0626 right_pitch=-0.4297 right_roll=-0.0877 right_gripper=0.4545\nstate[joint_eff]: [-0.2256, -3.494, 6.4615, 1.2039, -0.1343, -0.0708, -0.0122, 0.1299, -10.3453, 8.0615, 0.989, 0.3346, 0.1929, 1.033]",
      "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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7616, 2.1662, 1.9755, -1.0264, 0.3767, 0.5312, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.405 right_y=0.3014 right_z=0.1233 right_yaw=0.0522 right_pitch=-0.4765 right_roll=-0.1283 right_gripper=0.4545\nstate[joint_eff]: [-0.1983, -3.494, 6.5573, 1.2039, -0.1929, -0.0513, -0.0122, -0.4855, -11.0017, 6.7761, 1.1648, 0.1343, -0.0562, 1.0281]",
      "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]: [-0.3744, 1.179, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1754, 1.8278, -0.9192, 0.3687, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2006 left_yaw=0.0539 left_pitch=-0.3515 left_roll=0.1533 left_gripper=0.9969 right_x=0.3974 right_y=0.2946 right_z=0.0782 right_yaw=0.0429 right_pitch=-0.5195 right_roll=-0.1625 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -3.6581, 6.4615, 1.2137, -0.232, -0.0659, -0.0122, 0.1846, -12.2872, 7.5966, 1.3016, 0.2857, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25434319226ffd6004839dd150329ea1c171c78d8005dc6234b04d767ee40035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae40ef049b6637a01b174d12f720c1ee89e3f09081d30eeced2131fceadf775f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7afb65a429888f30ce364e41c67b0c40f48db5af0508b9c2a1aa9e912f789c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MtP7DxXQ8pmto46ZQL2acw",
      "input": {
        "note": "Lemon is inside the safe next to the teddy; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MtP7DxXQ8pmto46ZQL2acw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1796, 1.8008, -0.8944, 0.3775, 0.5236, 0.9949]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.3972 right_y=0.2924 right_z=0.0699 right_yaw=0.0345 right_pitch=-0.5189 right_roll=-0.1749 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -3.5077, 6.4889, 1.2527, -0.188, -0.0171, -0.0122, 0.0205, -12.7111, 7.2684, 1.1453, 0.1783, 0.0464, -0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9db0ad6ccbc36d6fd7d0d710df5041ee63e81a83c47b8e1d793bac5626665328",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8dd73a129a440aac45185d21ba18e9c62c572541319674c07a041ec512d0881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f1acc1d3c77777e054149d50df569da1fe3235a7f354f28330b6f02e1590467f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /messages · status 200 · 11.39 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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7616, 2.1662, 1.9755, -1.0264, 0.3767, 0.5312, 0.4545]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.405 right_y=0.3014 right_z=0.1233 right_yaw=0.0522 right_pitch=-0.4765 right_roll=-0.1283 right_gripper=0.4545\nstate[joint_eff]: [-0.1983, -3.494, 6.5573, 1.2039, -0.1929, -0.0513, -0.0122, -0.4855, -11.0017, 6.7761, 1.1648, 0.1343, -0.0562, 1.0281]",
      "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]: [-0.3744, 1.179, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1754, 1.8278, -0.9192, 0.3687, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2006 left_yaw=0.0539 left_pitch=-0.3515 left_roll=0.1533 left_gripper=0.9969 right_x=0.3974 right_y=0.2946 right_z=0.0782 right_yaw=0.0429 right_pitch=-0.5195 right_roll=-0.1625 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -3.6581, 6.4615, 1.2137, -0.232, -0.0659, -0.0122, 0.1846, -12.2872, 7.5966, 1.3016, 0.2857, 0.0513, 1.0281]",
      "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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1796, 1.8008, -0.8944, 0.3775, 0.5236, 0.9949]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.3972 right_y=0.2924 right_z=0.0699 right_yaw=0.0345 right_pitch=-0.5189 right_roll=-0.1749 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -3.5077, 6.4889, 1.2527, -0.188, -0.0171, -0.0122, 0.0205, -12.7111, 7.2684, 1.1453, 0.1783, 0.0464, -0.2613]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9db0ad6ccbc36d6fd7d0d710df5041ee63e81a83c47b8e1d793bac5626665328",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8dd73a129a440aac45185d21ba18e9c62c572541319674c07a041ec512d0881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f1acc1d3c77777e054149d50df569da1fe3235a7f354f28330b6f02e1590467f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSzgoKEAgSGAI4AUIIdGhpbmtpbmcSDPCHFV7IU5UaH7MS6hoMsmOzjCnOr4S6LaSpIjBvQCRq4PywK7COYyvqgadT8eJDNYHG9U6Efthy9JZ8B03rchWPghvdnNvZn23eh5Uq6wkuWeIdJa66f2Utn0EspB/6MCEJo4t90nCkhs7O29KOsXEMZbVR8NLLUrx8hYiF+ZW+i9Pmlj9ETw4DwsPe4sxtquJR7lh7bDC8H+qhsSF/c7uMRr1ixkPjnZgiH8iqPXVPsBdB6n5KuRUzyqz+OUuIWSS95hYhZPirr1nrYjNcJszTBa6ZRA99lya4EDJaQ51kWp8S2QMBnPQZkB+Z/Lyv6innaXoaIpSqqHEwE4oRup4aJ5cTgXXZoL7q0n6wJ4LBUwcZRTNS7VzwThlOZtZRNeeMrTskA4Fkya0tlAkVwY4AefZp0lx0wZCWrYv5mo0+dX7D1AzW+rMCHmTHR95IIkhCvoYTBB3OpUJT6L7NoWOX3b6tRFQoCSnXszawBgMVIZOuTNLNcLVz8qy8GfjM68mn/mFWW+AV3K3GHkCP83t9BPrk+vLEltY3MbzlaTerbx8bYKvTk4QtCVDC+zglEamZH7uSKmEOm66Js71XsoajwqqsG6U9IkAQeHTZiQXjNm16/0JbrAZhjUoHi+GlEYkdlN4V1137DXeeyFhV6bg1nO9y8SCr/LVWB9jvUbw5wOmuqQ/e/uqnqatcs8SPc8GhcUltQqerKFUUZeUq/TIou9ujB7jKQhLn5nJ7tmKHaSXe8BEI1EBs5BDKzuqbYPT81yi1bLM9VIA/FwcWu9CAawlmr5A9gKFOdiAprYorKBViWRCO9lsCvvFjxasSY9ewuwl98RDPP6xHjxiMYyNsRVv9j7JQjfsxBCfe6s38/S5OjCMpFKyPOofPktHFs+SI2E9RBPIHtd8pWRlr9AgtNL741b7peGfkcbf7doypKHtxHTt4hmjDPaOEMOc/RvEsdN80y3yI1VD6Jg35PdnITRQHm5rH2Q0MVz3XGq0IVw3Qfo1Xt0lF18eGM9BdaThmXWflCBQEV4mS8epPuXoJirLM209KwjocDFxXqYr2qq36VRIzsFPmucKh6k2I4cWtiOXdgUTrncOLEoKIQV6AfTF2vYqs/Z+nS6Xnt4KphJtHhsHXeY4tv0f87TWofNhCyA1ptAfQ2gKVvfIhbVDYlkxxH/xH5cY47VjOytaN+4CeJTAm15K+3StcCUvwKoHdDGMbxdNnY6xG7Xs1Rc8HiiVnP7ITqsUF9BCELMu1nWqpQpFkA1mj1uwYuSfNFBl6/P30F+yhPCgxBFN5MssvJ9CUzRxt4CUaO5jVGaivQsq+X0HXdwfECmmYQb1hB6h7pxoDpvRwR+LnkFnFXj1npKFxXSsGQ7gjxS4RgmZEz6WcysJs58wn6QWsEBPsyOwogTUWp962/onH3EJljacFdyPJgKp6LcE/aoTea0gVDtPEB6GXe7741ZYUoVbZCyEiRCCVOVJOufRIx9OgwaOyHMyorTYCangEz1y6Q8ZFHhL/PXTAhUbcdkG/UH1pKyNSPtmdseQvprKsRptfqEkDcj/xADPAb6EpyCepE2pev+f/452I4BqObyHMs0E64081Zn00JQLuZaKtgpVgU2KUt5NobIsG3cGNh0XkIbXb0BODO0dvPts3SPXxyhApax+mUIiXtL9Xv+L1FvRUQpUH/0wgOTx99PMmiJBULwGcUPSut3PEQ7oR8PU4yyHmh5dn52xa36hHitGvPwuMyF4NCsSb31DNLkpziZOOn31XUv6b7nXGrJaQWxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VPck5r8RtygX9VYvzFNXZi",
      "input": {
        "note": "Lemon released in the safe. Lifting the right arm out to approach the brown bear in front of the safe.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.25,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VPck5r8RtygX9VYvzFNXZi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1801, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.8707, 1.7897, 1.7741, -1.2274, 0.3862, 0.6022, 0.9967]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2002 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3048 right_y=0.2641 right_z=0.2047 right_yaw=0.1013 right_pitch=-0.4849 right_roll=-0.117 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -3.7538, 6.5026, 1.2234, -0.2369, -0.0562, -0.0122, -0.2667, -6.0923, 6.4889, 0.9451, 0.4127, 0.1001, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7020aca5f81eb2883333edf349178dfd619332dc4c6900c1ac379b83260f2ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2558d94b915d3c589140adad51ef443bb85a774884fcd4f5518f3bf2653de8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b40ab8fd4b9c8700289a91067d3b797ee34225b98cdf9772a51fbec5ee7bf51a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 8.962 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]: [-0.3744, 1.179, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1754, 1.8278, -0.9192, 0.3687, 0.524, 0.4545]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2006 left_yaw=0.0539 left_pitch=-0.3515 left_roll=0.1533 left_gripper=0.9969 right_x=0.3974 right_y=0.2946 right_z=0.0782 right_yaw=0.0429 right_pitch=-0.5195 right_roll=-0.1625 right_gripper=0.4545\nstate[joint_eff]: [-0.1846, -3.6581, 6.4615, 1.2137, -0.232, -0.0659, -0.0122, 0.1846, -12.2872, 7.5966, 1.3016, 0.2857, 0.0513, 1.0281]",
      "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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1796, 1.8008, -0.8944, 0.3775, 0.5236, 0.9949]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.3972 right_y=0.2924 right_z=0.0699 right_yaw=0.0345 right_pitch=-0.5189 right_roll=-0.1749 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -3.5077, 6.4889, 1.2527, -0.188, -0.0171, -0.0122, 0.0205, -12.7111, 7.2684, 1.1453, 0.1783, 0.0464, -0.2613]",
      "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]: [-0.3744, 1.1801, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.8707, 1.7897, 1.7741, -1.2274, 0.3862, 0.6022, 0.9967]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2002 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3048 right_y=0.2641 right_z=0.2047 right_yaw=0.1013 right_pitch=-0.4849 right_roll=-0.117 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -3.7538, 6.5026, 1.2234, -0.2369, -0.0562, -0.0122, -0.2667, -6.0923, 6.4889, 0.9451, 0.4127, 0.1001, 0.1685]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7020aca5f81eb2883333edf349178dfd619332dc4c6900c1ac379b83260f2ec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2558d94b915d3c589140adad51ef443bb85a774884fcd4f5518f3bf2653de8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b40ab8fd4b9c8700289a91067d3b797ee34225b98cdf9772a51fbec5ee7bf51a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mgk9ZiwNCMaYb51mxZSoBs",
