adhoc

completed
2026-09-22T20:05:48.237881+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
216.9 s
total steps
257
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 noteSafe is open in the centre; lemon lies right of the safe, visible left-of-centre in the right wrist cam. Moving the right arm above the lemon.
move_to
right_x0.3600right_y0.1000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3908, -0.0196, -0.0349, 0.9993, -0.0212, 0.794, 0.6075, -0.403, -0.02, -0.0128, 0.9996] state[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1783 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.6085, -1.4564, 10.1675, 1.9756, -0.0708, 0.1587, -0.0904, -0.4581, -1.5658, 9.6889, 2.0391, -0.0659, -0.0269, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.1, "right_z": 0.15, "right_gripper": 1}, "note": "Safe is open in the centre; lemon lies right of the safe, visible left-of-centre in the right wrist cam. Moving the right arm above the lemon."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteLemon is nearly on the jaw column but well above the bottom of the wrist image, so it's still ahead of the fingertips; advancing ~5 cm forward.
move_to
right_x0.4000right_y0.1100right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9992, 0.4122, 1.2396, 0.6785, -0.1757, 0.3008, 0.2039, 0.9996] state[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3406 right_y=0.0957 right_z=0.1218 right_yaw=0.0457 right_pitch=-0.108 right_roll=-0.0461 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.873, -0.0415, -0.0122, -0.0171, -0.0205, -5.1761, 8.9641, 1.9658, 0.2613, 0.1929, -0.0562] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.11, "right_z": 0.12}, "note": "Lemon is nearly on the jaw column but well above the bottom of the wrist image, so it's still ahead of the fingertips; advancing ~5 cm forward."})
tool
executing move_to over 5 steps (0.5s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteLemon centred on the jaw column, slightly ahead; descending to lemon mid-height with a small forward nudge.
move_to
right_x0.4150right_y0.1100right_z0.0200
agent noteClosing on the lemon.
move_to
right_gripper0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8021, 0.6071, -0.4133, -0.0193, -0.0383, 0.9992, 0.3798, 1.4788, 0.8242, -0.1425, 0.2752, 0.1799, 0.9996] state[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1724 left_yaw=0.0014 left_pitch=-0.029 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3828 right_y=0.105 right_z=0.1017 right_yaw=0.0446 right_pitch=-0.1714 right_roll=-0.0683 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.5521, 7.0632, 1.79, -0.022, -0.0757, -0.0122, -0.7316, -6.3658, 8.4308, 1.7802, 0.0611, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.11, "right_z": 0.02}, "note": "Lemon centred on the jaw column, slightly ahead; descending to lemon mid-height with a small forward nudge."})
move_to({"targets": {"right_gripper": 0.2}, "note": "Closing on the lemon."})
tool
executing move_to over 6 steps (0.6s)
tool
ignored: one tool call per turn
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteArm barely moved last time (speed clamped); re-sending the descent onto the lemon.
move_to
right_x0.4150right_y0.1100right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8032, 0.6071, -0.4278, -0.0193, -0.0383, 0.9992, 0.3782, 1.4956, 0.844, -0.1326, 0.2718, 0.1757, 0.9996] state[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1691 left_yaw=0.0014 left_pitch=-0.0446 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3893 right_y=0.1075 right_z=0.1049 right_yaw=0.049 right_pitch=-0.1601 right_roll=-0.0647 right_gripper=0.9996 state[joint_eff]: [0.0068, -1.347, 7.2, 1.8095, -0.0366, -0.0269, -0.0122, -0.6222, -6.4752, 8.5265, 1.8437, 0.0855, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.11, "right_z": 0.02}, "note": "Arm barely moved last time (speed clamped); re-sending the descent onto the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteDescent progressing slowly (z 0.08); lemon remains centred between the jaws. Continuing down.
move_to
right_x0.4150right_y0.1100right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8028, 0.6071, -0.4362, -0.0189, -0.0387, 0.9992, 0.3668, 1.581, 0.8173, -0.0093, 0.2653, 0.1673, 0.9996] state[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4012 right_y=0.1084 right_z=0.082 right_yaw=0.0481 right_pitch=-0.1513 right_roll=-0.063 right_gripper=0.9996 state[joint_eff]: [-0.1162, -1.1692, 6.9949, 1.7851, -0.0024, -0.0562, -0.0122, -0.4718, -2.6872, 2.9744, 0.8181, 0.1978, -0.0562, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_y": 0.11, "right_z": 0.015}, "note": "Descent progressing slowly (z 0.08); lemon remains centred between the jaws. Continuing down."})
tool
executing move_to over 5 steps (0.5s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent noteAt table height; lemon fills the view just ahead of the jaws. Advancing 2 cm so the jaws straddle it.
move_to
right_x0.4200right_y0.1080right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4519, -0.0193, -0.0387, 0.9992, 0.3584, 1.7897, 0.741, 0.2012, 0.2493, 0.1574, 0.9996] state[eef_state]: left_x=0.2858 left_y=0.0016 left_z=0.1631 left_yaw=0.0016 left_pitch=-0.0732 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3992 right_y=0.1068 right_z=0.0066 right_yaw=0.0541 right_pitch=-0.226 right_roll=-0.0822 right_gripper=0.9996 state[joint_eff]: [-0.1299, -1.6479, 7.1863, 1.8095, -0.0562, -0.0464, -0.0122, -0.5949, -7.8154, 5.7094, 1.7558, 0.0855, -0.0122, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.108, "right_z": 0.01}, "note": "At table height; lemon fills the view just ahead of the jaws. Advancing 2 cm so the jaws straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteArm only crept forward; commanding further out so the jaws reach around the lemon.
