adhoc

completed
2026-09-22T19:56:04.952983+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (73 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
201.6 s
total steps
285
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, small white teddy on left, lemon right, large brown teddy in front of safe. Moving left arm above the white teddy.
move_to
left_x0.3300left_y-0.1400left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.02, 0.7937, 0.6071, -0.3965, -0.02, -0.0128, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4308, -1.3744, 10.2496, 1.9658, -0.0757, 0.1832, -0.0904, -0.3624, -1.4291, 9.7299, 1.9219, -0.022, -0.0366, -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": 0.33, "left_y": -0.14, "left_z": 0.15, "left_gripper": 1}, "note": "Scene: open red safe in centre, small white teddy on left, lemon right, large brown teddy in front of safe. Moving left arm above the white teddy."})
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 centred slightly left of the jaw column in the wrist view; advancing a bit and descending to grasp it.
move_to
left_x0.3500left_y-0.1250left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6605, 1.227, 0.6796, -0.2192, -0.5106, -0.4145, 0.9993, -0.0208, 0.7986, 0.6121, -0.432, -0.02, -0.0124, 0.9996] state[eef_state]: left_x=0.3181 left_y=-0.1333 left_z=0.1289 left_yaw=-0.0291 left_pitch=-0.0715 left_roll=0.0372 left_gripper=0.9993 right_x=0.2889 right_y=0.0011 right_z=0.1718 right_yaw=-0.0006 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9996 state[joint_eff]: [-0.1846, -4.6838, 9.4974, 1.7167, -0.3785, 0.0024, -0.0904, -0.0615, -1.6479, 6.5846, 2.0586, -0.022, -0.0464, -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_x": 0.35, "left_y": -0.125, "left_z": 0.02}, "note": "White teddy is centred slightly left of the jaw column in the wrist view; advancing a bit and descending to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteTeddy fills the wrist view just ahead of the jaws; advancing ~3 cm and lowering to table so the jaws straddle its body.
move_to
left_x0.3700left_y-0.1100left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5602, 1.6211, 0.49, 0.3141, -0.4473, -0.3508, 0.9992, -0.0208, 0.8024, 0.6094, -0.4549, -0.0196, -0.0124, 0.9996] state[eef_state]: left_x=0.3381 left_y=-0.1176 left_z=0.0124 left_yaw=-0.0093 left_pitch=-0.1406 left_roll=0.0774 left_gripper=0.9992 right_x=0.2854 right_y=0.0011 right_z=0.165 right_yaw=-0.0009 right_pitch=-0.0648 right_roll=0.0014 right_gripper=0.9996 state[joint_eff]: [0.4171, -6.4068, 4.4513, 1.7607, -0.2027, 0.1245, -0.0171, -0.0068, -1.5111, 7.4051, 1.8681, -0.0122, -0.0659, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.11, "left_z": 0.0}, "note": "Teddy fills the wrist view just ahead of the jaws; advancing ~3 cm and lowering to table so the jaws straddle its body."})
tool
executing move_to over 3 steps (0.3s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
Bear now between the jaws. Closing.
agent noteTeddy's body is between the jaws at table level; 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]: [-0.4847, 1.7309, 0.5343, 0.4019, -0.4137, -0.3206, 0.9991, -0.0212, 0.8043, 0.6094, -0.4641, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3621 left_y=-0.1063 left_z=0.0012 left_yaw=0.022 left_pitch=-0.135 left_roll=0.068 left_gripper=0.9991 right_x=0.2841 right_y=0.0011 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0759 right_roll=0.0022 right_gripper=0.9996 state[joint_eff]: [0.0889, -5.4769, 5.8325, 1.409, -0.0415, 0.2027, -0.0171, -0.1846, -1.3607, 6.9675, 1.8486, -0.0317, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
Bear now between the jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "Teddy's body is between the jaws at table level; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteGripper settled at 0.11, so the teddy is held; lifting to carry height above the safe walls.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4847, 1.7428, 0.5411, 0.4072, -0.4156, -0.326, 0.1113, -0.0212, 0.8043, 0.6094, -0.4965, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.364 left_y=-0.107 left_z=0.0001 left_yaw=0.0264 left_pitch=-0.1338 left_roll=0.0649 left_gripper=0.1113 right_x=0.2791 right_y=0.0012 right_z=0.1564 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0028 right_gripper=0.9996 state[joint_eff]: [-0.0615, -7.6239, 3.9863, 1.4139, -0.1294, 0.022, 0.779, -0.1709, -1.2376, 6.9402, 1.9267, -0.0171, -0.0464, -0.0122] camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.11, so the teddy is held; lifting to carry height above the safe walls."})
tool
executing move_to over 13 steps (1.3s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteTeddy lifted with the left gripper; carrying it over the safe's open interior.
move_to
left_x0.4200left_y-0.2700left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4847, 1.3571, 1.0237, -0.4973, -0.4149, -0.3374, 0.1134, -0.0212, 0.8097, 0.6075, -0.5083, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3636 left_y=-0.1069 left_z=0.1755 left_yaw=0.0348 left_pitch=-0.1651 left_roll=0.0738 left_gripper=0.1134 right_x=0.2772 right_y=0.0013 right_z=0.152 right_yaw=-0.001 right_pitch=-0.1274 right_roll=0.0032 right_gripper=0.9996 state[joint_eff]: [-0.0889, -7.3915, 9.3197, 1.6142, -0.2027, 0.0611, 0.2076, -0.0615, -1.4701, 7.0769, 1.6972, -0.0171, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.27, "left_z": 0.2}, "note": "Teddy lifted with the left gripper; carrying it over the safe's open interior."})
tool
executing move_to over 15 steps (1.5s)
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 noteGripper with teddy is over the red interior of the safe; lowering before release.
move_to
left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7723, 1.9156, 1.7039, -0.7868, -0.572, -0.5991, 0.1164, -0.0212, 0.8116, 0.6075, -0.5434, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4129 left_y=-0.2637 left_z=0.184 left_yaw=0.0276 left_pitch=-0.2091 left_roll=0.0868 left_gripper=0.1164 right_x=0.2715 right_y=0.0014 right_z=0.145 right_yaw=-0.0009 right_pitch=-0.1644 right_roll=0.004 right_gripper=0.9996 state[joint_eff]: [-0.6085, -10.1128, 9.5795, 1.1551, -0.5592, 0.0317, 0.2906, -0.1026, -1.3744, 6.8855, 1.9072, -0.0317, -0.0122, -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_z": 0.08}, "note": "Gripper with teddy is over the red interior of the safe; lowering before release."})
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 just above its floor; 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]: [-0.7773, 1.9709, 1.3941, -0.4751, -0.5652, -0.6041, 0.1184, -0.0212, 0.812, 0.6075, -0.5682, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.4036 left_y=-0.2594 left_z=0.0816 left_yaw=0.0299 left_pitch=-0.2501 left_roll=0.1186 left_gripper=0.1184 right_x=0.2672 right_y=0.0015 right_z=0.1405 right_yaw=-0.0008 right_pitch=-0.1896 right_roll=0.0045 right_gripper=0.9996 state[joint_eff]: [0.2256, -9.853, 6.3658, 1.37, -0.3492, 0.0171, 0.1929, -0.0205, -1.2239, 6.8718, 1.7607, -0.0366, -0.0171, -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 just above its floor; 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 released inside the safe; retracting the left arm to home to clear the view and workspace.
move_to
left_z0.2000left_x0.3000left_y0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7776, 1.9835, 1.3735, -0.4793, -0.5655, -0.6083, 0.9956, -0.0212, 0.8165, 0.6064, -0.5915, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3985 left_y=-0.2545 left_z=0.0685 left_yaw=0.0394 left_pitch=-0.2753 left_roll=0.144 left_gripper=0.9956 right_x=0.2631 right_y=0.0016 right_z=0.1348 right_yaw=-0.0007 right_pitch=-0.2185 right_roll=0.0051 right_gripper=0.9996 state[joint_eff]: [-0.0342, -11.5897, 7.7744, 1.0916, -0.3394, -0.0073, -0.1441, -0.2256, -1.5111, 7.1453, 1.7607, -0.0415, -0.0464, -0.0122] 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": 0.2, "left_x": 0.3, "left_y": 0.0}, "note": "Teddy released inside the safe; retracting the left arm to home to clear the view and workspace."})
tool
executing move_to over 23 steps (2.3s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteWhite teddy is inside the safe. Moving the right arm above the lemon, which sits right of the safe.
move_to
right_x0.4200right_y0.1700right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0813, 0.9691, -0.7792, -0.2276, -0.0849, 0.9968, -0.0208, 0.8173, 0.6056, -0.6128, -0.02, -0.012, 0.9996] state[eef_state]: left_x=0.3014 left_y=0.0003 left_z=0.1889 left_yaw=0.0868 left_pitch=-0.2895 left_roll=0.1406 left_gripper=0.9968 right_x=0.2591 right_y=0.0017 right_z=0.1307 right_yaw=-0.0002 right_pitch=-0.2414 right_roll=0.0056 right_gripper=0.9996 state[joint_eff]: [0.1162, -3.7949, 8.5949, 1.536, -0.0757, 0.1636, 0.1148, -0.0342, -1.0872, 6.8581, 1.7265, -0.022, -0.0562, -0.0122] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.17, "right_z": 0.15}, "note": "White teddy is inside the safe. Moving the right arm above the lemon, which sits right of the safe."})
tool
executing move_to over 15 steps (1.5s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent noteLemon is ahead and slightly right of the jaw column in the right wrist view; advancing and descending toward it.
move_to
right_x0.4800right_y0.1600right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0836, 0.9688, -0.8055, -0.2146, -0.0875, 0.9971, 0.4984, 1.6688, 1.2404, -0.5076, 0.3016, 0.3531, 0.9996] state[eef_state]: left_x=0.2965 left_y=-0.0011 left_z=0.1838 left_yaw=0.0796 left_pitch=-0.3198 left_roll=0.1352 left_gripper=0.9971 right_x=0.4056 right_y=0.1651 right_z=0.1354 right_yaw=0.0293 right_pitch=-0.2942 right_roll=-0.0216 right_gripper=0.9996 state[joint_eff]: [-0.1709, -3.0838, 6.6393, 1.6288, -0.2759, -0.0464, 0.0073, 0.1436, -7.9658, 8.4991, 1.4579, 0.2808, 0.2271, -0.0122] camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.48, "right_y": 0.16, "right_z": 0.04}, "note": "Lemon is ahead and slightly right of the jaw column in the right wrist view; advancing and descending toward it."})
tool
executing move_to over 7 steps (0.7s)
step 123
top_cam
camera top_cam step 123
left_cam
camera left_cam step 123
right_cam
camera right_cam step 123
assistant
agent noteLemon is just ahead and slightly right of the jaws; shifting right and forward while lowering to table level.
move_to
right_x0.5000right_y0.1400right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8162, -0.2134, -0.0906, 0.9971, 0.408, 1.9896, 1.251, -0.2634, 0.2428, 0.2798, 0.9996] state[eef_state]: left_x=0.2945 left_y=-0.0012 left_z=0.182 left_yaw=0.0809 left_pitch=-0.3309 left_roll=0.135 left_gripper=0.9971 right_x=0.4551 right_y=0.1544 right_z=0.0292 right_yaw=0.0206 right_pitch=-0.3756 right_roll=-0.0511 right_gripper=0.9996 state[joint_eff]: [-0.0479, -3.0701, 6.694, 1.4237, -0.1832, -0.0269, -0.0171, -0.841, -9.7846, 8.6496, 1.3553, 0.1343, -0.0415, -0.0122] camera 'top_cam' (step 123): [image omitted: streamed camera frame] camera 'left_cam' (step 123): [image omitted: streamed camera frame] camera 'right_cam' (step 123): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.14, "right_z": 0.01}, "note": "Lemon is just ahead and slightly right of the jaws; shifting right and forward while lowering to table level."})
tool
executing move_to over 4 steps (0.4s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteLemon fills the jaw gap, slightly right of centre; small right shift and lowering to centre it before closing.
move_to
right_y0.1320right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8192, -0.2134, -0.0906, 0.9971, 0.3447, 2.1139, 1.3727, -0.2592, 0.197, 0.2283, 0.9996] state[eef_state]: left_x=0.2939 left_y=-0.0011 left_z=0.1816 left_yaw=0.0811 left_pitch=-0.3339 left_roll=0.1357 left_gripper=0.9971 right_x=0.4896 right_y=0.1428 right_z=0.0122 right_yaw=0.0273 right_pitch=-0.3886 right_roll=-0.0431 right_gripper=0.9996 state[joint_eff]: [-0.0068, -2.947, 6.7761, 1.37, -0.1538, -0.0464, -0.0122, -0.4581, -9.7299, 7.241, 1.4042, 0.3297, 0.105, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.132, "right_z": 0.0}, "note": "Lemon fills the jaw gap, slightly right of centre; small right shift and lowering to centre it before closing."})
tool
executing move_to over 1 steps (0.1s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
Lemon is between the jaws; closing.
agent noteLemon sits between the right jaws at table level; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8204, -0.2134, -0.0906, 0.9971, 0.3363, 2.1246, 1.3842, -0.252, 0.1905, 0.2165, 0.9996] state[eef_state]: left_x=0.2937 left_y=-0.001 left_z=0.1814 left_yaw=0.0812 left_pitch=-0.335 left_roll=0.1359 left_gripper=0.9971 right_x=0.4944 right_y=0.1412 right_z=0.0118 right_yaw=0.0325 right_pitch=-0.3829 right_roll=-0.0421 right_gripper=0.9996 state[joint_eff]: [-0.0889, -2.6051, 6.5983, 1.3748, -0.1636, -0.0562, -0.0122, -0.3897, -10.0718, 7.9248, 1.2772, 0.1783, -0.022, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
Lemon is between the jaws; closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon sits between the right jaws at table level; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteClose was empty (0.03); the lemon is still ahead-right of the jaws. Opening and raising slightly to reposition.
move_to
right_gripper1.0000right_z0.0400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.828, -0.2134, -0.0906, 0.9971, 0.345, 2.125, 1.393, -0.2626, 0.1761, 0.2153, 0.0311] state[eef_state]: left_x=0.2922 left_y=-0.0007 left_z=0.1803 left_yaw=0.0822 left_pitch=-0.3425 left_roll=0.1377 left_gripper=0.9971 right_x=0.4931 right_y=0.1482 right_z=0.0129 right_yaw=0.0543 right_pitch=-0.3887 right_roll=-0.031 right_gripper=0.0311 state[joint_eff]: [-0.1709, -3.0017, 6.7897, 1.4042, -0.1343, -0.022, -0.0122, -0.5402, -9.5658, 7.3504, 1.3944, 0.0366, -0.5495, 1.4383] camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.04}, "note": "Close was empty (0.03); the lemon is still ahead-right of the jaws. Opening and raising slightly to reposition."})
tool
executing move_to over 10 steps (1.0s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteLemon sits right of the jaw column and just ahead; shifting right ~3 cm to centre it between the jaws.
move_to
right_y0.1120right_z0.0200right_x0.5000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.8356, -0.2134, -0.0906, 0.9971, 0.3408, 2.1208, 1.4162, -0.3424, 0.1715, 0.2127, 0.9945] state[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1793 left_yaw=0.0828 left_pitch=-0.3499 left_roll=0.1396 left_gripper=0.9971 right_x=0.4854 right_y=0.144 right_z=0.0128 right_yaw=0.0492 right_pitch=-0.4399 right_roll=-0.0449 right_gripper=0.9945 state[joint_eff]: [-0.0479, -2.7282, 6.5846, 1.4481, -0.1734, -0.0317, -0.0122, 0.212, -14.5573, 8.6359, 1.1648, 0.0317, -0.0366, -0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.112, "right_z": 0.02, "right_x": 0.5}, "note": "Lemon sits right of the jaw column and just ahead; shifting right ~3 cm to centre it between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteLemon is still a few cm ahead and slightly right; raising to its mid-height to gain reach and advancing onto it.
move_to
right_y0.1000right_z0.0350right_x0.5350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.8394, -0.2134, -0.0906, 0.9971, 0.2783, 2.117, 1.4166, -0.3645, 0.1352, 0.1673, 0.9953] state[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1787 left_yaw=0.0831 left_pitch=-0.3536 left_roll=0.1405 left_gripper=0.9971 right_x=0.4881 right_y=0.1184 right_z=0.0113 right_yaw=0.0448 right_pitch=-0.4663 right_roll=-0.0419 right_gripper=0.9953 state[joint_eff]: [-0.0479, -2.9197, 6.7624, 1.3162, -0.1734, -0.0562, -0.0122, -0.253, -10.9607, 8.5265, 1.2234, 0.1245, -0.0366, 0.0611] camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.1, "right_z": 0.035, "right_x": 0.535}, "note": "Lemon is still a few cm ahead and slightly right; raising to its mid-height to gain reach and advancing onto it."})
tool
executing move_to over 4 steps (0.4s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteLemon now sits between the jaws near the jaw column; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.8474, -0.2134, -0.091, 0.9971, 0.2253, 2.2086, 1.6524, -0.5098, 0.1074, 0.1146, 0.9953] state[eef_state]: left_x=0.2884 left_y=-0.0002 left_z=0.1776 left_yaw=0.084 left_pitch=-0.3614 left_roll=0.1422 left_gripper=0.9971 right_x=0.5256 right_y=0.1047 right_z=0.0308 right_yaw=0.0498 right_pitch=-0.4735 right_roll=-0.0446 right_gripper=0.9953 state[joint_eff]: [-0.0615, -2.9744, 6.5709, 1.3895, -0.1538, -0.0757, -0.0122, -0.6496, -11.1385, 7.8838, 1.1551, -0.0073, -0.0415, -0.0073] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon now sits between the jaws near the jaw column; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
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 noteClose read 0.09 with the lemon visible ahead — I likely pinched the safe's side wall. Opening and backing up to re-locate the lemon.
move_to
right_gripper1.0000right_z0.1200right_x0.4500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0847, 0.9688, -0.8536, -0.2134, -0.0906, 0.9971, 0.2192, 2.2223, 1.6821, -0.5644, 0.0875, 0.0853, 0.087] state[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1767 left_yaw=0.0839 left_pitch=-0.3678 left_roll=0.144 left_gripper=0.9971 right_x=0.5215 right_y=0.104 right_z=0.0277 right_yaw=0.0773 right_pitch=-0.515 right_roll=-0.0477 right_gripper=0.087 state[joint_eff]: [-0.212, -2.7966, 6.7624, 1.3846, -0.1343, -0.0513, -0.0122, -0.5128, -11.7128, 7.8291, 1.4286, 0.2027, 0.2418, 3.0745] 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_gripper": 1.0, "right_z": 0.12, "right_x": 0.45}, "note": "Close read 0.09 with the lemon visible ahead \u2014 I likely pinched the safe's side wall. Opening and backing up to re-locate the lemon."})
tool
executing move_to over 10 steps (1.0s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteLemon has been nudged out past the right wrist camera's view, near the safe's back-right corner. Tipping the tool forward to gain reach toward it.
move_to
right_pitch0.4000right_x0.5000right_z0.1000right_y0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0847, 0.9688, -0.8543, -0.2134, -0.0906, 0.9971, 0.2543, 1.9266, 1.5486, -0.7536, 0.0933, 0.112, 0.9945] state[eef_state]: left_x=0.2871 left_y=0.0 left_z=0.1766 left_yaw=0.0844 left_pitch=-0.3685 left_roll=0.1441 left_gripper=0.9971 right_x=0.4546 right_y=0.1048 right_z=0.1023 right_yaw=0.0875 right_pitch=-0.5404 right_roll=-0.0447 right_gripper=0.9945 state[joint_eff]: [-0.0752, -2.8786, 6.5573, 1.3065, -0.1783, -0.0464, -0.0122, 0.5402, -12.6701, 6.4205, 1.2332, 0.1099, 0.0073, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0.4, "right_x": 0.5, "right_z": 0.1, "right_y": 0.1}, "note": "Lemon has been nudged out past the right wrist camera's view, near the safe's back-right corner. Tipping the tool forward to gain reach toward it."})
tool
executing move_to over 32 steps (3.2s)
step 207
top_cam
camera top_cam step 207
left_cam
camera left_cam step 207
right_cam
camera right_cam step 207
assistant
agent noteWith the tool tipped forward the lemon is visible just ahead and slightly right of the jaws, beside the safe's wall; advancing and descending onto it.
move_to
right_x0.5500right_y0.0900right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0847, 0.9688, -0.8619, -0.2134, -0.0906, 0.9971, 0.2558, 1.9705, 0.7795, 0.9176, 0.1692, -0.0006, 0.9953] state[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1755 left_yaw=0.0851 left_pitch=-0.3759 left_roll=0.146 left_gripper=0.9971 right_x=0.4949 right_y=0.1024 right_z=0.0842 right_yaw=0.1043 right_pitch=0.3132 right_roll=-0.0476 right_gripper=0.9953 state[joint_eff]: [-0.0205, -2.947, 6.7487, 1.3651, -0.1783, -0.0464, -0.0122, -0.4718, -8.1299, 4.9709, 2.3321, 0.1392, -0.1148, 0.0708] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.55, "right_y": 0.09, "right_z": 0.035}, "note": "With the tool tipped forward the lemon is visible just ahead and slightly right of the jaws, beside the safe's wall; advancing and descending onto it."})
tool
executing move_to over 5 steps (0.5s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteLemon is larger and closer in the wrist view but still ahead and a bit right; advancing a few more cm.
move_to
right_x0.5750right_y0.0800right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.087, 0.9688, -0.8707, -0.2134, -0.0906, 0.9971, 0.194, 2.2368, 0.9573, 0.9577, 0.1116, -0.0154, 0.9954] state[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1737 left_yaw=0.0861 left_pitch=-0.3867 left_roll=0.1487 left_gripper=0.9971 right_x=0.5371 right_y=0.0891 right_z=0.0247 right_yaw=0.1029 right_pitch=0.2627 right_roll=-0.0511 right_gripper=0.9954 state[joint_eff]: [-0.0479, -3.0701, 6.5299, 1.3309, -0.1197, -0.0562, -0.0122, -0.5128, -10.4821, 6.4889, 2.21, 0.0073, 0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.575, "right_y": 0.08, "right_z": 0.03}, "note": "Lemon is larger and closer in the wrist view but still ahead and a bit right; advancing a few more cm."})
tool
executing move_to over 3 steps (0.3s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteArm stalled at x≈0.54 at reach limit; tipping further forward and grasping a bit higher on the lemon to gain reach.
move_to
right_x0.5800right_y0.0800right_z0.0450right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0874, 0.9688, -0.873, -0.2134, -0.0906, 0.9971, 0.1894, 2.2574, 0.9783, 0.96, 0.1074, -0.0193, 0.9953] state[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1733 left_yaw=0.0863 left_pitch=-0.3893 left_roll=0.1494 left_gripper=0.9971 right_x=0.5419 right_y=0.0883 right_z=0.0219 right_yaw=0.1041 right_pitch=0.2651 right_roll=-0.0533 right_gripper=0.9953 state[joint_eff]: [-0.0205, -2.6872, 6.5436, 1.2772, -0.1783, -0.0464, -0.0122, -0.3897, -10.6051, 6.3248, 2.1661, -0.0415, -0.0317, -0.0171] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.58, "right_y": 0.08, "right_z": 0.045, "right_pitch": 0.55}, "note": "Arm stalled at x\u22480.54 at reach limit; tipping further forward and grasping a bit higher on the lemon to gain reach."})
tool
executing move_to over 10 steps (1.0s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteLemon is now right in front of the jaws, slightly right of centre; nudging right and forward to centre it.
move_to
right_y0.0750right_x0.5900
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1627, 2.4241, 1.1133, 1.1976, 0.07, -0.0277, 0.9954] state[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5786 right_y=0.0861 right_z=0.0367 right_yaw=0.1105 right_pitch=0.4699 right_roll=-0.0383 right_gripper=0.9954 state[joint_eff]: [-0.0342, -2.5504, 6.5162, 1.2576, -0.149, -0.0513, -0.0122, -0.5128, -10.1402, 4.8205, 1.7509, 0.1783, -0.1734, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.075, "right_x": 0.59}, "note": "Lemon is now right in front of the jaws, slightly right of centre; nudging right and forward to centre it."})
tool
executing move_to over 1 steps (0.1s)
step 226
top_cam
camera top_cam step 226
assistant
Lemon centred between jaws; closing.
agent noteLemon is centred in the jaw gap right at the fingertips; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1555, 2.4485, 1.1133, 1.2739, 0.0696, -0.0452, 0.9954] state[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5791 right_y=0.0819 right_z=0.0417 right_yaw=0.1132 right_pitch=0.5213 right_roll=-0.0554 right_gripper=0.9954 state[joint_eff]: [-0.1709, -3.1111, 6.7487, 1.2821, -0.1636, -0.0073, -0.0122, -0.4444, -11.0291, 4.7111, 2.2735, -0.0073, -0.0269, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
Lemon centred between jaws; closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is centred in the jaw gap right at the fingertips; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 236
assistant
agent noteGripper settled at 0.51 (~5 cm) so the lemon is held; lifting above the safe wall.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8776, -0.2134, -0.0906, 0.9971, 0.1616, 2.4481, 1.1198, 1.2602, 0.0364, -0.033, 0.5136] state[eef_state]: left_x=0.2827 left_y=0.0005 left_z=0.1722 left_yaw=0.0865 left_pitch=-0.3956 left_roll=0.151 left_gripper=0.9971 right_x=0.5793 right_y=0.0915 right_z=0.0408 right_yaw=0.1436 right_pitch=0.5146 right_roll=-0.0391 right_gripper=0.5136 state[joint_eff]: [-0.0615, -2.9744, 6.5299, 1.2479, -0.1783, -0.0317, -0.0122, -0.8547, -12.0137, 3.7812, 1.9951, 0.2808, -0.1392, 1.0037] camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Gripper settled at 0.51 (~5 cm) so the lemon is held; lifting above the safe wall."})
tool
executing move_to over 9 steps (0.9s)
step 245
assistant
agent noteLemon held above the table beside the safe; moving left over the safe's red interior.
move_to
right_y0.1700right_x0.5200right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.1635, 2.1231, 1.0958, 0.8291, 0.0223, -0.0265, 0.5143] state[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.571 right_y=0.0938 right_z=0.1098 right_yaw=0.1555 right_pitch=0.3847 right_roll=-0.0318 right_gripper=0.5143 state[joint_eff]: [-0.0479, -2.9744, 6.6393, 1.2527, -0.1783, -0.0366, -0.0122, -0.3761, -14.8718, 9.6479, 2.5714, 0.0806, -0.105, 0.0611] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.17, "right_x": 0.52, "right_z": 0.14}, "note": "Lemon held above the table beside the safe; moving left over the safe's red interior."})
tool
executing move_to over 7 steps (0.7s)
step 252
assistant
agent noteOverhead view shows the held lemon still just right of the safe's right wall; moving further left over the interior.
move_to
right_y0.2400right_x0.5000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.3714, 2.0037, 0.9947, 0.7319, 0.2123, 0.0162, 0.517] state[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.5208 right_y=0.1667 right_z=0.1101 right_yaw=0.1726 right_pitch=0.3118 right_roll=-0.0435 right_gripper=0.517 state[joint_eff]: [-0.0479, -2.9333, 6.5436, 1.2527, -0.1538, -0.0464, -0.0122, 0.212, -13.094, 6.1333, 2.4005, -0.0806, -0.0562, 0.2711] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.24, "right_x": 0.5, "right_z": 0.15}, "note": "Overhead view shows the held lemon still just right of the safe's right wall; moving further left over the interior."})
tool
executing move_to over 7 steps (0.7s)
step 259
assistant
agent noteOverhead view shows the lemon still on the table behind the safe's right corner—the grasp didn't hold. Returning to the lemon with the gripper open.