      "input": {
        "note": "Brown bear lies sideways in front of the safe; rotating the right gripper 90° so the jaws close across its torso, and moving above it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.28,
          "right_yaw": 1.57,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Mgk9ZiwNCMaYb51mxZSoBs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1797, 1.1122, -0.9295, -0.3294, -0.2478, 0.9969, 0.548, 1.8526, 1.5047, -0.8852, -0.2916, -0.8551, 0.9971]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2003 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3331 right_y=0.267 right_z=0.1129 right_yaw=1.3779 right_pitch=-0.5398 right_roll=-0.0756 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -3.6034, 6.5026, 1.2088, -0.2027, -0.0611, -0.0122, -0.1983, -9.4564, 8.6359, 0.6374, -0.4176, -0.1343, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba7c607e20a1442f6a280b551cdddb877f3fccfe3d510680fc6cee6236871a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b87a15193b8cdd339ca169fa3876ef193d058ade78fefbcdfaa75f8f1c9a6213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c8e0f2fa95207d5c7b96ffea38edff1457292fdb65ff8f0a76bf6ac53261201c",
        "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 · 4.437 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]: [-0.3744, 1.1786, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.7597, 2.1796, 1.8008, -0.8944, 0.3775, 0.5236, 0.9949]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2007 left_yaw=0.0538 left_pitch=-0.3512 left_roll=0.1531 left_gripper=0.9969 right_x=0.3972 right_y=0.2924 right_z=0.0699 right_yaw=0.0345 right_pitch=-0.5189 right_roll=-0.1749 right_gripper=0.9949\nstate[joint_eff]: [-0.0615, -3.5077, 6.4889, 1.2527, -0.188, -0.0171, -0.0122, 0.0205, -12.7111, 7.2684, 1.1453, 0.1783, 0.0464, -0.2613]",
      "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]: [-0.3744, 1.1801, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.8707, 1.7897, 1.7741, -1.2274, 0.3862, 0.6022, 0.9967]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2002 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3048 right_y=0.2641 right_z=0.2047 right_yaw=0.1013 right_pitch=-0.4849 right_roll=-0.117 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -3.7538, 6.5026, 1.2234, -0.2369, -0.0562, -0.0122, -0.2667, -6.0923, 6.4889, 0.9451, 0.4127, 0.1001, 0.1685]",
      "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]: [-0.3744, 1.1797, 1.1122, -0.9295, -0.3294, -0.2478, 0.9969, 0.548, 1.8526, 1.5047, -0.8852, -0.2916, -0.8551, 0.9971]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2003 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3331 right_y=0.267 right_z=0.1129 right_yaw=1.3779 right_pitch=-0.5398 right_roll=-0.0756 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -3.6034, 6.5026, 1.2088, -0.2027, -0.0611, -0.0122, -0.1983, -9.4564, 8.6359, 0.6374, -0.4176, -0.1343, 0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba7c607e20a1442f6a280b551cdddb877f3fccfe3d510680fc6cee6236871a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b87a15193b8cdd339ca169fa3876ef193d058ade78fefbcdfaa75f8f1c9a6213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8e0f2fa95207d5c7b96ffea38edff1457292fdb65ff8f0a76bf6ac53261201c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WXRRG9e76YMK7r2sg9QLVJ",
      "input": {
        "note": "With the jaws rotated, the bear's torso lies to the base side of the grasp point; shifting back ~5 cm and slightly left to centre over it.",
        "targets": {
          "right_x": 0.28,
          "right_y": 0.3,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01WXRRG9e76YMK7r2sg9QLVJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7036, 1.8023, 1.3437, -0.8097, -0.2501, -0.7589, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2733 right_y=0.294 right_z=0.0842 right_yaw=1.4553 right_pitch=-0.5899 right_roll=-0.033 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -3.9179, 6.4752, 1.2967, -0.2271, -0.0757, -0.0122, 0.0752, -11.6581, 6.8308, 1.1795, -0.1538, 0.105, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f58910283d63494f42d3944f891e83b28c0b0c13805aff50a82f774a021440f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dbd33a892b81edbcc2c9d4286bc20088a10d846ef7c5608ecd9506fb42c469d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:027e8954b012a4ce6e8fd5c57d9358f4584f6de61f03f9c02a480b8f9c58b918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 3.252 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]: [-0.3744, 1.1801, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.8707, 1.7897, 1.7741, -1.2274, 0.3862, 0.6022, 0.9967]\nstate[eef_state]: left_x=0.2984 left_y=-0.052 left_z=0.2002 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3048 right_y=0.2641 right_z=0.2047 right_yaw=0.1013 right_pitch=-0.4849 right_roll=-0.117 right_gripper=0.9967\nstate[joint_eff]: [-0.0889, -3.7538, 6.5026, 1.2234, -0.2369, -0.0562, -0.0122, -0.2667, -6.0923, 6.4889, 0.9451, 0.4127, 0.1001, 0.1685]",
      "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]: [-0.3744, 1.1797, 1.1122, -0.9295, -0.3294, -0.2478, 0.9969, 0.548, 1.8526, 1.5047, -0.8852, -0.2916, -0.8551, 0.9971]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2003 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3331 right_y=0.267 right_z=0.1129 right_yaw=1.3779 right_pitch=-0.5398 right_roll=-0.0756 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -3.6034, 6.5026, 1.2088, -0.2027, -0.0611, -0.0122, -0.1983, -9.4564, 8.6359, 0.6374, -0.4176, -0.1343, 0.0269]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7036, 1.8023, 1.3437, -0.8097, -0.2501, -0.7589, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2733 right_y=0.294 right_z=0.0842 right_yaw=1.4553 right_pitch=-0.5899 right_roll=-0.033 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -3.9179, 6.4752, 1.2967, -0.2271, -0.0757, -0.0122, 0.0752, -11.6581, 6.8308, 1.1795, -0.1538, 0.105, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f58910283d63494f42d3944f891e83b28c0b0c13805aff50a82f774a021440f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0dbd33a892b81edbcc2c9d4286bc20088a10d846ef7c5608ecd9506fb42c469d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027e8954b012a4ce6e8fd5c57d9358f4584f6de61f03f9c02a480b8f9c58b918",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDD866EB+0qeLsWJLOxoMuwqkrwkiO/wEMUabIjAsTx7n4IjO1vgnJqQBgxhHHc2woAjAruxQrJ0+cWW6vIb0bjWMy1/HERm67p8lVuwq1AaabveXOadfpq3huoC+eEa1fyE73dBJs4Vps+tPGOKHGbiIL0Or8hA64z1s2CVfTvKYyIG8peDXGGWM0NON75eTgz8M81EOwL2kemdN+V/OUusClbSxrClqqAvz0AdsllNcPO+55riUc+VflmBsUA7yzZ/NRFpRabLRujntuRBMj8lv17J7qy+niuaP6FoVs+uFTFJG0K3dK5FkaCd27szNwRI3f1XNRiXC9RinmJiZX4rHJE1JaA2jq5ew7R8XjQxmI1g+EOCjfGCS8YrWUyJohhT8LpF5+Dpzf3yYDSph3OAxGfphrEOnLPutl1BIFUPkjmPwpIl8s23n4wuKonOQ47/pKygHNqfmHWMBTYhHT7parTrwL9lrOSraU8FogIdGGZqlcbfrH+KpcdLB0lQJK2JAMc4xbqlNfrIvp0ZWKkuWXJii/8Qiu4SIhQ1i/haYOCGCBICYRd5TmkHC5E6eS2D7O0eBKGhx4InNV7rVPM8J7j+XOK4pOZ9u1qN0UK1W1fbuWutlT6MIDmiFgm6HYG2phgtCUQKhgo7auWJrdFLL0hIZgze5JDxVG5XS5i+f0EK4RMqn9sMFzAeKJFlZDQekfoanNlD2xOHJmWLHisi3Yhj+h+4A93R5aLlZZQrEoKzDGoLEr3BqbSsyPDT30VF2hVD3yXMTlY2jR1jBe1azyQZV6ITQdfEKvTMwX+8tgcfeC6gB34QOczZqw88npQnguPsEkW2ab+gu9+5cDohqeXCTG8P1/n9p3xOMVQs/XJR3RM03n3/xBAZzUsFP8RLtfg53iNlg4MbJ/cy2/CAJdi+DCn7QFJNe3q8feP6a/NjaPvCirLjGNCTPoYJGCWtfIjRQQvMqxnZw6uvANqrSYCave0Ug375n5ctDnJUHAt/AJVLjWJ8WqXpaW3o09EyUch7hjnJ3NLOtokTZ+QuO1lwSRPOAv4oXIUGGJGjsNjh0HQwWsDr/2Xv/3IWIcLX9sGMNBo5NTZxxr2Zx3usEOD7khCWGuggtB2clfBTJVbtHZi7itfMpb1wAQFpAeLK57/t7fvg0Yh2kQNQE80zYzQz8GOOrLl/RtGs2r0JY0M9P7lQ1eQJNhlkr3M26iwrqP7gBFnXLeUK+ef0JPhHIExYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01D9oxZTFiPrMr9ayJgZcQ2S",
      "input": {
        "note": "The plush monkey's torso now sits on the jaw column; descending to grasp it.",
        "targets": {