move_to
right_x0.4400right_y0.1080right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4553, -0.0189, -0.0383, 0.9992, 0.3584, 1.8088, 0.7403, 0.2497, 0.2493, 0.1574, 0.9996] state[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0767 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4051 right_y=0.109 right_z=0.0066 right_yaw=0.056 right_pitch=-0.1987 right_roll=-0.0734 right_gripper=0.9996 state[joint_eff]: [-0.0615, -1.2513, 7.0222, 1.6972, -0.0464, -0.0317, -0.0122, -0.5949, -7.6239, 5.6684, 1.9267, 0.1099, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.108, "right_z": 0.01}, "note": "Arm only crept forward; commanding further out so the jaws reach around the lemon."})
tool
executing move_to over 3 steps (0.3s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent noteArm stalled at table contact; lifting 2 cm while advancing so the jaws can slide over the lemon's near end.
move_to
right_x0.4300right_y0.1080right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.458, -0.0193, -0.0387, 0.9992, 0.3584, 1.8088, 0.7403, 0.2501, 0.2493, 0.1574, 0.9996] state[eef_state]: left_x=0.2849 left_y=0.0016 left_z=0.1619 left_yaw=0.0016 left_pitch=-0.0793 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4052 right_y=0.1091 right_z=0.0067 right_yaw=0.056 right_pitch=-0.1984 right_roll=-0.0733 right_gripper=0.9996 state[joint_eff]: [-0.1983, -1.2239, 6.9675, 1.663, -0.0757, -0.0513, -0.0122, -0.5538, -7.5829, 5.9009, 1.9365, 0.1197, -0.0269, -0.0122] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.108, "right_z": 0.03}, "note": "Arm stalled at table contact; lifting 2 cm while advancing so the jaws can slide over the lemon's near end."})
tool
executing move_to over 2 steps (0.2s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteArm won't advance further; the lemon's near end is at the jaw tips in the wrist view. Trying a close to see if it grabs.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6071, -0.4725, -0.0193, -0.0387, 0.9992, 0.3576, 1.8091, 0.7403, 0.2646, 0.2497, 0.157, 0.9996] state[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.0957 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4076 right_y=0.1096 right_z=0.009 right_yaw=0.0559 right_pitch=-0.1848 right_roll=-0.0696 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.4154, 6.9538, 1.7656, -0.0757, -0.0513, -0.0122, -0.2393, -7.665, 5.6821, 1.8193, 0.1538, -0.0562, -0.0122] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Arm won't advance further; the lemon's near end is at the jaw tips in the wrist view. Trying a close to see if it grabs."})
tool
executing move_to over 10 steps (1.0s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteEmpty close – lemon is still ahead of the jaws. Lifting and moving forward to get the arm unstuck from the low pose.
move_to
right_x0.4400right_y0.1080right_z0.0800right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.358, 1.8091, 0.7403, 0.2565, 0.2462, 0.1501, 0.0091] state[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.157 left_yaw=0.0017 left_pitch=-0.1037 left_roll=-0.001 left_gripper=0.9992 right_x=0.4062 right_y=0.1098 right_z=0.0075 right_yaw=0.0626 right_pitch=-0.1935 right_roll=-0.0746 right_gripper=0.0091 state[joint_eff]: [-0.3214, -1.1556, 7.0769, 1.6923, -0.0513, -0.0513, -0.0122, -0.1026, -8.0342, 5.1214, 1.5995, 0.0855, 0.0757, 0.4664] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.108, "right_z": 0.08, "right_gripper": 1.0}, "note": "Empty close \u2013 lemon is still ahead of the jaws. Lifting and moving forward to get the arm unstuck from the low pose."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteLemon is centred between the jaws in the wrist view but still ahead; advancing and descending to straddle it.
move_to
right_x0.4650right_y0.1080right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3222, 1.7573, 0.9611, -0.0776, 0.2195, 0.1127, 0.9947] state[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.1541 left_yaw=0.0017 left_pitch=-0.119 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4274 right_y=0.1059 right_z=0.0525 right_yaw=0.0663 right_pitch=-0.2597 right_roll=-0.0983 right_gripper=0.9947 state[joint_eff]: [-0.253, -1.265, 6.9949, 1.7998, -0.0855, -0.0659, -0.0122, -0.4855, -10.9607, 8.335, 1.6581, 0.022, 0.0708, -0.149] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.108, "right_z": 0.01}, "note": "Lemon is centred between the jaws in the wrist view but still ahead; advancing and descending to straddle it."})
tool
executing move_to over 3 steps (0.3s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteLemon now fills the gap between the jaws down to the bottom edge; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.812, 0.6067, -0.506, -0.0189, -0.0387, 0.9992, 0.3012, 1.945, 1.0275, -0.0025, 0.1989, 0.1093, 0.9964] state[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1515 left_yaw=0.0014 left_pitch=-0.132 left_roll=-0.0006 left_gripper=0.9992 right_x=0.449 right_y=0.1067 right_z=0.0063 right_yaw=0.0614 right_pitch=-0.3086 right_roll=-0.0962 right_gripper=0.9964 state[joint_eff]: [-0.294, -1.2513, 6.9402, 1.7802, -0.0562, -0.0317, -0.0122, -0.253, -10.4684, 8.1436, 0.5543, 0.5836, -1.1258, 0.0952] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon now fills the gap between the jaws down to the bottom edge; closing."})
tool
executing move_to over 10 steps (1.0s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteGripper settled at 0.45 – lemon grasped. Lifting high to clear the safe walls.
move_to
right_x0.4400right_y0.1500right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5179, -0.0193, -0.0383, 0.9992, 0.2996, 1.9617, 1.0374, 0.0097, 0.1936, 0.1051, 0.4515] state[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.1487 left_yaw=0.0016 left_pitch=-0.1461 left_roll=0.0002 left_gripper=0.9992 right_x=0.4529 right_y=0.1081 right_z=0.0039 right_yaw=0.0673 right_pitch=-0.3046 right_roll=-0.0933 right_gripper=0.4515 state[joint_eff]: [0.0205, -1.4701, 7.0906, 1.6825, -0.0415, 0.0024, -0.0122, -0.1026, -11.1658, 4.7385, 1.2088, 0.0855, 0.0024, 1.033] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.15, "right_z": 0.22}, "note": "Gripper settled at 0.45 \u2013 lemon grasped. Lifting high to clear the safe walls."})
tool
executing move_to over 14 steps (1.4s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteLemon held high; safe interior visible to the left in the wrist cam. Moving over the safe's interior.