move_to
right_gripper1.0000right_x0.5800right_y0.0850right_z0.0600right_pitch0.5500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.5484, 1.993, 1.0855, 0.5396, 0.374, 0.0776, 0.5187] state[eef_state]: left_x=0.2826 left_y=0.0006 left_z=0.1722 left_yaw=0.0866 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.4972 right_y=0.2323 right_z=0.1126 right_yaw=0.182 right_pitch=0.2407 right_roll=-0.06 right_gripper=0.5187 state[joint_eff]: [-0.1846, -2.9333, 6.694, 1.2186, -0.1245, -0.0562, -0.0122, 0.3761, -13.9829, 8.841, 2.0977, 0.1099, -0.0952, 0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 259): [image omitted: streamed camera frame] camera 'left_cam' (step 259): [image omitted: streamed camera frame] camera 'right_cam' (step 259): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_x": 0.58, "right_y": 0.085, "right_z": 0.06, "right_pitch": 0.55}, "note": "Overhead view shows the lemon still on the table behind the safe's right corner\u2014the grasp didn't hold. Returning to the lemon with the gripper open."})
tool
executing move_to over 13 steps (1.3s)
step 272
assistant
agent noteLemon sits ahead and slightly right of the jaw gap; the safe lid has fallen shut (white teddy inside). Centring on the lemon before closing.
move_to
right_y0.0680right_x0.5900right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.8799, -0.2134, -0.0906, 0.9971, 0.1448, 2.3898, 1.0767, 1.1759, 0.0124, -0.0528, 0.9976] state[eef_state]: left_x=0.2822 left_y=0.0007 left_z=0.1719 left_yaw=0.0871 left_pitch=-0.3978 left_roll=0.1515 left_gripper=0.9971 right_x=0.5717 right_y=0.0848 right_z=0.0372 right_yaw=0.1618 right_pitch=0.4451 right_roll=-0.0586 right_gripper=0.9976 state[joint_eff]: [-0.0205, -2.9333, 6.7487, 1.2332, -0.1343, -0.0513, -0.0122, -0.253, -10.865, 6.2701, 2.4054, -0.0171, -0.0659, -0.0659] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.068, "right_x": 0.59, "right_z": 0.035}, "note": "Lemon sits ahead and slightly right of the jaw gap; the safe lid has fallen shut (white teddy inside). Centring on the lemon before closing."})
tool
executing move_to over 2 steps (0.2s)
step 274
assistant
agent noteLemon fills the jaw gap at the fingertips; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.8799, -0.2134, -0.0906, 0.9971, 0.1226, 2.4096, 1.1156, 1.1812, -0.0319, -0.0536, 0.9988] state[eef_state]: left_x=0.2822 left_y=0.0007 left_z=0.1719 left_yaw=0.0871 left_pitch=-0.3978 left_roll=0.1515 left_gripper=0.9971 right_x=0.5809 right_y=0.0809 right_z=0.0417 right_yaw=0.1818 right_pitch=0.4697 right_roll=-0.0544 right_gripper=0.9988 state[joint_eff]: [0.0068, -2.8103, 6.653, 1.2479, -0.1734, -0.0171, -0.0122, -1.4154, -10.4957, 6.5436, 2.1123, 0.1099, -0.0708, 0.1099] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon fills the jaw gap at the fingertips; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 284
assistant
agent noteOnly the small white teddy made it into the safe. The lemon sits at the edge of the right arm's reach (x≈0.58–0.60). Every time I closed on it, it squeezed out forward, and it has now been pushed further away. At some point during these attempts the safe lid fell shut, and the large brown teddy was never moved. With about 8 calls left, I can't reopen the lid, grasp the lemon and the brown teddy, and close the safe again.
give_up
hindsight- The white teddy was an easy grasp with the left arm: it held at x≈0.36, y≈-0.11, z=0 with a settled gripper reading of 0.11. The drop point over the safe was left x≈0.40, y≈-0.26 at z≈0.08. - At the start the lemon was at about right x≈0.55–0.58, y≈0.08, behind the safe's right-rear corner. That is past the ≈0.49 table-contact reach with the tool vertical. Reaching x≈0.58 at z≈0.04 needed right_pitch≈+0.5 (tool tipped forward). A smooth lemon near max reach gets pushed forward when the jaws close. Try approaching from the side (use yaw so the jaws close across it without pushing it outward), or first pull it toward the base. - My first lemon attempts at the reach limit pinched the safe's side wall (reading 0.09) and bumped the safe, so it rotated and later the lid fell shut. Keep clear of the safe's walls and lid. - A reading of 0.51 once turned out to be empty; the lemon was still on the table. Always check in the overhead view after lifting. - The lid is hinged at the back. Put everything in first and don't touch the lid until the end. - Start with the objects that are hardest to reach, while the lid is still open and the calls are still there.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1444, 1.0939, 0.9684, -0.8978, -0.2131, -0.0906, 0.9971, 0.123, 2.4138, 1.116, 1.1423, -0.0383, -0.0536, 0.0083] state[eef_state]: left_x=0.2788 left_y=0.0008 left_z=0.1683 left_yaw=0.0879 left_pitch=-0.4202 left_roll=0.1569 left_gripper=0.9971 right_x=0.5792 right_y=0.082 right_z=0.03 right_yaw=0.1869 right_pitch=0.4271 right_roll=-0.0505 right_gripper=0.0083 state[joint_eff]: [-0.0615, -3.1795, 6.5709, 1.37, -0.1783, -0.0073, -0.0122, -0.0615, -12.465, 4.4239, 2.254, 0.0806, 0.0317, 0.5983] camera 'top_cam' (step 284): [image omitted: streamed camera frame] camera 'left_cam' (step 284): [image omitted: streamed camera frame] camera 'right_cam' (step 284): [image omitted: streamed camera frame]
assistant
give_up({"reason": "Only the small white teddy made it into the safe. The lemon sits at the edge of the right arm's reach (x\u22480.58\u20130.60). Every time I closed on it, it squeezed out forward, and it has now been pushed further away. At some point during these attempts the safe lid fell shut, and the large brown teddy was never moved. With about 8 calls left, I can't reopen the lid, grasp the lemon and the brown teddy, and close the safe again.", "hindsight": "- The white teddy was an easy grasp with the left arm: it held at x\u22480.36, y\u2248-0.11, z=0 with a settled gripper reading of 0.11. The drop point over the safe was left x\u22480.40, y\u2248-0.26 at z\u22480.08.\n- At the start the lemon was at about right x\u22480.55\u20130.58, y\u22480.08, behind the safe's right-rear corner. That is past the \u22480.49 table-contact reach with the tool vertical. Reaching x\u22480.58 at z\u22480.04 needed right_pitch\u2248+0.5 (tool tipped forward). A smooth lemon near max reach gets pushed forward when the jaws close. Try approaching from the side (use yaw so the jaws close across it without pushing it outward), or first pull it toward the base.\n- My first lemon attempts at the reach limit pinched the safe's side wall (reading 0.09) and bumped the safe, so it rotated and later the lid fell shut. Keep clear of the safe's walls and lid.\n- A reading of 0.51 once turned out to be empty; the lemon was still on the table. Always check in the overhead view after lifting.\n- The lid is hinged at the back. Put everything in first and don't touch the lid until the end.\n- Start with the objects that are hardest to reach, while the lid is still open and the calls are still there."})
tool
give_up: Only the small white teddy made it into the safe. The lemon sits at the edge of the right arm's reach (x≈0.58–0.60). Every time I closed on it, it squeezed out forward, and it has now been pushed further away. At some point during these attempts the safe lid fell shut, and the large brown teddy was never moved. With about 8 calls left, I can't reopen the lid, grasp the lemon and the brown teddy, and close the safe again.
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 · 13.98 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.02, 0.7937, 0.6071, -0.3965, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3744, 10.2496, 1.9658, -0.0757, 0.1832, -0.0904, -0.3624, -1.4291, 9.7299, 1.9219, -0.022, -0.0366, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae92d2b8566c5062cd2406564d05d9a2f1c98abf2d30c300bbc3da51579f2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fbc5b893ce031240abcca5720924dfea3c0071d86ff775a1194aa1d2a55f9ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea7abb8716826cec992ee0996c7466a4aa22b3cd8de328acf0463626e1b9aff4",
        "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 · 4.654 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.02, 0.7937, 0.6071, -0.3965, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3744, 10.2496, 1.9658, -0.0757, 0.1832, -0.0904, -0.3624, -1.4291, 9.7299, 1.9219, -0.022, -0.0366, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ae92d2b8566c5062cd2406564d05d9a2f1c98abf2d30c300bbc3da51579f2be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fbc5b893ce031240abcca5720924dfea3c0071d86ff775a1194aa1d2a55f9ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea7abb8716826cec992ee0996c7466a4aa22b3cd8de328acf0463626e1b9aff4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgRgKEAgSGAI4AUIIdGhpbmtpbmcSDFo0ultDOpN8YeEWURoMWYcA7LT+0NDZaJUxIjAIHqShroKrGXgm3H9iyyYPWsvZeaBlTsrY9MP3cfW9Nafk6XsHEgsA+tbkfcJ6DKoqnhfP5fTpyNCmQ1kcDZ+8XeHe8bi7N3scLKsh8uIW4hqTJ96uYRJks8p1UeNVRWqVJPTJKHXxNyPAJ8hu4TA/ksIKHjqB4dwAXs8n+/Gv1n7qz15Er9OCswC0ULaDQzQ/hBbyzXPaImW0qXu9sXHN2TDLlDKr+dwzD+4nHkjbLeNg/eDHAvuNPz7JA5NbgYJMfzY04H7uvuvr/t4IX6qVxMt9w7/A5u0CCbquLits9hNL2EUWPp159ITxYhgmdXF8BG+wiPGPLZ3dcykEe7F8nCTms4tacqUcO/L2dxWLYoKGcx5HOJ2Nc3+mUPXTsmU0qwZG+cSlbvu83azbUFqbiZwNoBJWrLB6J9ttiMA/cDCqbexcKJ58+RoRyKyTignuLWWApRCP6JuwHY4ZLex/9/fTYLwrCmevPWWlqhKb8E4FUcavfNdwnO71tFKkgYZ8XyfYmOjPCPiTk1zMYW6Mrpf8jhSroecBwdtDX/rdcJ4uuaP0tQitQ9EZrpcO7ztvrLWzIeo4LkrE3hiXHoGbeB5K2F2LLskPzWdARw8nar0D5G15uYWuRypbE7ONtiJ9N2MjQ2GFeYJbKTIR10Lw15TByHxMQWVEAA2Nr+dBiugzwo2HbKbnykKlAHHmdWIT47mhcA7iIMGAWXUGEeTs1vzSHLfTVSqlD5qo6HboFp/oeRP1nxKnmIYw3bdMXpnknrB1RDJF6X10CvJMOi1auLQSaY9z9MAOXNzsxeSdf90HxUYQuOawg40qPjrdttJHpiTyVCL+cNXEk/NBuS37pggKydQmJj8oPagU95pw/1P8+nH+1TbJ/TopEA4ZhI1xdVgd4DiOKgvvvsNERas9v18WADcg3WPFG96frN118kbFRSnYAARPeMQmA7VsxJU76J7F20dQ9akrCw+ObW+p9AY+qthmlBaTccx5VEPhQq5j524NZqPuf1gN9WeLYyAq0fFVojZJ3U7ymji9h0iR28kZ7SPsLlkJC9oP5B0DgBlG2Ii4ua2akFofhGtE5YKRoYZOEQ49zSPvGzxOC+kLRvh0b2bLPqlMs7BScHzvKGz8UWSHrsIWEpI/IaQcMIV6KMBIgmWoaR0InlK//3h5+MGOWcgNnMHiFC/v+uz5UaoS5teGUHFa79vFaRv4Y7Ui3rYYIFciv5e56lvNc+f+pC4SMXCz2ihuLaArh4RILgF3r+Vh5IxNtFgBRICYVE+h6sSDsK/HF9mDRf0mMoyDTCyWCqM2HW4bocgemvCNbSJxiHV7ov/K3kp/+TmSzaEwQCFQOxkfJ/yH68H7T4jUU+QZjc4cLSf2Tx1Kc0r+QDf0lcuQivm+4PaZyfQQ+5m5cHlbNB4lS650AgxQPhHlunMGhQ5glvK89CpZVYe0EA5TL/aKriMl/oGqBv66g2jqAaATCm4cU2RJht+vP8y/fRH6kVO1pmHJE8zjf5N4BEXLDBvHE8ISVERvMxMgfBE4GmxarohO2WthZTgOnbI6QI8x0jc0OmGOSdCDgSnHVqR1NfEj86stS8g1xdPbut7eRzxK2Z90mstdR0yovfXat5c5sTKwm3TpvRcFXr+/Q0W28PU2S4wUNMybl62Us1gIz95A3hymImmumrm3yrUZPvpwv/M6f15M74zlf2gdI/DbVKDU6iSLn+MKZJHRaSB38VfvtYaF301FUcs9z+7tHHblM4DQ1d9kUUhSUL02nezIGAztTL8OgzgVnQyj5k26nsMxS9mObU3YtRB31fNqB/ewg4pyuplIp0GOdNaLhAdcjsHHo9ASTuK6kdvXeqPTVF+sMKBNvGGYW6/wQj3PQ4tEf5eHDlEPRO+pB7YIlF4Bv81Y8XfSCoaruF2wZv2PNkJnBhPUTv/dmqCspw8XN+TGMhTGxXqIjHZZEns4KmbWJxm8x8y6ZM9wEM1cSH8/t32QhwUk+JYOG0qb2LGWNisU3C3qKSzC1iNbouf+OHEpOoKfQ63dFQiOK+tUuTvAnatPrz1lZO6L/RqMhgntB1/+0gUBZ4fvdycQ6VnyI+MCpqZU1f8dMPxh0TtH5dDY+5hMT9s5gpf2ak3vdeEeJhLBcaw7+x4tV+5wwiW/RHECiVWAlPh/NQ+jLZP5FgbrN6M6Ad8lM/SuuzQX/EFjvqI2cJ/QaxV2cxH7x2lH1GRT0QtCMY08Z71hvUKKLRI51xFNws3aMQmYKuusqc1fNAYeBaeF3/xQGIz8m9gmmaOv5AmwcD4xw1EhIDEJzdfGQlVebI8bnKXpYv/Wi0sRTZhTHf7SMQQqXr6q/V2cnIWUdi3L9zTk+GdSMUVPULo3wStNgswfxLig84O30L1blFYVYt2v71K31Sbv2/1wJgKlShKaGPwSs/Xen8T9G7/7BVF3AtwX/JI03AQLYhRunwCpnFMAkdWpEHbXRuHcldQUnTHGuy2dAGpaIbb3qwPDe8OlffKNFWZidFhI5FSmMTbP2K6T/vSvinV3Oe1FcYJ2VkSx72Dw3tWgPX6qhEiNTiaZUIHK7x+LweLS+2LC1wkGRIwNPYCyd0/aThe+T0Ag0PFxKXAf5WZRx8DswhgZfXrrn2bYpBLTGJwk1CsJwbbLhwR+wfcc1N6rabODAPCaM/ihnMWVDFdg4b0/401my+QzR0tqnkSDU10D2RtCCQCgdNXKNFXnlNREIYNPrXrfz8VoUqR4/xrWuWBe9NiT9I90gqRHWiNL9A0tGDygYas7N5cOQXh3xS0SHG/DLMvEsd1Em5Bjuh7z8t53jBpRUzfnD1tpXRrPTee+kLsB14ex2m47zPW8qlvRczoLo9zGTV7/pub5F4TI8CHGBbgSW25Xf3tZiwe/nRNxCX17WrnikJJRrtYXOtMXlC9r6W6qv/kP7es97tdBfJ6B5cGv3sJn2d4FwuTiSGF+Di5ZQnZPnj2v0CfADKZOuqFlEd8Xmdk5Mb9CFkH+lV0B6ZbMFa1BHqXHKvwxTbZzMgO8CfyCN+rMTsyToHYIzhEi1MVKSXAGUkhTZ9Uuq+TX81O9gZnJ2ivSwLHzR2YbjzJsqmPiFslxVgGyuFn1h6MEcVTi5acYGrU4lugXGQASIMlsDfcgAvU/ClU6pRaaCr+REpq9ieFN+8amd5t3h/L+wZYrCiJPrhcfZ12zw+D/cZ2JtmNpAW4eCKvUcRz/pTnvN9oR2/ZISLUgfrAWh4Mrwrr+S+uzCpx7ixBcmwa3QWq2LT/+b4yL4nEuGpmwx+pRmMKzm2yWPIypT+9RpXc1Naqy9usuwFT3lVn2+E7XFJxOCojg0rdOg+3kRjEayQheBytpO+IZ6uAYf3v4IbpTn7UsffWOBvXOScY+QTI7RgeaihrqNj4039w/m3DeHK8HuacltXPEppqWBhJRZP5u5CUH37WeYy1XxwyaTILl5egfM0sLuqHX7jzJZyew6qM21bPaGW/bFeYdG7HzOgAsIxvUKmyYnNK1rxoCnXebhC3dgot5L6QX4mXMgTkNluaf/NM7yEfk+ccP7PJKYKdHKiryGx4uwfgeJ/cUCUl1XuLE5CWVFCUsulmAiJ8FJEigZAcguD/G9WQz7x7/1XexK1+zcV7ZIAFMAn3jjr+Q/ZLeSw92Wp8ZiRTvLBS8zjQd7NqlIEmalhiVbKixEwElT+0b4sxgI8FHuo8uWHelzSU/kKvkX06LIi2BN+5BQtGnBvqUd9do0SBAT3c/oedhDIniv/bGXC6jxrErWRICEu+L7Ar0PrO0BTregcd7I63CNe7PgDl48ls6JSxxkN/00Z4XyKGATyYaCAN5Mk43kh1wawSdCWmiLAhaBbz7M+iNFGf8qhrWBxM8NdygsEoShzu4Rjqk5hL7c3De6kd4qcDOsyWWvHkxJPqvUqVjnoq9HuNxzBB1XvEOwgfgrNJC/9pGjhaOLrHjCGFQbgme7C+JU65R3HpLKjiqBBEdfSso/QWN3D4AklKS7r+BTf51QbbVbZm+r5bPyfqSXW6PGyyAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mku6kUZj7ba5LdnUzoQ2EM",
      "input": {
        "note": "Scene: open red safe in centre, small white teddy on left, lemon right, large brown teddy in front of safe. Moving left arm above the white teddy.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.33,
          "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_01Mku6kUZj7ba5LdnUzoQ2EM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6605, 1.227, 0.6796, -0.2192, -0.5106, -0.4145, 0.9993, -0.0208, 0.7986, 0.6121, -0.432, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.1333 left_z=0.1289 left_yaw=-0.0291 left_pitch=-0.0715 left_roll=0.0372 left_gripper=0.9993 right_x=0.2889 right_y=0.0011 right_z=0.1718 right_yaw=-0.0006 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.6838, 9.4974, 1.7167, -0.3785, 0.0024, -0.0904, -0.0615, -1.6479, 6.5846, 2.0586, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a87fee7b0f7cb0ddc40ebc936fb6a56d828535cad75be9707d94e0304df8625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21adcb78f0d164dd055e6525ce509c3843d46e4f6a286cc40811afc486505873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:287049be31115453fd4378b824d765c1ce054ec777100750d1895449393b4bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.688 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.02, 0.7937, 0.6071, -0.3965, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3744, 10.2496, 1.9658, -0.0757, 0.1832, -0.0904, -0.3624, -1.4291, 9.7299, 1.9219, -0.022, -0.0366, -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]: [-0.6605, 1.227, 0.6796, -0.2192, -0.5106, -0.4145, 0.9993, -0.0208, 0.7986, 0.6121, -0.432, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.1333 left_z=0.1289 left_yaw=-0.0291 left_pitch=-0.0715 left_roll=0.0372 left_gripper=0.9993 right_x=0.2889 right_y=0.0011 right_z=0.1718 right_yaw=-0.0006 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.6838, 9.4974, 1.7167, -0.3785, 0.0024, -0.0904, -0.0615, -1.6479, 6.5846, 2.0586, -0.022, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a87fee7b0f7cb0ddc40ebc936fb6a56d828535cad75be9707d94e0304df8625",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21adcb78f0d164dd055e6525ce509c3843d46e4f6a286cc40811afc486505873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:287049be31115453fd4378b824d765c1ce054ec777100750d1895449393b4bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQcKEAgSGAI4AUIIdGhpbmtpbmcSDB13ibkLltQiaTgtkhoMNbN+KjeZ1kDGDjxVIjD7LHTlXr4GDy1KpKSmTsGzNNjnjoAz/tEE5oYVrjqj/788JqRa3SD+yD+Ng7W+NnMq1gbFim12yndSgvjoNwQfeOTGgtmS9OuTvgq1vz5XC4hQhH/Vj4DEYWvzGBy8DUd3uoGSnkCeFjRHaV9YqPMhR0Mr8lX+eCXADh+4P/2IKAnSnBwMBgKSp6vrdt2WTeqDgU7g7q2+rMhSzdLdjOVfmQ5nXv+iFmWZXxK/84zQHnYPntcmDwBa59SjtMzDqCkq0nXJOv6O8j2jWinxy1xdL2EWXHc5m3dH/iTRGLo2FCRE2eggmjJe7c5tCsafxB6CHbLcyKTky9lIgPM7xLske8k18+XfQ5gNJ2xRneoYuZCgR0Evo633P97QkRcG6uPjJxtV4Mzf6Z/gs892hTTBpsgrLdBmB21EeNHiinDfEkH2EPRwoWVm6bFffr6SdLBbvRvkq04tiaudAG6UB8pB6pAKBYuoHNJgbLGsEWgI6IYWZBtnXNJ+oebv1ydIEpo1IazO/3Sa0TzzBVTtKsSXWik0v/xfulCbbwhQPzSVKFY/+in49ds+UW7vBsZ5hiNpB+EV/m/R1qv4p94UcAw+sC0KeDFQNm5rHPJWV2o510RF2VWX86t34VuzjdFv1sURCN8WVD0vjULhs8rPivBgZJR5sSFmUemU2W+23ANWan7CXEOlRTSOU59FmV+pBHb2mel54qqc4GMTcvUNZQhe743o9d0bPf01Bjt/nqSufqKs1GbW6HLECQBmZiWsTP2ro21Gf9jCn/AU1tKtQrNLeykMipFVubo+NZfeLMKF2Pfu9yx6bt6TixvaKukS9EpwqWGyV6zTggkJG8OUHhD9n58jyiPelrUU1UH6vE1mT2EOe2pENKUa2bymfCblI2a6yK+VTIpm737Jlp7S0psOzPvVW9vGcza/smPBIPO57L1e4wTpGgHeloZYNDKiVn1oK/dHH0tIroeVCSenbpp0lbXmEBhtHaZwriyW4ZXvkbP9GazAi/3plDRSJp9w5fGUD0TTL7IW1g4CEam0bXMqYNzTxHOQOB2zpuCrpmDqv/rw/yB8WZVrUeiHU8SJBY+zzgRSrND0xD7Ky4mcAOF0zUkBXsTWqp4fZHEdmriNmPgej5RYFEWfrsP8mNKNrZUb7A2blEil085Zg9rhIOrXzKDTYccIkyLyD8WhJt7wCDgveZAN9OPeERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QcwLYd4RXEdsUzpZaHkQAt",
      "input": {
        "note": "White teddy is centred slightly left of the jaw column in the wrist view; advancing a bit and descending to grasp it.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.125,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01QcwLYd4RXEdsUzpZaHkQAt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5602, 1.6211, 0.49, 0.3141, -0.4473, -0.3508, 0.9992, -0.0208, 0.8024, 0.6094, -0.4549, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3381 left_y=-0.1176 left_z=0.0124 left_yaw=-0.0093 left_pitch=-0.1406 left_roll=0.0774 left_gripper=0.9992 right_x=0.2854 right_y=0.0011 right_z=0.165 right_yaw=-0.0009 right_pitch=-0.0648 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4068, 4.4513, 1.7607, -0.2027, 0.1245, -0.0171, -0.0068, -1.5111, 7.4051, 1.8681, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6da9e3cd0655da7c559c0973804af82694e5db247c7831b26253d3910ffc6bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdea957b8c7a40f8eede5f78ff183ad269180879df3488a636400d3c7d467b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e8403cb5337839adccd3b50a05f48f4c7719e380c93167e415a4b682a41ccb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 2.743 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3912, -0.0193, -0.0341, 0.9993, -0.02, 0.7937, 0.6071, -0.3965, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1781 left_yaw=0.0004 left_pitch=-0.0004 left_roll=0.0 left_gripper=0.9993 right_x=0.2929 right_y=0.0013 right_z=0.1781 right_yaw=0.0004 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4308, -1.3744, 10.2496, 1.9658, -0.0757, 0.1832, -0.0904, -0.3624, -1.4291, 9.7299, 1.9219, -0.022, -0.0366, -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]: [-0.6605, 1.227, 0.6796, -0.2192, -0.5106, -0.4145, 0.9993, -0.0208, 0.7986, 0.6121, -0.432, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.1333 left_z=0.1289 left_yaw=-0.0291 left_pitch=-0.0715 left_roll=0.0372 left_gripper=0.9993 right_x=0.2889 right_y=0.0011 right_z=0.1718 right_yaw=-0.0006 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.6838, 9.4974, 1.7167, -0.3785, 0.0024, -0.0904, -0.0615, -1.6479, 6.5846, 2.0586, -0.022, -0.0464, -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]: [-0.5602, 1.6211, 0.49, 0.3141, -0.4473, -0.3508, 0.9992, -0.0208, 0.8024, 0.6094, -0.4549, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3381 left_y=-0.1176 left_z=0.0124 left_yaw=-0.0093 left_pitch=-0.1406 left_roll=0.0774 left_gripper=0.9992 right_x=0.2854 right_y=0.0011 right_z=0.165 right_yaw=-0.0009 right_pitch=-0.0648 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4068, 4.4513, 1.7607, -0.2027, 0.1245, -0.0171, -0.0068, -1.5111, 7.4051, 1.8681, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6da9e3cd0655da7c559c0973804af82694e5db247c7831b26253d3910ffc6bf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdea957b8c7a40f8eede5f78ff183ad269180879df3488a636400d3c7d467b79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e8403cb5337839adccd3b50a05f48f4c7719e380c93167e415a4b682a41ccb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDBjQ2+9LJnCNVNY8jxoMxy3Wy4GhjyrtMb0qIjA77IuGOqLleh6o5wX6vf65u28OjqTBoiUB/PHWTMltnb9JS9F6DtdqF/MesIy3/0AqhwaRD1kthq2dmcz2GicZctu1x2JssplRa0cdksuXKzLr8cWjLg/psWgoPi5n8+har5YLEJhkvJBZAJCCgJEr8Z3mYo8BsQCwY9sMa7PlN/7Z5RBK02TYgGUMQCu1I1U/MmGdOLLni1vOKTaI+OEJkRuuig7dhIp7lRfrcVPrip9ckbxOVLuT6sC/In8N2JhtVs+BEjR84DJhIU8NMJ2vOQjDweiivR+guXgPvAl667fsaKW55jwwcL/BNIHB3SkKxy/8PC+UozCF5oYUn61j/eRHP+abm376Y0/2RWwGodW0o1erToDS7tvBxJE9Rx6ijk/jlTMW8ZKVUBE6roFmvUZkjCDy1okO0R5z0gZw35Y+hErOcNDIpvgsnFIq4VL9ds3sdaQm+vkPdc+r7CQ04HfiS8FzTvuMYmffP0+HcDwNUDFfG+2DCXGnDNc9fzbkuAQQYuJ6KwsT+BaBWL0dUfjqymgi7uudKzoqGqx0ELxQRL/VRstiPCSRlynxzEvkaU2i37fr1kpeOpiJWYK3CZmvEm/YJ8aQ3XRqQ5HcIcF2CQOKpKDZwtZEw/iCogrr3tihbH7SEI/ClPnliWaghPslVKmp+NbsWOwBpQg68pqK9bI+J4TU8GW8h5aB772c78zKgywIxL8CPombPlTm3tOaPM5ER2s4OAuPZOgQ5hhHR7ZWzifdokRHRTlWPpqhf+GD4sRew/vO13MXAYA8eDpHrKaNRyAq7EquMbZGoIzuESacmYVgGwsn5QwfDJ2nHUFtFLH5IpqUl9WwmUkP81hRo0IPnKKA7in4REfGvqANSShsjvBubiWO3Aya3mjQZHZ5ry/XeLhqb95xTJSsaGoU1uw6WjAYZRKe9aQcdb/3+V+IJch/6qjMgkkHLzbyDERNuTQc6QhMVtCDZqyppHnZe5yF8uP59nZtMX/rxbk3kUQSOu6JdqR7UK/nMujSagNZR7iXyOTeS40v3ZsBbCU7YIGweTV65J2mHXbX0Xu5OdYzv4yKQ6+DpQHUeXHo5CJ9MCY7bXsrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RVA8jLEm9rfQxytJZoEyeP",