          "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_01D9oxZTFiPrMr9ayJgZcQ2S",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7055, 1.8744, 1.1831, -0.6319, -0.2436, -0.7517, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2631 right_y=0.2848 right_z=0.02 right_yaw=1.4739 right_pitch=-0.634 right_roll=0.0109 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -3.6855, 6.5026, 1.2137, -0.2222, -0.0513, -0.0122, -0.2256, -8.6906, 6.1744, 1.0037, -0.2369, -0.0806, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32cdc2568d60f8697fd62b2168f107e7f273ee3de71657ece40f3709102349ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb85ce56d80869671e425446f749f577e468fbf88d58a0668be7c13a9ae30a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36a74591bdc496c3b15c85e0f9e92f26da514e0970f4df6320fbb701eea0b356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.374 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]: [-0.3744, 1.1797, 1.1122, -0.9295, -0.3294, -0.2478, 0.9969, 0.548, 1.8526, 1.5047, -0.8852, -0.2916, -0.8551, 0.9971]\nstate[eef_state]: left_x=0.2983 left_y=-0.052 left_z=0.2003 left_yaw=0.0541 left_pitch=-0.3529 left_roll=0.154 left_gripper=0.9969 right_x=0.3331 right_y=0.267 right_z=0.1129 right_yaw=1.3779 right_pitch=-0.5398 right_roll=-0.0756 right_gripper=0.9971\nstate[joint_eff]: [-0.1573, -3.6034, 6.5026, 1.2088, -0.2027, -0.0611, -0.0122, -0.1983, -9.4564, 8.6359, 0.6374, -0.4176, -0.1343, 0.0269]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7036, 1.8023, 1.3437, -0.8097, -0.2501, -0.7589, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2733 right_y=0.294 right_z=0.0842 right_yaw=1.4553 right_pitch=-0.5899 right_roll=-0.033 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -3.9179, 6.4752, 1.2967, -0.2271, -0.0757, -0.0122, 0.0752, -11.6581, 6.8308, 1.1795, -0.1538, 0.105, 0.0122]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7055, 1.8744, 1.1831, -0.6319, -0.2436, -0.7517, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2631 right_y=0.2848 right_z=0.02 right_yaw=1.4739 right_pitch=-0.634 right_roll=0.0109 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -3.6855, 6.5026, 1.2137, -0.2222, -0.0513, -0.0122, -0.2256, -8.6906, 6.1744, 1.0037, -0.2369, -0.0806, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32cdc2568d60f8697fd62b2168f107e7f273ee3de71657ece40f3709102349ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffb85ce56d80869671e425446f749f577e468fbf88d58a0668be7c13a9ae30a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36a74591bdc496c3b15c85e0f9e92f26da514e0970f4df6320fbb701eea0b356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012zNYDnLBtR4xRBFroSMz1B",
      "input": {
        "note": "Jaws straddle the monkey's body at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012zNYDnLBtR4xRBFroSMz1B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.6937, 1.8767, 1.1553, -0.593, -0.2695, -0.7586, 0.1144]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2628 right_y=0.2844 right_z=0.0147 right_yaw=1.4817 right_pitch=-0.61 right_roll=0.0224 right_gripper=0.1144\nstate[joint_eff]: [-0.0615, -3.6855, 6.4752, 1.2039, -0.2125, -0.0708, -0.0122, -0.1436, -10.4684, 5.4222, 0.7253, -0.1783, -0.0024, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df26e6d38098dc2ffaed4ad7c0821c9526e848a77096b16b021e4a152162b39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90cadda0a69498aa09c8a1484767665248ba4dc4512d585ba73113c88350388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f7ba5cc37eb8390fa42e84aa62c655561c8ca340112c3358da5ac937e7ae7d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.644 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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7036, 1.8023, 1.3437, -0.8097, -0.2501, -0.7589, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2733 right_y=0.294 right_z=0.0842 right_yaw=1.4553 right_pitch=-0.5899 right_roll=-0.033 right_gripper=0.9973\nstate[joint_eff]: [-0.1709, -3.9179, 6.4752, 1.2967, -0.2271, -0.0757, -0.0122, 0.0752, -11.6581, 6.8308, 1.1795, -0.1538, 0.105, 0.0122]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7055, 1.8744, 1.1831, -0.6319, -0.2436, -0.7517, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2631 right_y=0.2848 right_z=0.02 right_yaw=1.4739 right_pitch=-0.634 right_roll=0.0109 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -3.6855, 6.5026, 1.2137, -0.2222, -0.0513, -0.0122, -0.2256, -8.6906, 6.1744, 1.0037, -0.2369, -0.0806, -0.0024]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.6937, 1.8767, 1.1553, -0.593, -0.2695, -0.7586, 0.1144]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2628 right_y=0.2844 right_z=0.0147 right_yaw=1.4817 right_pitch=-0.61 right_roll=0.0224 right_gripper=0.1144\nstate[joint_eff]: [-0.0615, -3.6855, 6.4752, 1.2039, -0.2125, -0.0708, -0.0122, -0.1436, -10.4684, 5.4222, 0.7253, -0.1783, -0.0024, 0.7985]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df26e6d38098dc2ffaed4ad7c0821c9526e848a77096b16b021e4a152162b39d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e90cadda0a69498aa09c8a1484767665248ba4dc4512d585ba73113c88350388",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f7ba5cc37eb8390fa42e84aa62c655561c8ca340112c3358da5ac937e7ae7d2",
        "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/gYKEAgSGAI4AUIIdGhpbmtpbmcSDOuAVvAGsRDcRzTmXRoMCqYPiHMYyhlknEVkIjDJbebXR0lA2X6bd6WauIsnJIlbi0rOQqNUygXaV/gAW3bjXct3DCgDisBs5i7yXQkqmwaip3kHj6oMOKdwuA3GpUZvJ4Dfm1z4uozkBFtmI+i8hAdW8KF+MpBECzAEL5SHkL0h2prqsBDfbuZwzWXr7wGNetYnzYCWk2KO/8nQu0Ak3Y8QLKJhQMMznB9z4LWt6gIYM2q+YKr361KOjlXB4ps49ueAssRb9El30FiazmMG10bhFIG/CQtz5XgaYkEMXlx/kkViYwEbNgsUfWPNg2rJJ39xNmLk+jlF6qN9CS8DqCDi2jr78YlIP17x3dDDehfC3tEMbAN0RMUGy5Jbo0JDSlFNRtDCHEzWTqylxSUMWdBQT78FWaH+z4q2iMjx2KMUlX3GCo95gfAxVMxHlJTO7+ynARF3W/VdErEJKu039dfwwwt6i+M/2xE9DcYB0bblIczyEGmExQbX6qthlxrG5Lv/pTtOg8Sgd06v1+/PLlWnJQ7AD93PdjupK9Nqt7sEWGlBlxEP5A2+Sl2UBCXvR3qypqawHCCYxJsyTgvoPYGtf7z+IWomf4coWpjfkNyG/9vr1Zzuw2Ri35zagKZWKHnJsB1oNRZOZB/mOQwc+2EfU0f4N7+RXaCC8b3LlVRIOtTvThoZ0Ax6IO6FHz+iAsMPSjr1DP/vq+6HBVm4zRJhtd1fzQxMoJDUsaG3v+fw92rBgZWpPJ/kKEIQ1W1j59EH97hL1FgTqrtP/q0trVGA7KX7RvVxK+wEakw2VpyC/YzeyD+FuyN94ntU3S4Krnvx+/88nkgiz9bPYGc5pndArhijJ8bLy+P1vFjBRyLGBpH+pBdd43ztlI8+Sz86WnNtsA2mm4vkpZ1mlg4QdXNPBzn1uP+A4tPr0YaMmucB2BhteOJf8IPT0Mx/d9l/IC1ZJJ17crshhd0riY/LJtU8mK9RZxZRqT62nAjuZxQvUx0OLUlaiiRdNXp+zXpVOxIB8bg9SUXfhYLHbMP4yZ65N7q4s6uLiWFTGs80ilQ+XttFuk/9nzVCva9l4ZZCRy89HX3RvAHOnRn6PfGboci9CdfHoc1RH/yoGq47YfDKgjSjpIQfQGQVFgOfpwdhN5F6pk54HBrzXR4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GLfUodv5hdbQywpi2e54Kk",
      "input": {
        "note": "Gripper settled at 0.11 on the plush; lifting to confirm the grasp and clear the safe wall.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01GLfUodv5hdbQywpi2e54Kk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1828, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.6926, 1.8042, 1.8603, -1.3418, -0.2657, -0.7593, 0.1156]\nstate[eef_state]: left_x=0.2987 left_y=-0.0521 left_z=0.1996 left_yaw=0.0545 left_pitch=-0.355 left_roll=0.155 left_gripper=0.9969 right_x=0.2681 right_y=0.2874 right_z=0.2118 right_yaw=1.4645 right_pitch=-0.5923 right_roll=-0.0055 right_gripper=0.1156\nstate[joint_eff]: [-0.0889, -3.6308, 6.653, 1.2234, -0.2369, -0.0513, -0.0122, -0.1299, -7.6923, 7.5145, 0.5641, -0.3101, -0.0757, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45db9a9860231cb4392f6ba5bcdc1b3a150ec6467b7e69fb0d9110a1002fd19c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84749c178d29e03215fe05a0f5bf416db8ea1035ceebf3d5fe77ea942dcc02ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2eb83cc635a44fef3201e1cf87d032eab66b51bc951abaedb84f467c3934c430",
        "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 · 3.406 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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.7055, 1.8744, 1.1831, -0.6319, -0.2436, -0.7517, 0.9973]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2631 right_y=0.2848 right_z=0.02 right_yaw=1.4739 right_pitch=-0.634 right_roll=0.0109 right_gripper=0.9973\nstate[joint_eff]: [-0.1436, -3.6855, 6.5026, 1.2137, -0.2222, -0.0513, -0.0122, -0.2256, -8.6906, 6.1744, 1.0037, -0.2369, -0.0806, -0.0024]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.6937, 1.8767, 1.1553, -0.593, -0.2695, -0.7586, 0.1144]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2628 right_y=0.2844 right_z=0.0147 right_yaw=1.4817 right_pitch=-0.61 right_roll=0.0224 right_gripper=0.1144\nstate[joint_eff]: [-0.0615, -3.6855, 6.4752, 1.2039, -0.2125, -0.0708, -0.0122, -0.1436, -10.4684, 5.4222, 0.7253, -0.1783, -0.0024, 0.7985]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.6926, 1.8042, 1.8603, -1.3418, -0.2657, -0.7593, 0.1156]\nstate[eef_state]: left_x=0.2987 left_y=-0.0521 left_z=0.1996 left_yaw=0.0545 left_pitch=-0.355 left_roll=0.155 left_gripper=0.9969 right_x=0.2681 right_y=0.2874 right_z=0.2118 right_yaw=1.4645 right_pitch=-0.5923 right_roll=-0.0055 right_gripper=0.1156\nstate[joint_eff]: [-0.0889, -3.6308, 6.653, 1.2234, -0.2369, -0.0513, -0.0122, -0.1299, -7.6923, 7.5145, 0.5641, -0.3101, -0.0757, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45db9a9860231cb4392f6ba5bcdc1b3a150ec6467b7e69fb0d9110a1002fd19c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84749c178d29e03215fe05a0f5bf416db8ea1035ceebf3d5fe77ea942dcc02ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb83cc635a44fef3201e1cf87d032eab66b51bc951abaedb84f467c3934c430",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDP5NYWz3GhthL8Su6RoMx9pcGDQpxZa/vSYGIjDgAbHvpp36QBC1lyA770eXEFslaXGb4nVOpEf0+MYh4l3FITGb86frl1EXaGn+QAkqrgc9pe9uJDdMtHFQD2mgAAzTjusySl1orlTflZFDT/WqhhOot2jgl0QToFrZNYTk8RQEVe383C1v1iGj6GmTAMyDyLqn59UiRc8RPq0UzwC3kswrC+R3n5zCxIgYY/v9ZROwEf8jyW7f/45tcf77Q9FqpM6xPM4oWry6G4a7b7eDDmSvmwS0ogG9sjeKdDndWC1eVNWX5eXy4Y8YPC9FpsDUHz+HFfIVA9YURaL+loX9GhVe7Ao2/10ZCHwvDtC/ya8e8fmeu9AaenbqnMSWcbtc6tTct5wHvfd8VTKMAVpDjkUA3jXe5eABlP5eLN1vxuw/+5zZXChtBy4BPUOoCUebDXn0YOFyXsDzVZTVcZdpko+/VWNPaaqNorpkFQqg169fcoj2PkB5xcmstnES4WNDEpqMJi31TQEHUBDioDmgnknI18PnjOsU1xhgfFAduo7STgB0KQt8dNmQuNOizT6QF5MCn9hUvOGJ/a64ArLSa10BizFy8AMZG6/j+7eqQzkZkiYqfMd0FXhL+jX2tBw+Odl50ltqy7DcIE7jjRo9l5GRfeen5wV5sx76YAnYBk0plurD314X5P+gc9MHZljNm96OdC7lWZc7dHzJEYfiOYkYipZ+qBXOzRKU9iQqyq37AUhDwUXDRpHQ7b2brI+pCcv3qpuyJ/cRq/uOlYmnfwyyifnSDwJt0ZqfaoOiOiBzDXyWlJiII8JwuLpZaeSlzYYZUvfApLWE5Z7uft3hd5yMfnPIN+4Iu+07yQx46sipmXJSz59GgoiTb7EvZzld7HAp1AVKxU2+ps5OMQIqlBlb8dY0SgQm26YGPdMflZeMdUAMH93oec8jI3wRXMxipNg7ygpskNSDru6YqWQJQmAM4uD0xxCFB6FlbVCJmR152hfbm9RFrvrSejkIVWkqE72z8WoZQs+w1d1KazL+uR96NL0mqqW04ySF0N8t1vkLeDEwjvQmAxTx4OmEovFmKu3nUlxmNuoUG3mc7tnW42FqrDttb1PSYelSHsU3NeJAxZ6sK2m7fICEmRtneOeBQlze9RnF3NI3blHS6dNgQw+Fex4mnlLJadfJM/6d24tRFKANZkYkHphkeAdRgR2wwgfxCVo7rWK/Prf9+SvQ7MBmIfsD2k7QGciunuSpjkNZW+wB7NTGWEu7vPIzsdtFsYnYxza5nF6tPhk493tLb7qBf6/G50XZ0cDfsVBGOHEMdPaV7IZzv8oXEpAE/uh2nHlVMiMppRxS1Z/n8wgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Yf3vNtaGpkeAYhyBabu1k",