move_to
right_x0.4000right_y0.2700right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4187, 1.7771, 1.647, -0.8261, 0.2504, 0.1783, 0.4563] state[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1468 left_yaw=0.0015 left_pitch=-0.1556 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4402 right_y=0.1519 right_z=0.2012 right_yaw=0.0917 right_pitch=-0.3281 right_roll=-0.104 right_gripper=0.4563 state[joint_eff]: [-0.1573, -1.1009, 7.0222, 1.6435, -0.0513, -0.0562, -0.0122, 0.1846, -9.4838, 8.7179, 1.453, 0.2955, 0.2076, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.27, "right_z": 0.22}, "note": "Lemon held high; safe interior visible to the left in the wrist cam. Moving over the safe's interior."})
tool
executing move_to over 10 steps (1.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteGripper is over the right side of the safe; shifting a bit left toward the interior centre and lowering to release.
move_to
right_x0.3900right_y0.3100right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5392, -0.0193, -0.0387, 0.9992, 0.7277, 1.9404, 1.9289, -1.0584, 0.3912, 0.4129, 0.458] state[eef_state]: left_x=0.2722 left_y=0.0019 left_z=0.144 left_yaw=0.0019 left_pitch=-0.1705 left_roll=0.0004 left_gripper=0.9992 right_x=0.3957 right_y=0.267 right_z=0.2108 right_yaw=0.131 right_pitch=-0.3625 right_roll=-0.1233 right_gripper=0.458 state[joint_eff]: [-0.0752, -1.3333, 6.8718, 1.6923, -0.0611, -0.0464, -0.0122, 0.1162, -9.6615, 8.6085, 1.199, 0.4322, 0.188, 1.0281] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.31, "right_z": 0.13}, "note": "Gripper is over the right side of the safe; shifting a bit left toward the interior centre and lowering to release."})
tool
executing move_to over 6 steps (0.6s)
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 noteWrist view shows the gripper is over the safe's front wall; advancing ~5 cm to be over the interior before releasing.
move_to
right_x0.4300right_y0.3000right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5468, -0.0193, -0.0383, 0.9992, 0.8078, 2.0144, 1.7473, -0.8841, 0.4114, 0.4694, 0.458] state[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1424 left_yaw=0.0017 left_pitch=-0.1793 left_roll=0.0009 left_gripper=0.9992 right_x=0.3801 right_y=0.3005 right_z=0.132 right_yaw=0.1429 right_pitch=-0.4132 right_roll=-0.1566 right_gripper=0.458 state[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6728, -0.0464, -0.0464, -0.0122, 0.335, -9.894, 6.4615, 1.2381, 0.315, 0.0708, 1.0281] 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": 0.43, "right_y": 0.3, "right_z": 0.13}, "note": "Wrist view shows the gripper is over the safe's front wall; advancing ~5 cm to be over the interior before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
Lemon is now over the red interior. Releasing.
agent noteWrist view shows red safe interior all around the lemon; opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.7334, 2.138, 1.9118, -0.9203, 0.3779, 0.4084, 0.458] state[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1395 left_yaw=0.0016 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.9992 right_x=0.4204 right_y=0.2959 right_z=0.1248 right_yaw=0.1314 right_pitch=-0.4329 right_roll=-0.1622 right_gripper=0.458 state[joint_eff]: [-0.3214, -1.2786, 6.8991, 1.7411, -0.0611, -0.0464, -0.0122, 0.0342, -11.1521, 8.5402, 1.0427, 0.1929, -0.0415, 1.0281] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
Lemon is now over the red interior. Releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Wrist view shows red safe interior all around the lemon; opening to drop it in."})
tool
executing move_to over 6 steps (0.6s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteLemon is in the safe. Parking the right arm at home and moving the left arm above the small teddy bear, which sits just left-front of the safe.
move_to
right_x0.2900right_y0.0000right_z0.2000left_x0.3700left_y-0.0800left_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, 0.8192, 0.6067, -0.5705, -0.0193, -0.0387, 0.9992, 0.7319, 2.1544, 1.9163, -0.9264, 0.3771, 0.4, 0.9947] state[eef_state]: left_x=0.2669 left_y=0.002 left_z=0.138 left_yaw=0.002 left_pitch=-0.2037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4207 right_y=0.2953 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.4488 right_roll=-0.1776 right_gripper=0.9947 state[joint_eff]: [-0.1846, -1.2376, 6.8444, 1.619, -0.0757, -0.0708, -0.0122, 0.0479, -13.4906, 6.1744, 0.9988, 0.1392, 0.0513, -0.1783] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.29, "right_y": 0.0, "right_z": 0.2, "left_x": 0.37, "left_y": -0.08, "left_z": 0.15, "left_gripper": 1.0}, "note": "Lemon is in the safe. Parking the right arm at home and moving the left arm above the small teddy bear, which sits just left-front of the safe."})
tool
executing move_to over 25 steps (2.5s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteSmall teddy is right of the jaw column and a bit ahead in the left wrist cam; shifting right and forward over it.
move_to
left_x0.3900left_y-0.1050left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3283, 1.3384, 0.8894, -0.4332, -0.2264, -0.271, 0.9993, 0.0257, 1.1866, 1.1515, -1.0016, 0.0647, -0.2005, 0.9953] state[eef_state]: left_x=0.3546 left_y=-0.0751 left_z=0.1297 left_yaw=0.0047 left_pitch=-0.2727 left_roll=0.0108 left_gripper=0.9993 right_x=0.2935 right_y=-0.0003 right_z=0.1962 right_yaw=0.0863 right_pitch=-0.4583 right_roll=-0.1765 right_gripper=0.9953 state[joint_eff]: [-0.5538, -4.9162, 10.0308, 1.6337, -0.2955, 0.0952, -0.0904, -0.0205, -4.3692, 6.3248, 1.3895, -0.1099, -0.0757, 0.0513] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.105, "left_z": 0.1}, "note": "Small teddy is right of the jaw column and a bit ahead in the left wrist cam; shifting right and forward over it."})
tool
executing move_to over 3 steps (0.3s)
step 139
top_cam
camera top_cam step 139
left_cam
camera left_cam step 139
right_cam
camera right_cam step 139
assistant
agent noteTeddy is slightly right and ahead of the jaws; descending onto it with a small right/forward correction, keeping the right jaw clear of the safe wall.