      "input": {
        "note": "Teddy fills the wrist view just ahead of the jaws; advancing ~3 cm and lowering to table so the jaws straddle its body.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.11,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RVA8jLEm9rfQxytJZoEyeP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.7309, 0.5343, 0.4019, -0.4137, -0.3206, 0.9991, -0.0212, 0.8043, 0.6094, -0.4641, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3621 left_y=-0.1063 left_z=0.0012 left_yaw=0.022 left_pitch=-0.135 left_roll=0.068 left_gripper=0.9991 right_x=0.2841 right_y=0.0011 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0759 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -5.4769, 5.8325, 1.409, -0.0415, 0.2027, -0.0171, -0.1846, -1.3607, 6.9675, 1.8486, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfd5a59479e294d7631611a182b696287e23daa7ca8f0fd18db1f4893a40aaca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb799fc4b41b4384926fd87b0b155641e23f0ddf47c677f45aec79b699e46db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b49fcbce66cb18cbceddcf6de6e4702f334af670a03169c7d4a9cab64be514be",
        "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 · 6.706 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]: [-0.6605, 1.227, 0.6796, -0.2192, -0.5106, -0.4145, 0.9993, -0.0208, 0.7986, 0.6121, -0.432, -0.02, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3181 left_y=-0.1333 left_z=0.1289 left_yaw=-0.0291 left_pitch=-0.0715 left_roll=0.0372 left_gripper=0.9993 right_x=0.2889 right_y=0.0011 right_z=0.1718 right_yaw=-0.0006 right_pitch=-0.0355 right_roll=0.001 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -4.6838, 9.4974, 1.7167, -0.3785, 0.0024, -0.0904, -0.0615, -1.6479, 6.5846, 2.0586, -0.022, -0.0464, -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]: [-0.5602, 1.6211, 0.49, 0.3141, -0.4473, -0.3508, 0.9992, -0.0208, 0.8024, 0.6094, -0.4549, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3381 left_y=-0.1176 left_z=0.0124 left_yaw=-0.0093 left_pitch=-0.1406 left_roll=0.0774 left_gripper=0.9992 right_x=0.2854 right_y=0.0011 right_z=0.165 right_yaw=-0.0009 right_pitch=-0.0648 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4068, 4.4513, 1.7607, -0.2027, 0.1245, -0.0171, -0.0068, -1.5111, 7.4051, 1.8681, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.7309, 0.5343, 0.4019, -0.4137, -0.3206, 0.9991, -0.0212, 0.8043, 0.6094, -0.4641, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3621 left_y=-0.1063 left_z=0.0012 left_yaw=0.022 left_pitch=-0.135 left_roll=0.068 left_gripper=0.9991 right_x=0.2841 right_y=0.0011 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0759 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -5.4769, 5.8325, 1.409, -0.0415, 0.2027, -0.0171, -0.1846, -1.3607, 6.9675, 1.8486, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfd5a59479e294d7631611a182b696287e23daa7ca8f0fd18db1f4893a40aaca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb799fc4b41b4384926fd87b0b155641e23f0ddf47c677f45aec79b699e46db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b49fcbce66cb18cbceddcf6de6e4702f334af670a03169c7d4a9cab64be514be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bear now between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UZmMufzHpkmVbr4f1ehUV2",
      "input": {
        "note": "Teddy's body is between the jaws at table level; closing the gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UZmMufzHpkmVbr4f1ehUV2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.7428, 0.5411, 0.4072, -0.4156, -0.326, 0.1113, -0.0212, 0.8043, 0.6094, -0.4965, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.364 left_y=-0.107 left_z=0.0001 left_yaw=0.0264 left_pitch=-0.1338 left_roll=0.0649 left_gripper=0.1113 right_x=0.2791 right_y=0.0012 right_z=0.1564 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.6239, 3.9863, 1.4139, -0.1294, 0.022, 0.779, -0.1709, -1.2376, 6.9402, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cddec0ab4cb6018fff749629e1ad03ad899e29281f46817588bbde85fc4e9bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362273def72b521b714f1f8cba8aa3279aa50fa3a397e9511df8ecb01f9a959d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47b374cdc25f24ffeac416d48132f5e12f375145e0b3f3c0024af050e9a9e02e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.529 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]: [-0.5602, 1.6211, 0.49, 0.3141, -0.4473, -0.3508, 0.9992, -0.0208, 0.8024, 0.6094, -0.4549, -0.0196, -0.0124, 0.9996]\nstate[eef_state]: left_x=0.3381 left_y=-0.1176 left_z=0.0124 left_yaw=-0.0093 left_pitch=-0.1406 left_roll=0.0774 left_gripper=0.9992 right_x=0.2854 right_y=0.0011 right_z=0.165 right_yaw=-0.0009 right_pitch=-0.0648 right_roll=0.0014 right_gripper=0.9996\nstate[joint_eff]: [0.4171, -6.4068, 4.4513, 1.7607, -0.2027, 0.1245, -0.0171, -0.0068, -1.5111, 7.4051, 1.8681, -0.0122, -0.0659, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.7309, 0.5343, 0.4019, -0.4137, -0.3206, 0.9991, -0.0212, 0.8043, 0.6094, -0.4641, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3621 left_y=-0.1063 left_z=0.0012 left_yaw=0.022 left_pitch=-0.135 left_roll=0.068 left_gripper=0.9991 right_x=0.2841 right_y=0.0011 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0759 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -5.4769, 5.8325, 1.409, -0.0415, 0.2027, -0.0171, -0.1846, -1.3607, 6.9675, 1.8486, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.7428, 0.5411, 0.4072, -0.4156, -0.326, 0.1113, -0.0212, 0.8043, 0.6094, -0.4965, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.364 left_y=-0.107 left_z=0.0001 left_yaw=0.0264 left_pitch=-0.1338 left_roll=0.0649 left_gripper=0.1113 right_x=0.2791 right_y=0.0012 right_z=0.1564 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.6239, 3.9863, 1.4139, -0.1294, 0.022, 0.779, -0.1709, -1.2376, 6.9402, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cddec0ab4cb6018fff749629e1ad03ad899e29281f46817588bbde85fc4e9bef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:362273def72b521b714f1f8cba8aa3279aa50fa3a397e9511df8ecb01f9a959d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b374cdc25f24ffeac416d48132f5e12f375145e0b3f3c0024af050e9a9e02e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gkKEAgSGAI4AUIIdGhpbmtpbmcSDKq7KundJYPEAvUepRoMNctCjx6deS+K6PIKIjAeH9ZyZi2dl3b2GoqgtT3h7PRZWMz5yUZAayHz0CKDnlAySFcx1rQ6JqX5wiSYuIYq/whqA6g4HAXEnpZeep3cd17kd1FV2wzZZErXufZDMOOYvkxkn2kbQtIXI7OZosgZFysOL2vrmlZ437DGn2CDz/n4rB/s7fwcb2b8+HbJLaaKfGWJd5TWpG1f74rWiUVo8qrkMZBJMyDMnrjcqKgtR837l8wdLLgbdpVQZF9+dIay8gWWP9TD3ctht46/tk++V4SfmldJ1G5bX1X0rQWJYRDeb1FHdm3t3nKw0WDw/lzEBfRnbceKv3RYWgXuX8bmGI9e6qFx7iREUNGDfMDTPEIH8kkxcGxCkH17NV0a1wmgC6D4KAwxbXw76PF54e6orqGxlcMu9WMe9s/L0v1Xh63FHSCCTIIRzPsDD3W6bb1xLkJmgygNkYw0VQeBy7Nct819HFF9e/znYAnXotQ9ewpUjWdtnpufocdn8XQGdB90zvrpy5BkS4aADQGXCdhRbLeU0tEq1hnBMisf8A2gmgKIgxcoxMVYv37204zjnSN+ldqiNKTAITGUPhv0DtAX3l5iCDBFVO1kswuLvU88b2xZ3JDK09m8HgCscNfwQ05FrYZYkOumMzRMC+JKGFpv70U+Iw0cSE6vKDjspY0Mhb/SfAmL7NhQCaNHyHDO1wccHWPQ9Rditx3Ahe9QMq1fX/PO+E9JCNZnpRrrC+WzvtU+rPapVAV1G6E61nEvzWZ7EQtUx2Fv0z0BLM9m4COO+NXr8Zx47v/AmlyZmCiInj0u+boOWHQJHZWMoVn7wkPZR+j2mUH8YuAFCT+TdWPkr18RrLVa8hzJQ4bo5dLaoskG33ED2Tc/OSJraaMaYWAGSAQOl+sCx6IHaCyMP9/UdMVatrkb7nh9XnDd6K7OjCO+9vXMdCDJEoYrv2aZXvngYgQHIY0jlW9LnmD9W2Us99kj5CNLM3q1OKwEMGl2Ou4xyN+xy2Jjpay3uAAIm7xqT2u6WuDa2mQDdKkU7g1gEZefCDj01g+jk1HqPVFGl7AnpZIBEzRr72iqE3lGNvT2yxEIftDmxsRH1SPpDjgbXfnDsURCchEkqya9TvGcXG1TaxL5Q3W8f8wS+fPfArgyFki+jUmSdS6jZJA4jWWpcBdP/0CEVPf6i9sxoMPcnHSFmAEyAkh/uveRJmaBOcR7I240lBbKaPuLVLlYhcAr+sEQ2+hPqvIIh0i8AJFM7ru9i9eBUSi4pg2dl4v/bhC1lqzVU5wZXG+Rzw3L3knR7x4iG+LoaR5HSW4hWKb/laEqMv/D/NIe2DFq4R0vLkrP3mTtRTXgtb0h+TDR4puxvCwLqI3G0/CHoTUOD2CEpVyjwuFZ7T3b5NgsjxtwBATC0SzxY7OWFRfMecsXEVMv6FNgBBhJmUCEToNU/hWgueQNr6o61TT3Qrey6465XyntafiLyL/gBNaKc29hkDsIBu9psaPjwZWq4FPHmt1/h2ipt0VN5kw0oJfMj8T6I7FQ+Z97li6OpflkRJY30t3SFvHZrVYwRJFXJWBCkPjVlGn7zzg9ZpwZJUJy0tY7VvTVY640R9aXOIia4rkhrz7gbBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018UfwQNwz3sqKpv7vWGuhgw",
      "input": {
        "note": "Gripper settled at 0.11, so the teddy is held; lifting to carry height above the safe walls.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_018UfwQNwz3sqKpv7vWGuhgw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.3571, 1.0237, -0.4973, -0.4149, -0.3374, 0.1134, -0.0212, 0.8097, 0.6075, -0.5083, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3636 left_y=-0.1069 left_z=0.1755 left_yaw=0.0348 left_pitch=-0.1651 left_roll=0.0738 left_gripper=0.1134 right_x=0.2772 right_y=0.0013 right_z=0.152 right_yaw=-0.001 right_pitch=-0.1274 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 9.3197, 1.6142, -0.2027, 0.0611, 0.2076, -0.0615, -1.4701, 7.0769, 1.6972, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6727e7a67712fc3f36d54b946eb433832c0804c29391b04c2bec598ed7730a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ab6ea9bfbd1a28340299929fd8a9fdc4aa6e382205dbe0b1069a8b1e16ff16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b47189d593c98f24eb049f08a7ee060f6b22d2c273de1a9b05cdb0b4151a5a88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 3.458 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]: [-0.4847, 1.7309, 0.5343, 0.4019, -0.4137, -0.3206, 0.9991, -0.0212, 0.8043, 0.6094, -0.4641, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3621 left_y=-0.1063 left_z=0.0012 left_yaw=0.022 left_pitch=-0.135 left_roll=0.068 left_gripper=0.9991 right_x=0.2841 right_y=0.0011 right_z=0.1627 right_yaw=-0.0011 right_pitch=-0.0759 right_roll=0.0022 right_gripper=0.9996\nstate[joint_eff]: [0.0889, -5.4769, 5.8325, 1.409, -0.0415, 0.2027, -0.0171, -0.1846, -1.3607, 6.9675, 1.8486, -0.0317, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.7428, 0.5411, 0.4072, -0.4156, -0.326, 0.1113, -0.0212, 0.8043, 0.6094, -0.4965, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.364 left_y=-0.107 left_z=0.0001 left_yaw=0.0264 left_pitch=-0.1338 left_roll=0.0649 left_gripper=0.1113 right_x=0.2791 right_y=0.0012 right_z=0.1564 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.6239, 3.9863, 1.4139, -0.1294, 0.022, 0.779, -0.1709, -1.2376, 6.9402, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.3571, 1.0237, -0.4973, -0.4149, -0.3374, 0.1134, -0.0212, 0.8097, 0.6075, -0.5083, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3636 left_y=-0.1069 left_z=0.1755 left_yaw=0.0348 left_pitch=-0.1651 left_roll=0.0738 left_gripper=0.1134 right_x=0.2772 right_y=0.0013 right_z=0.152 right_yaw=-0.001 right_pitch=-0.1274 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 9.3197, 1.6142, -0.2027, 0.0611, 0.2076, -0.0615, -1.4701, 7.0769, 1.6972, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6727e7a67712fc3f36d54b946eb433832c0804c29391b04c2bec598ed7730a1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83ab6ea9bfbd1a28340299929fd8a9fdc4aa6e382205dbe0b1069a8b1e16ff16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b47189d593c98f24eb049f08a7ee060f6b22d2c273de1a9b05cdb0b4151a5a88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSigcKEAgSGAI4AUIIdGhpbmtpbmcSDFVtIeHkarKIdLa0FBoMyTBSiHzZwZCajnRhIjCZu27hNSh/sk1Tks4uCRshNTVWUW/9ZIjGDXyvbAYg1prGl0IRhlHRfqaxmVa0dVgqpwbda0sN2fRsOvb9mcz9Vf4lT6raDT//tPNBestfK+iXWvcu6U2uJGX+CO25j18wEOpvn5VeihZRYmMmDlguZhrmuplhEFWVqoXgsBpk0LmrzJJgF4EEmTXZLB+M4Wk4dMpwecITbzr/bHFOO6UJLvQzvCWaozOkaACgEJKKgejiH8nN4sQRamSeAP4pTcqHTJ3vG7cUsLSKqxBBk1yTWJgv5Vot1GEuuO1u4ve/FyKMtNsGIIvZ0nZnm68fIRsd13kg3i8QTzlEJH2LBK7nFddlkamUWivRUPLar9nmnSmnmzmU6OSFbxdWQR0tcOJKVOXWDWfdSUE2C9FYOymY9J9oGVLDWrTJk5tjElhSz0lDWbw49cZ32dDjPwKeKSjiRuquyhKFx7i7oMQblthVlMNxHsbHR7H22hngQczeLMEM+YDcnu960cSgD8XpyYaTsd9vqvH8WsEf4u1XMuDPkx71h3ed2ZHWCsFkdKXtLc+WqaxJLfHUL2lUj+nD27An9BK0FKpOJl9WAa5QDQKk788vAYcFl3GbNriikMCJitYqlBHmaWEQJ9FEvySlQbFmJOuy5AHX7u98aCHlv2rMtzQR85TFOUaRjTMuQsr1OPoUQZj3GaAyboR+ozgmgjQ+bTXZ0H4kgByr7pUjbl3hsq3DZCraZjHdyji2iCcWorrTZi2lCdiSRaac/8O1vsLTWDCr3WnIH2AQ5nMq7yT5H/vmuo8YiFtZJ0jdwgCx4GckrXJyfNH4xiQ4CrCJgEqkYsTpVSIGx1d/vGpgjKCeweyRErio1hEJ+PUp4io0Htd4s3WpU6uKfVxnI3sZ2bpqarn4iD7sGBfM6xA97f94iLuiK7gXHREr/okmfz/DWfCvIuBnKS7t98Mk2CyHbIie08OSWcE342UjVepVfBmr9jUa8DmrSdS8XMBRLX9k6ciW+i1gsql4OFiSUqtRzHNqFCWFTWW60x59BeTktVJ62RdZSx0wpxtAFwVxqmPnOG2UOL7Xt4ETLkbuB70fGycZcW+s9J6u2YND6GdZ9QiswaDGiKe+L8v5Q1JEahmhseuDoWlxF7IuJFYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GeTZ8BCM4o1HN55Q27EdrP",
      "input": {
        "note": "Teddy lifted with the left gripper; carrying it over the safe's open interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.27,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01GeTZ8BCM4o1HN55Q27EdrP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7723, 1.9156, 1.7039, -0.7868, -0.572, -0.5991, 0.1164, -0.0212, 0.8116, 0.6075, -0.5434, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2637 left_z=0.184 left_yaw=0.0276 left_pitch=-0.2091 left_roll=0.0868 left_gripper=0.1164 right_x=0.2715 right_y=0.0014 right_z=0.145 right_yaw=-0.0009 right_pitch=-0.1644 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.1128, 9.5795, 1.1551, -0.5592, 0.0317, 0.2906, -0.1026, -1.3744, 6.8855, 1.9072, -0.0317, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49aab0e2df7f01e5f241e7a493e249fd424381b9911179feafabaf6ed098b897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849e3c348886ac8943abfcb388c62b6cfe541d2b04a77a1d608a98f7c8f58269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e91a866b930a030d42933d4b3f2c901f7cc2e05d8af3385b0170f6e22f56ff71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.021 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]: [-0.4847, 1.7428, 0.5411, 0.4072, -0.4156, -0.326, 0.1113, -0.0212, 0.8043, 0.6094, -0.4965, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.364 left_y=-0.107 left_z=0.0001 left_yaw=0.0264 left_pitch=-0.1338 left_roll=0.0649 left_gripper=0.1113 right_x=0.2791 right_y=0.0012 right_z=0.1564 right_yaw=-0.0011 right_pitch=-0.1083 right_roll=0.0028 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -7.6239, 3.9863, 1.4139, -0.1294, 0.022, 0.779, -0.1709, -1.2376, 6.9402, 1.9267, -0.0171, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4847, 1.3571, 1.0237, -0.4973, -0.4149, -0.3374, 0.1134, -0.0212, 0.8097, 0.6075, -0.5083, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3636 left_y=-0.1069 left_z=0.1755 left_yaw=0.0348 left_pitch=-0.1651 left_roll=0.0738 left_gripper=0.1134 right_x=0.2772 right_y=0.0013 right_z=0.152 right_yaw=-0.001 right_pitch=-0.1274 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 9.3197, 1.6142, -0.2027, 0.0611, 0.2076, -0.0615, -1.4701, 7.0769, 1.6972, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7723, 1.9156, 1.7039, -0.7868, -0.572, -0.5991, 0.1164, -0.0212, 0.8116, 0.6075, -0.5434, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2637 left_z=0.184 left_yaw=0.0276 left_pitch=-0.2091 left_roll=0.0868 left_gripper=0.1164 right_x=0.2715 right_y=0.0014 right_z=0.145 right_yaw=-0.0009 right_pitch=-0.1644 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.1128, 9.5795, 1.1551, -0.5592, 0.0317, 0.2906, -0.1026, -1.3744, 6.8855, 1.9072, -0.0317, -0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49aab0e2df7f01e5f241e7a493e249fd424381b9911179feafabaf6ed098b897",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:849e3c348886ac8943abfcb388c62b6cfe541d2b04a77a1d608a98f7c8f58269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e91a866b930a030d42933d4b3f2c901f7cc2e05d8af3385b0170f6e22f56ff71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wYKEAgSGAI4AUIIdGhpbmtpbmcSDI77UZ2IqRxFsUXRXhoMHnqh4ekBvj2+VsCBIjCE55GtUIXSfNDlNssTRrGAW8inbZ60UUCjkfe4QdKSZfkhMJE17IvFsXSnmMJt0OUqjAZi1HaYU1oPvR/kX7Y/taSLXgWrLwAvJRI/BUOJ13YcqnUIIN2Ddc4CmIJxFfkQtFQBukOTEwUmBcQsnA4I0VRFMjvY9w0kGjqy6qjm4FJPx4hDzppLiWLKeGmUj61g9++SBII6/OFgax3ilyz7LyH1IQhn38rkywS5ro196vT1obk9M2CDx5SAsFia6Hhttnw832FPdj0t5qHrIil/tLJsH9XFFpGMZzrdnb9eAsHoDtTcTYgtEWABiIFoqCbgHSpGb/k88RO/GUX467gouWPK0+RkmPrcMXNU4k7VL+glynSEhDqPJmLuQ1KZc+fF2hponFlRGFnkFSskO890KoFWyQywH4UW5PCaJrtrVZat60D+1ba7ns9fOAMKPUuqmAzCSHItA46T7gVVqMYmIenBMYba+aacmhbzI09mkpIEsBIcUJfU/gPi02i8Vs5yBePuKa/UH+Q+Lr+UqEE+w33ML6gfLRC6Vej5qR2nmuZB4ZLnuKOhdgLj8bn4Y76cl18oZT70zLAL0Jx0N3KBvf0pDJf10g6jLdzYOdVMcDR39HXKmZfqzhGXgYFdspIqE+DVmGerYyzA6EvaZcphQjlLtnZqnqGPpXc+har5d4eJFmlrjohwGK6Wy4s1A9YpounnoVKcFjrk73zHM6wFMNUMNAADAgkJv4YbQo/XTum8zwsElkAOB/gHV9qu+LRNsA9ZmW4AUSrRo5lqege0Z64pQFuwZ/QunbqBJiJH9MVkHLlvaKNbBzbluXCF8vUw7pK7cIg0iAvA8VyIiKxuy7iawWFP/O1zhsmvP3buMVJd87OOF1ldzXHeVCjf3cMcyisdPsQ5W3NbAPDRdnsqAwhEE3p+vCtwpNMEgP7+ACcTddUuucdfXvqpk4s608YJinpLRi4EPVzAwnXlZZps8wTtnZS861R77wsX+tUSl9Hr9vMn3OoVyTg+vgjwuhwFDX8on+e4ufhZtP0QjMfJGoWMpZW2tbCmPwPn2gCw6SPTM8vLYBUKcjGcOpviZ+pRo3VALiBPsV37inUaiXUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017QEuG4DMycz2jnJrbiK2iB",
      "input": {
        "note": "Gripper with teddy is over the red interior of the safe; lowering before release.",
        "targets": {
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_017QEuG4DMycz2jnJrbiK2iB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7773, 1.9709, 1.3941, -0.4751, -0.5652, -0.6041, 0.1184, -0.0212, 0.812, 0.6075, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.2594 left_z=0.0816 left_yaw=0.0299 left_pitch=-0.2501 left_roll=0.1186 left_gripper=0.1184 right_x=0.2672 right_y=0.0015 right_z=0.1405 right_yaw=-0.0008 right_pitch=-0.1896 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -9.853, 6.3658, 1.37, -0.3492, 0.0171, 0.1929, -0.0205, -1.2239, 6.8718, 1.7607, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac0cae3ac10d4bfa956c6227f1ff2f60637e58fb5ccebcecb9253f02336945f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42de3c25245be8131f22c1d9211753d7bc6f13aa1fc27c4505b782e9de3426d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4434a415256f28bdb04fac1439585d121176348659a6da7349d320d482d24c26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.98 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]: [-0.4847, 1.3571, 1.0237, -0.4973, -0.4149, -0.3374, 0.1134, -0.0212, 0.8097, 0.6075, -0.5083, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3636 left_y=-0.1069 left_z=0.1755 left_yaw=0.0348 left_pitch=-0.1651 left_roll=0.0738 left_gripper=0.1134 right_x=0.2772 right_y=0.0013 right_z=0.152 right_yaw=-0.001 right_pitch=-0.1274 right_roll=0.0032 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -7.3915, 9.3197, 1.6142, -0.2027, 0.0611, 0.2076, -0.0615, -1.4701, 7.0769, 1.6972, -0.0171, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7723, 1.9156, 1.7039, -0.7868, -0.572, -0.5991, 0.1164, -0.0212, 0.8116, 0.6075, -0.5434, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2637 left_z=0.184 left_yaw=0.0276 left_pitch=-0.2091 left_roll=0.0868 left_gripper=0.1164 right_x=0.2715 right_y=0.0014 right_z=0.145 right_yaw=-0.0009 right_pitch=-0.1644 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.1128, 9.5795, 1.1551, -0.5592, 0.0317, 0.2906, -0.1026, -1.3744, 6.8855, 1.9072, -0.0317, -0.0122, -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]: [-0.7773, 1.9709, 1.3941, -0.4751, -0.5652, -0.6041, 0.1184, -0.0212, 0.812, 0.6075, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.2594 left_z=0.0816 left_yaw=0.0299 left_pitch=-0.2501 left_roll=0.1186 left_gripper=0.1184 right_x=0.2672 right_y=0.0015 right_z=0.1405 right_yaw=-0.0008 right_pitch=-0.1896 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -9.853, 6.3658, 1.37, -0.3492, 0.0171, 0.1929, -0.0205, -1.2239, 6.8718, 1.7607, -0.0366, -0.0171, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac0cae3ac10d4bfa956c6227f1ff2f60637e58fb5ccebcecb9253f02336945f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42de3c25245be8131f22c1d9211753d7bc6f13aa1fc27c4505b782e9de3426d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4434a415256f28bdb04fac1439585d121176348659a6da7349d320d482d24c26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VCSwjQXWcTRKwWQLzaHG9R",
      "input": {