      "input": {
        "note": "Monkey is hanging from the right gripper; carrying it over the middle of the safe.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.34,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_018Yf3vNtaGpkeAYhyBabu1k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1854, 1.1122, -0.9325, -0.3294, -0.2478, 0.9969, 0.6476, 2.2898, 2.5568, -1.5742, -0.2592, -0.8085, 0.1178]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.1983 left_yaw=0.0555 left_pitch=-0.3609 left_roll=0.1579 left_gripper=0.9969 right_x=0.351 right_y=0.3267 right_z=0.2008 right_yaw=1.4584 right_pitch=-0.6119 right_roll=-0.0144 right_gripper=0.1178\nstate[joint_eff]: [-0.0752, -3.9043, 6.6803, 1.2576, -0.1929, -0.0513, -0.0122, -0.6496, -10.947, 7.4598, 0.823, -0.398, 0.0708, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817c484dc7386aaa075c3de80be0f87d7ea65684fbaf2b405665404bbfaaaa88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f4d01bdf050d0bad6eea1197a0167da606cf115a77e17fddc40bb3111e151c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6e676a236bfc43ce7d772d478c96e0d34e7691b2d380f4931b5c4d9ec605016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 4.417 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]: [-0.3744, 1.1828, 1.1122, -0.9291, -0.3294, -0.2478, 0.9969, 0.6937, 1.8767, 1.1553, -0.593, -0.2695, -0.7586, 0.1144]\nstate[eef_state]: left_x=0.2986 left_y=-0.0521 left_z=0.1995 left_yaw=0.0545 left_pitch=-0.3553 left_roll=0.1552 left_gripper=0.9969 right_x=0.2628 right_y=0.2844 right_z=0.0147 right_yaw=1.4817 right_pitch=-0.61 right_roll=0.0224 right_gripper=0.1144\nstate[joint_eff]: [-0.0615, -3.6855, 6.4752, 1.2039, -0.2125, -0.0708, -0.0122, -0.1436, -10.4684, 5.4222, 0.7253, -0.1783, -0.0024, 0.7985]",
      "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]: [-0.3744, 1.1828, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.6926, 1.8042, 1.8603, -1.3418, -0.2657, -0.7593, 0.1156]\nstate[eef_state]: left_x=0.2987 left_y=-0.0521 left_z=0.1996 left_yaw=0.0545 left_pitch=-0.355 left_roll=0.155 left_gripper=0.9969 right_x=0.2681 right_y=0.2874 right_z=0.2118 right_yaw=1.4645 right_pitch=-0.5923 right_roll=-0.0055 right_gripper=0.1156\nstate[joint_eff]: [-0.0889, -3.6308, 6.653, 1.2234, -0.2369, -0.0513, -0.0122, -0.1299, -7.6923, 7.5145, 0.5641, -0.3101, -0.0757, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3744, 1.1854, 1.1122, -0.9325, -0.3294, -0.2478, 0.9969, 0.6476, 2.2898, 2.5568, -1.5742, -0.2592, -0.8085, 0.1178]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.1983 left_yaw=0.0555 left_pitch=-0.3609 left_roll=0.1579 left_gripper=0.9969 right_x=0.351 right_y=0.3267 right_z=0.2008 right_yaw=1.4584 right_pitch=-0.6119 right_roll=-0.0144 right_gripper=0.1178\nstate[joint_eff]: [-0.0752, -3.9043, 6.6803, 1.2576, -0.1929, -0.0513, -0.0122, -0.6496, -10.947, 7.4598, 0.823, -0.398, 0.0708, 0.5543]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817c484dc7386aaa075c3de80be0f87d7ea65684fbaf2b405665404bbfaaaa88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f4d01bdf050d0bad6eea1197a0167da606cf115a77e17fddc40bb3111e151c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 235):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6e676a236bfc43ce7d772d478c96e0d34e7691b2d380f4931b5c4d9ec605016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS4AYKEAgSGAI4AUIIdGhpbmtpbmcSDNLjnArcuuBeWWQ3ARoMJj6iiY9EYwqhdTR5IjC6IR2W0yLTS9OIkLav3ZgT5xnbANqVfvPANrXwHrQ9cf63nyxqANzIb2jtI9P/gN8q/QXEGbybqLsmzP/vKhkbChFxPA6SRcksq8AnhbsrzOd/awZRpNrPachNd4Y1DQmGrDpXsOeLyvI+tQpxBAob8E5V9Fc/kSCAyswwmiSSBqoLoj/s2An+3odE4Q16xYNj8fANK8UAmR1wR5kSEgp6oJOCSYF0NTDNPmOGBeSTYEqB1e72994YQNdMYdns4CchETb+JbaWdV+ip/lHYCHRqVT0V1V0/Pf/SMM0H84U180CyyJm+VSM21V54BvMa2nTF6mzmrI4OASlMkkAiqAOLACWUvOB38NvmKpFWazAvEh+UANK7DB1E8XWMLtx9+vLV7aUK8QlBtalZtfYilfC+au42HU9RFMdrrMqKGiixxZXF5dMzGyAFlu3WL5UkhwGiQsINu0DX2gpT5daTY4QJdbl6h92xKFCLmZtWHM+91Bx2a1OeFGd3qVEqwC7BHvIBqX7Xxp85x0o9+ewV8sVxABsX64uQB+EzeNhlYUpCOJB30fdNqoGHCXHRHppzQPd8LmQAeYigcDayFQ2F9hjmS6pGLB9+RaLhWaBs9xlcxyfdkWcUSGobbXh0uYRazfBfrdyss4vh7fqGb4EvqoXjSmh0QAHExJQnF25cyIvZXyP5nbYfUGNbfcL9ql108lRTtadfX6XfBAV5YWcX76WTORelNYwfcM7ZQPniyhRWL5mzC6HbSPR+FYh2wxt93eGPBGSiSwyQjjThnC2OsEfjjmo5zr9yeuIsOJjZuko4vzT9W2EYwMhNNix5lDyEtQJo91XoU78bcm3Iqi8hFXsKqIA+H8isSgwUNFZpY7MhV6qANc1D7eZU2DT4O8k8YoL/c0TgbcrOreJL+/MVfziACVMDjKJ97ecrwPEjlMHnOheliKpMJKjToBk0SX588gx4+XCvmVtzJA9dYHPeK72wFJxZZV08DlwUilG5Oofy3+66AP1hYUEE9UWaLLtzlBkB1Hf5AyzFDQdzOD3zjH5JO7TAD6Q9zn6nEFwRvhmIe+L7c72mt+PQRsu56EEWxMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AZKM6srMjwL13yYE5jNuNx",
      "input": {
        "note": "Monkey is above the safe opening in the overhead view; lowering it inside before releasing.",
        "targets": {
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01AZKM6srMjwL13yYE5jNuNx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1854, 1.1122, -0.9386, -0.3294, -0.2478, 0.9969, 0.646, 2.1746, 1.9301, -1.1812, -0.2584, -0.8116, 0.1203]\nstate[eef_state]: left_x=0.297 left_y=-0.0515 left_z=0.1976 left_yaw=0.0565 left_pitch=-0.3664 left_roll=0.1606 left_gripper=0.9969 right_x=0.3354 right_y=0.3139 right_z=0.0901 right_yaw=1.5263 right_pitch=-0.6912 right_roll=0.0954 right_gripper=0.1203\nstate[joint_eff]: [-0.1162, -3.7128, 6.4615, 1.326, -0.2076, -0.0415, -0.0122, -0.1709, -15.2547, 6.9538, 0.8913, -0.2662, -0.0171, 0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0292bd329241007e17e8f58d08f9eb6bb264534e0dbc2f12a3135c0bde0be3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3114621aac61bd59b0786da24c672b524f4395ae7104f3d69571c03b761a10cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea8ff74f2c16dfe22202f5001cbc19ec4de1d21217f1cf7a960eae10407d3afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.261 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]: [-0.3744, 1.1828, 1.1122, -0.9287, -0.3294, -0.2478, 0.9969, 0.6926, 1.8042, 1.8603, -1.3418, -0.2657, -0.7593, 0.1156]\nstate[eef_state]: left_x=0.2987 left_y=-0.0521 left_z=0.1996 left_yaw=0.0545 left_pitch=-0.355 left_roll=0.155 left_gripper=0.9969 right_x=0.2681 right_y=0.2874 right_z=0.2118 right_yaw=1.4645 right_pitch=-0.5923 right_roll=-0.0055 right_gripper=0.1156\nstate[joint_eff]: [-0.0889, -3.6308, 6.653, 1.2234, -0.2369, -0.0513, -0.0122, -0.1299, -7.6923, 7.5145, 0.5641, -0.3101, -0.0757, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3744, 1.1854, 1.1122, -0.9325, -0.3294, -0.2478, 0.9969, 0.6476, 2.2898, 2.5568, -1.5742, -0.2592, -0.8085, 0.1178]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.1983 left_yaw=0.0555 left_pitch=-0.3609 left_roll=0.1579 left_gripper=0.9969 right_x=0.351 right_y=0.3267 right_z=0.2008 right_yaw=1.4584 right_pitch=-0.6119 right_roll=-0.0144 right_gripper=0.1178\nstate[joint_eff]: [-0.0752, -3.9043, 6.6803, 1.2576, -0.1929, -0.0513, -0.0122, -0.6496, -10.947, 7.4598, 0.823, -0.398, 0.0708, 0.5543]",
      "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]: [-0.3744, 1.1854, 1.1122, -0.9386, -0.3294, -0.2478, 0.9969, 0.646, 2.1746, 1.9301, -1.1812, -0.2584, -0.8116, 0.1203]\nstate[eef_state]: left_x=0.297 left_y=-0.0515 left_z=0.1976 left_yaw=0.0565 left_pitch=-0.3664 left_roll=0.1606 left_gripper=0.9969 right_x=0.3354 right_y=0.3139 right_z=0.0901 right_yaw=1.5263 right_pitch=-0.6912 right_roll=0.0954 right_gripper=0.1203\nstate[joint_eff]: [-0.1162, -3.7128, 6.4615, 1.326, -0.2076, -0.0415, -0.0122, -0.1709, -15.2547, 6.9538, 0.8913, -0.2662, -0.0171, 0.2369]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0292bd329241007e17e8f58d08f9eb6bb264534e0dbc2f12a3135c0bde0be3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3114621aac61bd59b0786da24c672b524f4395ae7104f3d69571c03b761a10cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8ff74f2c16dfe22202f5001cbc19ec4de1d21217f1cf7a960eae10407d3afe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqwgKEAgSGAI4AUIIdGhpbmtpbmcSDGjnY/CMyV6EgtHfGhoMws2gElaah4LwBRBxIjBVeSuWNMtE/kojUNHT80R6Avfjs1xYkYpgrd66TVee5TX89Na8taY+ZlD0R71YRZ8qyAc4F9sk4CRZ9GcmpPzRky17aLbAKO4HfnPTEWPY0KN95M5Hq3kn1eETiNyyPnntJ7MDpcvYWmuDVmYSM6/vikIQIcjG4TaA/aIQJBeoaP/ESsotM1l8WfNVASrrkjXwZNGyZoKRtT/DOL6UcPpKtHF0yOwI60OZfvF7sJ5Gu0Q4r29SeWVuE+VEmLxOV51nMw/xNU8koTNuddhQvt0IECaAgl2lj/SiQTJOHeft72vzOguWiOxrBznJ3NG49tavWdMnKXaLS+INT5X8WfzsxiC7UEW1Z19bStUysxJaDDEHQhzmtiOyzkuf/FjH3W0Zh8/6JUlrlhexOmrUFxoEo7Ig7f9epl8vqDeUiqoydL58y8iiuzs02xvzHghaDC4VPHE7+LSFuLStMHYAG+FZGsBFt6/q4+o2NAi+Sy9Jv3vdtOFHDBESAZdXVfnQonVcmAUNoKNa6dC8cXSjfLlzu+k3AcjvFifzWys5jZDlsWwK+PaN4AkmIlKRlELIOPM0sSR53+5thmIX1QMyO3/W7Yfb6qhkLUV1D5PM+6dgL4aQxaq08LsQTw95ZOxazk+41i8USIxwYUJqWgiRDi2YP2EBnEAOfPr4H4fbKD/1efWmWTYnMaBCN7X1saaFAJb5zbXzjT0Iw5v55x7cjDJlle66+XwuVg5pE+rKhMeAynTE17CNV48A04MkQWBmNls1i09bCjM83Y11lHojvPi9OOPp7WNLlLDj1U+XX+OFEA1v8V5XCU7NSNclERXY/zZjm/K6j0VGwswlzwivvdjOYrzn10AA3kKhONNtxKp1mJs9HE+fRc97uVh/0gxhPyYmpLgdrDZlF3LhWIad+EiLB6HUzXNBevKy+xYv7eJsNbZD4ZxYSWfrxLXZNKAXItv5U2ffhmdXq4wyoplyKkeO5r8vy0WxR5lyvbPKFufI/WckwpDnDjISD0XyU9gqBergZv9mVap4wxEQ0fnYUb61Po95yt9avOlXWl5dHmjXktl2xB9E0tGuBf5xhdWaAJWENEoFprc1IqMskmotmZKZPQwFB9/qIlGs4Au9B0Od47RjenuHdWioJft180vPYTk7IvAxEhOkR3OyqazujRpLTINxm/4aPQsdHub+usT4kAeQcVNz+DWyuVT/1X6u08YJl89wv4QXt2nMG3hISD/ksqJvECHY1max0zxmmnxcNF/ug3PK+/VaSyL3cIuxQzdzaTi/7K6fAmQZwgrQVQQF0md+8k+1ZIymiNU6kzk89mq+QKTULCR8iMTkcofTMASAgO+lptEuD2Tb7BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QsCL3VSoorKRT4YLyjicHn",