move_to
left_x0.4000left_y-0.1150left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3779, 1.533, 0.9173, -0.3542, -0.2489, -0.3054, 0.9992, 0.0257, 1.1877, 1.1511, -1.0229, 0.0555, -0.2245, 0.9954] state[eef_state]: left_x=0.3716 left_y=-0.0968 left_z=0.0844 left_yaw=0.0036 left_pitch=-0.348 left_roll=0.038 left_gripper=0.9992 right_x=0.289 right_y=0.0012 right_z=0.193 right_yaw=0.1105 right_pitch=-0.4828 right_roll=-0.179 right_gripper=0.9954 state[joint_eff]: [-0.1026, -9.0598, 9.3197, 1.5458, -0.3199, -0.0806, -0.022, -0.0889, -3.3436, 6.4205, 1.3944, 0.1197, 0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 139): [image omitted: streamed camera frame] camera 'left_cam' (step 139): [image omitted: streamed camera frame] camera 'right_cam' (step 139): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.115, "left_z": 0.02}, "note": "Teddy is slightly right and ahead of the jaws; descending onto it with a small right/forward correction, keeping the right jaw clear of the safe wall."})
tool
executing move_to over 5 steps (0.5s)
step 144
top_cam
camera top_cam step 144
left_cam
camera left_cam step 144
right_cam
camera right_cam step 144
assistant
agent noteArm is tracking slowly; re-sending the descent onto the teddy, which sits just right of the jaw column.
move_to
left_x0.4050left_y-0.1200left_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3859, 1.5669, 0.9173, -0.3279, -0.2527, -0.3237, 0.9992, 0.0261, 1.1893, 1.1511, -1.0275, 0.0551, -0.2214, 0.9954] state[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0758 left_yaw=0.0106 left_pitch=-0.3535 left_roll=0.0325 left_gripper=0.9992 right_x=0.2881 right_y=0.0014 right_z=0.1921 right_yaw=0.1096 right_pitch=-0.4886 right_roll=-0.1764 right_gripper=0.9954 state[joint_eff]: [-0.2667, -8.253, 8.7316, 1.6337, -0.2418, 0.0513, -0.0122, -0.212, -3.5761, 6.3385, 1.2527, 0.0171, -0.0904, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 144): [image omitted: streamed camera frame] camera 'left_cam' (step 144): [image omitted: streamed camera frame] camera 'right_cam' (step 144): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.405, "left_y": -0.12, "left_z": 0.0}, "note": "Arm is tracking slowly; re-sending the descent onto the teddy, which sits just right of the jaw column."})
tool
executing move_to over 5 steps (0.5s)
step 149
top_cam
camera top_cam step 149
left_cam
camera left_cam step 149
right_cam
camera right_cam step 149
assistant
agent noteLeft arm is stalled (possibly jaw touching the safe or an IK hang); lifting and backing off to reset before a fresh approach.
move_to
left_x0.3600left_y-0.0900left_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3859, 1.5669, 0.9173, -0.3283, -0.2527, -0.3241, 0.9992, 0.0261, 1.1893, 1.1511, -1.0382, 0.0547, -0.2214, 0.9954] state[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0757 left_yaw=0.0108 left_pitch=-0.3538 left_roll=0.0324 left_gripper=0.9992 right_x=0.2858 right_y=0.0014 right_z=0.1908 right_yaw=0.1104 right_pitch=-0.4992 right_roll=-0.175 right_gripper=0.9954 state[joint_eff]: [-0.0615, -8.2803, 8.9094, 1.6386, -0.2515, 0.0513, -0.0122, -0.1709, -3.412, 6.3248, 1.2674, -0.0073, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.09, "left_z": 0.16}, "note": "Left arm is stalled (possibly jaw touching the safe or an IK hang); lifting and backing off to reset before a fresh approach."})
tool
executing move_to over 6 steps (0.6s)
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 noteTeddy lies against the safe's left wall; the right jaw likely hit the wall last time. Rotating the gripper so the jaws close front-to-back and descending onto the teddy.
move_to
left_x0.4000left_y-0.1150left_z0.0300left_yaw1.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.3725, 1.4399, 1.0981, -0.6071, -0.2481, -0.3233, 0.9992, 0.0261, 1.1893, 1.1511, -1.0389, 0.0547, -0.2214, 0.9954] state[eef_state]: left_x=0.3683 left_y=-0.0935 left_z=0.1521 left_yaw=0.016 left_pitch=-0.3285 left_roll=0.0175 left_gripper=0.9992 right_x=0.2856 right_y=0.0014 right_z=0.1907 right_yaw=0.1105 right_pitch=-0.5 right_roll=-0.175 right_gripper=0.9954 state[joint_eff]: [0.1026, -6.0239, 7.2821, 1.0867, -0.1441, 0.0904, -0.0122, -0.1436, -3.6171, 6.4752, 1.1209, -0.0024, -0.0513, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). 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": {"left_x": 0.4, "left_y": -0.115, "left_z": 0.03, "left_yaw": 1.2}, "note": "Teddy lies against the safe's left wall; the right jaw likely hit the wall last time. Rotating the gripper so the jaws close front-to-back and descending onto the teddy."})
tool
executing move_to over 8 steps (0.8s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteArm is moving slowly toward the teddy (z 0.13, yaw only started turning); continuing the same descent and rotation.