        "note": "Teddy is inside the safe just above its floor; releasing it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01VCSwjQXWcTRKwWQLzaHG9R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7776, 1.9835, 1.3735, -0.4793, -0.5655, -0.6083, 0.9956, -0.0212, 0.8165, 0.6064, -0.5915, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2545 left_z=0.0685 left_yaw=0.0394 left_pitch=-0.2753 left_roll=0.144 left_gripper=0.9956 right_x=0.2631 right_y=0.0016 right_z=0.1348 right_yaw=-0.0007 right_pitch=-0.2185 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -11.5897, 7.7744, 1.0916, -0.3394, -0.0073, -0.1441, -0.2256, -1.5111, 7.1453, 1.7607, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be743f383ee17f16c2989500f569878ba02109df76613fb968a88886e658be42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f7996e1da0ff6aafa5d82389dde52515f28de784c42a8d2160e82ddab3e34f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0317361be262caf3554bc37adeb78ba83d05c29cdca49808a559cb68034d4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.117 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]: [-0.7723, 1.9156, 1.7039, -0.7868, -0.572, -0.5991, 0.1164, -0.0212, 0.8116, 0.6075, -0.5434, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4129 left_y=-0.2637 left_z=0.184 left_yaw=0.0276 left_pitch=-0.2091 left_roll=0.0868 left_gripper=0.1164 right_x=0.2715 right_y=0.0014 right_z=0.145 right_yaw=-0.0009 right_pitch=-0.1644 right_roll=0.004 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -10.1128, 9.5795, 1.1551, -0.5592, 0.0317, 0.2906, -0.1026, -1.3744, 6.8855, 1.9072, -0.0317, -0.0122, -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]: [-0.7773, 1.9709, 1.3941, -0.4751, -0.5652, -0.6041, 0.1184, -0.0212, 0.812, 0.6075, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.2594 left_z=0.0816 left_yaw=0.0299 left_pitch=-0.2501 left_roll=0.1186 left_gripper=0.1184 right_x=0.2672 right_y=0.0015 right_z=0.1405 right_yaw=-0.0008 right_pitch=-0.1896 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -9.853, 6.3658, 1.37, -0.3492, 0.0171, 0.1929, -0.0205, -1.2239, 6.8718, 1.7607, -0.0366, -0.0171, -0.0073]",
      "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]: [-0.7776, 1.9835, 1.3735, -0.4793, -0.5655, -0.6083, 0.9956, -0.0212, 0.8165, 0.6064, -0.5915, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2545 left_z=0.0685 left_yaw=0.0394 left_pitch=-0.2753 left_roll=0.144 left_gripper=0.9956 right_x=0.2631 right_y=0.0016 right_z=0.1348 right_yaw=-0.0007 right_pitch=-0.2185 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -11.5897, 7.7744, 1.0916, -0.3394, -0.0073, -0.1441, -0.2256, -1.5111, 7.1453, 1.7607, -0.0415, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be743f383ee17f16c2989500f569878ba02109df76613fb968a88886e658be42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f7996e1da0ff6aafa5d82389dde52515f28de784c42a8d2160e82ddab3e34f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0317361be262caf3554bc37adeb78ba83d05c29cdca49808a559cb68034d4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAsKEAgSGAI4AUIIdGhpbmtpbmcSDHtzP4rK5DMwAYjVzhoMXmZxGnbf+GVNXUrCIjDb7mGn86I+aWwjzYhu5yYEOKx88+uCiw83RHA3Q3YmicZh6RgPMGrvvwCVNZMCSOIqwQosBY27hrxpaeh4jYZDWf7MXYbrbCtMzn47dxdCrR8IYKpliBTQhHqUmLgx/8MCnVfeE9ZmRAnOt1cHKLgExVC08F2AXIvslLAKuXXTGrkISPagaSjq7GL8oLay3F8DYIG47GPadWQNdPEu2b5X1P+gk/Na78apQbc1XRRJtfvxw+pP4ZPRq3JUnD6THU0MgufAKMVrCvkuyTOnG9o6BWJV8NzpISd8JHj4/qLY/Vg9x6FSbWmkVMloqR/sBZ9ItyMkIAurQFTmTZso9rxIonYLePbfQa/D2PkuehH/0Lm2/nosgh6x/LEWaFcwOuVqkKiChI/mRLXxwE5ofH26qRbxfNqwScMTH1cSjUVZfhykiRT9HYBwkq5YFgATEUT6dp/MTaK5q5jIFqFxqck4V50yLYxz5Aw7PaIqvSnnuIbtlKBBt/HsZHFeKkeArvBV8otm1FLnrkHjbQ4CjgX5YvidXtWH6tsgflZT/wGglNNibMoX+5dEHMYyOP1CJ7YVrYJzBtU+rLKCn1r9iIVtx0jdGJJci9bnQD9sjY2sXhol/HHL3UuWe3ytmBCYjk5qLMVfI3kulV5qKnLba9Dxf+8+nE2000dQ+i6JA0HxsO5ehChgWHaJPahGarUktlVPVQXPUF6/VTM45fC2SHMyaxGeCLmxOVMvT1JQSyiWQs2TApVkOTnqsPioeDVu4016PTwoT9Txcd8HUcASjCD/RUkzvUWMrHvw9jIjxI1VqMApkjpkUZsLyruLTjwfkar7TxRBkFkSEH9pW3hhCtR3BmlalvXegBXxnJDzHU9L7rTgo3QzTJEHRjJbm3JuXQ6cRQmEhYPfNo8If7axM7Sxxlj55ODeimliNzFpAt+5UY7jYSJ3S3UbJHfCXtBxN0EWqLY/bRhLF2Ol+VvKNVWTrTQR1eGU3RCcEwBFr3IquzEev4gt5gIPgJRZzPqkdOvKeAVK5dYbwamuvSE+OI/bSPKX3Y2Upej5ErxSMmONwpZuV+bAbySY9EvNQ+7fc6Qou8HNZbLZvldHzJY5SehzCB9ty8yIdCcEn4FbLtnpRS6R+E+BzA+ZuxzHJ23cEyvsk7GkYdwjqDI917NIzivABMxZLB6UYyKGjSaXP886CogPcaDmpWQfBkvfkRyCGS7chw16S20t29qc8Rb4JhFf3WuUr4jByz5NstOidcoVAznyvt5LR+OmEEnZ7U13dfmS/wfN+3ZRmUmCEbA/Ln/gfdcIUjWJWRh1j/zk1A7pP+TpdqihCD1WqCXnjlwYvFMTJl7uIXZI2Xs7U3oIHO1i6Vdan04GGMhy25/ql6UTl52sLHBRO2eh0mbcvTYdsohZCdgLQc72sFT/PwcJJOTvk9B26crLkUlsTKQfa/BwjJsNGab5PEbJMSvYy3xj6AMaXWFaE3+jr/s+jhXgHLyZzLMPnQ7HPHdiJUOA2hiyDY/P/JypYJxoqXokT3cOUwJBq8LsHT0oxtYdBlFQGctsTJG4uy8uVZKxHPVRIzb6yTvbt1KTV9s+/TiE4ttyivfeldOtsiLl31fcUS3nmlD2CRQ3tozQnMnFQfBk9be3M0x6Ky8KItiP1gvbkTzwNGOtGZdTTK02KfSJvT5ReIe6y0s4gjkebjUi2EdniwJxdTjZL6tjQw7IrfRNHuZ7ZaryMJiUqzgkyi68ErgxHjtafvQ+ylZw/YMBRb6JMOCeNk9TdsooR2GRuXAK+368HNsZSH+DXbwvRRyb49+jTJJvCGTcNga4YOPdCtj814GiHULpB6I13gSo3ZA9OLysqWRdZO1NGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CcnigAvBaw783zRmUXeHUX",
      "input": {
        "note": "Teddy released inside the safe; retracting the left arm to home to clear the view and workspace.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01CcnigAvBaw783zRmUXeHUX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0813, 0.9691, -0.7792, -0.2276, -0.0849, 0.9968, -0.0208, 0.8173, 0.6056, -0.6128, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=0.0003 left_z=0.1889 left_yaw=0.0868 left_pitch=-0.2895 left_roll=0.1406 left_gripper=0.9968 right_x=0.2591 right_y=0.0017 right_z=0.1307 right_yaw=-0.0002 right_pitch=-0.2414 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -3.7949, 8.5949, 1.536, -0.0757, 0.1636, 0.1148, -0.0342, -1.0872, 6.8581, 1.7265, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86feace86d80333e7274b2c3b1776316988d8a35e35ef76bc4ba18697a54ae1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a842ef918316ec2f04866e09cf5652ae989b5b802bc500b0b06f73cb058cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9d4a2c4e435d9b47495b05736123157711b3644124520501bc3192b7279dd61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.482 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]: [-0.7773, 1.9709, 1.3941, -0.4751, -0.5652, -0.6041, 0.1184, -0.0212, 0.812, 0.6075, -0.5682, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.4036 left_y=-0.2594 left_z=0.0816 left_yaw=0.0299 left_pitch=-0.2501 left_roll=0.1186 left_gripper=0.1184 right_x=0.2672 right_y=0.0015 right_z=0.1405 right_yaw=-0.0008 right_pitch=-0.1896 right_roll=0.0045 right_gripper=0.9996\nstate[joint_eff]: [0.2256, -9.853, 6.3658, 1.37, -0.3492, 0.0171, 0.1929, -0.0205, -1.2239, 6.8718, 1.7607, -0.0366, -0.0171, -0.0073]",
      "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]: [-0.7776, 1.9835, 1.3735, -0.4793, -0.5655, -0.6083, 0.9956, -0.0212, 0.8165, 0.6064, -0.5915, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2545 left_z=0.0685 left_yaw=0.0394 left_pitch=-0.2753 left_roll=0.144 left_gripper=0.9956 right_x=0.2631 right_y=0.0016 right_z=0.1348 right_yaw=-0.0007 right_pitch=-0.2185 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -11.5897, 7.7744, 1.0916, -0.3394, -0.0073, -0.1441, -0.2256, -1.5111, 7.1453, 1.7607, -0.0415, -0.0464, -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]: [-0.1436, 1.0813, 0.9691, -0.7792, -0.2276, -0.0849, 0.9968, -0.0208, 0.8173, 0.6056, -0.6128, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=0.0003 left_z=0.1889 left_yaw=0.0868 left_pitch=-0.2895 left_roll=0.1406 left_gripper=0.9968 right_x=0.2591 right_y=0.0017 right_z=0.1307 right_yaw=-0.0002 right_pitch=-0.2414 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -3.7949, 8.5949, 1.536, -0.0757, 0.1636, 0.1148, -0.0342, -1.0872, 6.8581, 1.7265, -0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86feace86d80333e7274b2c3b1776316988d8a35e35ef76bc4ba18697a54ae1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58a842ef918316ec2f04866e09cf5652ae989b5b802bc500b0b06f73cb058cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9d4a2c4e435d9b47495b05736123157711b3644124520501bc3192b7279dd61",
        "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/wcKEAgSGAI4AUIIdGhpbmtpbmcSDPfGmBHuThNhfodXOhoMw9lk8ySKucccjfZ2IjCEDnb2Sk0oU7bDe+mPgvsufUSPQzN7FkqrEzUFyFzujHx23n5ZQS6dBv7zoDVZf1MqnAePXQnaXPvepDwADuea6VaTyGOwFd83QF8wJsrycJX/0j8Z7esp4WDz+kUHr78YnAXT7nbR2LlY9E0fHzXP/rnU5+G1tW8+7tUmuVNM/iacEZgeL++v88u1Q4S/s6I6/COEnWxblvcSnZ3D41NDaX3p0UXEUpTHL8Kax71qhsAEddxwXD8Inkle68flJvzz4g7h1J5JSEtWz+tPIZyXX9fXKKxeBA3Dv8T6i3tAk4Ed4aWYbQeXsfZZYjE7ho11NaL98IjO8YeCgNdqZ+mYB7Ugh7gUJho+i89GB+hS1PAWfgbUPbJ9y1GBo94aQTaDRFIi2y6cKwiR783jmqiLYPFvy10hKGbFKS/ykXqnrLWwh/Sw7uB32m2BsM1weC1cQ1VMaIhLBYAWPR5QK1FuiixH29l5B3Ry7wVpKOsR9BewALCDaAyE3TY5059x0Y+569fg8RVqyY8IcKQTqg0kQMBp8zxMKIn4tqzhJz/DTy102FBxt7KYd/rUGCb9pVgJEnxiFjVUrWxRhoWtyHIeuZO18CV4Nm0HKlgbZ0RgzYQhhSdsSVsOMD0ZxaFpfcJSk6G1DxRKyyBs9SlZgMTrEdrUENv40p2kJMxNa6Rnq2Or5SJP43rzQIcDCk26IDVftJfISpLF0TXXIJUDz9Bpa1+GLBEmp6isa0o/iMQHxtmKp8uz4BZDicg4SC2B44QDxFiTTQPUCI1FniBppFVG/3rqihgbP5dtLest/g3XndChZkAbdBsEVMkwmBvpdoQLU6Q/0bP0z+lrf/7rI0PfN7Ghiyf+56u6y5jFkyGFRXkvCwLz8PucZ99I3TYQx4EpKF08Ki6W1yedEO3Xm1KquwgHF/uOp62VE7ar9cQmVi1fWZlfxwm4DLc1ueIB82Cn68TWVIyLBJpr38ishnPat6WFGKcCZmrRfoqMUsGEOkRpQO1bJbP5De2pyQgmGptMEjWpUeMkIzCV1NgOkHOGL/kJYzRa27xpS5D2vpgeuKMlZoEFe38XCjwJgwbZhf1G3BA7eusE6SZWZsXWrtOXt5PCdva9MC6ks4h46vzZqgNZx30a/QOAx0VJZ5u1AC/DnOsJsy+jHSJJ6NNhGCbOG3No8KSufrvEqdjQsH1wcS8UPizi9JYScP3c9Dx7c6p4QgT6B7usg5k5UnY7HS257yKJul5gV6oPrBvQeDA1rINEkcs2cOCD4nzIalcGy/hPNkVtj19aS5H1uqfsMH0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019kUXjprnuz3zCmeaJdAis6",
      "input": {
        "note": "White teddy is inside the safe. Moving the right arm above the lemon, which sits right of the safe.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.17,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_019kUXjprnuz3zCmeaJdAis6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0836, 0.9688, -0.8055, -0.2146, -0.0875, 0.9971, 0.4984, 1.6688, 1.2404, -0.5076, 0.3016, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=-0.0011 left_z=0.1838 left_yaw=0.0796 left_pitch=-0.3198 left_roll=0.1352 left_gripper=0.9971 right_x=0.4056 right_y=0.1651 right_z=0.1354 right_yaw=0.0293 right_pitch=-0.2942 right_roll=-0.0216 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.0838, 6.6393, 1.6288, -0.2759, -0.0464, 0.0073, 0.1436, -7.9658, 8.4991, 1.4579, 0.2808, 0.2271, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea7e04d27b83e9a7b6f804520c78b519de2ceca1834fc7a95e210c762cccbc22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3569b53001f5f9d00b64be926d0370414627507e05550beac91fd5da4cb8c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d9a75175943ed550cac31aede0519465cfe420090f0e5fe8bc51de09954df64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.19 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]: [-0.7776, 1.9835, 1.3735, -0.4793, -0.5655, -0.6083, 0.9956, -0.0212, 0.8165, 0.6064, -0.5915, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3985 left_y=-0.2545 left_z=0.0685 left_yaw=0.0394 left_pitch=-0.2753 left_roll=0.144 left_gripper=0.9956 right_x=0.2631 right_y=0.0016 right_z=0.1348 right_yaw=-0.0007 right_pitch=-0.2185 right_roll=0.0051 right_gripper=0.9996\nstate[joint_eff]: [-0.0342, -11.5897, 7.7744, 1.0916, -0.3394, -0.0073, -0.1441, -0.2256, -1.5111, 7.1453, 1.7607, -0.0415, -0.0464, -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]: [-0.1436, 1.0813, 0.9691, -0.7792, -0.2276, -0.0849, 0.9968, -0.0208, 0.8173, 0.6056, -0.6128, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=0.0003 left_z=0.1889 left_yaw=0.0868 left_pitch=-0.2895 left_roll=0.1406 left_gripper=0.9968 right_x=0.2591 right_y=0.0017 right_z=0.1307 right_yaw=-0.0002 right_pitch=-0.2414 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -3.7949, 8.5949, 1.536, -0.0757, 0.1636, 0.1148, -0.0342, -1.0872, 6.8581, 1.7265, -0.022, -0.0562, -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]: [-0.1432, 1.0836, 0.9688, -0.8055, -0.2146, -0.0875, 0.9971, 0.4984, 1.6688, 1.2404, -0.5076, 0.3016, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=-0.0011 left_z=0.1838 left_yaw=0.0796 left_pitch=-0.3198 left_roll=0.1352 left_gripper=0.9971 right_x=0.4056 right_y=0.1651 right_z=0.1354 right_yaw=0.0293 right_pitch=-0.2942 right_roll=-0.0216 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.0838, 6.6393, 1.6288, -0.2759, -0.0464, 0.0073, 0.1436, -7.9658, 8.4991, 1.4579, 0.2808, 0.2271, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea7e04d27b83e9a7b6f804520c78b519de2ceca1834fc7a95e210c762cccbc22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3569b53001f5f9d00b64be926d0370414627507e05550beac91fd5da4cb8c29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9a75175943ed550cac31aede0519465cfe420090f0e5fe8bc51de09954df64",
        "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/AcKEAgSGAI4AUIIdGhpbmtpbmcSDHsWlK4VnPQ2dc9Z2BoMZCNRrzjU+X8+GDKuIjC6pVgZTthHhGvNk+3Pdur0OrXEc8E+pOAi/zuBf8INFMqS8iTgOHN08Su7k/i7ieAqmQcM98rKrfiWFdaxpAkvFSxz8DmIUpxmenMSNoekGYFGNSbJfNGb7yiwDimz4EAfPt5l5y5zApjnv8VXEOpea+XToNHGWTpoU0ADCb1YxJq+bbsEF/LIN31XKSwVFETssHum1EEloH6IEOCI6bE73GDbP5MBLXFKoVn+YtuDOuj1Yd+B9hSh4vSyExet2R88eTy0pSSOPKAEpYW+mMdbb3rxzd/CslsagJx9XpseHFOV2A6RtIEToUlVIKEwGTbRrGtBqjvOaHiAQcSBO4ZvzgSg3PWe+sHNbsKtFk3vqsV5Cbdu1w3NOmJnoisOzkdhVGs5xK3iYHSTUUzKdxaY6Ue6ILqkZwTnT1hdNBHfmF2FyowJbmcFeJllKd1FEecrkoD8x04sPPTQ2FtNuS6f6NVqw9Vevk9hnpDdDuROteGI/9TIllcKnPDGT2YbzuoGGd+A6QUIIsZIpsseJ5fBG+nLI6H0iugj3D2vg5SEI+cudVbT3oRskuusOpPQPLuLlNHn8/PbHiYeT+XKCqz98R7RxPueqQfwFpx94/VRXt0Y5yZ28A1eX8K5Af12sb0fibQ0xYrG9k7nwyWO0rd4ANmSvh/76IPuYJH9gomXFRgWyFG9/NrORMtmhsHZRZtfgOTsZV1dEepiuybVWJAVStI1vHbTZ1aXG6AlN5sLgj4WubiazJJE/j09Y70dn1f2TJo5bFkRKD9tInO8JD7FVXhycl+jaUhHuQdafB8mboii9qGUBmFpodM3iC/5DMiQwg9nNMciBhz+oWXbnkID2yP90Dn/foeOOh1mYZKU6s3SX/xy+wWQwRhjT96IxL+ltTNhQLqL9MY4T1zCJ+8tHvKcSgG7dYGVcbhTO3OQgo6zvsXjWMp1qmAhjD8ZgbcG2B1BIx5FStbbgh4y+T6bwnXtt2Okk+GWPSpy3NNQ++qfR0LK8hr5oLFm6XdRxsB3cCbemOqn2TKNXXHo02sHwGxUYJjMtA6q7Ysfib9H9OietMabj/XJs0taXKAOqYaxxwVwDLOdTW42UMyzUKq/QnihzZoXbl/h2Iiz1qzU6WmmBDkqjFZGH9Mxe8dFxVdMBNoz4vu6wREHf51Bcq8kg1YMakMaPwGS/qAoaIDjB0hBoyRUf/D9D8rqFmpn5vdjFyjTwUouX6QBBgyBRjxqsM/MDjp6khst9lCKc7L3ThSQxdhV4ljllLIsLntW7J2DSohTms2cMNwy3q8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015VFjaqVebfna7FntES6Srv",
      "input": {
        "note": "Lemon is ahead and slightly right of the jaw column in the right wrist view; advancing and descending toward it.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.16,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015VFjaqVebfna7FntES6Srv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8162, -0.2134, -0.0906, 0.9971, 0.408, 1.9896, 1.251, -0.2634, 0.2428, 0.2798, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0012 left_z=0.182 left_yaw=0.0809 left_pitch=-0.3309 left_roll=0.135 left_gripper=0.9971 right_x=0.4551 right_y=0.1544 right_z=0.0292 right_yaw=0.0206 right_pitch=-0.3756 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -3.0701, 6.694, 1.4237, -0.1832, -0.0269, -0.0171, -0.841, -9.7846, 8.6496, 1.3553, 0.1343, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9497109ec7cd7d768ab98c4f5d1de27cd5422745f5bdfbe151d6beeb805390a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c8e386628f8003204c32a4c5f87571dcbb6164181d2a3cbd8c673d64ade1b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a842296e5173e9befdd09ff82f009e6f33d5417e10c39aebefc5f41bcb05d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.41 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]: [-0.1436, 1.0813, 0.9691, -0.7792, -0.2276, -0.0849, 0.9968, -0.0208, 0.8173, 0.6056, -0.6128, -0.02, -0.012, 0.9996]\nstate[eef_state]: left_x=0.3014 left_y=0.0003 left_z=0.1889 left_yaw=0.0868 left_pitch=-0.2895 left_roll=0.1406 left_gripper=0.9968 right_x=0.2591 right_y=0.0017 right_z=0.1307 right_yaw=-0.0002 right_pitch=-0.2414 right_roll=0.0056 right_gripper=0.9996\nstate[joint_eff]: [0.1162, -3.7949, 8.5949, 1.536, -0.0757, 0.1636, 0.1148, -0.0342, -1.0872, 6.8581, 1.7265, -0.022, -0.0562, -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]: [-0.1432, 1.0836, 0.9688, -0.8055, -0.2146, -0.0875, 0.9971, 0.4984, 1.6688, 1.2404, -0.5076, 0.3016, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=-0.0011 left_z=0.1838 left_yaw=0.0796 left_pitch=-0.3198 left_roll=0.1352 left_gripper=0.9971 right_x=0.4056 right_y=0.1651 right_z=0.1354 right_yaw=0.0293 right_pitch=-0.2942 right_roll=-0.0216 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.0838, 6.6393, 1.6288, -0.2759, -0.0464, 0.0073, 0.1436, -7.9658, 8.4991, 1.4579, 0.2808, 0.2271, -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]: [-0.1436, 1.0843, 0.9688, -0.8162, -0.2134, -0.0906, 0.9971, 0.408, 1.9896, 1.251, -0.2634, 0.2428, 0.2798, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0012 left_z=0.182 left_yaw=0.0809 left_pitch=-0.3309 left_roll=0.135 left_gripper=0.9971 right_x=0.4551 right_y=0.1544 right_z=0.0292 right_yaw=0.0206 right_pitch=-0.3756 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -3.0701, 6.694, 1.4237, -0.1832, -0.0269, -0.0171, -0.841, -9.7846, 8.6496, 1.3553, 0.1343, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9497109ec7cd7d768ab98c4f5d1de27cd5422745f5bdfbe151d6beeb805390a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c8e386628f8003204c32a4c5f87571dcbb6164181d2a3cbd8c673d64ade1b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 123):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a842296e5173e9befdd09ff82f009e6f33d5417e10c39aebefc5f41bcb05d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4wcKEAgSGAI4AUIIdGhpbmtpbmcSDMudksNHUlhpABX8HxoMC+clKvvwrbrDhN2zIjBh+dnQ1LczkU4WxrGxFS34G7y8kVbGrCfaQro7gKLEpzzCiRj1jfmHALHJYJZ7Md8qgAfhCUrxC4GxQdlvEHd2bWPcVsXCZNoGgZG8XKZdPGuFZX6Xz9e3PxiD7yshmteBfxUAcWoZbqlpKDS+ZQJ8k9hWx7xUGt7UrRLsObdep07FsDJ6MAVbjeb5NiIn2TYHiAcwcmR+Ev+ulfQpe2JJVeWlm7tmBHqzbVkH3xdN4ZR51KsSVKjDJ4em6fvJmkpGN0An6mc8cKrEvdIgM3chaKfV8Xg+lpDm56jUtFRtHNMjfEWaPVOuteesvulVAUvow/Jn0Qfpu98uz5B+k84J39ToIB7MTu77ON1mDVltGf4Md2A8WMoiWxk/vLsc8bTWE6DiLw5FKoR6pvtgbI+sQSnTkCmi6spoJUZj6lOUDEqjtKLp1m3O2p9PwNRLSDtLERHvqtreDiPqi84tElVJkjboW/Amc1XLbH2ZoMplUHpsBBTlDH+eXSm0jO+SX4fuxi31dzSwRgeDA10xiDBIabjAjNz2sVifqEUmPdCVtipB2368A7R2KuwXD4VGj1yNJqG2qnb01lEl/+1knKm7nnn4GFcdMkh8wuW8kGZTfxQAk6+dYNQaY/CrqJtyI0fRFa11ahOKAYtqbQnPiRPMNH0rDR4FeY55AkpKW9xgldeAn2d/3X129y1ZKsBEQ/JOxpB32bgVE1OYkMk/rSvbNR2BLTTVoAKLqouCUFd6eOq3lbfenpEFOcjPCE7eX3cxBPAfwrq9yoNn98LwVwQH6YdFwBLD/zC0h+wWg3ws0QT52xgHS6u8ufvYyzkund6wjzjRh4y+0633m9LghLhjm+FCOLF2IRvdAox4MTjws9v139wou7086/dfe7UZ+RDoxsL43plG4w0NnumbvBXhbtp8FcGKlnIGSKKArvQnPsV/iPicGI0v3au/PXH6Os4HQ3MhRpfcxVyUuVklovrW7vm0Fws++JoWhFNaNkxGyLxFRVaODNG6JKMXbE3DMGtYHXGZ7oPHkZWqAIXdq/0L3KmuGl5SuiBWWxYcuY0qA1AhWkRIpVt1f2ub7FZsMuuYOBVEwT1jQfgaVcQ5ZzuTPRzt/Z9H0Lg245iMF4OI4LV/gb/7YMfWPuaLvzUSoEl8rlbcheTQTkK3yC4OEKsoIhXHvZBrl+26IrRspy49F92rnau30E2S4KQmd6kt/wUKz7eGPsrH0sf+2KsiyC0EcpSUggXWt3vQsI9BQnC+YEEHQBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K2NQhjWNgSS6Vcqe4QAwQM",
      "input": {