      "input": {
        "note": "Monkey seems to hang over the safe's front wall (the arm sagged back to x=0.335); moving it forward to the middle of the safe.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.33,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01QsCL3VSoorKRT4YLyjicHn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1854, 1.1122, -0.9482, -0.3294, -0.2478, 0.9969, 0.5663, 2.4504, 2.442, -1.3476, -0.3164, -0.8696, 0.1231]\nstate[eef_state]: left_x=0.2952 left_y=-0.0508 left_z=0.1964 left_yaw=0.058 left_pitch=-0.3751 left_roll=0.1649 left_gripper=0.9969 right_x=0.407 right_y=0.3281 right_z=0.1059 right_yaw=1.483 right_pitch=-0.6006 right_roll=0.0477 right_gripper=0.1231\nstate[joint_eff]: [-0.335, -3.6855, 6.4479, 1.2527, -0.1929, -0.0269, -0.0122, 0.1299, -13.135, 6.6393, -0.0464, -0.4371, -0.0855, 0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d666f5e4edfa8d7a9aa571fcce34df942d05441e4d5aafa28268dd0624e42b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e46b3a0714f21466d699c094941f13537089a2ef51fb18fa649c42c6cc0773ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2edef3e2ecd010098ce96a4a1e7244c91e41f088f5975acaaa23c17055bbdb2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 8.209 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]: [-0.3744, 1.1854, 1.1122, -0.9325, -0.3294, -0.2478, 0.9969, 0.6476, 2.2898, 2.5568, -1.5742, -0.2592, -0.8085, 0.1178]\nstate[eef_state]: left_x=0.2982 left_y=-0.0519 left_z=0.1983 left_yaw=0.0555 left_pitch=-0.3609 left_roll=0.1579 left_gripper=0.9969 right_x=0.351 right_y=0.3267 right_z=0.2008 right_yaw=1.4584 right_pitch=-0.6119 right_roll=-0.0144 right_gripper=0.1178\nstate[joint_eff]: [-0.0752, -3.9043, 6.6803, 1.2576, -0.1929, -0.0513, -0.0122, -0.6496, -10.947, 7.4598, 0.823, -0.398, 0.0708, 0.5543]",
      "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]: [-0.3744, 1.1854, 1.1122, -0.9386, -0.3294, -0.2478, 0.9969, 0.646, 2.1746, 1.9301, -1.1812, -0.2584, -0.8116, 0.1203]\nstate[eef_state]: left_x=0.297 left_y=-0.0515 left_z=0.1976 left_yaw=0.0565 left_pitch=-0.3664 left_roll=0.1606 left_gripper=0.9969 right_x=0.3354 right_y=0.3139 right_z=0.0901 right_yaw=1.5263 right_pitch=-0.6912 right_roll=0.0954 right_gripper=0.1203\nstate[joint_eff]: [-0.1162, -3.7128, 6.4615, 1.326, -0.2076, -0.0415, -0.0122, -0.1709, -15.2547, 6.9538, 0.8913, -0.2662, -0.0171, 0.2369]\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]: [-0.3744, 1.1854, 1.1122, -0.9482, -0.3294, -0.2478, 0.9969, 0.5663, 2.4504, 2.442, -1.3476, -0.3164, -0.8696, 0.1231]\nstate[eef_state]: left_x=0.2952 left_y=-0.0508 left_z=0.1964 left_yaw=0.058 left_pitch=-0.3751 left_roll=0.1649 left_gripper=0.9969 right_x=0.407 right_y=0.3281 right_z=0.1059 right_yaw=1.483 right_pitch=-0.6006 right_roll=0.0477 right_gripper=0.1231\nstate[joint_eff]: [-0.335, -3.6855, 6.4479, 1.2527, -0.1929, -0.0269, -0.0122, 0.1299, -13.135, 6.6393, -0.0464, -0.4371, -0.0855, 0.2808]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51d666f5e4edfa8d7a9aa571fcce34df942d05441e4d5aafa28268dd0624e42b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e46b3a0714f21466d699c094941f13537089a2ef51fb18fa649c42c6cc0773ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 246):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2edef3e2ecd010098ce96a4a1e7244c91e41f088f5975acaaa23c17055bbdb2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Monkey is now over the safe interior. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KFHPw9B2cCNyMXiC27nvQ5",
      "input": {
        "note": "Monkey is inside the safe's footprint; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01KFHPw9B2cCNyMXiC27nvQ5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9508, -0.329, -0.2478, 0.9969, 0.5671, 2.4779, 2.4351, -1.3663, -0.3111, -0.8753, 0.9945]\nstate[eef_state]: left_x=0.2948 left_y=-0.0506 left_z=0.1959 left_yaw=0.0582 left_pitch=-0.378 left_roll=0.166 left_gripper=0.9969 right_x=0.4022 right_y=0.3245 right_z=0.0891 right_yaw=1.5147 right_pitch=-0.6362 right_roll=0.0936 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.5077, 6.6803, 1.199, -0.2271, -0.0269, -0.0122, -0.1162, -15.7744, 6.3521, 0.823, -0.2564, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82430c455da3d1aa257946908be42caf7c97ea084b598234bfe06036215b7280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a69c906a5b61e4ced0199ef01ebcaeeb2d9816c075f53a40fa63133cad21e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2c22402979e08c860cdba8d493e041282f93dd78dbfc27599316c73af9e07b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 15.46 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]: [-0.3744, 1.1854, 1.1122, -0.9386, -0.3294, -0.2478, 0.9969, 0.646, 2.1746, 1.9301, -1.1812, -0.2584, -0.8116, 0.1203]\nstate[eef_state]: left_x=0.297 left_y=-0.0515 left_z=0.1976 left_yaw=0.0565 left_pitch=-0.3664 left_roll=0.1606 left_gripper=0.9969 right_x=0.3354 right_y=0.3139 right_z=0.0901 right_yaw=1.5263 right_pitch=-0.6912 right_roll=0.0954 right_gripper=0.1203\nstate[joint_eff]: [-0.1162, -3.7128, 6.4615, 1.326, -0.2076, -0.0415, -0.0122, -0.1709, -15.2547, 6.9538, 0.8913, -0.2662, -0.0171, 0.2369]\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]: [-0.3744, 1.1854, 1.1122, -0.9482, -0.3294, -0.2478, 0.9969, 0.5663, 2.4504, 2.442, -1.3476, -0.3164, -0.8696, 0.1231]\nstate[eef_state]: left_x=0.2952 left_y=-0.0508 left_z=0.1964 left_yaw=0.058 left_pitch=-0.3751 left_roll=0.1649 left_gripper=0.9969 right_x=0.407 right_y=0.3281 right_z=0.1059 right_yaw=1.483 right_pitch=-0.6006 right_roll=0.0477 right_gripper=0.1231\nstate[joint_eff]: [-0.335, -3.6855, 6.4479, 1.2527, -0.1929, -0.0269, -0.0122, 0.1299, -13.135, 6.6393, -0.0464, -0.4371, -0.0855, 0.2808]",
      "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]: [-0.3744, 1.1858, 1.1122, -0.9508, -0.329, -0.2478, 0.9969, 0.5671, 2.4779, 2.4351, -1.3663, -0.3111, -0.8753, 0.9945]\nstate[eef_state]: left_x=0.2948 left_y=-0.0506 left_z=0.1959 left_yaw=0.0582 left_pitch=-0.378 left_roll=0.166 left_gripper=0.9969 right_x=0.4022 right_y=0.3245 right_z=0.0891 right_yaw=1.5147 right_pitch=-0.6362 right_roll=0.0936 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.5077, 6.6803, 1.199, -0.2271, -0.0269, -0.0122, -0.1162, -15.7744, 6.3521, 0.823, -0.2564, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82430c455da3d1aa257946908be42caf7c97ea084b598234bfe06036215b7280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62a69c906a5b61e4ced0199ef01ebcaeeb2d9816c075f53a40fa63133cad21e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c22402979e08c860cdba8d493e041282f93dd78dbfc27599316c73af9e07b90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WuEvxUzYLrtBQMLiE6rGmH",
      "input": {
        "note": "All three objects appear to be in the safe. Lifting the right arm up and out, closing the jaws, to get behind the upright lid.",
        "targets": {
          "right_gripper": 0.0,
          "right_x": 0.45,
          "right_y": 0.33,
          "right_yaw": 0.0,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WuEvxUzYLrtBQMLiE6rGmH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9512, -0.3294, -0.2478, 0.9969, 0.6762, 2.4435, 2.735, -1.5997, 0.1268, 0.519, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=-0.0506 left_z=0.1959 left_yaw=0.0586 left_pitch=-0.3782 left_roll=0.1664 left_gripper=0.9969 right_x=0.4042 right_y=0.3003 right_z=0.1728 right_yaw=0.1448 right_pitch=-0.6896 right_roll=0.0348 right_gripper=0.008\nstate[joint_eff]: [-0.1846, -3.5077, 6.6256, 1.1893, -0.2369, -0.0366, -0.0122, 0.1846, -17.2239, 6.1333, 1.1893, 0.2808, 0.1685, 0.7302]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4005c4b4b1d364d9c2d380204323c7183afc7e0a62aaec437192b5552a20bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164176159247741b800f723463f93b6d16f88ba07e74ce643f68eb9a0e0a48e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f88d406c1e2615cae9d82e120eef06190a31add95875151f2f8d78be08ae298a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 10.77 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]: [-0.3744, 1.1854, 1.1122, -0.9482, -0.3294, -0.2478, 0.9969, 0.5663, 2.4504, 2.442, -1.3476, -0.3164, -0.8696, 0.1231]\nstate[eef_state]: left_x=0.2952 left_y=-0.0508 left_z=0.1964 left_yaw=0.058 left_pitch=-0.3751 left_roll=0.1649 left_gripper=0.9969 right_x=0.407 right_y=0.3281 right_z=0.1059 right_yaw=1.483 right_pitch=-0.6006 right_roll=0.0477 right_gripper=0.1231\nstate[joint_eff]: [-0.335, -3.6855, 6.4479, 1.2527, -0.1929, -0.0269, -0.0122, 0.1299, -13.135, 6.6393, -0.0464, -0.4371, -0.0855, 0.2808]",