move_to
left_x0.4000left_y-0.1150left_z0.0200left_yaw1.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4259, 1.5185, 1.1034, -0.6258, -0.3462, -0.4957, 0.9992, 0.0261, 1.1904, 1.1511, -1.0576, 0.0555, -0.2214, 0.9954] state[eef_state]: left_x=0.3668 left_y=-0.0967 left_z=0.128 left_yaw=0.1586 left_pitch=-0.3684 left_roll=0.0306 left_gripper=0.9992 right_x=0.2816 right_y=0.0011 right_z=0.1883 right_yaw=0.1107 right_pitch=-0.5198 right_roll=-0.1738 right_gripper=0.9954 state[joint_eff]: [0.0068, -7.706, 6.5846, 1.3993, -0.3785, -0.0024, -0.0122, -0.1026, -3.6991, 6.2974, 1.3016, -0.0122, -0.0611, -0.0122] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.115, "left_z": 0.02, "left_yaw": 1.2}, "note": "Arm is moving slowly toward the teddy (z 0.13, yaw only started turning); continuing the same descent and rotation."})
tool
executing move_to over 7 steps (0.7s)
step 170
top_cam
camera top_cam step 170
assistant
agent noteTeddy is between the jaws in the wrist view; letting the arm finish the descent.
move_to
left_x0.4000left_y-0.1150left_z0.0200left_yaw1.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.551, 2.0277, 1.6238, -0.9756, -0.5484, -0.8932, 0.9991, 0.0261, 1.1946, 1.1511, -1.0824, 0.0551, -0.2211, 0.9954] state[eef_state]: left_x=0.414 left_y=-0.1421 left_z=0.0911 left_yaw=0.5081 left_pitch=-0.4343 left_roll=0.2025 left_gripper=0.9991 right_x=0.2765 right_y=0.0011 right_z=0.1845 right_yaw=0.1123 right_pitch=-0.5486 right_roll=-0.1704 right_gripper=0.9954 state[joint_eff]: [1.1556, -11.5761, 6.106, -0.0806, -0.6569, -0.1099, -0.0171, -0.1026, -3.7675, 6.2701, 1.409, 0.0122, -0.0024, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.115, "left_z": 0.02, "left_yaw": 1.2}, "note": "Teddy is between the jaws in the wrist view; letting the arm finish the descent."})
tool
executing move_to over 5 steps (0.5s)
step 175
assistant
agent noteSmall teddy sits squarely between the jaws at table level; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5285, 2.323, 1.8622, -1.2194, -0.5617, -1.4948, 0.9991, 0.0261, 1.1961, 1.1511, -1.0843, 0.0555, -0.2214, 0.9954] state[eef_state]: left_x=0.4139 left_y=-0.1286 left_z=0.0315 left_yaw=1.0287 left_pitch=-0.436 left_roll=0.1761 left_gripper=0.9991 right_x=0.2761 right_y=0.001 right_z=0.1839 right_yaw=0.1123 right_pitch=-0.5521 right_roll=-0.1706 right_gripper=0.9954 state[joint_eff]: [1.5111, -10.4547, 6.0376, -0.4957, -0.2906, -0.149, -0.0122, -0.1299, -3.6855, 6.2838, 1.0965, 0.022, -0.0415, -0.0171] approver: 1 step(s) modified (delta_clamped). 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": {"left_gripper": 0.0}, "note": "Small teddy sits squarely between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 185
assistant
agent noteGripper settled at 0.20, so the teddy is held. Lifting high and heading toward the safe.
move_to
left_x0.4000left_y-0.2000left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5163, 2.3611, 1.8744, -1.2995, -0.5392, -1.6512, 0.1976, 0.0261, 1.1961, 1.1507, -1.0912, 0.0551, -0.2214, 0.9954] state[eef_state]: left_x=0.3984 left_y=-0.1177 left_z=0.0199 left_yaw=1.1872 left_pitch=-0.4352 left_roll=0.2026 left_gripper=0.1976 right_x=0.2745 right_y=0.001 right_z=0.1831 right_yaw=0.1131 right_pitch=-0.5593 right_roll=-0.1695 right_gripper=0.9954 state[joint_eff]: [0.3077, -11.5761, 6.1197, -0.2369, -0.3443, -0.1148, 0.696, -0.0889, -3.3983, 6.2701, 1.1209, 0.0024, -0.0611, -0.0122] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.2, "left_z": 0.25}, "note": "Gripper settled at 0.20, so the teddy is held. Lifting high and heading toward the safe."})
tool
executing move_to over 15 steps (1.5s)
step 200
assistant
agent noteThe teddy slipped out – it is back on the table just ahead of the jaws in the wrist view. Opening and descending again at the grasp spot.
move_to
left_x0.4000left_y-0.1200left_z0.0200left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5636, 2.1788, 1.9491, -1.5528, -0.5201, -1.6871, 0.1978, 0.0261, 1.1961, 1.1507, -1.1061, 0.0555, -0.2214, 0.9954] state[eef_state]: left_x=0.3665 left_y=-0.1236 left_z=0.1132 left_yaw=1.1648 left_pitch=-0.4503 left_roll=0.1805 left_gripper=0.1978 right_x=0.2712 right_y=0.0009 right_z=0.1815 right_yaw=0.1135 right_pitch=-0.5741 right_roll=-0.1683 right_gripper=0.9954 state[joint_eff]: [-0.3624, -14.3795, 4.7521, -0.2271, -0.486, 0.0415, -0.0024, -0.1436, -3.5077, 6.3658, 1.1355, -0.0073, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.12, "left_z": 0.02, "left_gripper": 1.0}, "note": "The teddy slipped out \u2013 it is back on the table just ahead of the jaws in the wrist view. Opening and descending again at the grasp spot."})
tool
executing move_to over 9 steps (0.9s)
step 209
assistant
agent noteTeddy body fills the gap between the jaws; closing again.