        "note": "Lemon is just ahead and slightly right of the jaws; shifting right and forward while lowering to table level.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.14,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01K2NQhjWNgSS6Vcqe4QAwQM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8192, -0.2134, -0.0906, 0.9971, 0.3447, 2.1139, 1.3727, -0.2592, 0.197, 0.2283, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=-0.0011 left_z=0.1816 left_yaw=0.0811 left_pitch=-0.3339 left_roll=0.1357 left_gripper=0.9971 right_x=0.4896 right_y=0.1428 right_z=0.0122 right_yaw=0.0273 right_pitch=-0.3886 right_roll=-0.0431 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -2.947, 6.7761, 1.37, -0.1538, -0.0464, -0.0122, -0.4581, -9.7299, 7.241, 1.4042, 0.3297, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2cc162ea10c166eecf54f093dfa7ca0e0683ac2b2bebd1bce71dd7cf6ba41a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:432766ff09b3c942f7549eb175c65177144cbf3660df9de4e524b011c29059b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:732c74f581b09376d66736579ae22b77a766169f0752fc7a4392e8fe0d3b6900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.123 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]: [-0.1432, 1.0836, 0.9688, -0.8055, -0.2146, -0.0875, 0.9971, 0.4984, 1.6688, 1.2404, -0.5076, 0.3016, 0.3531, 0.9996]\nstate[eef_state]: left_x=0.2965 left_y=-0.0011 left_z=0.1838 left_yaw=0.0796 left_pitch=-0.3198 left_roll=0.1352 left_gripper=0.9971 right_x=0.4056 right_y=0.1651 right_z=0.1354 right_yaw=0.0293 right_pitch=-0.2942 right_roll=-0.0216 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -3.0838, 6.6393, 1.6288, -0.2759, -0.0464, 0.0073, 0.1436, -7.9658, 8.4991, 1.4579, 0.2808, 0.2271, -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]: [-0.1436, 1.0843, 0.9688, -0.8162, -0.2134, -0.0906, 0.9971, 0.408, 1.9896, 1.251, -0.2634, 0.2428, 0.2798, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0012 left_z=0.182 left_yaw=0.0809 left_pitch=-0.3309 left_roll=0.135 left_gripper=0.9971 right_x=0.4551 right_y=0.1544 right_z=0.0292 right_yaw=0.0206 right_pitch=-0.3756 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -3.0701, 6.694, 1.4237, -0.1832, -0.0269, -0.0171, -0.841, -9.7846, 8.6496, 1.3553, 0.1343, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8192, -0.2134, -0.0906, 0.9971, 0.3447, 2.1139, 1.3727, -0.2592, 0.197, 0.2283, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=-0.0011 left_z=0.1816 left_yaw=0.0811 left_pitch=-0.3339 left_roll=0.1357 left_gripper=0.9971 right_x=0.4896 right_y=0.1428 right_z=0.0122 right_yaw=0.0273 right_pitch=-0.3886 right_roll=-0.0431 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -2.947, 6.7761, 1.37, -0.1538, -0.0464, -0.0122, -0.4581, -9.7299, 7.241, 1.4042, 0.3297, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2cc162ea10c166eecf54f093dfa7ca0e0683ac2b2bebd1bce71dd7cf6ba41a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:432766ff09b3c942f7549eb175c65177144cbf3660df9de4e524b011c29059b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:732c74f581b09376d66736579ae22b77a766169f0752fc7a4392e8fe0d3b6900",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAgKEAgSGAI4AUIIdGhpbmtpbmcSDMV5Oi3sg56UDw+/6hoMmd+gTo34KqlngxAEIjAAxi+t+61wd5HUuetevTCkWMvm3WaEzwJgtrkZ70AXcTqkpllXEbXeYf1bDNupoaEquQdGdjgTsoYR/0ijVym/iHktDa6hZYS8top00kntVaIclqHmo0NE+MZjF+MbJQNCRXpNkHHxpb5CSBa8PwJ/bvnDGjM6mB1KTuZBP+oeFfeLkD2L6leb9hlZtTm4Jl9cjTDmDYIlFkQDmrXQsyHxpZE6gWAh9b34z08h+06NX46yjvRWLAHXrnRJHPIfSAQB1jZf6HxQjfyqF4LOwk+zq0AYz7v48+T733gAceAo2I7JRk2Gosg5zpbiS5+ibb6VE9pgDJCpNXCPxsoVoRLsTItmFAazhvCndDm0lqs51n1GeAJoUk0oQYnbU6Iy5jJDq4/bet52iJ+5DYv88Deo1/VT2jDZ3C32deeNugguwPCEOcvajeNFgdAMVOYYWIv1caVGmWFqKGO8Xkei4UCtp9eFT3+/NuAQ6f+VUVxJpLp9Nf8s64gKihiA5uUOdjbqWoa7tTeZEaM8vbO0yrOos9zcMTbqZ0PGVUD8v1LCP9OLXQKgZGVv8w3GhCRGTfjDUHzU/DwVhdNW2BWrkse47u36coOcsOMmhIeREH52oqK69MsFRR9ha2LkZWezf2LTFkTGs7v7UJBMJC6uMLLKM/t078xLdm9rpQANEa9RmjUiJtbiAIY2haaQQi0dZXZmO8YjlHcH9ylZ3ke62F9Qnn+unEo4dFgc3abnt8tXwTkCs7fayBh5zCXLxCJWluVFGXeyHukSLAzkytNl9zwXVOwo/Km1qVtbsRKJP6Qjxwln3uIA3C3sijlgyAI9sqcn+4nnRRi+lcXSjns/6bC61QShSr5qMUHt1J3GljszyDGOcuslGWWBtkpuS+/qq1uKb2Xy7ps6tsolNCWjxiS2/RO9Dtsl7lBUPr1uXXPAl7UdfgihJFCcjMNTVdMu66b6eOs78fDcmtlClacxI4alw60WOKY6Xln1alkz4lchcBV3OnR4YPTKrheKLPGS/uaDbD8eSEG6NoNc57xj5KYovzZrlBEdxp5N1DdmYgZYF5+4gletLUjDMHQpXb7Lk6AJuK/PvJRQfAuOyjzzMaKCF1dmxea4TPLs3Y8M7qso5UoGA90N/2DU73F8L6RVPQsWI+20tahSz6YY9KFdGNcMeSwcKaafF8x9chF5HuPx1UcojaMmto8lf1ErFpIQRhqh51VqK9AR0Ceb9retjRPBC7yPVp5ZYqnm9BCsbiG09JMbOJC85H1DB4TudWugdLYo8nndV2ZWUa2DOCvf4lcWBSQLZGbDexX1i3cnq+NOTJLffkYT3ka58TdL4xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015KH9SCzpEumQ98skez68Mi",
      "input": {
        "note": "Lemon fills the jaw gap, slightly right of centre; small right shift and lowering to centre it before closing.",
        "targets": {
          "right_y": 0.132,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_015KH9SCzpEumQ98skez68Mi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8204, -0.2134, -0.0906, 0.9971, 0.3363, 2.1246, 1.3842, -0.252, 0.1905, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.001 left_z=0.1814 left_yaw=0.0812 left_pitch=-0.335 left_roll=0.1359 left_gripper=0.9971 right_x=0.4944 right_y=0.1412 right_z=0.0118 right_yaw=0.0325 right_pitch=-0.3829 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.6051, 6.5983, 1.3748, -0.1636, -0.0562, -0.0122, -0.3897, -10.0718, 7.9248, 1.2772, 0.1783, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8c63d4b4da7fed731a2daf7ea55eaff651b24920055d10492099222e2ef7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ed421976db533e6222c9dd893996f40836f671e05ab689e54925a9df628b44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6225f27c0ca227493b5d5bf04d978aef7a06ee9b70b109fb0378d3694d05156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 6.273 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]: [-0.1436, 1.0843, 0.9688, -0.8162, -0.2134, -0.0906, 0.9971, 0.408, 1.9896, 1.251, -0.2634, 0.2428, 0.2798, 0.9996]\nstate[eef_state]: left_x=0.2945 left_y=-0.0012 left_z=0.182 left_yaw=0.0809 left_pitch=-0.3309 left_roll=0.135 left_gripper=0.9971 right_x=0.4551 right_y=0.1544 right_z=0.0292 right_yaw=0.0206 right_pitch=-0.3756 right_roll=-0.0511 right_gripper=0.9996\nstate[joint_eff]: [-0.0479, -3.0701, 6.694, 1.4237, -0.1832, -0.0269, -0.0171, -0.841, -9.7846, 8.6496, 1.3553, 0.1343, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8192, -0.2134, -0.0906, 0.9971, 0.3447, 2.1139, 1.3727, -0.2592, 0.197, 0.2283, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=-0.0011 left_z=0.1816 left_yaw=0.0811 left_pitch=-0.3339 left_roll=0.1357 left_gripper=0.9971 right_x=0.4896 right_y=0.1428 right_z=0.0122 right_yaw=0.0273 right_pitch=-0.3886 right_roll=-0.0431 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -2.947, 6.7761, 1.37, -0.1538, -0.0464, -0.0122, -0.4581, -9.7299, 7.241, 1.4042, 0.3297, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8204, -0.2134, -0.0906, 0.9971, 0.3363, 2.1246, 1.3842, -0.252, 0.1905, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.001 left_z=0.1814 left_yaw=0.0812 left_pitch=-0.335 left_roll=0.1359 left_gripper=0.9971 right_x=0.4944 right_y=0.1412 right_z=0.0118 right_yaw=0.0325 right_pitch=-0.3829 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.6051, 6.5983, 1.3748, -0.1636, -0.0562, -0.0122, -0.3897, -10.0718, 7.9248, 1.2772, 0.1783, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8c63d4b4da7fed731a2daf7ea55eaff651b24920055d10492099222e2ef7ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ed421976db533e6222c9dd893996f40836f671e05ab689e54925a9df628b44f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6225f27c0ca227493b5d5bf04d978aef7a06ee9b70b109fb0378d3694d05156",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon is between the jaws; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dotxz8kKpNEeTFctneXM5R",
      "input": {
        "note": "Lemon sits between the right jaws at table level; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Dotxz8kKpNEeTFctneXM5R",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.828, -0.2134, -0.0906, 0.9971, 0.345, 2.125, 1.393, -0.2626, 0.1761, 0.2153, 0.0311]\nstate[eef_state]: left_x=0.2922 left_y=-0.0007 left_z=0.1803 left_yaw=0.0822 left_pitch=-0.3425 left_roll=0.1377 left_gripper=0.9971 right_x=0.4931 right_y=0.1482 right_z=0.0129 right_yaw=0.0543 right_pitch=-0.3887 right_roll=-0.031 right_gripper=0.0311\nstate[joint_eff]: [-0.1709, -3.0017, 6.7897, 1.4042, -0.1343, -0.022, -0.0122, -0.5402, -9.5658, 7.3504, 1.3944, 0.0366, -0.5495, 1.4383]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f21c079d04929bcca8738b3a3398cd7aca3332e7a00098dfdda5c405531ac4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b284d31b4f7191ced31f017e6fe042db69db4b541640e3c6792ef61a9bb1ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0e75ac43ca347083a81504f37a4df23ba5253a09ea8e345d2550cc9f2c7a65d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 5.81 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]: [-0.1436, 1.0843, 0.9688, -0.8192, -0.2134, -0.0906, 0.9971, 0.3447, 2.1139, 1.3727, -0.2592, 0.197, 0.2283, 0.9996]\nstate[eef_state]: left_x=0.2939 left_y=-0.0011 left_z=0.1816 left_yaw=0.0811 left_pitch=-0.3339 left_roll=0.1357 left_gripper=0.9971 right_x=0.4896 right_y=0.1428 right_z=0.0122 right_yaw=0.0273 right_pitch=-0.3886 right_roll=-0.0431 right_gripper=0.9996\nstate[joint_eff]: [-0.0068, -2.947, 6.7761, 1.37, -0.1538, -0.0464, -0.0122, -0.4581, -9.7299, 7.241, 1.4042, 0.3297, 0.105, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0843, 0.9688, -0.8204, -0.2134, -0.0906, 0.9971, 0.3363, 2.1246, 1.3842, -0.252, 0.1905, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.001 left_z=0.1814 left_yaw=0.0812 left_pitch=-0.335 left_roll=0.1359 left_gripper=0.9971 right_x=0.4944 right_y=0.1412 right_z=0.0118 right_yaw=0.0325 right_pitch=-0.3829 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.6051, 6.5983, 1.3748, -0.1636, -0.0562, -0.0122, -0.3897, -10.0718, 7.9248, 1.2772, 0.1783, -0.022, -0.0122]",
      "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]: [-0.1432, 1.0843, 0.9688, -0.828, -0.2134, -0.0906, 0.9971, 0.345, 2.125, 1.393, -0.2626, 0.1761, 0.2153, 0.0311]\nstate[eef_state]: left_x=0.2922 left_y=-0.0007 left_z=0.1803 left_yaw=0.0822 left_pitch=-0.3425 left_roll=0.1377 left_gripper=0.9971 right_x=0.4931 right_y=0.1482 right_z=0.0129 right_yaw=0.0543 right_pitch=-0.3887 right_roll=-0.031 right_gripper=0.0311\nstate[joint_eff]: [-0.1709, -3.0017, 6.7897, 1.4042, -0.1343, -0.022, -0.0122, -0.5402, -9.5658, 7.3504, 1.3944, 0.0366, -0.5495, 1.4383]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f21c079d04929bcca8738b3a3398cd7aca3332e7a00098dfdda5c405531ac4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b284d31b4f7191ced31f017e6fe042db69db4b541640e3c6792ef61a9bb1ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e75ac43ca347083a81504f37a4df23ba5253a09ea8e345d2550cc9f2c7a65d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoAsKEAgSGAI4AUIIdGhpbmtpbmcSDD60Ask9XTTc/jFksBoMr9YFTK3ecccp61s0IjDlVct/TdlgAgOtlOMtlSY3Ipp/34damK/MMOtO/UJoKu7jXcbrzXY4oinKGwAJNiAqvQofqtNM5BKdHF4CCUleNB3u+k5c3/S0VBhNOqBbGc0/pUkYHB3HOqBVqQ6BgMrNeVqJt5vUBkb5wZ+rlucb1c/JIUo9uAB2g6J/BxuXd3OfrcRd39B3Tym8ZvrfSIgZuDK9qIGTCv3Qbm4tWctwj6vb67LZrg/xDl/2T00Q3OD/SynBW1JIkBI/48Jpof1nPIfiUIxTBoM8+Magsz1Nde7c3ZButdbaOW+JMlWpHyUMcRdJ8kNBvLUpxIzG1t0UOX5oYfJvZQZQ/f4FEOsPbxyPFXG6aieYSTApsbBLzrA3BdZ+6+U3cv4lJFBGxcQjiaUx38cCtuJheYmqWidi8XwTzHBNxDDkO2IBv+MRrdRpE+djVzcUj054ibKLSYLBhJTCaDCzZ3GQVvJoM7ycwon3Si7GnHPQJ8e7IOKhembbXD+Nss+FB+WiMDTVfHl0FlKdh2D/d/WuPWVwWqvF/VTkZnNvoyIQciVmmqjh5YGssdDt1Ox3fGcDD7QZpqKfoyWqcQWG/ikhXQtBuxPfvh8Kb5JrBEo05shY0Bm0y6a2PTIReLKmuvpFBG3ix3WK0pCwBImEWedSIGE0edBxHMvCTSaQqluxUUqpLrtOvN6b79gsmioYSmW9rxspuWFRbQ/5+cmsU8p0SxXzbWvKosXrnRcSNACJgtDlmG2w/HEAlBsEMGIxXQzG1TJvRbeZLbAU9/NPeQVlSiAYXaD9ISvLQFr9VZ7pkte9Qx4B8JNtm/anTtmreUlFdkUlxt/BHITV6yeQLrqxUytglbt/u9bnW6WlcOZVWtqMW/SocvIbUWvwAzQVuyVgs4kRlKflMACEAOdkwEMZp+qRz58E34YSYdszj/Y6BKxe4S/ed1zoNmrsendMBA9vF3BDRNtCKxemD0yRb5pSPo6jYlh0GkXIeGIB2qVXF7t5yg1tOBjf9dIFdTPcJ1HRzn8o2/vIjc+L+Gcmne58J9j61ce/wnS1QikEXMvfebQQJTYcHeuLG1IgSjIYnbHVU1cUC+L/XGCAQpgpHRrr7W0+EUWrvM9ASWf5M0gqHXmlRVizSwGu6k5SKaOuksQJLwd9HF199JLFxcvHJGH3x8bJqNZ+ire/jHcGuNHfGdZiQfDVWFNKRDB7t46+ju3AUHo8bNGKxg+4MIeGrQhrdvqQKdAvtOeXf9TANS2dsNZbpFXX5ZcXE9B1hdnQ5/FsGzRLhg9czIYNwOlyHp0RWMNIZYXZo1rnSOvWEoFwyAGzuFPjIaFvRFKXsnqHnSiDIVNHiTd+XRXAO1AJkogiYtocN6/KpmOIvhgquPrTLKsJYovfzSGcZx+j9PGw4xttr9QANuaYexf0cEL69ulQYFUdBl1E+g8u32vtbnKqSfCZvh5BPzmM8TFeg8XjmOsliauMQKtqKUmmMp9SU4J8oopaECcwebo4NxBXvOvAn9wcfR5X9592pw9z2x+k5W1TjWpskqZgRC4d44QlBSre25LjoMjsCbBLrgZq1trEGP77u1KDW2DPPvYQlpocsXA7WI+634f3GY4BqBZq7SMaOtRIKFmK1fiC1X5JjrzksOMMqBC+UbmQJo1kJLVghfOVvDuL91HoyDUq3aaAGn9oM8uP0PVolRm8GCS61vlEwh/firqI7+9IXr6VvEIYtDlEC5sPJt94tt/+IUJR+K7POyUx9hrUoBAApDThJYYbxPza05cFdKdoZ3ejPEK839xo1Z13PqA4M/HPPWQGlnLKeLi14joLLNQ3G5zp1DAzogNtsc1AStIsjROyUPVNkwcClY+00QgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SneESahezQfnntQAaHfQzR",
      "input": {
        "note": "Close was empty (0.03); the lemon is still ahead-right of the jaws. Opening and raising slightly to reposition.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SneESahezQfnntQAaHfQzR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.8356, -0.2134, -0.0906, 0.9971, 0.3408, 2.1208, 1.4162, -0.3424, 0.1715, 0.2127, 0.9945]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1793 left_yaw=0.0828 left_pitch=-0.3499 left_roll=0.1396 left_gripper=0.9971 right_x=0.4854 right_y=0.144 right_z=0.0128 right_yaw=0.0492 right_pitch=-0.4399 right_roll=-0.0449 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.7282, 6.5846, 1.4481, -0.1734, -0.0317, -0.0122, 0.212, -14.5573, 8.6359, 1.1648, 0.0317, -0.0366, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f2cb1c46e66f0607aa467f6a4c7fb5551890058148107926d95485959a652c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5e11b858d324dd387f7327caa7b5e47ada193812bbd4d96912321f7253fd46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69b6f45ea36262cfc500df5c2264a40d371e2d4b9f2d2556a86807dc2fb37592",
        "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 · 5.518 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]: [-0.1436, 1.0843, 0.9688, -0.8204, -0.2134, -0.0906, 0.9971, 0.3363, 2.1246, 1.3842, -0.252, 0.1905, 0.2165, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=-0.001 left_z=0.1814 left_yaw=0.0812 left_pitch=-0.335 left_roll=0.1359 left_gripper=0.9971 right_x=0.4944 right_y=0.1412 right_z=0.0118 right_yaw=0.0325 right_pitch=-0.3829 right_roll=-0.0421 right_gripper=0.9996\nstate[joint_eff]: [-0.0889, -2.6051, 6.5983, 1.3748, -0.1636, -0.0562, -0.0122, -0.3897, -10.0718, 7.9248, 1.2772, 0.1783, -0.022, -0.0122]",
      "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]: [-0.1432, 1.0843, 0.9688, -0.828, -0.2134, -0.0906, 0.9971, 0.345, 2.125, 1.393, -0.2626, 0.1761, 0.2153, 0.0311]\nstate[eef_state]: left_x=0.2922 left_y=-0.0007 left_z=0.1803 left_yaw=0.0822 left_pitch=-0.3425 left_roll=0.1377 left_gripper=0.9971 right_x=0.4931 right_y=0.1482 right_z=0.0129 right_yaw=0.0543 right_pitch=-0.3887 right_roll=-0.031 right_gripper=0.0311\nstate[joint_eff]: [-0.1709, -3.0017, 6.7897, 1.4042, -0.1343, -0.022, -0.0122, -0.5402, -9.5658, 7.3504, 1.3944, 0.0366, -0.5495, 1.4383]",
      "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]: [-0.1432, 1.0843, 0.9688, -0.8356, -0.2134, -0.0906, 0.9971, 0.3408, 2.1208, 1.4162, -0.3424, 0.1715, 0.2127, 0.9945]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1793 left_yaw=0.0828 left_pitch=-0.3499 left_roll=0.1396 left_gripper=0.9971 right_x=0.4854 right_y=0.144 right_z=0.0128 right_yaw=0.0492 right_pitch=-0.4399 right_roll=-0.0449 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.7282, 6.5846, 1.4481, -0.1734, -0.0317, -0.0122, 0.212, -14.5573, 8.6359, 1.1648, 0.0317, -0.0366, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82f2cb1c46e66f0607aa467f6a4c7fb5551890058148107926d95485959a652c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5e11b858d324dd387f7327caa7b5e47ada193812bbd4d96912321f7253fd46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69b6f45ea36262cfc500df5c2264a40d371e2d4b9f2d2556a86807dc2fb37592",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlAoKEAgSGAI4AUIIdGhpbmtpbmcSDKyXlVLQUANn9UT6tRoMooFuhvl/xQ5smTBNIjCXoRsP81PGU+Tj09owaXeivlIVPXfqx6I19wYNxE3eZrR2htuQzvJQA0H3uHaJJSAqsQmcEKgV1VV/csX2CzsPEBK55AVRvezGNUkD9gECw79wnEJ5hRUn9GwNVwXkigxCnAp1v2YT9IO7hdhX82WktMZh+TGWEvYmCW9lBjJhDfHKo+JAfRc4/SNuxth6Z6dh++QubSDhpTOb4/uapCUdLonPsdXOaqNnqHLrkdpBcG+r6baWPUCfNik3m2HxGv3vVv0DeDLIMQiGN+0oD0BLy/7NnlauRn2N3O7DjsfSQDTzEbxZD74jlL8+JIRKf3O7ux0UKteFAijUUwTgRp3LW25bOc5fI0E69M8/rsIjXTKn4PA2AT114Bwsrgw5hbguQcTf7ulwFJXbonu+CpbDr3ZrXjZHgRqVULM6Icm8XYA5qOiIKKg0jS04fpSF6npWRpQckEb8PS7k87H0FByAIsk1WKeQ2hZttjiCy+SXJr+B84vio1hMv9fcnR95zoWoOOLVZhAFWY0tcTt4lzQ4Xy7lVNmtHl6Sh3mosY1if7dcPNnUavJZZ4kTt3lnCGq1/DnGUqneEqh6L3x5n1cO2fYNx6UJ0/L2SFq2awFt/dVVazuQwARzjTlKDZp/yNgSoQOZi1bGFBs7DTP5+jXbTFM5NWKeT4rcBSWssDSzXNmP8oAQQAbfxnOh/iRzDvuSA/xfM5WyMzM+eveijtK5FYmhIHFpCNNF8wbs5OyO5f4NksJb0bXnOd0lFmYMPlntZkdvGGfu5y6Cekkt1jZh9WUG8XnvAbQbt2RqYYQ0haCc64+N40A8WulBWV8kt5SFq4xT/Oa9kiulUEXQ48qroOYVQ4hzp36VfzH45LDTHGOjynAzAh24xhDgdVMUWB5RUnlgDsHX4LoN+A/DTbMnpT935XJfOugYwfDPFOUo0YuD4MdRimrVk/5zCExQKGLmMfd/HJu9rPNg+gjRGps3/SCOBvN45Ys38V6WckDKptoPd3DSVfOMORrOPObjHFfLfk4mVVp3LIlBmAmkcPzoCrpWqCxqjpQjBfXrS/PB53AExJlKa7T4BgEuOv1jhGx+3P1lXoEz1lPiMdTgFCDxnGNceqsO9ItlVCKXfOALLwmLe8J5rtNMO8u2J6A/8984Rg4zaRZnRDvAM1QoKc0voco+O0U2Ax+Y1FTyPou5012uuJv0WY8pCjFnipDsmew4rhto5LZ5znvGmgEJlqVe5sXd4AyOHwVQ1um8nibheY4zvTqpjoxEAn5oxidwo/zI7GNQ39ijDeGbL9bshA0eS6kNvZSGXIQGLVugD90WJpnnnV0KK8xYg3kVwovsPJhrLhZEcP1cphgGQYO6X6Msc96QEhqOg4co9s8Q9ZbiS0iM81g6V9jWqbvfuIuqNIbew2gPaH1ZUJzQwFQ2c4qOLq5BbUPjU7JZvKvywUkRKnFevPOJd2UhcVMVVn54qPEC8tfpS198OTd4cuhPBnYVrhDn/XuSftD2SK928YlfA1HRa8zVvdnS1QPudHUnpdkFj3X1kEnp5N9pBt7lsJVNikgtGBso1DDvgR8/rxhj1J6+hEltCZGxwkZvQtIdGmamqpzACBJ1k9gtSA4dtNahqL/i8TkoRBvrB/fGZd0rqeMjnGZ8Q4stWMvtiDafSmH2xfeeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XGdeHh5LeB65PhH1JDV53X",
      "input": {
        "note": "Lemon sits right of the jaw column and just ahead; shifting right ~3 cm to centre it between the jaws.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.112,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XGdeHh5LeB65PhH1JDV53X",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.8394, -0.2134, -0.0906, 0.9971, 0.2783, 2.117, 1.4166, -0.3645, 0.1352, 0.1673, 0.9953]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1787 left_yaw=0.0831 left_pitch=-0.3536 left_roll=0.1405 left_gripper=0.9971 right_x=0.4881 right_y=0.1184 right_z=0.0113 right_yaw=0.0448 right_pitch=-0.4663 right_roll=-0.0419 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.9197, 6.7624, 1.3162, -0.1734, -0.0562, -0.0122, -0.253, -10.9607, 8.5265, 1.2234, 0.1245, -0.0366, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a18e1091637084e72bb7787d8bbd526e20fc6bd36487f05b94f5a377630a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28226ee24d07212b74c271c56d5e41d3efb2ff142f35f1891bc9b51c9082819f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc260fcde02af3631895537508f786c043d51b1f2734c29ba9135027f8cba32f",
        "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 · 3.454 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]: [-0.1432, 1.0843, 0.9688, -0.828, -0.2134, -0.0906, 0.9971, 0.345, 2.125, 1.393, -0.2626, 0.1761, 0.2153, 0.0311]\nstate[eef_state]: left_x=0.2922 left_y=-0.0007 left_z=0.1803 left_yaw=0.0822 left_pitch=-0.3425 left_roll=0.1377 left_gripper=0.9971 right_x=0.4931 right_y=0.1482 right_z=0.0129 right_yaw=0.0543 right_pitch=-0.3887 right_roll=-0.031 right_gripper=0.0311\nstate[joint_eff]: [-0.1709, -3.0017, 6.7897, 1.4042, -0.1343, -0.022, -0.0122, -0.5402, -9.5658, 7.3504, 1.3944, 0.0366, -0.5495, 1.4383]",
      "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]: [-0.1432, 1.0843, 0.9688, -0.8356, -0.2134, -0.0906, 0.9971, 0.3408, 2.1208, 1.4162, -0.3424, 0.1715, 0.2127, 0.9945]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1793 left_yaw=0.0828 left_pitch=-0.3499 left_roll=0.1396 left_gripper=0.9971 right_x=0.4854 right_y=0.144 right_z=0.0128 right_yaw=0.0492 right_pitch=-0.4399 right_roll=-0.0449 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.7282, 6.5846, 1.4481, -0.1734, -0.0317, -0.0122, 0.212, -14.5573, 8.6359, 1.1648, 0.0317, -0.0366, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.8394, -0.2134, -0.0906, 0.9971, 0.2783, 2.117, 1.4166, -0.3645, 0.1352, 0.1673, 0.9953]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1787 left_yaw=0.0831 left_pitch=-0.3536 left_roll=0.1405 left_gripper=0.9971 right_x=0.4881 right_y=0.1184 right_z=0.0113 right_yaw=0.0448 right_pitch=-0.4663 right_roll=-0.0419 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.9197, 6.7624, 1.3162, -0.1734, -0.0562, -0.0122, -0.253, -10.9607, 8.5265, 1.2234, 0.1245, -0.0366, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a18e1091637084e72bb7787d8bbd526e20fc6bd36487f05b94f5a377630a35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28226ee24d07212b74c271c56d5e41d3efb2ff142f35f1891bc9b51c9082819f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc260fcde02af3631895537508f786c043d51b1f2734c29ba9135027f8cba32f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAkKEAgSGAI4AUIIdGhpbmtpbmcSDKnlpnp79X/VJrm50hoM2dd3Rl2Z06LakJobIjBxADExrrYCDytUCv4V8aRlaonIKdPW+M0B3veP1uTjKiZc4EWOauDZXY20xLy/Tpoq4QgPUj3w8JkZcmmMSG0qnkKSeenNpvzXDM2K/V69LxcLfXOtdzWQXy25mocGndom6tK8IBDVNxHcmK6zxlR8ie7+trML0ynKy28pxAhQjq6rKwk2r8XCG0xDRkVuqNRTV8ItxlPX+VQ70RY6IjJccaEpK7l/nwMVZnUNec8jxyNhL2hx1Ip6VGXbMrK7TUGKhhQ532BgY+E0M0AuzNhrZZ0esy7okvRn4bWnxIdoXQu0SE7pESxgzwKCrKnfW5QIkluGI6YsB0BSwjjWJC6tfD0SXl/H5cgn0RvnslBQsslMswezU7NAsWxNGFnMXvwuHJFt+lkmgUgoE1pjVQ2IPJTSOx5Nz+43KryvB47kFQSTeKXxsI/vNNANveJOKfP9DtVtoYeLxFnT2c0uMZXfQtCgziA5AtnVqyczcbtRRokvqGDEjXGVvPmbRRga2qCPTqx/zxSBDy2rlsZg7kT83c3g5hggc+MmSZ3BqhECHI9lnFAuClqvsKVRu0UxalL88gvzege6WnovY0eTMZAf0nAPOWxi1LBKxGXm3gPwj+G76hmNdQhpcTLa6zMHfTtiBpzggJqasGkP5aJNekADW29cPSAsUWP5gcK4Vl83jUDVvWzrUSPKXhImXDH+J1vFb4mly4qL/vPstK++ez+8Qxjn/dghWZRl5XzwJgMDCnd8ILrQi+Gh4ykIjKtpAqND4zmmOwUgyVCNqSg7lE//UDipkuQICwyJAjbhuPDzpnimduLQTv7eSpDKSwgEqOWDHz5p2T/1ONwNd+fxZcm4DTVCcAPSjZYzqU8YwSY9NrWkUD2u6LmBwbzM9xQvq3aSYMX2DWvmhjyN71lJr3LtMusgdVHw/z9BvjgnH19dZHnR4m5aOXgfwHMr8+3bM++nv8rLax6TaDJDBLvgp3bWP60nk/bkU3QluBAABEl65kD5b4ao7AsCKjUR7Q2DC4UQMp6AN7LmTcj/dGZEgQ0p9CmOVXhnYn0MtE3jTFqb/pU5X96h/HAs4+gvxubK17Og5XzUf5I4JxGyuzXVBWqSUBkRTXFEza+tRFjdD/FobajLAd44j2iTP1Z8pPZZFeoMkwIQpTtI+Z7cYdvlHaTcbgPyf5fmylFT1YrDEXUlcZUMGuNyt5q0X0dyqErtX2LJaQUoohwLjzzS0h3g4ZKQTac35ezY5wMyUA4ZbE07rGVvhr+T5SeRyulSYrct05JdbX6Ae7jIGwVvY14U48ahFEhXw+KZgoTzmbyFlPMM/IG971J76gPDCFPjbYt44oxz42TjZaiH4mJC7jEN7PxrS35eRfPJ3eAA/1DhCCxE3vd+vmot+Bi7QvoVtuQGbFd8+9qGle7qsMfxdhjj1NqZ7yIJkaDDjFNKPPdvboeC6mwd4Lgv/fwqSfYkXHPw5rVqEetvPGeQYZH8xI97K7Hd1MUNSe44w193i+JmvupASrDjZPVomTO6R8xphFVFSFlxh/ujtHUI0XqLw+Dacu1Mb3yaPBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JT83wMStWVU7bzaeMPzAN2",