      "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]: [-0.3744, 1.1858, 1.1122, -0.9508, -0.329, -0.2478, 0.9969, 0.5671, 2.4779, 2.4351, -1.3663, -0.3111, -0.8753, 0.9945]\nstate[eef_state]: left_x=0.2948 left_y=-0.0506 left_z=0.1959 left_yaw=0.0582 left_pitch=-0.378 left_roll=0.166 left_gripper=0.9969 right_x=0.4022 right_y=0.3245 right_z=0.0891 right_yaw=1.5147 right_pitch=-0.6362 right_roll=0.0936 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.5077, 6.6803, 1.199, -0.2271, -0.0269, -0.0122, -0.1162, -15.7744, 6.3521, 0.823, -0.2564, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9512, -0.3294, -0.2478, 0.9969, 0.6762, 2.4435, 2.735, -1.5997, 0.1268, 0.519, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=-0.0506 left_z=0.1959 left_yaw=0.0586 left_pitch=-0.3782 left_roll=0.1664 left_gripper=0.9969 right_x=0.4042 right_y=0.3003 right_z=0.1728 right_yaw=0.1448 right_pitch=-0.6896 right_roll=0.0348 right_gripper=0.008\nstate[joint_eff]: [-0.1846, -3.5077, 6.6256, 1.1893, -0.2369, -0.0366, -0.0122, 0.1846, -17.2239, 6.1333, 1.1893, 0.2808, 0.1685, 0.7302]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4005c4b4b1d364d9c2d380204323c7183afc7e0a62aaec437192b5552a20bf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:164176159247741b800f723463f93b6d16f88ba07e74ce643f68eb9a0e0a48e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f88d406c1e2615cae9d82e120eef06190a31add95875151f2f8d78be08ae298a",
        "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_01QeqxtzrE5SVPXdwDyihicK",
      "input": {
        "note": "All objects are in the safe; the lid appears to lie open flat behind it. Moving the open right gripper toward the lid's right-side rim to try to grasp and flip it closed.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0,
          "right_x": 0.5,
          "right_y": 0.27,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01QeqxtzrE5SVPXdwDyihicK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9516, -0.329, -0.2478, 0.9969, 0.5976, 2.085, 1.4086, -0.1158, 0.3298, 0.279, 0.9976]\nstate[eef_state]: left_x=0.2946 left_y=-0.0506 left_z=0.1958 left_yaw=0.0583 left_pitch=-0.3787 left_roll=0.1663 left_gripper=0.9969 right_x=0.4808 right_y=0.2624 right_z=0.0666 right_yaw=0.1518 right_pitch=-0.1476 right_roll=-0.0138 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -3.6718, 6.4479, 1.1844, -0.2173, -0.0659, -0.0122, -0.4991, -12.9983, 6.5983, 1.7705, 0.2711, -0.0415, -0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662a4bf107bdf4ca00619d876c159c81ab137a0773dd4e6de348f0dbdfc539a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8db7f631db5b29c4d34ee0fcc07caf7d1b34852f085a10c52c8e097873abdf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a739e761d4771a9c9ede0cc52b772144eb32b5856200120bd9ea45a78829ed4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 4.339 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]: [-0.3744, 1.1858, 1.1122, -0.9508, -0.329, -0.2478, 0.9969, 0.5671, 2.4779, 2.4351, -1.3663, -0.3111, -0.8753, 0.9945]\nstate[eef_state]: left_x=0.2948 left_y=-0.0506 left_z=0.1959 left_yaw=0.0582 left_pitch=-0.378 left_roll=0.166 left_gripper=0.9969 right_x=0.4022 right_y=0.3245 right_z=0.0891 right_yaw=1.5147 right_pitch=-0.6362 right_roll=0.0936 right_gripper=0.9945\nstate[joint_eff]: [-0.1983, -3.5077, 6.6803, 1.199, -0.2271, -0.0269, -0.0122, -0.1162, -15.7744, 6.3521, 0.823, -0.2564, 0.0464, -0.0415]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1858, 1.1122, -0.9512, -0.3294, -0.2478, 0.9969, 0.6762, 2.4435, 2.735, -1.5997, 0.1268, 0.519, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=-0.0506 left_z=0.1959 left_yaw=0.0586 left_pitch=-0.3782 left_roll=0.1664 left_gripper=0.9969 right_x=0.4042 right_y=0.3003 right_z=0.1728 right_yaw=0.1448 right_pitch=-0.6896 right_roll=0.0348 right_gripper=0.008\nstate[joint_eff]: [-0.1846, -3.5077, 6.6256, 1.1893, -0.2369, -0.0366, -0.0122, 0.1846, -17.2239, 6.1333, 1.1893, 0.2808, 0.1685, 0.7302]",
      "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]: [-0.3744, 1.1858, 1.1122, -0.9516, -0.329, -0.2478, 0.9969, 0.5976, 2.085, 1.4086, -0.1158, 0.3298, 0.279, 0.9976]\nstate[eef_state]: left_x=0.2946 left_y=-0.0506 left_z=0.1958 left_yaw=0.0583 left_pitch=-0.3787 left_roll=0.1663 left_gripper=0.9969 right_x=0.4808 right_y=0.2624 right_z=0.0666 right_yaw=0.1518 right_pitch=-0.1476 right_roll=-0.0138 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -3.6718, 6.4479, 1.1844, -0.2173, -0.0659, -0.0122, -0.4991, -12.9983, 6.5983, 1.7705, 0.2711, -0.0415, -0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:662a4bf107bdf4ca00619d876c159c81ab137a0773dd4e6de348f0dbdfc539a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8db7f631db5b29c4d34ee0fcc07caf7d1b34852f085a10c52c8e097873abdf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 290):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a739e761d4771a9c9ede0cc52b772144eb32b5856200120bd9ea45a78829ed4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+hIKEAgSGAI4AUIIdGhpbmtpbmcSDJQf5Ex17UkjebAFBRoMM0EG/7zauLttrzWhIjAYbxBRLV8CGFkiZXlxz+EmEDBPUfEWCgVlCGexE/5PKL8VKrtAQGyX1T3TD0Q/XGMqlxKTExFEul83OZGzm5rT49wsMAiqhrwAr7PcELfZIE1kRAb11cM6jUR5FOv1fd6UZL9UdmGp12tI+6bMAyYDjv86ExNIScTA+7CMQxy8yLgaUNat5sNOyGiU74MSMi4DZMgoaAe1UAdaQPGeOqiJ2nuLk3TuTNcA6zDEj9FsVOYz5HGHxRWb8kybgbIsvV6u8GqlMQqurpiANgp0+f1lo+EpETcHQlprysqk78v436lTVZylMuroddIpqR6mUAHp5XlFRcHkPdabRV4rnNzCAUN0Yr5kuHL4STj0yQ9CDFtUkOW9a3C79ZzUJ4qvKoJTBbJeZ4chePR7cioHto7dejA1dmvlwR2QAIRHx2vMUSpwauaQy0WuNN0yATbodkkC/rfG9zBVTMCILvW+dJJu53YOgaLEEpVRzeKBgQQ11KiuNRdrhK72vdmnkvev8gaF4OMa8qBR9ga0NLr/OFqQwXf0Ul6btjp2RbD+7Atw3WOkfnDr1ge39rtZ4sUH1HSe6+bOnU/I5/2MHmbzD+JSUiunfRvZityiug7pCmebNv62nJ6hXAqBS0i+0whQUST3BfYid2QLHjCYSARGD2jPXX+uKYr2zUN03Xnei9ws30AX+JQ0vomQo2zH6SCgUJ9rITOpkybLcaCroPE+VWkP8BnDePormVLzI9t7d+XibWESKSZfYvbwIa5V3iUU52i/9kmVmbBSgONzgknCFjSAeKUWa/JRO484FGVfj7XMP+UdIrjnh6qN1IT78UPjRWwxne1dDD7aqmoAMT4Xn/APvjVnFM49GQjMb1rN+w4UnZgOMgdS8TsQ/F6UDbnKKEcbHp5SHrBbjQ29UxpCrhrGQZDh08WyDRvrf9vw6/op5vnUAIw8PWRN+CHkOiPdFo9JJCKzWvx9cKx4xzTOxz1cdf3Z9qz9MbGXCIVlHsVzKoq20lH3g0BJx/WC8TUq+3kna+srt8bOaXjwUB3l+dkcBopAUP64vpjmmGNZITAwDLz3cQBbw9c3ZZGo42FFy7IM29thxr4FseTCy3WdZfZiWF8UmFmZCzfqB9s/JLT4SKkklw+khMKLBXes0CDkTbfgKYZrxP8kXybGKRY1Gmm0Ayb1nCXrIIb+uQRzHQCXUKognqvZOGbukThPbyBR/4zeJbVX382IooanhjpRuRJ/LVYe9aGOiidfbOTwzwl/PQ0X2jTDTB4TIBeObRAQGEkozhpnB6ueZYWGL7jBj5n8IjkvGJVI7JzhMGRC+2oelPgOFLu2u9wmmRC+MrOc3hSHP+dIWC2J0yxRAs7cUZxF6aAh/gr02lKl83YqIiBZmBY83hUvlhKvWps/cDOnZ2J+RDaGj1pnvf0p0yw7VGbiG0+e2L3DOOil1ArNby4hYPdYQlm4M/jW/x5EVoy//bBhOi/s/h0BJ6BfirzJu4bngC002Jpy5Y7ZaVBgc5wQIPpzy9ZvcAody/EziPYs1qDYOBLA3aWoF/Kt92SMUJsnygOoJ2erMGGzRtaK3fYhf9Xni0EAQ+oOsJooHnKGSCEf9s1680NJi7+zw0WLZ1g9OpvfjMdMCaiRj+Wxk8PxAZHfET4REWH0bFTxAFsElLdFzubx1Ybh94qv4ApqdeN1tSdiIORsvJ9fai131vesGWQuR2NZBrnKsYtG1H07bEUAinXBqDVcDU4grR1qkjvK/Ke6tNcvqtmzorVmEC796E0XE4prhXHza68RuuhRtT8nrbAHxFpHscwM6FXunHt7SM24Z3qlxdJnWb9j1lravaNiwLwR/m9HVmzp/aSzoxfLNL1G26+YWP9COx7sf6nbprJfGRj46N6quIQ5e6PpdMnC9UbrRsGvHdsaLPss5ZvMU/3sT/z/52GnetYiIvdrcMeRJyWbQJtvON7//wkjeBYz9owbPxqHc6sbvp4iNP6v0POZ+AilafW9ZRzeVrXqO67wfILOaXi8vd1RD+yAKKQoqdspuDEuNgLJk9lSiC4zRcNYsr+//mZT+ghqQuLujXtQmy2cgY9dgQKoq3sGZqngcNSwVTwlWAMtC+/XkVjsQOfvLAq2Ad7qKANolI81eHnD/+W+KoRBjsMoZUNRYEa83XSE5FVuWj8bVrT2jrOM6TDOQ4n/gE4rweA16x9SvpupXDXFnAN/ciGURrlOqkNcGTemDGrg3MuxAAgaMoCvnedw274QfshnFrGoLQA5caGUE9Gki7ifl7a9dX4EOIXAs52vWEYmgQy4lakWaaLLhirU0p2EdiHhRtBtxjd7bqm5M76x4XLj5qLSynoUJ7nRrVfa5R/ZWQfdSaGmTv/MejR15MAQxPE5FZ1PwyZDZXSS3Ck1q2p8ay5rmIkRScGB3XaMvpSyeT/nYTOTLncItdP97lzJYfkqpBKPbhsFbzuhZfu5aor5Zkb3iTdMyKmG5Id8wFSZJIv5vofNnGcU3ta3aCHjouPjzwGxUj9FU4xOxOhwvHx4A6I0BbTX4Sdebm9r06TJKrSLLHGzqt7jhf34Ig5D0rVFz8AlVQ2KsecCl/IWfeeiMGrhi9ylI9KuxMao2b1OpffUsrOtY9+s+Dwb0xRXSUPJsH02Seur3oqWmY9nVoS89keIJ/anktbxTDREzXVlSPVIX8ZZYJPmVpNwnMNv194Qp2IiWVx1wNt1I6zHxYUdL2VLu/zF9bpoTcuBxG0bnvKOKF/2o5CGwGxEQEcyAiNucRvDFzqkWtMFLjzr2ugAonalUo4hk7sz0evdeboimGToXuDK6hRb3oak9yclh+PEOhGLxc2DWbb3U1TKmTwaSpHWHlYu2LtQjGM9eAInFu5ZmK5HL0TTk4CIlkFV3AkaTATODwbzb+TewoMeBFWYw22IzuzxdfWd9VRSsVyTFaBlSiExTpLSKsx9clsmLDRdj46tRnQftYqEBhV4ZyQ+w2z0ubaJRO7kuPfidTIeQHasDzUQ+Y4XEtXXc9Efb8xepaxclMfGLKlhvOVacRCrX6g7hipGZRvoNgnauJGuA5WuYbllf0SH3tYMC1LmF/SG1QX0jd9bHOXagDAWoWu/GWwq4R+bmDX3aIP/yFnxtvyjdSGrvRWHaOK7OmkmUxgtyFXNskhwI6dcfSl9BpuACBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019vGGHoAyQTgjeSzAUWYwJH",
      "input": {
        "note": "The safe's lid stands open at the back. Raising the right arm up and over the lid so it can come down behind it and push it forward closed.",
        "targets": {
          "right_gripper": 0.0,
          "right_pitch": 0.3,
          "right_x": 0.59,
          "right_y": 0.33,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_019vGGHoAyQTgjeSzAUWYwJH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1854, 1.1122, -0.955, -0.3294, -0.2478, 0.9969, 0.6186, 2.3417, 2.2902, -0.3355, 0.4305, 0.1211, 0.0081]\nstate[eef_state]: left_x=0.294 left_y=-0.0503 left_z=0.1955 left_yaw=0.0592 left_pitch=-0.3813 left_roll=0.168 left_gripper=0.9969 right_x=0.5828 right_y=0.3287 right_z=0.2618 right_yaw=0.1714 right_pitch=0.2411 right_roll=-0.0258 right_gripper=0.0081\nstate[joint_eff]: [-0.1162, -3.4256, 6.4342, 1.2088, -0.1929, -0.0513, -0.0122, -0.1299, -13.2444, 8.6222, 1.9756, 0.232, -0.0317, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd3579c5da8fefad76ecc863cb60b1ff049e3776be550f6ec228c0c020dffaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81e5a5ec317658db9ea3ed2dbac4fc368faf0c47589721408b70eef5d42efd12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8c86582eae4c7f8219647bf2599bb0573e1aeef178e40bcc536218e29be55b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.063 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]: [-0.3744, 1.1858, 1.1122, -0.9512, -0.3294, -0.2478, 0.9969, 0.6762, 2.4435, 2.735, -1.5997, 0.1268, 0.519, 0.008]\nstate[eef_state]: left_x=0.2947 left_y=-0.0506 left_z=0.1959 left_yaw=0.0586 left_pitch=-0.3782 left_roll=0.1664 left_gripper=0.9969 right_x=0.4042 right_y=0.3003 right_z=0.1728 right_yaw=0.1448 right_pitch=-0.6896 right_roll=0.0348 right_gripper=0.008\nstate[joint_eff]: [-0.1846, -3.5077, 6.6256, 1.1893, -0.2369, -0.0366, -0.0122, 0.1846, -17.2239, 6.1333, 1.1893, 0.2808, 0.1685, 0.7302]",