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]: [-0.5255, 2.3386, 1.85, -1.3067, -0.5194, -1.6424, 0.9955, 0.0261, 1.2026, 1.1442, -1.1248, 0.0551, -0.2214, 0.9954] state[eef_state]: left_x=0.3899 left_y=-0.1206 left_z=0.0223 left_yaw=1.1828 left_pitch=-0.4542 left_roll=0.2206 left_gripper=0.9955 right_x=0.2662 right_y=0.0008 right_z=0.1759 right_yaw=0.1158 right_pitch=-0.6056 right_roll=-0.1645 right_gripper=0.9954 state[joint_eff]: [0.759, -12.2188, 5.1761, -0.188, -0.4469, 0.0757, -0.1099, -0.1983, -3.9179, 6.8308, 1.1551, 0.0171, -0.0415, -0.0122] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Teddy body fills the gap between the jaws; closing again."})
tool
executing move_to over 10 steps (1.0s)
step 219
assistant
agent noteClosed at 0.22 on the teddy; lifting straight up to clear the safe wall.
move_to
left_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5259, 2.3417, 1.8503, -1.2865, -0.5201, -1.6402, 0.216, 0.0261, 1.2026, 1.1439, -1.1294, 0.0547, -0.2214, 0.9954] state[eef_state]: left_x=0.3936 left_y=-0.1228 left_z=0.0203 left_yaw=1.1723 left_pitch=-0.456 left_roll=0.2025 left_gripper=0.216 right_x=0.2651 right_y=0.0008 right_z=0.1753 right_yaw=0.1165 right_pitch=-0.6105 right_roll=-0.1636 right_gripper=0.9954 state[joint_eff]: [-0.0615, -12.6701, 5.2444, -0.2662, -0.3199, -0.0562, 0.9646, -0.1436, -3.9453, 5.8188, 1.0818, 0.0024, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 219): [image omitted: streamed camera frame] camera 'left_cam' (step 219): [image omitted: streamed camera frame] camera 'right_cam' (step 219): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.25}, "note": "Closed at 0.22 on the teddy; lifting straight up to clear the safe wall."})
tool
executing move_to over 15 steps (1.5s)
step 234
assistant
agent noteTeddy is lifted in the jaws beside the safe; moving it up and over the safe interior.
move_to
left_x0.4200left_y-0.3200left_z0.2700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.4496, 2.1174, 1.9083, -1.5826, -0.4835, -1.5204, 0.2194, 0.0257, 1.2022, 1.1381, -1.1324, 0.0547, -0.2214, 0.9954] state[eef_state]: left_x=0.361 left_y=-0.079 left_z=0.1247 left_yaw=1.1938 left_pitch=-0.5067 left_roll=0.2891 left_gripper=0.2194 right_x=0.2633 right_y=0.0007 right_z=0.1732 right_yaw=0.1166 right_pitch=-0.6189 right_roll=-0.1626 right_gripper=0.9954 state[joint_eff]: [0.4855, -16.5812, 6.3658, -0.0171, -0.8767, -0.1099, 0.8376, -0.4171, -4.2051, 5.8735, 1.1013, -0.022, -0.0317, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.32, "left_z": 0.27}, "note": "Teddy is lifted in the jaws beside the safe; moving it up and over the safe interior."})
tool
executing move_to over 22 steps (2.2s)
step 256
assistant
agent noteI ran out of LLM-call budget because the arms tracked very slowly. The lemon is in the safe. The small teddy is held by the left arm but pinned against the safe's outer wall at z≈0.08, because the arm won't rise past about 0.12 m in this twisted pose. The big teddy hasn't been touched, and the lid is still open. With 5 calls left I can't finish the remaining items.
give_up
hindsight- The motion controller on this rig clamps speed a lot ("delta_clamped"). A move often gets only 5–30% of the way to its target in one call, so plan on 2–3 re-sends per motion, or send targets well past where you want to end up. Budget about 6–8 calls per pick-and-place, not 4. - Scene layout: a red safe with its lid hinged open at the back sits in the middle of the table, at about right-arm (x 0.42, y 0.30) / left-arm (x 0.42, y -0.35). It has walls about 10 cm high. The lemon was right of the safe at right-arm (0.45, 0.11). I grasped it with the jaws straddling its long axis at z≈0.005, x≈0.45, and the gripper read 0.45. The small teddy was against the safe's left outer wall at left-arm (0.40, -0.12). The big teddy was in front of the safe at around image (130,165). - Releasing the lemon from right-arm (0.42, 0.30, z 0.12) dropped it cleanly into the safe. - On the left arm, a wrist yaw of about 1.2 rad together with a large lateral reach made the IK sluggish, and pitch drifted to -0.5. After that the arm could not climb above about 0.12 m, and a diagonal move toward the safe dragged the load down into the safe wall. Lift straight up first, with yaw near 0, and confirm z > 0.2 before moving sideways. - Once the jaws are over an object, the wrist cam shows it filling the gap down to the bottom edge. The fingertips reach about 3–5 cm further out than it looks, so go further forward than the image suggests. - Put the arm used for closing the lid last, and budget calls for the lid from the start.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6846, 2.2593, 1.964, -1.5719, -0.4065, -1.7294, 0.2201, 0.025, 1.2015, 1.1198, -1.1324, 0.0551, -0.2214, 0.9954] state[eef_state]: left_x=0.3342 left_y=-0.178 left_z=0.08 left_yaw=1.1551 left_pitch=-0.5347 left_roll=0.2774 left_gripper=0.2201 right_x=0.2598 right_y=0.0003 right_z=0.1672 right_yaw=0.1166 right_pitch=-0.6364 right_roll=-0.1611 right_gripper=0.9954 state[joint_eff]: [-0.7726, -11.8359, 8.335, -0.3053, -0.4127, -0.1099, 0.6471, -0.0752, -4.8889, 6.2701, 1.0818, 0.0073, -0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I ran out of LLM-call budget because the arms tracked very slowly. The lemon is in the safe. The small teddy is held by the left arm but pinned against the safe's outer wall at z\u22480.08, because the arm won't rise past about 0.12 m in this twisted pose. The big teddy hasn't been touched, and the lid is still open. With 5 calls left I can't finish the remaining items.", "hindsight": "- The motion controller on this rig clamps speed a lot (\"delta_clamped\"). A move often gets only 5\u201330% of the way to its target in one call, so plan on 2\u20133 re-sends per motion, or send targets well past where you want to end up. Budget about 6\u20138 calls per pick-and-place, not 4.\n- Scene layout: a red safe with its lid hinged open at the back sits in the middle of the table, at about right-arm (x 0.42, y 0.30) / left-arm (x 0.42, y -0.35). It has walls about 10 cm high. The lemon was right of the safe at right-arm (0.45, 0.11). I grasped it with the jaws straddling its long axis at z\u22480.005, x\u22480.45, and the gripper read 0.45. The small teddy was against the safe's left outer wall at left-arm (0.40, -0.12). The big teddy was in front of the safe at around image (130,165).\n- Releasing the lemon from right-arm (0.42, 0.30, z 0.12) dropped it cleanly into the safe.\n- On the left arm, a wrist yaw of about 1.2 rad together with a large lateral reach made the IK sluggish, and pitch drifted to -0.5. After that the arm could not climb above about 0.12 m, and a diagonal move toward the safe dragged the load down into the safe wall. Lift straight up first, with yaw near 0, and confirm z > 0.2 before moving sideways.\n- Once the jaws are over an object, the wrist cam shows it filling the gap down to the bottom edge. The fingertips reach about 3\u20135 cm further out than it looks, so go further forward than the image suggests.\n- Put the arm used for closing the lid last, and budget calls for the lid from the start."})
tool
give_up: I ran out of LLM-call budget because the arms tracked very slowly. The lemon is in the safe. The small teddy is held by the left arm but pinned against the safe's outer wall at z≈0.08, because the arm won't rise past about 0.12 m in this twisted pose. The big teddy hasn't been touched, and the lid is still open. With 5 calls left I can't finish the remaining items.