      "input": {
        "note": "Lemon is still a few cm ahead and slightly right; raising to its mid-height to gain reach and advancing onto it.",
        "targets": {
          "right_x": 0.535,
          "right_y": 0.1,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JT83wMStWVU7bzaeMPzAN2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0843, 0.9688, -0.8474, -0.2134, -0.091, 0.9971, 0.2253, 2.2086, 1.6524, -0.5098, 0.1074, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=-0.0002 left_z=0.1776 left_yaw=0.084 left_pitch=-0.3614 left_roll=0.1422 left_gripper=0.9971 right_x=0.5256 right_y=0.1047 right_z=0.0308 right_yaw=0.0498 right_pitch=-0.4735 right_roll=-0.0446 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.9744, 6.5709, 1.3895, -0.1538, -0.0757, -0.0122, -0.6496, -11.1385, 7.8838, 1.1551, -0.0073, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7e4bfd79c8f2e8a5e34e789e96d32ef84fea056ea7703561b875153ec925ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6301bc967b490f642da87050d36a2123f717ff1c9f4569cb8ede3a3557d873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:76c2a514a669c06f092352e376acee91f1a4078e62fad142c4757c77968042ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 7.239 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]: [-0.1432, 1.0843, 0.9688, -0.8356, -0.2134, -0.0906, 0.9971, 0.3408, 2.1208, 1.4162, -0.3424, 0.1715, 0.2127, 0.9945]\nstate[eef_state]: left_x=0.2907 left_y=-0.0005 left_z=0.1793 left_yaw=0.0828 left_pitch=-0.3499 left_roll=0.1396 left_gripper=0.9971 right_x=0.4854 right_y=0.144 right_z=0.0128 right_yaw=0.0492 right_pitch=-0.4399 right_roll=-0.0449 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.7282, 6.5846, 1.4481, -0.1734, -0.0317, -0.0122, 0.212, -14.5573, 8.6359, 1.1648, 0.0317, -0.0366, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1432, 1.0843, 0.9688, -0.8394, -0.2134, -0.0906, 0.9971, 0.2783, 2.117, 1.4166, -0.3645, 0.1352, 0.1673, 0.9953]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1787 left_yaw=0.0831 left_pitch=-0.3536 left_roll=0.1405 left_gripper=0.9971 right_x=0.4881 right_y=0.1184 right_z=0.0113 right_yaw=0.0448 right_pitch=-0.4663 right_roll=-0.0419 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.9197, 6.7624, 1.3162, -0.1734, -0.0562, -0.0122, -0.253, -10.9607, 8.5265, 1.2234, 0.1245, -0.0366, 0.0611]",
      "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]: [-0.1432, 1.0843, 0.9688, -0.8474, -0.2134, -0.091, 0.9971, 0.2253, 2.2086, 1.6524, -0.5098, 0.1074, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=-0.0002 left_z=0.1776 left_yaw=0.084 left_pitch=-0.3614 left_roll=0.1422 left_gripper=0.9971 right_x=0.5256 right_y=0.1047 right_z=0.0308 right_yaw=0.0498 right_pitch=-0.4735 right_roll=-0.0446 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.9744, 6.5709, 1.3895, -0.1538, -0.0757, -0.0122, -0.6496, -11.1385, 7.8838, 1.1551, -0.0073, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc7e4bfd79c8f2e8a5e34e789e96d32ef84fea056ea7703561b875153ec925ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf6301bc967b490f642da87050d36a2123f717ff1c9f4569cb8ede3a3557d873",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76c2a514a669c06f092352e376acee91f1a4078e62fad142c4757c77968042ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgcKEAgSGAI4AUIIdGhpbmtpbmcSDLVqjIv7KW2yzYd1GhoMNMfuIfLbmq0Xu/vuIjAklPsqAFTqMib5ZpHVmokCMf/YIZnkpX2CQwB/sI0LDImyDmDxXPXPt/MwZNcFlQUqrwZyvaeE9Vi6LkAGMWSVS0RjQ+HvSAJusT09gyVuRvXxl64iGCZJv5DziT9Xa5V9BM/ibGxgZzDmnBXcxHFv3iA7pUC1abJCt1ry0AVCWLJXcOe15Rl5pvvCidM6pU1vMFvwDQx/mHQfO/6erEBY8r6HQGcc8ahGmQiE4Ro1f/9l6+91gnTO4CcI1HUR0/vw587OlpQ1JHm4dZbEn3j0z8jKVwgeb8+ciO7/fd9BM0zuWdWbA1KiOsy9mZQ+e1DQnV3uFPjf9ex8mr8Gt2Sb6ycR8DKsiSOuJnNCcuIyGmbyBQ+qQDJugpJvfWfs4repj9v+q20OkOCRbzA4H2oqJUr8dzoRgKyXgznByfhO/FWsww2d26LitJIwFsP/pmru23nIfJ+VGLQjX+oWhOwfuOuh5QvfpiIhV7wQ2Y0LDplT+zmumbg2EOfzRESjWLSrtbDWaXIgauC4hAFPj3AAPnfMwqEz9jZLN6peWXEvaKXa+gvkQeLUnhhFzHTrXbpDlj2sUhc8HJe+/gbdBBvMPEqu/00g3sXwhfmb2NvhnajN4xV43EbrRoeJsYL85mSs1p2qfZQdR+oVX2906zgUwnUxrdVwBy4z8Tnnl/fA+ugg8/6hmwxwrR8/g3FPHjCvrIgsUFFdX7NtP2A2ITTRpTk6sAD8tZeuUPM/T9X1oSPrKnL0xLWHJzJo++XRcgrw8UVmvYAiuxRhYgJn2ByODGxbzqGg5LpIjL3S4v1orL4/207ETfr6vm95/AgvfAdcnOd0j0T3SvklvFzIm6qzmUXuwgpFeYpmv2HwTid6w9i/YTQ6QAL5U/gpm7jGt3iuJyxh/neCFGyp5oiP2ve3nXux/6UMFnl0EGefTTiGboISQZxOGEYKW90cTO4XO+5PjT6G3vHXTL+CaaxGYja8FiUXrwO6N0EqobyNcpY9Iuf+f1G60r8W54aN13GY1XEN3osfJmPICldEror4dmWH9JwgPtN02CxXIcTFyFiJtEwvTAVDmgm4Be+0aQ0mttPqEVic7HUxehVD4upjnBzvfhtDlSQ0T/3tW6siWcJpQ0rGTVzASJruCcJXmrDWEapfZhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016MCDacYXkjXukmLT7kgQKg",
      "input": {
        "note": "Lemon now sits between the jaws near the jaw column; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016MCDacYXkjXukmLT7kgQKg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0847, 0.9688, -0.8536, -0.2134, -0.0906, 0.9971, 0.2192, 2.2223, 1.6821, -0.5644, 0.0875, 0.0853, 0.087]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1767 left_yaw=0.0839 left_pitch=-0.3678 left_roll=0.144 left_gripper=0.9971 right_x=0.5215 right_y=0.104 right_z=0.0277 right_yaw=0.0773 right_pitch=-0.515 right_roll=-0.0477 right_gripper=0.087\nstate[joint_eff]: [-0.212, -2.7966, 6.7624, 1.3846, -0.1343, -0.0513, -0.0122, -0.5128, -11.7128, 7.8291, 1.4286, 0.2027, 0.2418, 3.0745]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67132ee0944548b0c55026f46066dcbd70b73f69847c0a7f22ce296044b4c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9e6b9ff490c85b9be564d139d8a76b2ce3c3a98716ea6dd1f52d44db8eb81c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8905ba817f465007bf2eef8cfddb733946e77e8e1d9d5f869e2376d2b7752e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 7.393 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]: [-0.1432, 1.0843, 0.9688, -0.8394, -0.2134, -0.0906, 0.9971, 0.2783, 2.117, 1.4166, -0.3645, 0.1352, 0.1673, 0.9953]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1787 left_yaw=0.0831 left_pitch=-0.3536 left_roll=0.1405 left_gripper=0.9971 right_x=0.4881 right_y=0.1184 right_z=0.0113 right_yaw=0.0448 right_pitch=-0.4663 right_roll=-0.0419 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -2.9197, 6.7624, 1.3162, -0.1734, -0.0562, -0.0122, -0.253, -10.9607, 8.5265, 1.2234, 0.1245, -0.0366, 0.0611]",
      "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]: [-0.1432, 1.0843, 0.9688, -0.8474, -0.2134, -0.091, 0.9971, 0.2253, 2.2086, 1.6524, -0.5098, 0.1074, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=-0.0002 left_z=0.1776 left_yaw=0.084 left_pitch=-0.3614 left_roll=0.1422 left_gripper=0.9971 right_x=0.5256 right_y=0.1047 right_z=0.0308 right_yaw=0.0498 right_pitch=-0.4735 right_roll=-0.0446 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.9744, 6.5709, 1.3895, -0.1538, -0.0757, -0.0122, -0.6496, -11.1385, 7.8838, 1.1551, -0.0073, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0847, 0.9688, -0.8536, -0.2134, -0.0906, 0.9971, 0.2192, 2.2223, 1.6821, -0.5644, 0.0875, 0.0853, 0.087]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1767 left_yaw=0.0839 left_pitch=-0.3678 left_roll=0.144 left_gripper=0.9971 right_x=0.5215 right_y=0.104 right_z=0.0277 right_yaw=0.0773 right_pitch=-0.515 right_roll=-0.0477 right_gripper=0.087\nstate[joint_eff]: [-0.212, -2.7966, 6.7624, 1.3846, -0.1343, -0.0513, -0.0122, -0.5128, -11.7128, 7.8291, 1.4286, 0.2027, 0.2418, 3.0745]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67132ee0944548b0c55026f46066dcbd70b73f69847c0a7f22ce296044b4c2b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9e6b9ff490c85b9be564d139d8a76b2ce3c3a98716ea6dd1f52d44db8eb81c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8905ba817f465007bf2eef8cfddb733946e77e8e1d9d5f869e2376d2b7752e42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018MT82Vtk41jn6yPM4efhaW",
      "input": {
        "note": "Close read 0.09 with the lemon visible ahead — I likely pinched the safe's side wall. Opening and backing up to re-locate the lemon.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.45,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018MT82Vtk41jn6yPM4efhaW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0847, 0.9688, -0.8543, -0.2134, -0.0906, 0.9971, 0.2543, 1.9266, 1.5486, -0.7536, 0.0933, 0.112, 0.9945]\nstate[eef_state]: left_x=0.2871 left_y=0.0 left_z=0.1766 left_yaw=0.0844 left_pitch=-0.3685 left_roll=0.1441 left_gripper=0.9971 right_x=0.4546 right_y=0.1048 right_z=0.1023 right_yaw=0.0875 right_pitch=-0.5404 right_roll=-0.0447 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.8786, 6.5573, 1.3065, -0.1783, -0.0464, -0.0122, 0.5402, -12.6701, 6.4205, 1.2332, 0.1099, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e998be710234e833a5eae758a447a4577c6664602ba1cea2450f4ae525e2567a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed7786b9b7875ff0652a6eb0e381d13467b809487596baa6ad197d7f621520e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c0077482d6a8cd1b0fe19f580640eb4f1b2d95998170d49e7ab72aa7769df9a",
        "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 · 4.618 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]: [-0.1432, 1.0843, 0.9688, -0.8474, -0.2134, -0.091, 0.9971, 0.2253, 2.2086, 1.6524, -0.5098, 0.1074, 0.1146, 0.9953]\nstate[eef_state]: left_x=0.2884 left_y=-0.0002 left_z=0.1776 left_yaw=0.084 left_pitch=-0.3614 left_roll=0.1422 left_gripper=0.9971 right_x=0.5256 right_y=0.1047 right_z=0.0308 right_yaw=0.0498 right_pitch=-0.4735 right_roll=-0.0446 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -2.9744, 6.5709, 1.3895, -0.1538, -0.0757, -0.0122, -0.6496, -11.1385, 7.8838, 1.1551, -0.0073, -0.0415, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0847, 0.9688, -0.8536, -0.2134, -0.0906, 0.9971, 0.2192, 2.2223, 1.6821, -0.5644, 0.0875, 0.0853, 0.087]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1767 left_yaw=0.0839 left_pitch=-0.3678 left_roll=0.144 left_gripper=0.9971 right_x=0.5215 right_y=0.104 right_z=0.0277 right_yaw=0.0773 right_pitch=-0.515 right_roll=-0.0477 right_gripper=0.087\nstate[joint_eff]: [-0.212, -2.7966, 6.7624, 1.3846, -0.1343, -0.0513, -0.0122, -0.5128, -11.7128, 7.8291, 1.4286, 0.2027, 0.2418, 3.0745]",
      "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]: [-0.1432, 1.0847, 0.9688, -0.8543, -0.2134, -0.0906, 0.9971, 0.2543, 1.9266, 1.5486, -0.7536, 0.0933, 0.112, 0.9945]\nstate[eef_state]: left_x=0.2871 left_y=0.0 left_z=0.1766 left_yaw=0.0844 left_pitch=-0.3685 left_roll=0.1441 left_gripper=0.9971 right_x=0.4546 right_y=0.1048 right_z=0.1023 right_yaw=0.0875 right_pitch=-0.5404 right_roll=-0.0447 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.8786, 6.5573, 1.3065, -0.1783, -0.0464, -0.0122, 0.5402, -12.6701, 6.4205, 1.2332, 0.1099, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e998be710234e833a5eae758a447a4577c6664602ba1cea2450f4ae525e2567a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed7786b9b7875ff0652a6eb0e381d13467b809487596baa6ad197d7f621520e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c0077482d6a8cd1b0fe19f580640eb4f1b2d95998170d49e7ab72aa7769df9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K9fcNNY8gHhPKcc2FsvUQA",
      "input": {
        "note": "Lemon has been nudged out past the right wrist camera's view, near the safe's back-right corner. Tipping the tool forward to gain reach toward it.",
        "targets": {
          "right_pitch": 0.4,
          "right_x": 0.5,
          "right_y": 0.1,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01K9fcNNY8gHhPKcc2FsvUQA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0847, 0.9688, -0.8619, -0.2134, -0.0906, 0.9971, 0.2558, 1.9705, 0.7795, 0.9176, 0.1692, -0.0006, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1755 left_yaw=0.0851 left_pitch=-0.3759 left_roll=0.146 left_gripper=0.9971 right_x=0.4949 right_y=0.1024 right_z=0.0842 right_yaw=0.1043 right_pitch=0.3132 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.947, 6.7487, 1.3651, -0.1783, -0.0464, -0.0122, -0.4718, -8.1299, 4.9709, 2.3321, 0.1392, -0.1148, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c93846a5545fc805db89175e89ca3e3bc1dc2bb9d27cec02d08a8c429c13a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed4e70950219e3e3e82eea5a031d0e25356f488ca8ffd715a2eb4277d1c6b222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:54c1ff6b5d5c7208cb0c421d4c0877e8183cf2b74f6b1fafd7131ceb23ea4c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.909 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]: [-0.1436, 1.0847, 0.9688, -0.8536, -0.2134, -0.0906, 0.9971, 0.2192, 2.2223, 1.6821, -0.5644, 0.0875, 0.0853, 0.087]\nstate[eef_state]: left_x=0.2872 left_y=-0.0001 left_z=0.1767 left_yaw=0.0839 left_pitch=-0.3678 left_roll=0.144 left_gripper=0.9971 right_x=0.5215 right_y=0.104 right_z=0.0277 right_yaw=0.0773 right_pitch=-0.515 right_roll=-0.0477 right_gripper=0.087\nstate[joint_eff]: [-0.212, -2.7966, 6.7624, 1.3846, -0.1343, -0.0513, -0.0122, -0.5128, -11.7128, 7.8291, 1.4286, 0.2027, 0.2418, 3.0745]",
      "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]: [-0.1432, 1.0847, 0.9688, -0.8543, -0.2134, -0.0906, 0.9971, 0.2543, 1.9266, 1.5486, -0.7536, 0.0933, 0.112, 0.9945]\nstate[eef_state]: left_x=0.2871 left_y=0.0 left_z=0.1766 left_yaw=0.0844 left_pitch=-0.3685 left_roll=0.1441 left_gripper=0.9971 right_x=0.4546 right_y=0.1048 right_z=0.1023 right_yaw=0.0875 right_pitch=-0.5404 right_roll=-0.0447 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.8786, 6.5573, 1.3065, -0.1783, -0.0464, -0.0122, 0.5402, -12.6701, 6.4205, 1.2332, 0.1099, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0847, 0.9688, -0.8619, -0.2134, -0.0906, 0.9971, 0.2558, 1.9705, 0.7795, 0.9176, 0.1692, -0.0006, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1755 left_yaw=0.0851 left_pitch=-0.3759 left_roll=0.146 left_gripper=0.9971 right_x=0.4949 right_y=0.1024 right_z=0.0842 right_yaw=0.1043 right_pitch=0.3132 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.947, 6.7487, 1.3651, -0.1783, -0.0464, -0.0122, -0.4718, -8.1299, 4.9709, 2.3321, 0.1392, -0.1148, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c93846a5545fc805db89175e89ca3e3bc1dc2bb9d27cec02d08a8c429c13a61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed4e70950219e3e3e82eea5a031d0e25356f488ca8ffd715a2eb4277d1c6b222",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54c1ff6b5d5c7208cb0c421d4c0877e8183cf2b74f6b1fafd7131ceb23ea4c11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAgKEAgSGAI4AUIIdGhpbmtpbmcSDBFnRh6j+adO8pipJxoMLFkgElRaNoXBsX8HIjCimeIZRlpmulOQJ4c0zt3IMX2Uyp4hSSOLcUNjRHrKExaOBtopEORnn6US/ShSSesq1QfYV9QncW0E7QQ0WQ578QKAAZrT5dUwMyaP2qC32N9Y8XEWZBwWIfSdF4dVRorS5xSskaxAgxZEihM8PEncUwHeHn1/Dw05vFeye+jEfxRiO4u+/2tFzcS/K2f2MOe0Hy3BrUHakcL4Z0kEdeDcF8NzxEPn/itIHwiyDTYtjlRz60dHAgyzyUfa8uS4j7E/GxzBh1VgwHfJhoodDZxjnS3tlSHgYfKe9XdQyPxRzdsSPWUtIPur3j92/wYm0vNs6JcIXmRQlAZhl420CZNk3+USnKkEKGuNh4gFJqFdyqKUnA7ZkxlNacnBBop78AN/AHz9TiSQDcRfUvkoPZKk9VZRoW6sICy4fD9uzWKym2EbuMRmcKywnn8GvThr5DERK9HSsAj706WKKfC0qv4y9+yWEIK2G1sLU/SMmMKC8xJ8L7cBcluAiR7/x+PxgxUzT3zSDqM3P5UJlnnj5bB5QGdeE723MwEKGl7a4gxon0HI/xXcsdNgtgWNubrrnMj+n5nc+NxAlzzbFG24QqcNM11lfDAcsxx+2w54W4QhZCasDQNTIP5JroMX/HExQkxrPWEqZL7RboNiY/ZJlH+wc0Mn7eojXbxfpMtseXoSew8lyS3uj9fiObdv2vDi2DqhbD9dOLwFtd9VlbBhrhxvINZtCJMslQLYAEQVkFkjMzFkbjYjqE2s4pyPfVl4k0PhtEua8ForMAboTQ1vhKvsZpo8s6/3IC0WEwUueY5NcvkVUJuI8SLFda8BH+neejGtFNAs6OQEXeiBv1DPPuezFX9vNIfbwB8SsSg0NIFth0FfzIPZrMvMr6NuhDK9xokvbeIlRi3OGzFRKqhODb5nX2SRmlT5yzPE/s08FYp5CAnqSIAH7gjMLP8Rez3RiKynzWb4TX3UvK53cKxgSGiZVN6djMr9IGS8HrdXA/fJGd8nrjMk/wBAL9GkuvyueEZXA8paJUyISjBhNO1q2p9QeKnCQZBWNPMq3wfJxTCX696F115OibXA/eJHbE6ahU/WuMf2BAJUUobgTeVAB8DrQ8ESTRp/iwr8+iCRpf3FFdTL6hCm2uqeiEWfAlYMmSaJbsGOyo8XgiXbfX0a1T8g+OeTLioEz/axoud3hEND45PLiGjW5XnBzHF9UD9p1KzLmOM50oTQIgR/CJtp5/sz/tmxUvGbKEGeB/oCp4Fralft6CBzQX9sJ51q9MkGuGyIFrzGuPZ6ONM3KowY0GIto32zmQhLn36yBSXyUoWzsh16t96mGQuGLZ6oFCEq0Q11YbTFlqRbIxZKg7enXToxnOOKCKjjdbQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013h3x4Zdr4UzcDRmsdXiGvo",
      "input": {
        "note": "With the tool tipped forward the lemon is visible just ahead and slightly right of the jaws, beside the safe's wall; advancing and descending onto it.",
        "targets": {
          "right_x": 0.55,
          "right_y": 0.09,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013h3x4Zdr4UzcDRmsdXiGvo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.087, 0.9688, -0.8707, -0.2134, -0.0906, 0.9971, 0.194, 2.2368, 0.9573, 0.9577, 0.1116, -0.0154, 0.9954]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1737 left_yaw=0.0861 left_pitch=-0.3867 left_roll=0.1487 left_gripper=0.9971 right_x=0.5371 right_y=0.0891 right_z=0.0247 right_yaw=0.1029 right_pitch=0.2627 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -3.0701, 6.5299, 1.3309, -0.1197, -0.0562, -0.0122, -0.5128, -10.4821, 6.4889, 2.21, 0.0073, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d34f942c4a9a0628b850c9341707d05f43798f4ef48ee76e4b835d15641ece43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82d00bc98376100be4fb0fd8eb34d1a9d0ba2a954128853a17024e45d2e5233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36e29934bee43b8ed667cef58b3d60b08f8e747fed6bfb99a69e3c6f32f22e19",
        "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 · 4.46 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]: [-0.1432, 1.0847, 0.9688, -0.8543, -0.2134, -0.0906, 0.9971, 0.2543, 1.9266, 1.5486, -0.7536, 0.0933, 0.112, 0.9945]\nstate[eef_state]: left_x=0.2871 left_y=0.0 left_z=0.1766 left_yaw=0.0844 left_pitch=-0.3685 left_roll=0.1441 left_gripper=0.9971 right_x=0.4546 right_y=0.1048 right_z=0.1023 right_yaw=0.0875 right_pitch=-0.5404 right_roll=-0.0447 right_gripper=0.9945\nstate[joint_eff]: [-0.0752, -2.8786, 6.5573, 1.3065, -0.1783, -0.0464, -0.0122, 0.5402, -12.6701, 6.4205, 1.2332, 0.1099, 0.0073, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1432, 1.0847, 0.9688, -0.8619, -0.2134, -0.0906, 0.9971, 0.2558, 1.9705, 0.7795, 0.9176, 0.1692, -0.0006, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1755 left_yaw=0.0851 left_pitch=-0.3759 left_roll=0.146 left_gripper=0.9971 right_x=0.4949 right_y=0.1024 right_z=0.0842 right_yaw=0.1043 right_pitch=0.3132 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.947, 6.7487, 1.3651, -0.1783, -0.0464, -0.0122, -0.4718, -8.1299, 4.9709, 2.3321, 0.1392, -0.1148, 0.0708]",