      "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]: [-0.3744, 1.1858, 1.1122, -0.9516, -0.329, -0.2478, 0.9969, 0.5976, 2.085, 1.4086, -0.1158, 0.3298, 0.279, 0.9976]\nstate[eef_state]: left_x=0.2946 left_y=-0.0506 left_z=0.1958 left_yaw=0.0583 left_pitch=-0.3787 left_roll=0.1663 left_gripper=0.9969 right_x=0.4808 right_y=0.2624 right_z=0.0666 right_yaw=0.1518 right_pitch=-0.1476 right_roll=-0.0138 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -3.6718, 6.4479, 1.1844, -0.2173, -0.0659, -0.0122, -0.4991, -12.9983, 6.5983, 1.7705, 0.2711, -0.0415, -0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3744, 1.1854, 1.1122, -0.955, -0.3294, -0.2478, 0.9969, 0.6186, 2.3417, 2.2902, -0.3355, 0.4305, 0.1211, 0.0081]\nstate[eef_state]: left_x=0.294 left_y=-0.0503 left_z=0.1955 left_yaw=0.0592 left_pitch=-0.3813 left_roll=0.168 left_gripper=0.9969 right_x=0.5828 right_y=0.3287 right_z=0.2618 right_yaw=0.1714 right_pitch=0.2411 right_roll=-0.0258 right_gripper=0.0081\nstate[joint_eff]: [-0.1162, -3.4256, 6.4342, 1.2088, -0.1929, -0.0513, -0.0122, -0.1299, -13.2444, 8.6222, 1.9756, 0.232, -0.0317, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcd3579c5da8fefad76ecc863cb60b1ff049e3776be550f6ec228c0c020dffaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81e5a5ec317658db9ea3ed2dbac4fc368faf0c47589721408b70eef5d42efd12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 305):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8c86582eae4c7f8219647bf2599bb0573e1aeef178e40bcc536218e29be55b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQgKEAgSGAI4AUIIdGhpbmtpbmcSDPtfe9QYpgloSKRH0xoMU/TabFuuPBlm/yyhIjCvtQLVX5x5Qgg94m19C/xYWYNIY6WKe++PN0lXjVa7o4fepc4wRLQxVTC3BwicLm8q1geZmBLDYrvdqEKDbyMKoOf7+t544Q5AL/08Pftudoy9GT+JZryqD4igxQ3CDcXDCyBmkgH4TKq0ClgXwoR89UqU/AnDA2n8f9tFymNju1C95UoWol39CQjjBhSsSHPCDhwjBJS7qNfX3Z1Wo6H5gEZp8fOq+HWW+9T+8PMxPUprrfriSjA2ZgnCS8v2KAIi+Z2rf8zdOzSDoWdtNY7QdEmI2gD/rRxwY4wQ5BcxABAvc2Jj56qDIbtEcInTAnioIVvv4u+rlI+fl7pnkBxrqckc85HG42SAJn/Wco+iVvULGg86XIwUI/Q43My2Al0fFIGsHKEAFQot7E7zI6nSrCfbOO0zsFKaDaBU7IijTjbOtZXhvjhNl5qtiSSpHuOHnodemikqLC8VPoM3+ywoCmlWQ6FZh49IDALRJgov5D4JpSPsSRko7SgD75l4A8US8Ho0+dvggFgYe6t2AWX+yeBN2mLEFZqtmw00Bl4j8a9Z4yJeuMq6vySu5UHWjssNIGhieKomgliYkEpilgM7N6aKswPcHm9y6eCf03bEGWdPkMQJBBVbFLYa7BrBPOl6uxwDU+psGhQ0+ktZDMLAVhwjB8etphcswuOmiQejtZ5535MqvOG4MOcWQVDmvI48pwQ0zX/ReKcBXWDQ11NFkMBDUCCzaLqI9nZhWLcQX7rHcntP8spFbZjaAu4i5R+JQFIGKp+3Ligrb058KO8q7R5/oI0BrbaOWliCpQqGrHR7knzfb8RR6JNMyM1oCcW5EMjRTwaRtQE16jXpo9HdNeiKPyM3IAvaT+bWb1U89vn63dqm1B6/Vc+c1bVHwZEumA3xj4r61XcnQlsu04EtE+CP1IcF9qFE8hOE9RKoJ0v7vxhR0LxBAIRpWVxGVW8afeZjdo/K/MnNiXlFSJrlv/hfT3dZ6UJVU87uWdRh0wyGnnW/Uag8y7mcwu7CUPm/MgJTL1p5tjWiA7PUK0+2BR6Jrr+LmgBZkKF0UnLrAaLs6sUN27Zuy0hJVDqjD9tfIu11Iy9LPcM4F0sY+RLHkDnMmSutMLK1YP+f4+1moL6H8G4C4qPPV0B0CxdjkgivF0/FbFjl6uoQHpmmhagvjGMcB1wAyaKZ+Y3aKeSR90VCykBYAMB1BJ65/RetfZHD/xEAFvn90sXA87E8L9DX1cgboUO3Z4ISd2W7IUfDp7lxh4KfWZHp4YsiQ83PRbTNzWiUAhnjAWme+aW9cCPk7em5ukNbCwTMw0legdcI6J60r0CWycVX9FqJPjc6YT3bFs2FBqz26QGMCKWgkZSyBk6WlD2KSNGdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01F4jBpnMPt6zjL8BRtr9HPg",
      "input": {
        "note": "Gripper is now beyond the back of the upright lid in the overhead view; descending behind it to push it forward.",
        "targets": {
          "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_01F4jBpnMPt6zjL8BRtr9HPg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3775, 1.1858, 1.1118, -0.9668, -0.329, -0.2481, 0.9969, 0.6205, 2.3226, 1.8626, 0.2768, 0.4335, 0.1085, 0.0099]\nstate[eef_state]: left_x=0.2915 left_y=-0.0503 left_z=0.1938 left_yaw=0.0582 left_pitch=-0.3929 left_roll=0.1732 left_gripper=0.9969 right_x=0.5888 right_y=0.334 right_z=0.2081 right_yaw=0.1467 right_pitch=0.4243 right_roll=0.0561 right_gripper=0.0099\nstate[joint_eff]: [0.1709, -3.3983, 6.612, 1.2967, -0.2076, -0.0366, -0.0122, -0.2393, -8.1573, 4.1094, 0.4029, 0.0073, 0.1099, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7921abe862dcce75e589cdcfb80c846e8140b166cc30bfe63e07bdd976d7c03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48bae5e1cb4008b0a2afc5112139ac63d7e34cb79cd2f963825e8fa04d9163ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2274c50a8a8e9668d2de7d772ac5b3f559337a52639c4f52661009dc2a753016",
        "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 · 7.3 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]: [-0.3744, 1.1858, 1.1122, -0.9516, -0.329, -0.2478, 0.9969, 0.5976, 2.085, 1.4086, -0.1158, 0.3298, 0.279, 0.9976]\nstate[eef_state]: left_x=0.2946 left_y=-0.0506 left_z=0.1958 left_yaw=0.0583 left_pitch=-0.3787 left_roll=0.1663 left_gripper=0.9969 right_x=0.4808 right_y=0.2624 right_z=0.0666 right_yaw=0.1518 right_pitch=-0.1476 right_roll=-0.0138 right_gripper=0.9976\nstate[joint_eff]: [-0.1846, -3.6718, 6.4479, 1.1844, -0.2173, -0.0659, -0.0122, -0.4991, -12.9983, 6.5983, 1.7705, 0.2711, -0.0415, -0.1099]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.3744, 1.1854, 1.1122, -0.955, -0.3294, -0.2478, 0.9969, 0.6186, 2.3417, 2.2902, -0.3355, 0.4305, 0.1211, 0.0081]\nstate[eef_state]: left_x=0.294 left_y=-0.0503 left_z=0.1955 left_yaw=0.0592 left_pitch=-0.3813 left_roll=0.168 left_gripper=0.9969 right_x=0.5828 right_y=0.3287 right_z=0.2618 right_yaw=0.1714 right_pitch=0.2411 right_roll=-0.0258 right_gripper=0.0081\nstate[joint_eff]: [-0.1162, -3.4256, 6.4342, 1.2088, -0.1929, -0.0513, -0.0122, -0.1299, -13.2444, 8.6222, 1.9756, 0.232, -0.0317, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3775, 1.1858, 1.1118, -0.9668, -0.329, -0.2481, 0.9969, 0.6205, 2.3226, 1.8626, 0.2768, 0.4335, 0.1085, 0.0099]\nstate[eef_state]: left_x=0.2915 left_y=-0.0503 left_z=0.1938 left_yaw=0.0582 left_pitch=-0.3929 left_roll=0.1732 left_gripper=0.9969 right_x=0.5888 right_y=0.334 right_z=0.2081 right_yaw=0.1467 right_pitch=0.4243 right_roll=0.0561 right_gripper=0.0099\nstate[joint_eff]: [0.1709, -3.3983, 6.612, 1.2967, -0.2076, -0.0366, -0.0122, -0.2393, -8.1573, 4.1094, 0.4029, 0.0073, 0.1099, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7921abe862dcce75e589cdcfb80c846e8140b166cc30bfe63e07bdd976d7c03c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:48bae5e1cb4008b0a2afc5112139ac63d7e34cb79cd2f963825e8fa04d9163ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2274c50a8a8e9668d2de7d772ac5b3f559337a52639c4f52661009dc2a753016",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0AcKEAgSGAI4AUIIdGhpbmtpbmcSDH4YNybeGeOu4+9f4hoMAjTSHmWux2QQkPXRIjCZulTYvYM7tyjso7sOLqqXAw6vysxTnv5W5pEv4yXUmT+ONhZSI5ZRbp0dbDCH7Dwq7QbSSTkjDOLpVFKy6BRzVTuBbC+yxhI9FrFfRL2tiESHFetTWprbeMDi+y9U/i6h5hrlPSgWGEnKyXF7LxP4RwABfI+Vzb+8w3e0ZvOEnHXTBfvGuTsfAEneLU2fwU8vkrEFlGQ2b8GjRrnwkpBR/UfOjz6OIx/k4HBuZ8HHyv10aKxCLc5OwZIUDoCnzU0OvkCbzD4/jP36xWqrMy2rfZPjZ77prREnl98O90idI+vS2x+OKQGsOS7QFfivN4KScqVtvjNI5hoBG6rYNG10Ghw+5YZXGP/5mM9gp+4Pq2Yzues9cg3GdN4pfcwK/wWzpI5a8dWznOL/Q7UWhRUcNU2O4vu65/2G/LcMXjxjs4ovvXRY7DYLEBRbvhZUkGAbTld5mTsDUV6/Ug5u/LgGpMgBk2HRevH4bUzXeaeT9yyTGyBntZGkcaubTLkxp3e9tCslV2ZrZF8xziA5V6Ekv21fsQoRKGESwUUT+tgsh5kzwaazePlzElVyJyYj74u0/+pJ4vmYb7vqL2zH3OIssDHnu8MrXavJ7dBIptKKdsnk6EIAxjbOV6O/+7/SJEw3h3iCU83R1z8sN0NShapdrPt+94OzIEXJWWwELvbQiy0dje+PQozrGtJp7P0EWq4yGNZ9IsbBDO2jT9cFpfEBAjTivWeddB0p7BNVTjSK7WDPZyJfNKmug1wc4RLnqXXqrMOLaN1s86DQVP8DIqvb3SFILe60yErPEgsw+9l7G8JfU5qbc/jxPrDfIWKUGjboCQp1+Z7u5N9WOqQMqhaEMcvPYHHcCq9/m+8nzfF76HBTWPf0F9byBE2VicMjRCrUQcm6CYARW8TmF+2pkS4Ft/j3LTCXL0c/NfEd29mw+liDQalB/H48e3LVnF8VWCSL9Bb07Q4/sv9bQeZ0iXHjeUPWblfzfKaMzv5bTKogOQ0ELf+iymfGSlofqcfPS35Ztbv7o0nqlv1bkwIrZgY9biv+4ayHoCCe0kN5vYMGTsJl6JQVai37phhc76AlyuXS3A7+K/ZCzZd5QoWtWv8Iq48hJ/a09DDRHqnVG1YAHmxonlKxusAAJ2kcrUEpdUyRX9iZ6OzGM62eC6DW8zT1lUswraoeQ319eAd7oKJqQ0+7d1qfPm/FCI4MusAcCxbG8MUW+ktt64Pbui9VogbaGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012bwebCLyMkbKbR1RtXUofh",
      "input": {
        "note": "The arm stalled at z≈0.21 at full reach; coming in slightly to x=0.55 so it can drop down behind the lid.",
        "targets": {