      "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]: [-0.1432, 1.087, 0.9688, -0.8707, -0.2134, -0.0906, 0.9971, 0.194, 2.2368, 0.9573, 0.9577, 0.1116, -0.0154, 0.9954]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1737 left_yaw=0.0861 left_pitch=-0.3867 left_roll=0.1487 left_gripper=0.9971 right_x=0.5371 right_y=0.0891 right_z=0.0247 right_yaw=0.1029 right_pitch=0.2627 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -3.0701, 6.5299, 1.3309, -0.1197, -0.0562, -0.0122, -0.5128, -10.4821, 6.4889, 2.21, 0.0073, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d34f942c4a9a0628b850c9341707d05f43798f4ef48ee76e4b835d15641ece43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b82d00bc98376100be4fb0fd8eb34d1a9d0ba2a954128853a17024e45d2e5233",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36e29934bee43b8ed667cef58b3d60b08f8e747fed6bfb99a69e3c6f32f22e19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuQcKEAgSGAI4AUIIdGhpbmtpbmcSDJFjpWx5OD8zKpq/UhoMOL2Dy+2q+9uRxt5XIjB2i5xh2mImEojyZFtX0y7fi8xbpdoeau9T7C8xrxyLsVZzBuvCrkWc6vrjkvYrWekq1gZfFwOZsHRCpZFLzE7oL/Lb+9fjF1bTJuwSunYWQlCJQq8KAuHX4Ixdga5ADTSfeu1ysdV9LjY9ksX0PaUWcOPAJfKvEdRL4DKxE5sogLw5cIe+dDev4iIDv6hYO73g3/3hirTHbrryKGjE/dv0pk+l0MhbugufD8qYwAWPugNakbWj3WKkJ8Uoh3vymYUTkUaprHtMvnyZ1CGgn4I/+kC79zakW2mJzvKtfxRJUoOy9BDIO0//wH7DaCJNt2rMqktSpcSa9rhane8gtF/idUiuf5pIEHR7FwiMkheOZKHbBZ3R9+cCCC9adEqbgQ9yOtZ8vLqloE06qhUkwJU6KdmKDvfqQi9qIv1AO8qpKGnBnZOSadQC8PjlmMpc1eY1gLmraMPYbszzy5luT3TxU8Pax9j1dxFlMouXikus7uFCudcex4lgNE6aOAuPLcNT6vhvWKfSK9vLGWjLRuIqN+v/STsps4afmWb/8n2KuqWTl7sBsuNohTAyG+1Y2Rjyz55B4mwY6GvaKr3UjTyNQRwVH1jivR8a6MOx6u8GByn2dOUgJkvRafrIzjLdo8nr8AXoI1jXbYBApQsGw+bAvFPN4RwIc/DXozbvEXi7HDzu5d38pq40WPUZcT/zqTJLEl6K7vDfVAaRXHeNw11CXcKz/gaZTZnDcM+gr+4vlQUplJwXLh45NLX/sKV1ZzIctPtrsk+UN332XldwirbX5UA33XwKZJ7QEc183Gpy9/uav6nnHbKIEFJZH3jSYmKTY7QTOGY+DMtHJJQmCvqkJtj2cl38IBiAT8qwgbAgJWhbYNbsbcFLF6UaoqVUu1HUYFpc3oTGVkbQbscp2FbeNddMSaglBqeRh1qj6e4HZFlGxyHJ85fC3fmnI51qELn2VZuRHUaD7nrcriV8i83A8EOLFT1x+hUtL19+Jkz4UM4YWdksDcUb9FlgO2a5ul5TVKeUcAXJVaNv2aaKwyK0bOlV+vJZXjUUV4z2JzK7Ueg7/Tv2/YLsyV3ln4izZn8Vc9taIIviJHANcBfArxLnpQE2TXOQ4E+jmbV+vQOtXO6XaMKwuRauq9hvYn7u+ydGwN2s6XTcRXmVVu43GvT8zzeSNYCdKdtXblW90RWWjo+l8kaVyeisdhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013xxb3DZXxTy5wEwQyqy2XH",
      "input": {
        "note": "Lemon is larger and closer in the wrist view but still ahead and a bit right; advancing a few more cm.",
        "targets": {
          "right_x": 0.575,
          "right_y": 0.08,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013xxb3DZXxTy5wEwQyqy2XH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0874, 0.9688, -0.873, -0.2134, -0.0906, 0.9971, 0.1894, 2.2574, 0.9783, 0.96, 0.1074, -0.0193, 0.9953]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1733 left_yaw=0.0863 left_pitch=-0.3893 left_roll=0.1494 left_gripper=0.9971 right_x=0.5419 right_y=0.0883 right_z=0.0219 right_yaw=0.1041 right_pitch=0.2651 right_roll=-0.0533 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.6872, 6.5436, 1.2772, -0.1783, -0.0464, -0.0122, -0.3897, -10.6051, 6.3248, 2.1661, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e856050779443b977c74779048c04c136e49ffa4b5bbad127dff4a5e0566024c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:125e715d74a4609ab7b3260f1e2b77596b4b58cefc4f45df47a3d23b74ed52c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dd63f255403af30f5b639209fb78de1bf217d0c5d6ea53339280b309a0656bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 3.499 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]: [-0.1432, 1.0847, 0.9688, -0.8619, -0.2134, -0.0906, 0.9971, 0.2558, 1.9705, 0.7795, 0.9176, 0.1692, -0.0006, 0.9953]\nstate[eef_state]: left_x=0.2856 left_y=0.0002 left_z=0.1755 left_yaw=0.0851 left_pitch=-0.3759 left_roll=0.146 left_gripper=0.9971 right_x=0.4949 right_y=0.1024 right_z=0.0842 right_yaw=0.1043 right_pitch=0.3132 right_roll=-0.0476 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.947, 6.7487, 1.3651, -0.1783, -0.0464, -0.0122, -0.4718, -8.1299, 4.9709, 2.3321, 0.1392, -0.1148, 0.0708]",
      "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]: [-0.1432, 1.087, 0.9688, -0.8707, -0.2134, -0.0906, 0.9971, 0.194, 2.2368, 0.9573, 0.9577, 0.1116, -0.0154, 0.9954]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1737 left_yaw=0.0861 left_pitch=-0.3867 left_roll=0.1487 left_gripper=0.9971 right_x=0.5371 right_y=0.0891 right_z=0.0247 right_yaw=0.1029 right_pitch=0.2627 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -3.0701, 6.5299, 1.3309, -0.1197, -0.0562, -0.0122, -0.5128, -10.4821, 6.4889, 2.21, 0.0073, 0.0317, -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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0874, 0.9688, -0.873, -0.2134, -0.0906, 0.9971, 0.1894, 2.2574, 0.9783, 0.96, 0.1074, -0.0193, 0.9953]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1733 left_yaw=0.0863 left_pitch=-0.3893 left_roll=0.1494 left_gripper=0.9971 right_x=0.5419 right_y=0.0883 right_z=0.0219 right_yaw=0.1041 right_pitch=0.2651 right_roll=-0.0533 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.6872, 6.5436, 1.2772, -0.1783, -0.0464, -0.0122, -0.3897, -10.6051, 6.3248, 2.1661, -0.0415, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e856050779443b977c74779048c04c136e49ffa4b5bbad127dff4a5e0566024c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:125e715d74a4609ab7b3260f1e2b77596b4b58cefc4f45df47a3d23b74ed52c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd63f255403af30f5b639209fb78de1bf217d0c5d6ea53339280b309a0656bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgcKEAgSGAI4AUIIdGhpbmtpbmcSDGKnO/ikZMEXLmMV2hoMb4e8f5qSEXS5mZpcIjAXPVaWR6ydHdFqFnNKGlmlXu3tBBnbuSuivdaNg0HaSHerVtY8++Sv4V4oHFW9/soq6wZ6RmlMwxUMDmPd23HZ05ZpVFtBfD8aAhbCDzme5pOg04o/mKLfIBUFIstFhvgG4kMHhl1PN9KbdiFlQAl/kgqlLKRyBopqZY6e5siHjujokGF/20X4KEMKDkU2FGeiQvz1FVsnxFtELL02wnwJOP7JcPYG9fqsruxSai13VHkQQfWk48rHLHSbeQ9ZE7zpG6dyZX47z8cprrKNXCt9j7HCbdMVtuEPYC6KlhHCBjdGX/SUuFK3FxYjiGePWb9d880/n/vKr2gG9zuquz3wH9Rk8c0uu1sLkuIAAUb6cqdjkGaCGjcLMI3dDLOt87Tn2tKExCTtyMD+fhgXJQpxbNGyCytCrLoa/tnPGvnSXTE58ZDYB3LEuLF55To+oBQ1tAtwI80+yuW1AZ++rOceIS2o5qzC94lrgpc+qbpC7R/bUENHUmchVO7toIOMi8NHnl7DY9POlCjF9bF6RFIXZit8rBIdhgJ3wIjWtBOqO1VZIArb7o7bhZ8iQpq7IZ6ebfsVIgYDn+aFmc9kTmTMJsUWDQqi/NUQgyGR2vjw9Os+mtFtRi79S3srH+mFea7Exr1ey+t6r9BV5u61Wl04yY4X83VdTicu1e52vWedK6pC+4/vJhP1WS+Fc7BRDI7fUun87NjQsdrOR9r0V9JHLEwjZ0JBz0Sj8Uad32sCG4ya06vF41tT/saIw/n3owVgiUQh31LJ4FHVggExi3Kei6UL2uzMhUMQXudryj2fLgMxF4Wj44bbj68WevE+m9Uqc1Z4T7vuJ0F5SBhY/Bl+at0hKT2W7WiZfQg8pr948r2luuYFs4HZY7Pnuhy/iRgLIFmTaW2v4yX6Gb1D7BeqWtcLr2+9tcL3n6JAgo77DfVc03jven9c+UJNe0g4dGIQqd8kCBUAyzEP/1ZBYgfe2o072pRD4k9EqGyD9uNW3zZk44snPFX5A3e/ASOAEY6hR7Z0pwRFwK4UHHj0r15yBlExXStq2OAOi3GGPFvxAEXpxcAmiSjid0b9ibhDAzRbu7yBWtj/jJTQOw4oboQ/VAFXB/exfFD9TawQw/FAtgdMMHGiB8d93l28EyWxdSO8Fq+BsgTiTfgK3EnXTC/WJldCEKJPLN/WeAldbtv6oc4C/jlCSXB1doDtODyrG24WTBLLM/G1tXVVSn0XqRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NG6RACMeJVr17V31PZgwrj",
      "input": {
        "note": "Arm stalled at x≈0.54 at reach limit; tipping further forward and grasping a bit higher on the lemon to gain reach.",
        "targets": {
          "right_pitch": 0.55,
          "right_x": 0.58,
          "right_y": 0.08,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NG6RACMeJVr17V31PZgwrj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1627, 2.4241, 1.1133, 1.1976, 0.07, -0.0277, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5786 right_y=0.0861 right_z=0.0367 right_yaw=0.1105 right_pitch=0.4699 right_roll=-0.0383 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.5504, 6.5162, 1.2576, -0.149, -0.0513, -0.0122, -0.5128, -10.1402, 4.8205, 1.7509, 0.1783, -0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d4def96ae86abd9f2a10b3705a3d670463db0a17790af59061c80b2cc6291f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10fffac9588d97dd001d0ca4de11a319ef7ec3d51afc96b20570c7a2db99ffcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0c719d3e5e1f72a7ca5c440688a413bc263a6801182809b559490afa246e499",
        "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 · 3.17 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]: [-0.1432, 1.087, 0.9688, -0.8707, -0.2134, -0.0906, 0.9971, 0.194, 2.2368, 0.9573, 0.9577, 0.1116, -0.0154, 0.9954]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1737 left_yaw=0.0861 left_pitch=-0.3867 left_roll=0.1487 left_gripper=0.9971 right_x=0.5371 right_y=0.0891 right_z=0.0247 right_yaw=0.1029 right_pitch=0.2627 right_roll=-0.0511 right_gripper=0.9954\nstate[joint_eff]: [-0.0479, -3.0701, 6.5299, 1.3309, -0.1197, -0.0562, -0.0122, -0.5128, -10.4821, 6.4889, 2.21, 0.0073, 0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0874, 0.9688, -0.873, -0.2134, -0.0906, 0.9971, 0.1894, 2.2574, 0.9783, 0.96, 0.1074, -0.0193, 0.9953]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1733 left_yaw=0.0863 left_pitch=-0.3893 left_roll=0.1494 left_gripper=0.9971 right_x=0.5419 right_y=0.0883 right_z=0.0219 right_yaw=0.1041 right_pitch=0.2651 right_roll=-0.0533 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.6872, 6.5436, 1.2772, -0.1783, -0.0464, -0.0122, -0.3897, -10.6051, 6.3248, 2.1661, -0.0415, -0.0317, -0.0171]",
      "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]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1627, 2.4241, 1.1133, 1.1976, 0.07, -0.0277, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5786 right_y=0.0861 right_z=0.0367 right_yaw=0.1105 right_pitch=0.4699 right_roll=-0.0383 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.5504, 6.5162, 1.2576, -0.149, -0.0513, -0.0122, -0.5128, -10.1402, 4.8205, 1.7509, 0.1783, -0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d4def96ae86abd9f2a10b3705a3d670463db0a17790af59061c80b2cc6291f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10fffac9588d97dd001d0ca4de11a319ef7ec3d51afc96b20570c7a2db99ffcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0c719d3e5e1f72a7ca5c440688a413bc263a6801182809b559490afa246e499",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDMf8KXqgKh7mE1BhmBoMxRhv7u9yu24lzBeSIjBzFuH2KtrEBQLrqKwC7KT1TO6slNQM9zpYVFaL8aViGKX+PAY5J8OzLs6WwvClTlwqyQY7eHbZamgcjBMhYfIYXWTGRr+Qgw/6v0EcY++6PatuhISltGtXhRUO3NRc+nYrqkx0/W3hHDNgavtt+BNIpIHdBlibEvwE6vtVJFNUL7MLDX/A9cei7Qjd4OoAc3wfu4QHztpjsrDUCqSV3nJwcuoNng7LUFZ1MhSW7IBUAIzOeK748n6JzimQpOblm9F1MFG1138yeAob/gVe1/yNd3CM7zA/yML7qJ5kLKZ0EElmQbcjkV8mbKWT09Vmv83Jfr696kfCajhuVgR7ikIARCVJ5Gh9760jHQGEAYobSwGn3Kz0Pv+u8NEBmHQ5Uhvah0dDXoiLp+vU5QnO56Gkh3tzt5SpbzqU2YNFN5LAXSGZ3zZL5yGdQgESV1xvb0cYx46abvE2Lq2VtJ2yx6RU3cGABzjhOvbNLSabibE7M5ztxNzw8jblCaXinvwUBDRQeuvMBWXq+R2m3hZBCfAIcdzAfAJQqThJaT+HxQZovJseNng4Knh5tXGp7fSAfnZLweHAOEJzfJrXmYJv17PsH7c8H9wmVRsqOgM0fH3HaJ/jDHqLfZ6imOHx6yhwHV8kBX6VQSShYyazRM1RkrSknol9J9gq82iVvU2zgcdsSBWU2tjo3v00XTPHTRuGyQ/WpVXMxoKDNLnPEr3U6ykaUBHBIEaydGknJzd9a0UBXHnWjUY7EpI6Xdo4xanm9uaeXe+DSBMgzGzOiRrUsDkI2hPCLP5K3xo4Tm1z/s/C4PPpaLTkq2DliVxWwen2R+uQoEexBy/Q4NZdceWgBZxBs0SQTw858w+ANtNKKGoDLS3ZqlcnrhdhbxDbrMavGqxzHGuwJ54EyF9i9n5MqkxI2ph6cfepW74Lq1hN2dyH9dYFaMspZkHQmlvMIhjl4t2UuixTJ9zFLBOyFUggJsYsdX0Vx6MiW5ND0vuEwBwKNYwfwHvrOKsBeC3B5uWp1rSTBLLQCLINy8b84uaY3UXS5xJj6WgnO7dFJUjWMhjZL+v8JOrlwD09jt0yV9+4GVxD/Af4sHQw917xOMjh5EGUAdaLoZJX2SN4zdkPCgn5l836f2siyjPtE4iH7RuIvyGgnkXVc9mafDu0zLLjRIsTc2chXcaC5/Mi6+GJGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NcGBahNxT8uUvjKiTynTnm",
      "input": {
        "note": "Lemon is now right in front of the jaws, slightly right of centre; nudging right and forward to centre it.",
        "targets": {
          "right_x": 0.59,
          "right_y": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01NcGBahNxT8uUvjKiTynTnm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1555, 2.4485, 1.1133, 1.2739, 0.0696, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5791 right_y=0.0819 right_z=0.0417 right_yaw=0.1132 right_pitch=0.5213 right_roll=-0.0554 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.1111, 6.7487, 1.2821, -0.1636, -0.0073, -0.0122, -0.4444, -11.0291, 4.7111, 2.2735, -0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a64c727c6f1649f68abfbcc9e08b63d19f518847814f03cd554bfd0d41aae3c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e0cf9c34af32ccdc984749012baf275512221a63db2e08488db7b8fdc4ae16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23faf74a4a7b8dd5a4950c287b56395eb8a7c5ce7027516ab66173e89b8e1c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 6.907 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]: [-0.1432, 1.0874, 0.9688, -0.873, -0.2134, -0.0906, 0.9971, 0.1894, 2.2574, 0.9783, 0.96, 0.1074, -0.0193, 0.9953]\nstate[eef_state]: left_x=0.2835 left_y=0.0005 left_z=0.1733 left_yaw=0.0863 left_pitch=-0.3893 left_roll=0.1494 left_gripper=0.9971 right_x=0.5419 right_y=0.0883 right_z=0.0219 right_yaw=0.1041 right_pitch=0.2651 right_roll=-0.0533 right_gripper=0.9953\nstate[joint_eff]: [-0.0205, -2.6872, 6.5436, 1.2772, -0.1783, -0.0464, -0.0122, -0.3897, -10.6051, 6.3248, 2.1661, -0.0415, -0.0317, -0.0171]",
      "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]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1627, 2.4241, 1.1133, 1.1976, 0.07, -0.0277, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5786 right_y=0.0861 right_z=0.0367 right_yaw=0.1105 right_pitch=0.4699 right_roll=-0.0383 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.5504, 6.5162, 1.2576, -0.149, -0.0513, -0.0122, -0.5128, -10.1402, 4.8205, 1.7509, 0.1783, -0.1734, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1555, 2.4485, 1.1133, 1.2739, 0.0696, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5791 right_y=0.0819 right_z=0.0417 right_yaw=0.1132 right_pitch=0.5213 right_roll=-0.0554 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.1111, 6.7487, 1.2821, -0.1636, -0.0073, -0.0122, -0.4444, -11.0291, 4.7111, 2.2735, -0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a64c727c6f1649f68abfbcc9e08b63d19f518847814f03cd554bfd0d41aae3c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15e0cf9c34af32ccdc984749012baf275512221a63db2e08488db7b8fdc4ae16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23faf74a4a7b8dd5a4950c287b56395eb8a7c5ce7027516ab66173e89b8e1c5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon centred between jaws; closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015XWGq4Rtb7kFqpF835jCAH",
      "input": {
        "note": "Lemon is centred in the jaw gap right at the fingertips; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015XWGq4Rtb7kFqpF835jCAH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8776, -0.2134, -0.0906, 0.9971, 0.1616, 2.4481, 1.1198, 1.2602, 0.0364, -0.033, 0.5136]\nstate[eef_state]: left_x=0.2827 left_y=0.0005 left_z=0.1722 left_yaw=0.0865 left_pitch=-0.3956 left_roll=0.151 left_gripper=0.9971 right_x=0.5793 right_y=0.0915 right_z=0.0408 right_yaw=0.1436 right_pitch=0.5146 right_roll=-0.0391 right_gripper=0.5136\nstate[joint_eff]: [-0.0615, -2.9744, 6.5299, 1.2479, -0.1783, -0.0317, -0.0122, -0.8547, -12.0137, 3.7812, 1.9951, 0.2808, -0.1392, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e03ff40094a63f267111d66c2fe7df309ef553a3fb9a89b947197cf110f5dcb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572e22fc430c476f2f1187c97672e17564fdeacf6dfccf33210b2b5d4eca441f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d57cfa252d2415f2c315b22351eefc517f7fc15dec72b4faaafa04f5280a9268",
        "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 · 3.704 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]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1627, 2.4241, 1.1133, 1.1976, 0.07, -0.0277, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5786 right_y=0.0861 right_z=0.0367 right_yaw=0.1105 right_pitch=0.4699 right_roll=-0.0383 right_gripper=0.9954\nstate[joint_eff]: [-0.0342, -2.5504, 6.5162, 1.2576, -0.149, -0.0513, -0.0122, -0.5128, -10.1402, 4.8205, 1.7509, 0.1783, -0.1734, -0.0073]\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]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1555, 2.4485, 1.1133, 1.2739, 0.0696, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5791 right_y=0.0819 right_z=0.0417 right_yaw=0.1132 right_pitch=0.5213 right_roll=-0.0554 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.1111, 6.7487, 1.2821, -0.1636, -0.0073, -0.0122, -0.4444, -11.0291, 4.7111, 2.2735, -0.0073, -0.0269, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8776, -0.2134, -0.0906, 0.9971, 0.1616, 2.4481, 1.1198, 1.2602, 0.0364, -0.033, 0.5136]\nstate[eef_state]: left_x=0.2827 left_y=0.0005 left_z=0.1722 left_yaw=0.0865 left_pitch=-0.3956 left_roll=0.151 left_gripper=0.9971 right_x=0.5793 right_y=0.0915 right_z=0.0408 right_yaw=0.1436 right_pitch=0.5146 right_roll=-0.0391 right_gripper=0.5136\nstate[joint_eff]: [-0.0615, -2.9744, 6.5299, 1.2479, -0.1783, -0.0317, -0.0122, -0.8547, -12.0137, 3.7812, 1.9951, 0.2808, -0.1392, 1.0037]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e03ff40094a63f267111d66c2fe7df309ef553a3fb9a89b947197cf110f5dcb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572e22fc430c476f2f1187c97672e17564fdeacf6dfccf33210b2b5d4eca441f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d57cfa252d2415f2c315b22351eefc517f7fc15dec72b4faaafa04f5280a9268",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wsKEAgSGAI4AUIIdGhpbmtpbmcSDHwUAoI5bKWgc4mG/RoM8WDryARM9ivmjRXcIjCnF4BTtLDaQ/sPnV/UzIkR7AZRqEPn2gBIk7IAjkkelJNqVpeqRLBetOC365wtJKEqlAvg9QXGseLYDpWC5N8jPFyymw2jwl9ssQJCz7MqVO9ApI0MR0Y8WgmQzeryk/QqJzHxOdJhCXglw2iIK0D91+BrFwoviFelZW9np7pjuH8XjBQ+t8mRiDtJyqp/sKy+ESuERGmzi7hmJUpyDdRuIynZ3Jnu6g1nkliTMDZWv5PViCiOowWJCzV1ZkJCY3+f4HEyZMQ+/hRP7YSJMQxC5OGwLhRl67X+Z/tHwb28sgwD4o0ajpbhBJFz3Cx1ovwJy+4z+VeQth4Qdnapu1nvhIUt3hPuqoruR3cJnp4fuPBj29DNUQRwaz3xpV7eQAarL92jSU3IFMBq3KLP+w9SXdIm7/IsKIgBhK2Q0YriYct5bvPxwr2SYpstMdlMha/Bzo9G5tQSL2BslRXQf03+PQIZw5h71d3qJjqC7cFPPr0kOayzMrd2HHLA556eUQIo7BMf2Za5OeK9ujLowmQ4aZ+vhEfAYwXZtwqml9G+EaMgTiOJwQaFoEFA7K6GxffgQZtyy81HSBm+MWhoxccBFKuQnznhKVYS9dqw+aEoj494uGv4kdWXbARg4R/AyykqjLrAH/CM3EtmJHL2R7EPv8uUO2S9gAeGbgmGm57bRCyB3lDqnHN44rUKVLFoqygx3FkGaNGvvV6iZpbjlZ8zQmPYAYvtJpysa/F5yA8lfsXSJsZSJwl7d7+rUB2k26EblLSXUstcaDzvAIXwyXHFgy25jZUKD2tdqk0rt8Kkf6gsHxrWj0lpjh6f1/ejF4ukUvDxJ9afIFFiyP6KOttVd5EgHN+MhzHQTvbbov254/jFrkeCO6K+UchTXuZxpcsgKMMHWc+Wh/mV1e7znWvNAaZ/qbysW1dyN0YG9F+wpgt9JkdCrv+B4Go5Ut9Nb1pjASnsRIFpx1PNK05QTy3U9qzmrM32cFdLKfu0iHOYP7ix99cMmTGP/xNClpnwQ74U1M1U+nSlGXfCjxJM1Wc3Xcuff5q1TmbM3j2T59bJKxEZ9vnkSi69MH1J6SPUkogVYHqO/Lj60zon39eULdbcikPWyeMdZCMs41sC4DxSkly7sR8POXkm9BKm/18sxz4YlEV/vdktf+NArg0+/4S+LSIGA8QV5a8Yb7OOPh0aYDGMo/ysrym64uRri9cZb2+JcsYdrrkMJ5xwhzXgEvlar/Bdl1r6DkLz8Cos7xL+1HZHK1ud+epmHCMVhzifjTnl71WEyO9C0LqNUWu7IXJnWey0lRVn+Pj9R7jWoWx7bCdlO6v3PC4qhCgYhPusvPz81nkvhYqn78pB316Yo9RCK0KvUGCtbTErmfD0OToGPOueRAWqOBZzgYUFdFi3+mNexbhFn7fCcKUpkFU68MRmi/b8VW7TsyqJNkCeChx6s2OWBRmh0GWkSbiSxc8aKEh6lCIgGmiN+VmcS1/SvhEJwLQmJJakeNs6hH3NebfOozbR3+IyVsaHP9p86ePm/GrQFj0VA28ghjcqyWgBvZRVKCU9b8LG8ClqIA+CNH6fP94Qvap/YERmSYE2FOl8WPWTeXHFI3p8CyI1mmdCT0Z/7ogQC/rYPTkghYQPKihNpXqcZwjfF/ukv04oAzdcFEsUwJxgE2G6ULBv4114fuav69QtMeKUU5N5avCOlT6PrwP1dfvALna0ngIQXK+EgyhdNvSLACE1MrlpjgvsGVWAb5buKW4UOU32Qd+CgMsnNKcpW+QL88lluGqTfN8TP/Rdq7k+delEuoDnZpTA06MtKg0KDyMaKljPiIjcVt4bkNx77yUFYho1ZqcmdrZR54y8Dg0q224hYVrfSkHNN/xIJkHLcQUtwxwgXD5dhQvH9ZKht6tHe7btBYsBKzXzB/qF16WDFm8Hk64Xk/epNQUhP5IZhrNWUsmBX2Cowz1azIbstk5L9lIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JsXKMoRwASDoSnGrY8Zqo9",
      "input": {
        "note": "Gripper settled at 0.51 (~5 cm) so the lemon is held; lifting above the safe wall.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JsXKMoRwASDoSnGrY8Zqo9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.1635, 2.1231, 1.0958, 0.8291, 0.0223, -0.0265, 0.5143]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.571 right_y=0.0938 right_z=0.1098 right_yaw=0.1555 right_pitch=0.3847 right_roll=-0.0318 right_gripper=0.5143\nstate[joint_eff]: [-0.0479, -2.9744, 6.6393, 1.2527, -0.1783, -0.0366, -0.0122, -0.3761, -14.8718, 9.6479, 2.5714, 0.0806, -0.105, 0.0611]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08dd572aff25cc771c297accf7311f669fc5cbfadd74bb4e0c93a47e08ad38f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4601f70f5f6dee342574c167b31740e75cbef81256e377e2165252a03a08e079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b353b245f7fbad1856becda483214d97f73f0dae17f8f04e5c0187e086435e18",
        "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 · 4.905 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]: [-0.1436, 1.0893, 0.9688, -0.8768, -0.2134, -0.0906, 0.9971, 0.1555, 2.4485, 1.1133, 1.2739, 0.0696, -0.0452, 0.9954]\nstate[eef_state]: left_x=0.2828 left_y=0.0005 left_z=0.1723 left_yaw=0.0865 left_pitch=-0.3949 left_roll=0.1508 left_gripper=0.9971 right_x=0.5791 right_y=0.0819 right_z=0.0417 right_yaw=0.1132 right_pitch=0.5213 right_roll=-0.0554 right_gripper=0.9954\nstate[joint_eff]: [-0.1709, -3.1111, 6.7487, 1.2821, -0.1636, -0.0073, -0.0122, -0.4444, -11.0291, 4.7111, 2.2735, -0.0073, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.8776, -0.2134, -0.0906, 0.9971, 0.1616, 2.4481, 1.1198, 1.2602, 0.0364, -0.033, 0.5136]\nstate[eef_state]: left_x=0.2827 left_y=0.0005 left_z=0.1722 left_yaw=0.0865 left_pitch=-0.3956 left_roll=0.151 left_gripper=0.9971 right_x=0.5793 right_y=0.0915 right_z=0.0408 right_yaw=0.1436 right_pitch=0.5146 right_roll=-0.0391 right_gripper=0.5136\nstate[joint_eff]: [-0.0615, -2.9744, 6.5299, 1.2479, -0.1783, -0.0317, -0.0122, -0.8547, -12.0137, 3.7812, 1.9951, 0.2808, -0.1392, 1.0037]",