          "right_x": 0.55,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012bwebCLyMkbKbR1RtXUofh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3782, 1.1858, 1.1118, -0.9737, -0.329, -0.2478, 0.9969, 0.6628, 2.3474, 1.5307, 0.5209, 0.4603, 0.1188, 0.0119]\nstate[eef_state]: left_x=0.2902 left_y=-0.05 left_z=0.193 left_yaw=0.0584 left_pitch=-0.3991 left_roll=0.1765 left_gripper=0.9969 right_x=0.5467 right_y=0.3318 right_z=0.0964 right_yaw=0.1795 right_pitch=0.3271 right_roll=0.0052 right_gripper=0.0119\nstate[joint_eff]: [-0.2803, -3.535, 6.5299, 1.2625, -0.1783, -0.0317, -0.0122, 0.212, -13.6684, 6.9949, 2.3272, 0.2808, -0.0757, 0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bec351430599657729d998d3d110ebe3e5da5273be1a3f8f7a38a01d068f15c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d10ce8c0635f3002cace7c569044a8a607afb74c58df64c7547a69614d927e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eea0df951f447be40ae70018a78dd633d3844c3130788ec71fc818c822d8bc66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 5.648 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]: [-0.3744, 1.1854, 1.1122, -0.955, -0.3294, -0.2478, 0.9969, 0.6186, 2.3417, 2.2902, -0.3355, 0.4305, 0.1211, 0.0081]\nstate[eef_state]: left_x=0.294 left_y=-0.0503 left_z=0.1955 left_yaw=0.0592 left_pitch=-0.3813 left_roll=0.168 left_gripper=0.9969 right_x=0.5828 right_y=0.3287 right_z=0.2618 right_yaw=0.1714 right_pitch=0.2411 right_roll=-0.0258 right_gripper=0.0081\nstate[joint_eff]: [-0.1162, -3.4256, 6.4342, 1.2088, -0.1929, -0.0513, -0.0122, -0.1299, -13.2444, 8.6222, 1.9756, 0.232, -0.0317, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3775, 1.1858, 1.1118, -0.9668, -0.329, -0.2481, 0.9969, 0.6205, 2.3226, 1.8626, 0.2768, 0.4335, 0.1085, 0.0099]\nstate[eef_state]: left_x=0.2915 left_y=-0.0503 left_z=0.1938 left_yaw=0.0582 left_pitch=-0.3929 left_roll=0.1732 left_gripper=0.9969 right_x=0.5888 right_y=0.334 right_z=0.2081 right_yaw=0.1467 right_pitch=0.4243 right_roll=0.0561 right_gripper=0.0099\nstate[joint_eff]: [0.1709, -3.3983, 6.612, 1.2967, -0.2076, -0.0366, -0.0122, -0.2393, -8.1573, 4.1094, 0.4029, 0.0073, 0.1099, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3782, 1.1858, 1.1118, -0.9737, -0.329, -0.2478, 0.9969, 0.6628, 2.3474, 1.5307, 0.5209, 0.4603, 0.1188, 0.0119]\nstate[eef_state]: left_x=0.2902 left_y=-0.05 left_z=0.193 left_yaw=0.0584 left_pitch=-0.3991 left_roll=0.1765 left_gripper=0.9969 right_x=0.5467 right_y=0.3318 right_z=0.0964 right_yaw=0.1795 right_pitch=0.3271 right_roll=0.0052 right_gripper=0.0119\nstate[joint_eff]: [-0.2803, -3.535, 6.5299, 1.2625, -0.1783, -0.0317, -0.0122, 0.212, -13.6684, 6.9949, 2.3272, 0.2808, -0.0757, 0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bec351430599657729d998d3d110ebe3e5da5273be1a3f8f7a38a01d068f15c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d10ce8c0635f3002cace7c569044a8a607afb74c58df64c7547a69614d927e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 321):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eea0df951f447be40ae70018a78dd633d3844c3130788ec71fc818c822d8bc66",
        "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_01VBsatwQ5hb5RSAk7qHkTe7",
      "input": {
        "note": "Wrist view shows the lid's red inside face directly ahead, so the lid stands farther back than I can reach behind. Instead I'll rotate the jaws, open them, and go above the lid's top rim to pinch it and pull it closed.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.58,
          "right_yaw": 1.57,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VBsatwQ5hb5RSAk7qHkTe7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3782, 1.1912, 1.1114, -0.9844, -0.3294, -0.2474, 0.9969, 0.2787, 2.7152, 2.5767, -0.4244, -1.0164, -0.5385, 0.9946]\nstate[eef_state]: left_x=0.2885 left_y=-0.0493 left_z=0.1902 left_yaw=0.0615 left_pitch=-0.4139 left_roll=0.1847 left_gripper=0.9969 right_x=0.582 right_y=0.3265 right_z=0.16 right_yaw=1.3798 right_pitch=0.3065 right_roll=-0.0254 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -3.9043, 6.4205, 1.2821, -0.2076, 0.0073, -0.0122, 0.5402, -16.841, 8.8547, 1.4042, -0.6227, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e5e85c511520c9ec92a2b33f492819ea8fdd7ef06f0dc3bc847ae2d7efdc1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc00ea3aa5bed92a1dafba7fb31ef69585228be71cf807052bae8fedd106b3bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7c6dbe22dd481c9d65122f64da1163bf29c57165dab782f5ced0b79fdb8846bf",
        "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 · 10.77 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]: [-0.3775, 1.1858, 1.1118, -0.9668, -0.329, -0.2481, 0.9969, 0.6205, 2.3226, 1.8626, 0.2768, 0.4335, 0.1085, 0.0099]\nstate[eef_state]: left_x=0.2915 left_y=-0.0503 left_z=0.1938 left_yaw=0.0582 left_pitch=-0.3929 left_roll=0.1732 left_gripper=0.9969 right_x=0.5888 right_y=0.334 right_z=0.2081 right_yaw=0.1467 right_pitch=0.4243 right_roll=0.0561 right_gripper=0.0099\nstate[joint_eff]: [0.1709, -3.3983, 6.612, 1.2967, -0.2076, -0.0366, -0.0122, -0.2393, -8.1573, 4.1094, 0.4029, 0.0073, 0.1099, 0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3782, 1.1858, 1.1118, -0.9737, -0.329, -0.2478, 0.9969, 0.6628, 2.3474, 1.5307, 0.5209, 0.4603, 0.1188, 0.0119]\nstate[eef_state]: left_x=0.2902 left_y=-0.05 left_z=0.193 left_yaw=0.0584 left_pitch=-0.3991 left_roll=0.1765 left_gripper=0.9969 right_x=0.5467 right_y=0.3318 right_z=0.0964 right_yaw=0.1795 right_pitch=0.3271 right_roll=0.0052 right_gripper=0.0119\nstate[joint_eff]: [-0.2803, -3.535, 6.5299, 1.2625, -0.1783, -0.0317, -0.0122, 0.212, -13.6684, 6.9949, 2.3272, 0.2808, -0.0757, 0.1929]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3782, 1.1912, 1.1114, -0.9844, -0.3294, -0.2474, 0.9969, 0.2787, 2.7152, 2.5767, -0.4244, -1.0164, -0.5385, 0.9946]\nstate[eef_state]: left_x=0.2885 left_y=-0.0493 left_z=0.1902 left_yaw=0.0615 left_pitch=-0.4139 left_roll=0.1847 left_gripper=0.9969 right_x=0.582 right_y=0.3265 right_z=0.16 right_yaw=1.3798 right_pitch=0.3065 right_roll=-0.0254 right_gripper=0.9946\nstate[joint_eff]: [-0.1573, -3.9043, 6.4205, 1.2821, -0.2076, 0.0073, -0.0122, 0.5402, -16.841, 8.8547, 1.4042, -0.6227, -0.0269, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d8e5e85c511520c9ec92a2b33f492819ea8fdd7ef06f0dc3bc847ae2d7efdc1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc00ea3aa5bed92a1dafba7fb31ef69585228be71cf807052bae8fedd106b3bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 331):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c6dbe22dd481c9d65122f64da1163bf29c57165dab782f5ced0b79fdb8846bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSsQoKEAgSGAI4AUIIdGhpbmtpbmcSDMrKDkMor8CQntsdIhoMzDT1UBSio7NUXK2wIjAvcdpn6tiWoulR/DkToFzt7JLUq709MWS5uSsFS8lU9nq/AjAKgp4njVnU8EJuSVQqzglHKQHLZ1Qcd9EbmGIMw1P402FSQ6XhF4oTjpHK+5PUQDfpKGEJ/hpKR3EcB4yW4yWWt9eVJcyyVUJ0g5s+oFqsVhCr+I0pqP3+RKbrsHE1AJA97g9Q7rUIj+WsYbOCa20yS4NDT8qK29dde6jE1L7MP3Cald+65knjeIv/km1IcpBjwVvpXLkgkli2X3jAwVAtGi0j2PcPfNNG6uIFU+hnd943zs4keS80S97fsQTw6sqj92d5mTUsDa3Z2y8HTx3Tx02Q1wtQqQvtQPEZ95Hx9rTiwYfFAYaTCDUOwuD/gOGJ3SGTdxSM0NxIPRdHlv5Xv2myypgKTWkvPOm5GGuoBzXUKRduVDu9t5tOmfEpsYoOZjug7oFp+6WG3g9d5LS3+igJZqKWEyRloz8WEqByV73xpNFI5NqMdYboyq8eceYfMD1qvM0a0xXtwI4r+npNZubAGzY8LXZjG4+EPQMI/TnhgvYpvWuwEWpcVBKFH9iBeMTBLU3vHERDXUcjYeh6YVYTfJu5C18VHWqPiC/r1tgxkRMuj7kdndkXtLLiodsU6n7fip66uKWZcjwf5drandl/BbVo7Kh5ms9TzS/ALoVBTQfkAexHCU0emhNV8EUqwvmNfXwsa8zFHI9ToJi5RIkbwkTq1KQUiBNylc4nYsrXidYVy2OPG3AFXkoDIHF8oSpWHMN5+JiWuATHNgY+WlKCNDgWoZrTC/UtrtH48mtueMexTLIjpoBdkd8IA5jc3yy6XF+2otMCzjWjF1lBNA2BXWqzJuWbujHEO0LFX209ezDiWjTmSr+HuY45NvB6LW/Y8CPviXlK/sW8Jrq+3B6M5740e7szxYI5JjT6GxcloSG3mtXomBQXAPdeps2aCAAYiffobsZVkc5ySNACjjvJprPpa6RsjQb7wNpOXYYy1q1DT6FuDhoccJBtEnDBZ4Id4ORNtR+J68OFIqv9956rXbZd3qXHZuvnPNMSSFmbQmHvAqeGDkUx2Cw4NJFKDvVQ0D2xU7GYf+9v2d7Sx8PJXWS6Gqp3Caueu6VqFutBY3gagwYJTCxW1MjfITqZM1pU8UUWH37iHgifr1uPn6VC6Kb4bu4bEQKRBqOEf0i+7N7CrYrgLYtFO8D6I8fqptW3U54tX67jd/xMCf/nQFq7eSsV3D4LAfGfni5h7DQwhM2xeXD6ITCVyom5QrKcgwbeg+OtmfhayyTfae9FxqHN2XaaqcAMNrGa6D8UnhUNJSduW8G1p2VLd9nmbvn+4gHRyAvLkH8XEj2mYprqaDgW9BHrlq/HSN1bTYIUWvO3+qq4wbr04bXZDO0123hMbUsDk30aXS94ViC4c8tL3wdrjZWrmb40g0fzh2Y/ET2E35kLCjePFA5e/j9mYjk9k85jys+//f2qb59uetd7rUvWd3yVPyKQzOjAWgUMsSDBfP15rvAsiPmuykYTgOo6zcss3CIgOREPwVr1aZxURLKi4ZjideYI+UQbX/s1WJzzCdVFg76+rSgG9kS8/JZH7k5QiF+v8C4eLF5bs55ngVTpnKCLUq8wXSgOTqlRbhpXMDbqy5wTADZoxJOdspiU73I/AnhbHaprOjjhmUuq7T83UEXxGwCGvT4W/zDO2o0EywVKUkWlXTZ+mAAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NjrBKHyENRGYjLYvHzMZTE",
      "input": {
        "note": "Lid's top rim is just ahead of and above the open jaws in the wrist view; pushing to the reach limit to get the rim between the jaws.",
        "targets": {
          "right_x": 0.6,
          "right_z": 0.21
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NjrBKHyENRGYjLYvHzMZTE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3782, 1.1923, 1.111, -0.989, -0.329, -0.2478, 0.9969, 0.2771, 2.8796, 2.9059, -0.7082, -1.0382, -0.5739, 0.9953]\nstate[eef_state]: left_x=0.2876 left_y=-0.049 left_z=0.1892 left_yaw=0.0626 left_pitch=-0.4195 left_roll=0.187 left_gripper=0.9969 right_x=0.5754 right_y=0.3256 right_z=0.1463 right_yaw=1.3837 right_pitch=0.2646 right_roll=0.056 right_gripper=0.9953\nstate[joint_eff]: [-0.0889, -3.7812, 6.5026, 1.16, -0.2076, -0.0562, -0.0122, -0.3214, -14.147, 8.8547, 1.4872, -0.2662, 0.1538, 0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d439066f6675814ab71cbe483ddedbd15e57baf99e70401726049097df886c95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26308ed6ebc06f2803ea36cb0f23650c294e6dae0e8f020c0111ba440f9addb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a8cf33f57b4a4dcb4ef3f0935b3afbd21f7bc0d09253857554f4fecc9239cfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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