      "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]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.1635, 2.1231, 1.0958, 0.8291, 0.0223, -0.0265, 0.5143]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.571 right_y=0.0938 right_z=0.1098 right_yaw=0.1555 right_pitch=0.3847 right_roll=-0.0318 right_gripper=0.5143\nstate[joint_eff]: [-0.0479, -2.9744, 6.6393, 1.2527, -0.1783, -0.0366, -0.0122, -0.3761, -14.8718, 9.6479, 2.5714, 0.0806, -0.105, 0.0611]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08dd572aff25cc771c297accf7311f669fc5cbfadd74bb4e0c93a47e08ad38f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4601f70f5f6dee342574c167b31740e75cbef81256e377e2165252a03a08e079",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b353b245f7fbad1856becda483214d97f73f0dae17f8f04e5c0187e086435e18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwcKEAgSGAI4AUIIdGhpbmtpbmcSDOPsWqzp0JQ5XzAqJhoMawfCZ/LE9CE7lRw8IjDLOhMV7HJhyVyjhLzGDAlTC+nELiW3BdPlkkBFKrCssgC2lSmZxR1eCP6vBAP6piYqvAZsybtTYVIuADkfgkRmszi0Q6zXrpjgdafbicsKplov8385wZ4CZzukvSDNSX6InGydFpbz6CEWtLvDEZ73p2iD1fXWg1t/inTzxu+kvAhx0/mA+tr12ECRd4oeIfjIxYF3+0cHnOGEceqRpQhaYhA65jiWGGtm6pVFkHQHrpVPOk7hinc4RKP7ECaaxiswq7nByYWU9AxPgwU7frkJgC/8Jv97Qw8V2jxZsHKxMZ4gJMMxXi+uG4QWO+36edKW6NRGiGkGwrwkgljqv5+H/680jwcHo+Abm+yENvL0mRbhY8hzVn1BP4eiw75v9dmCcnPzPYvmqb13ZvamGeAEPqq2d3qfCFsnEiYooHPIU5oRkbZ82y1dt45UQNFx2Nlo324dZc67YLA8/LSVh5FM3JWfwGRxTC2ooX78JFst6byoEPlPBt8Vzpet5BnJGxWZoFgDlBqiLPSjwkI4As8JXEyNcXjdEYbwDbGxeb1INbsvrenVkDEn8bKqX1ijISdhTPL9uiR1JdLbDeIaZW90st8gLxoTAPIrNW4TtNT1/U3kHoFUWMan9vl3b25mSuuiY71/yuDlOSI3aPg4RcusVibAuNAmBKa8un1rSdj7q+2R2c/BtNDZdsmJnUl+G5Pd42/aRjS8dW4e1OxeukXgvDgvzk+f2q5lEkFMJTzlOuLCB9kk95+7XNl5UWy8OQ3euZmtr0ZYx2lj4lZbz5Fg0gimawEFpescOWoYOjNm7y7wLtPHMtpfjTdxYXAvJVhmJgwi4cKnsB2C9T3n7PWnscNPVSHFiZ3I7jAi0CWPkEZthQUjSwH4DUV14ZbXwahSNvPoQuzuFTDp0cmU7GH6JX0cpI758G+cit8UD1Jd3HqKDtlSeXnnAOCW27/LDp99zut/9Vt2V+ugIzemYCBJ306iAKFMKhieTTqQ0lhHFK9i/d/rnpL7G+vrw6iUnMQJ6JeBpNxsQ/d+wVFcNP2NkdGsEY5HpuljzZuw2Cjbx/NzRI+ONTjwGa39w/wBE0Aze5LKIc5y3lzQ+C+sJImX2pQznoSXnhgkGXnt97B5dcQqR0tgnOlAyBDIyFAwzZ5PeXdGQA7OuhPtuPlRb+gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012keqaEFnvX8D4oVRckdTpU",
      "input": {
        "note": "Lemon held above the table beside the safe; moving left over the safe's red interior.",
        "targets": {
          "right_x": 0.52,
          "right_y": 0.17,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012keqaEFnvX8D4oVRckdTpU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.3714, 2.0037, 0.9947, 0.7319, 0.2123, 0.0162, 0.517]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.5208 right_y=0.1667 right_z=0.1101 right_yaw=0.1726 right_pitch=0.3118 right_roll=-0.0435 right_gripper=0.517\nstate[joint_eff]: [-0.0479, -2.9333, 6.5436, 1.2527, -0.1538, -0.0464, -0.0122, 0.212, -13.094, 6.1333, 2.4005, -0.0806, -0.0562, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecbfeb6c74bc95750b0bc5373c636e25ba3e7caed0638a8c034de21de2f660d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7579baea25541796ef69541def5c33c053d9468682c6b62e280a18599f0c6582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:628aa5972d5bf1cb2b6ece78777f66dc2d38d01967e5c61f544649a09dd439eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 7.843 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]: [-0.1436, 1.0893, 0.9688, -0.8776, -0.2134, -0.0906, 0.9971, 0.1616, 2.4481, 1.1198, 1.2602, 0.0364, -0.033, 0.5136]\nstate[eef_state]: left_x=0.2827 left_y=0.0005 left_z=0.1722 left_yaw=0.0865 left_pitch=-0.3956 left_roll=0.151 left_gripper=0.9971 right_x=0.5793 right_y=0.0915 right_z=0.0408 right_yaw=0.1436 right_pitch=0.5146 right_roll=-0.0391 right_gripper=0.5136\nstate[joint_eff]: [-0.0615, -2.9744, 6.5299, 1.2479, -0.1783, -0.0317, -0.0122, -0.8547, -12.0137, 3.7812, 1.9951, 0.2808, -0.1392, 1.0037]",
      "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]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.1635, 2.1231, 1.0958, 0.8291, 0.0223, -0.0265, 0.5143]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.571 right_y=0.0938 right_z=0.1098 right_yaw=0.1555 right_pitch=0.3847 right_roll=-0.0318 right_gripper=0.5143\nstate[joint_eff]: [-0.0479, -2.9744, 6.6393, 1.2527, -0.1783, -0.0366, -0.0122, -0.3761, -14.8718, 9.6479, 2.5714, 0.0806, -0.105, 0.0611]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.3714, 2.0037, 0.9947, 0.7319, 0.2123, 0.0162, 0.517]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.5208 right_y=0.1667 right_z=0.1101 right_yaw=0.1726 right_pitch=0.3118 right_roll=-0.0435 right_gripper=0.517\nstate[joint_eff]: [-0.0479, -2.9333, 6.5436, 1.2527, -0.1538, -0.0464, -0.0122, 0.212, -13.094, 6.1333, 2.4005, -0.0806, -0.0562, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecbfeb6c74bc95750b0bc5373c636e25ba3e7caed0638a8c034de21de2f660d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7579baea25541796ef69541def5c33c053d9468682c6b62e280a18599f0c6582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:628aa5972d5bf1cb2b6ece78777f66dc2d38d01967e5c61f544649a09dd439eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwQkKEAgSGAI4AUIIdGhpbmtpbmcSDE1ck4d0d0mLoWwX3xoMUeow69G0Yca4iLRmIjBAKGe4Gwn2tE1337be5PM1S9fwyKenZjjQaczG0lPqzV+hIkx6RmnpYpOyVs/4CKEq3ghMwZ4Zcdmgw2ceNsW6QU3GA49tEBZk/xREFesc82V9LkxQLPCqm5x9vG3IlGr2n3dWaqDjBjugb+pH7dWUHv2jnP5pzPNqhC2vvNl5pEjWto62lS7m7eHcUMKs5u0GxH8hVPDukbdxPgv9Nse6w6A2/J7QbjlzrUyojDA89pWdCK+eTZNpDn5m8TcWiLswdfki1BPMAWMNwwGSNqzfIQQnbKIUBMJ/7ffyY4RULr/qMBZ4zUode3eHKbok11lDmRQMbPrzd1ajcYoNr/iKXoCtvPHa6l53I/boC80oDbgUmBmAIB7NrNN0MuGmtXIsndQ4zmfdFDH0s6HqH3u0WyzumzjB8EDkJXXJvzqLTDkv7lkcbHG3OBb2GiHmvjhiOndbYOivq4AlqJ72BlWVJhfme+RIdFZGYZLsC84At5JJfQ8kBkltJ/BwbgomL6EKhOutll78biJ55h0Tutcj3ma4mDotzohOT/Z7Kl4mqrMDz5kqIG6QI24Kqv+5LyhTH7Qv+oOicb6sAnMNTo5fqJSSdtQuNRoKVcr/LZCkMrFGTaeaTLo5FcBPQ+9fPjgm5PrY2cSQEJVAlMt025O7VisQO1YQIvUXkmqvGJUbjzujIAthjQw8gnYdTM6xpec4r6KLS3E3l9yPfKmbrZhMesjGT+wJgdjuYkHpxK/JRsmGOWqmqJ6mOcDQIwnwuau1Za+M9p7EFy37yjLy9LZbji5wkJ4UjDdt881p/3mJ/6z6ZW0tXvsbhqOHB+VF4Een4B2U/v8IlF9DiYtUdBtwmHfN2qxF+n5vo3HcPsRQ5hLwASAb4rX37QG7y6T/lajh7dF5emJ0U60W/p8rqivS+XUKs3e2ZVg245T28sLU4rs3m5smfmtyHx7qckH/bB6Bnjhd+rrttIA1ixJ/O+4WA+SB43U9N6HcJ98YbDoVAsG0NPhOpaqOeawwyJH5aZY77Wg18Jcpza2Cah0Tl6Dvep3up1AcZJ6IDN+862a8b0oRXPSzEWZBa3Ro4ERJ9aGER1g9D9rVN5Z7vQTsmYNmURjdwx9UWWqxZgLZLI7ip4hpaWY9UT/dBYyYETdz8GjzSZ48+QSU2yybiu1J9ZfskAN4V7ydESWXtcv57MGzZCsM7gOa9s7IZFJaHHTPDsJJn36Ut0M4At1rI5KZoMcmAM49jeO8wYi2k6Kw8k6bImxnUiwgoqICnyJtCPGmMHfVzu9i75742I7Ah7v9jjR/Df5ZHXqWMP0ee3+/J4yqd8wgDvkI7INNv/ZWztvNrFsq0LCm20atgI0XoN22BAVu6ldjyXhcjP4QPfahJtHxPJzbhOcBbO8ebr/buT4ypor4qUR3QfMfOQWur2xOdokPeC9UrU2rwjHxukFMTzPF7yD1GfSdHHAwG+wTRt2RmaOM6pUmINZspS606Mb+VgkfLqDc7no/L39N1tW3vx8840yIT4nzs0hRDH+nDHqyCcAMjMdh4+/Muh6SprBjf1tfoxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JKo4nzJNFsUDpfBg5auhW9",
      "input": {
        "note": "Overhead view shows the held lemon still just right of the safe's right wall; moving further left over the interior.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.24,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01JKo4nzJNFsUDpfBg5auhW9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.5484, 1.993, 1.0855, 0.5396, 0.374, 0.0776, 0.5187]\nstate[eef_state]: left_x=0.2826 left_y=0.0006 left_z=0.1722 left_yaw=0.0866 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.4972 right_y=0.2323 right_z=0.1126 right_yaw=0.182 right_pitch=0.2407 right_roll=-0.06 right_gripper=0.5187\nstate[joint_eff]: [-0.1846, -2.9333, 6.694, 1.2186, -0.1245, -0.0562, -0.0122, 0.3761, -13.9829, 8.841, 2.0977, 0.1099, -0.0952, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0772a23ab0716fbad512fe3edd4110cf8861f2a4085457a95ee8b4c7d2c30b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f3c7cc3be0b5d5bb065388765fff9602257dac9d382b0031e3e99b4036bd71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea88865020bf9d1f2cb7030de731ee388d06a9b26ef151c983ecebd058d7d37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.856 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]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.1635, 2.1231, 1.0958, 0.8291, 0.0223, -0.0265, 0.5143]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.571 right_y=0.0938 right_z=0.1098 right_yaw=0.1555 right_pitch=0.3847 right_roll=-0.0318 right_gripper=0.5143\nstate[joint_eff]: [-0.0479, -2.9744, 6.6393, 1.2527, -0.1783, -0.0366, -0.0122, -0.3761, -14.8718, 9.6479, 2.5714, 0.0806, -0.105, 0.0611]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.3714, 2.0037, 0.9947, 0.7319, 0.2123, 0.0162, 0.517]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.5208 right_y=0.1667 right_z=0.1101 right_yaw=0.1726 right_pitch=0.3118 right_roll=-0.0435 right_gripper=0.517\nstate[joint_eff]: [-0.0479, -2.9333, 6.5436, 1.2527, -0.1538, -0.0464, -0.0122, 0.212, -13.094, 6.1333, 2.4005, -0.0806, -0.0562, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1436, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.5484, 1.993, 1.0855, 0.5396, 0.374, 0.0776, 0.5187]\nstate[eef_state]: left_x=0.2826 left_y=0.0006 left_z=0.1722 left_yaw=0.0866 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.4972 right_y=0.2323 right_z=0.1126 right_yaw=0.182 right_pitch=0.2407 right_roll=-0.06 right_gripper=0.5187\nstate[joint_eff]: [-0.1846, -2.9333, 6.694, 1.2186, -0.1245, -0.0562, -0.0122, 0.3761, -13.9829, 8.841, 2.0977, 0.1099, -0.0952, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0772a23ab0716fbad512fe3edd4110cf8861f2a4085457a95ee8b4c7d2c30b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f3c7cc3be0b5d5bb065388765fff9602257dac9d382b0031e3e99b4036bd71",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 259):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea88865020bf9d1f2cb7030de731ee388d06a9b26ef151c983ecebd058d7d37d",
        "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_01HmPbDRoStK5QQ7K1Xxi6Lp",
      "input": {
        "note": "Overhead view shows the lemon still on the table behind the safe's right corner—the grasp didn't hold. Returning to the lemon with the gripper open.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.55,
          "right_x": 0.58,
          "right_y": 0.085,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01HmPbDRoStK5QQ7K1Xxi6Lp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.8799, -0.2134, -0.0906, 0.9971, 0.1448, 2.3898, 1.0767, 1.1759, 0.0124, -0.0528, 0.9976]\nstate[eef_state]: left_x=0.2822 left_y=0.0007 left_z=0.1719 left_yaw=0.0871 left_pitch=-0.3978 left_roll=0.1515 left_gripper=0.9971 right_x=0.5717 right_y=0.0848 right_z=0.0372 right_yaw=0.1618 right_pitch=0.4451 right_roll=-0.0586 right_gripper=0.9976\nstate[joint_eff]: [-0.0205, -2.9333, 6.7487, 1.2332, -0.1343, -0.0513, -0.0122, -0.253, -10.865, 6.2701, 2.4054, -0.0171, -0.0659, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be604ccfc45584125adcfcdd2500e2e66ea458f68e92c196ab889ec0cb5c2681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6d69bc1b6ea9f786259d7e21409fc9aad5aa724ee51029aedbfb49851d1fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2d73bc20407db803e905185ed5948a9c1d86afc5f9b69393cd69f2b7f5475cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.292 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]: [-0.1432, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.3714, 2.0037, 0.9947, 0.7319, 0.2123, 0.0162, 0.517]\nstate[eef_state]: left_x=0.2826 left_y=0.0007 left_z=0.1722 left_yaw=0.087 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.5208 right_y=0.1667 right_z=0.1101 right_yaw=0.1726 right_pitch=0.3118 right_roll=-0.0435 right_gripper=0.517\nstate[joint_eff]: [-0.0479, -2.9333, 6.5436, 1.2527, -0.1538, -0.0464, -0.0122, 0.212, -13.094, 6.1333, 2.4005, -0.0806, -0.0562, 0.2711]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1436, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.5484, 1.993, 1.0855, 0.5396, 0.374, 0.0776, 0.5187]\nstate[eef_state]: left_x=0.2826 left_y=0.0006 left_z=0.1722 left_yaw=0.0866 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.4972 right_y=0.2323 right_z=0.1126 right_yaw=0.182 right_pitch=0.2407 right_roll=-0.06 right_gripper=0.5187\nstate[joint_eff]: [-0.1846, -2.9333, 6.694, 1.2186, -0.1245, -0.0562, -0.0122, 0.3761, -13.9829, 8.841, 2.0977, 0.1099, -0.0952, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1432, 1.0893, 0.9688, -0.8799, -0.2134, -0.0906, 0.9971, 0.1448, 2.3898, 1.0767, 1.1759, 0.0124, -0.0528, 0.9976]\nstate[eef_state]: left_x=0.2822 left_y=0.0007 left_z=0.1719 left_yaw=0.0871 left_pitch=-0.3978 left_roll=0.1515 left_gripper=0.9971 right_x=0.5717 right_y=0.0848 right_z=0.0372 right_yaw=0.1618 right_pitch=0.4451 right_roll=-0.0586 right_gripper=0.9976\nstate[joint_eff]: [-0.0205, -2.9333, 6.7487, 1.2332, -0.1343, -0.0513, -0.0122, -0.253, -10.865, 6.2701, 2.4054, -0.0171, -0.0659, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be604ccfc45584125adcfcdd2500e2e66ea458f68e92c196ab889ec0cb5c2681",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf6d69bc1b6ea9f786259d7e21409fc9aad5aa724ee51029aedbfb49851d1fa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d73bc20407db803e905185ed5948a9c1d86afc5f9b69393cd69f2b7f5475cc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QgKEAgSGAI4AUIIdGhpbmtpbmcSDPNm0YqW3mF+y3n2jRoMqFQE6GkM7/PH99GNIjC2SK3IhHF+otbLQ7C4HebPE8COmUhgeMztl/QOUBQidu0Dg489gW5gjbf9xygi+LMqjgjQhlZrJK60aZmHVn+0zvowGYFc9yC6Wx6mmRRYdc4Gm9fbbKp5AppR1wOEmkDP/v2breYS6Eh6hCt91BcR6wHT3DPccfkUPJvCInP3j2A+VnJ2Wd5OZJji+pkMvr3VYzx+QHxWUpu6dJZ167pOJtgz1qzGDg6frNsvuWwQ6x/8bIQBM5NluhplwtrT/knnDK2AZFuE4etSXRVyqo7gxtlJFk3+CrlPbweqAn/V8LhI9lY2cNMIYm10kwy9ogmb79IZPCpPKfnTJEP4tEuhG3zS40quyz0KpcBujShZJyephcykdKNgtHSdfMt1A/JlnhOgxiZ6Su4chKZ4nlLMbjyqbQw0jU05MNiC7eAqHGM+801wJbQAALTbSLgwcowNZI5carmuVAHEgpuixBUoPadrEcpPdjCdx11XKETZoFFc2GNGGEG9CVrZfSW5nCpyfrNeuWV674h2dwm8+U1JUJejnhBMJShUW6e7imOqhD4eWFtjfGqhOL4Nd6SVvSGmfRhJd0vIVNH8pi39mSjNjRM7ecVaARpADSc1S6Qdz4p3RLxtpCSWmUp5SOx65zda0WebSE4BvUfxPkIGBb81BT24IZ1TndgKRANW2IDnj+aYcS9zTrjiBZ8TD+EMv4saCIdK4MEvahDHlE9mOz6gfETKD8VRb8wa1AqqNteT+MivEncHZJEB37eVfUVNvGZfZgNKW2sVjJU2M+5ATbQ1kNOLK3Lo4mgK7l6XmV88u0K/RCRmamsjoeXZryzqXoPxQ4Iu2reyvEn2VFwDlTa4NLmffKsQxUGBl3m5Wa1lKy4s3yYt7BIUKmShwANYkOsijvdOWxyOTKQNb/fRnKji4PCBBxy7Yzy2ZUjPPjsncC3WEFmYTpu2+ujOfyRz2jsfv4+ce+FDZoaoD1ocy6RMo7lu2+7UVllVDnf2VCGov5g5+M/bkY1KU46ytBpMm8ZA9W+/iUVQh9Q5dNwZayrnXyWOnlW63IrBbfYK9WIhJpZoO1AjnSyGs9lXIcBhVwCQs3br7rXy9I4c/u27uvuQYpMTROER/dxDZkCGzu/mARA3SGoikhdOGmf0WrSOHISiZhQ6uw4G3Kz/qP2vscDE72UtSblgFB8rO+9i1BExrKG9L8Aor3zf5ci7kvqFNYY544WHm52HeAZv2Hb9l+tTW+oboavRN/Pqo1Q3vc9uSaJrqhSO1XpAOZSPuQU7qW51Gn1S8lQ6MmS7eoy2eS2yOTNB6LtVpwHyidmT9Vz82lSycri5lNhRsYAcsHT2yX+yv8PqB92qhbd6b4/Nd94/vVr24+rv7d3KhQIX4O2MQeIBGXkEoPG0D9+20qAYGZf6xmho1YiW6USHrBqSVWgY5yPYqewahtTd+fHoyEonwJUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nm9NS5w9dcccPTxyFw4F7g",
      "input": {
        "note": "Lemon sits ahead and slightly right of the jaw gap; the safe lid has fallen shut (white teddy inside). Centring on the lemon before closing.",
        "targets": {
          "right_x": 0.59,
          "right_y": 0.068,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Nm9NS5w9dcccPTxyFw4F7g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.8799, -0.2134, -0.0906, 0.9971, 0.1226, 2.4096, 1.1156, 1.1812, -0.0319, -0.0536, 0.9988]\nstate[eef_state]: left_x=0.2822 left_y=0.0007 left_z=0.1719 left_yaw=0.0871 left_pitch=-0.3978 left_roll=0.1515 left_gripper=0.9971 right_x=0.5809 right_y=0.0809 right_z=0.0417 right_yaw=0.1818 right_pitch=0.4697 right_roll=-0.0544 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -2.8103, 6.653, 1.2479, -0.1734, -0.0171, -0.0122, -1.4154, -10.4957, 6.5436, 2.1123, 0.1099, -0.0708, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a84cea7cb8c229a9549e63f2104d950f526f19f2af89ee0c8e5a7efca54c8d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b1f1a0ad42286684b1d0b71b0a1222ec184d430ba78a1cb4cc30de0f3eada8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:229eddbe5de9b71f2878fdbb9f9af88aecb85b69a2eeac7478443ab3b3bd1384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 11.45 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]: [-0.1436, 1.0893, 0.9688, -0.878, -0.2134, -0.0906, 0.9971, 0.5484, 1.993, 1.0855, 0.5396, 0.374, 0.0776, 0.5187]\nstate[eef_state]: left_x=0.2826 left_y=0.0006 left_z=0.1722 left_yaw=0.0866 left_pitch=-0.396 left_roll=0.151 left_gripper=0.9971 right_x=0.4972 right_y=0.2323 right_z=0.1126 right_yaw=0.182 right_pitch=0.2407 right_roll=-0.06 right_gripper=0.5187\nstate[joint_eff]: [-0.1846, -2.9333, 6.694, 1.2186, -0.1245, -0.0562, -0.0122, 0.3761, -13.9829, 8.841, 2.0977, 0.1099, -0.0952, 0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.1432, 1.0893, 0.9688, -0.8799, -0.2134, -0.0906, 0.9971, 0.1448, 2.3898, 1.0767, 1.1759, 0.0124, -0.0528, 0.9976]\nstate[eef_state]: left_x=0.2822 left_y=0.0007 left_z=0.1719 left_yaw=0.0871 left_pitch=-0.3978 left_roll=0.1515 left_gripper=0.9971 right_x=0.5717 right_y=0.0848 right_z=0.0372 right_yaw=0.1618 right_pitch=0.4451 right_roll=-0.0586 right_gripper=0.9976\nstate[joint_eff]: [-0.0205, -2.9333, 6.7487, 1.2332, -0.1343, -0.0513, -0.0122, -0.253, -10.865, 6.2701, 2.4054, -0.0171, -0.0659, -0.0659]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1432, 1.0893, 0.9688, -0.8799, -0.2134, -0.0906, 0.9971, 0.1226, 2.4096, 1.1156, 1.1812, -0.0319, -0.0536, 0.9988]\nstate[eef_state]: left_x=0.2822 left_y=0.0007 left_z=0.1719 left_yaw=0.0871 left_pitch=-0.3978 left_roll=0.1515 left_gripper=0.9971 right_x=0.5809 right_y=0.0809 right_z=0.0417 right_yaw=0.1818 right_pitch=0.4697 right_roll=-0.0544 right_gripper=0.9988\nstate[joint_eff]: [0.0068, -2.8103, 6.653, 1.2479, -0.1734, -0.0171, -0.0122, -1.4154, -10.4957, 6.5436, 2.1123, 0.1099, -0.0708, 0.1099]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a84cea7cb8c229a9549e63f2104d950f526f19f2af89ee0c8e5a7efca54c8d29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b1f1a0ad42286684b1d0b71b0a1222ec184d430ba78a1cb4cc30de0f3eada8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:229eddbe5de9b71f2878fdbb9f9af88aecb85b69a2eeac7478443ab3b3bd1384",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4gYKEAgSGAI4AUIIdGhpbmtpbmcSDHUHRGRllBPltOXHVhoMyzS0wYn07o87vL/+IjDhTS4uAOK6cWpnBWIVSCKx87xPxhaRCgol1j7fdJy4kYbPoD9TsxBP4h3EIYpNYVUq/wUnxijTm7/hLr9Jeijani7u4KiYQQQF9iXHRjjMtL8iRJs/lABXP9a6RHCf6aL7b7EfGfeIn0Dpx7yYgyukAQZUqNpgikQYJmI6iiO1m2Ol5miJPwGRbu9Ps7a+0pxQ4LqUfVGz5GulydVX3ZXqTg97j0cXYza3jzg4U7tpDHlZ/zr5yRVWGYjJGbhiYUYsiKc76kowCTpDjLABqU2A6/dzwUlStYIDCD4H21tNhzLT5Gw5RahODxrh1pHvM/8TeTmaWDqKb2PkmHIk1nlCBnuCsqrU/QRNuqRF4soA4dudQWiUMAW/SPwmVqJBFvoVAHgGtETHEZNcdknsk3c8k7ktrOcBMeSETEj50e8VC3XBeY2Jy5IqIBK5h9WmtzIPVtVcAOw4bC9FGLapZtJa3mAZEAC+VTMROKYpAXu7x8wLX7qQdGR6oL7zsb7dcfah2PZoS5LVGDHfNCmxBYCH1Z3cEaTdX8i1JTSxABbtrFqHHaxnBGRICEdHZm0MSGPMAiXKtYdj9CWfYg6kns9UbPMF2rrMJabLvTOERKA92vss13jOP/NjHKe13ySkFYaMfGQ31E0lOUsvQnXWHDj88xxO9mP2u+/mR2JQYhyTp91z1RFwk98psIAtrmyftYk0s+vg8MHNCGkwYUvog7SLm/rTXrVE0t9fLHdueJCeOC6cEUQHJ7p/YGOTzSkydJIM75VYS1QmzK6fsesmXpEipsZ0u+J0W1rH+dKXaIGc4vJJokJfG4+4eoCiDpJQ40hlkhCMScbt6uQBIxFnQB8xjszSPQnu+85Ol9M6SZz/kYxpwph9KC+lauXeWYwBLb5atQ1VE9rneVqj3PkQKkPwEYHQ9HPoKz0gyOy22+Bob3z2xofwRzkNNCgMTr7Zmoy8HqQxgTSmzUBLBUhXglVVyABid+SPAeAdP5lfcgYtwS7YFLFF3qKGdEQl4TxmFrrFiiYTF+kC4FObFz0kHQSuO69yJgw+WBMomI207NqyCClJ5FWydBp6tKENYB0NiGHqiBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011V8jQSYQdq6EzSs6jocPPp",
      "input": {
        "note": "Lemon fills the jaw gap at the fingertips; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011V8jQSYQdq6EzSs6jocPPp",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1444, 1.0939, 0.9684, -0.8978, -0.2131, -0.0906, 0.9971, 0.123, 2.4138, 1.116, 1.1423, -0.0383, -0.0536, 0.0083]\nstate[eef_state]: left_x=0.2788 left_y=0.0008 left_z=0.1683 left_yaw=0.0879 left_pitch=-0.4202 left_roll=0.1569 left_gripper=0.9971 right_x=0.5792 right_y=0.082 right_z=0.03 right_yaw=0.1869 right_pitch=0.4271 right_roll=-0.0505 right_gripper=0.0083\nstate[joint_eff]: [-0.0615, -3.1795, 6.5709, 1.37, -0.1783, -0.0073, -0.0122, -0.0615, -12.465, 4.4239, 2.254, 0.0806, 0.0317, 0.5983]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cace0c6937cdae18df6b5bdb83b7a4ff7a1096dc698deb1d8a612f0580f2edfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 284):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:677703e4d7e82ae681543d9898af7bc7d1f89e4a1cc953ec90f36cddfd2dca36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 284):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05b86c0c51310f22723761171c6623942acce974b3f95722670510d29b88a3a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]