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 · 8.648 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3908, -0.0196, -0.0349, 0.9993, -0.0212, 0.794, 0.6075, -0.403, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1783 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4564, 10.1675, 1.9756, -0.0708, 0.1587, -0.0904, -0.4581, -1.5658, 9.6889, 2.0391, -0.0659, -0.0269, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8903b9fb4019ef0f6f26cad928ca27b776939ccf1b2d5f7a315e16fce0dfb4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa1d489655526487e96ad6270a04cedfcb557b6d9a86f070aba3a8a02eff7b6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:765c89a8140adf472c62b872be36b9d5839413e1cf35144732d510245f3493a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.083 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3908, -0.0196, -0.0349, 0.9993, -0.0212, 0.794, 0.6075, -0.403, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1783 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4564, 10.1675, 1.9756, -0.0708, 0.1587, -0.0904, -0.4581, -1.5658, 9.6889, 2.0391, -0.0659, -0.0269, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8903b9fb4019ef0f6f26cad928ca27b776939ccf1b2d5f7a315e16fce0dfb4aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa1d489655526487e96ad6270a04cedfcb557b6d9a86f070aba3a8a02eff7b6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:765c89a8140adf472c62b872be36b9d5839413e1cf35144732d510245f3493a5",
        "media_type": "image/png",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FNQmpr1jVkCHcVorhudtnk",
      "input": {
        "note": "Safe is open in the centre; lemon lies right of the safe, visible left-of-centre in the right wrist cam. Moving the right arm above the lemon.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.1,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FNQmpr1jVkCHcVorhudtnk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9992, 0.4122, 1.2396, 0.6785, -0.1757, 0.3008, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3406 right_y=0.0957 right_z=0.1218 right_yaw=0.0457 right_pitch=-0.108 right_roll=-0.0461 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.873, -0.0415, -0.0122, -0.0171, -0.0205, -5.1761, 8.9641, 1.9658, 0.2613, 0.1929, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312e09df400c109b5b7ab5a2e89af2f684f0e0c8c6d97ac3f2ac498dc35945ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f96478f944fb36ab55fd0a142f8939bb7b1f54864e6bb6ecdfc5c0e24bd7526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fbec350eaa451452bb73274b7aa8709b62978d000733020fd069d61838c9f97d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.313 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3908, -0.0196, -0.0349, 0.9993, -0.0212, 0.794, 0.6075, -0.403, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1783 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4564, 10.1675, 1.9756, -0.0708, 0.1587, -0.0904, -0.4581, -1.5658, 9.6889, 2.0391, -0.0659, -0.0269, -0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9992, 0.4122, 1.2396, 0.6785, -0.1757, 0.3008, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3406 right_y=0.0957 right_z=0.1218 right_yaw=0.0457 right_pitch=-0.108 right_roll=-0.0461 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.873, -0.0415, -0.0122, -0.0171, -0.0205, -5.1761, 8.9641, 1.9658, 0.2613, 0.1929, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:312e09df400c109b5b7ab5a2e89af2f684f0e0c8c6d97ac3f2ac498dc35945ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f96478f944fb36ab55fd0a142f8939bb7b1f54864e6bb6ecdfc5c0e24bd7526",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbec350eaa451452bb73274b7aa8709b62978d000733020fd069d61838c9f97d",
        "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/AgKEAgSGAI4AUIIdGhpbmtpbmcSDNfGI77WBGxkGn6nIxoMtjddifAH4RD9RDcDIjDsQ0aRMgfAvpSRWv96BxWxgovA2eXAFKxGR7iQfdZDdlhv6Zhus8W4qDZRd7vHaZIqmQjyuwYKnajD2kWlYSxATKekOX6Z/3pmAzDm17TWpeDFLASrwDcnl9D5ow7gczjvzckLu5gH6TAuMyIXFtkcAkCrbwJOcTX4j9efZnV4/Dn77yIpLMoCGCDYZEPk4Zr/Kz3R07r4NWlGDvoCf4ITq4vT32++KV4RvmgcVqt0b6BVu0oxLJgL16H0415sNmk+JtHgZ+AMgiBVaSGelGndGYfTWExix8mKkxip8ILmqzAeBfzwxEIkIOwU+XwM82J1/P3ubSMMjbiL7vW3yOIjJxsuLF2XHSMx0SDdaElJeU3dSHKGMoZKMcd+BvMEvqXWsGA4qgEKFeqJ7Uh77EijsWcS03sj0MEVT7UAVSOC6hWQWDgpLJXE6pzDQnBODIRXIdqtGD/tgALEsxkh/HC2vG5oEO+LfkZ7GAwASu+40RTV0L9WFR8+zai+5OfjBhJbY9H3+BwS/kQC2TwBCpZdo2BP+ggbMJfytp79erNQKU8makYTewRMo+iVXHBfrV1LEL5rK0mLi9wjemS8KyMJxPnbl4i/jfqJyuiTzUF4GrV3JBhw0g7CUa0E6cM3u0a4Z/sF+xzao+h4VkVJkaQUn+V4xxGc1mW7UNKR4z03ZGTSULbeCgZ7onIUfrCGW6a8/TLVAff/K1eRdjUoGepQUxNV16TMAqcv+OHs2+VUHrT8rOP351LBx3yGZWOPQjETouLqFmHrWboclRYwXqjfkqOL77OQ1IVuuvUaLgjR2rhFwmepiPo1gwWXvnhCecU6Us/S7YBawMqeyw/+4I08Rzna0dcW4N3OnATAZj6RsqPHN0YxCeuL0nujYtS9Tr8BRPj2WwLfXaGHcC33aJeEI3O4hu2z9i61IPYwQ9opHFahcsHuL4xBOHYZ2PrVKcwXWv6ksJgm1Pb+0cuxjpK0b52mP9gndr/ObejgIZatVLXwyE1JH+W9ZC7KzOj/OIK9P+1clfzfYcTIsU/VXsev0kvXWfnhJ2kF2aDOJVQJzRMxeS6P5joE07iOFecEppQ9zA1jHv0XKmCyLjSwdMQH4X2GH4rib7oWFK23Q9OrogItNk8ihPTArip1dXp0Fi3Ln2ORkaFTy7nWOEi+3NlMLdDcqvnb/GcDbsm/gB3wrGLFUFluk/nMJCSP/1/h0Gf826eb9uoDPhcp6hjFhGlao/+GZq3Hp69DKgf1LmIlZnYTgol1VHCJvbfAFxTlqKIiE1qSFAQI3amwphjRZHt+Ju7SsBBG7WG8Vuwseq5GqXoXizX6q+fub1/+3R5YQYAoJ+qR+rntZuaey7xmTF5AUuRL+CwC1ofzs9vnScyAWDGwahSJLEun+DqZXuKKwUVha5E56kxS7XZi/jAdwT6HWRNwVY5w/UjHHqkPYYEznQdAg1E0NARX3rXgERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AxDFtUVXnZkDUeQuQwrk2o",
      "input": {
        "note": "Lemon is nearly on the jaw column but well above the bottom of the wrist image, so it's still ahead of the fingertips; advancing ~5 cm forward.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.11,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01AxDFtUVXnZkDUeQuQwrk2o",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6071, -0.4133, -0.0193, -0.0383, 0.9992, 0.3798, 1.4788, 0.8242, -0.1425, 0.2752, 0.1799, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1724 left_yaw=0.0014 left_pitch=-0.029 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3828 right_y=0.105 right_z=0.1017 right_yaw=0.0446 right_pitch=-0.1714 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 7.0632, 1.79, -0.022, -0.0757, -0.0122, -0.7316, -6.3658, 8.4308, 1.7802, 0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d44e634f8bdc636ad5b7d53acc128cb943b13cdca39fb6ca4c43d0557ac498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf84a62b8b470634debfbdd97c4c0c11a93e74f85d315b678e0b17b565f884d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3776ba30eab23f6e888e8366a51d99211c24f0c40f885c946ab1141af5fb697c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.442 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0193, 0.7933, 0.6048, -0.3908, -0.0196, -0.0349, 0.9993, -0.0212, 0.794, 0.6075, -0.403, -0.02, -0.0128, 0.9996]\nstate[eef_state]: left_x=0.2934 left_y=0.0014 left_z=0.1783 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9993 right_x=0.2921 right_y=0.0009 right_z=0.1768 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.6085, -1.4564, 10.1675, 1.9756, -0.0708, 0.1587, -0.0904, -0.4581, -1.5658, 9.6889, 2.0391, -0.0659, -0.0269, -0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9992, 0.4122, 1.2396, 0.6785, -0.1757, 0.3008, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3406 right_y=0.0957 right_z=0.1218 right_yaw=0.0457 right_pitch=-0.108 right_roll=-0.0461 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.873, -0.0415, -0.0122, -0.0171, -0.0205, -5.1761, 8.9641, 1.9658, 0.2613, 0.1929, -0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6071, -0.4133, -0.0193, -0.0383, 0.9992, 0.3798, 1.4788, 0.8242, -0.1425, 0.2752, 0.1799, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1724 left_yaw=0.0014 left_pitch=-0.029 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3828 right_y=0.105 right_z=0.1017 right_yaw=0.0446 right_pitch=-0.1714 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 7.0632, 1.79, -0.022, -0.0757, -0.0122, -0.7316, -6.3658, 8.4308, 1.7802, 0.0611, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d44e634f8bdc636ad5b7d53acc128cb943b13cdca39fb6ca4c43d0557ac498",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cf84a62b8b470634debfbdd97c4c0c11a93e74f85d315b678e0b17b565f884d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3776ba30eab23f6e888e8366a51d99211c24f0c40f885c946ab1141af5fb697c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywYKEAgSGAI4AUIIdGhpbmtpbmcSDN4TcM9lz4aiXqLSahoMjQbHh3FquE55oAgsIjATqfaYF2vZMPD0GBMOyp/lPw/u7tzHTHOW0M2WJ90xVEC2ZsVo9yK98OcF6GAv8fAq6AX5SjKWN/HFE1aExhSPJkNkQovU2ebTegGH8Moh2YKpdtRhKymkCFPH8SPHj4gqqQ3mpIl1SEyuPDWnYWFfuuwLdgaa8YUuHHCqU4I1GjU2TeRHW6aXBrkGgTm570I2eiyCGAAdkVTQ6eXxe2sGv4U+E0b1MTGYVYNijdhWX1jsoN8Ujm/Nf4g3r8XcXpcmOCzhjw63CedMLZoHi8MG4wOAbC+rmrmWvxstg7IF9BtHzhw6y/pJU3sXgV0OLJx6U49a7JUFUrutw+eePxoUUAyyR3XjlbYXNpVCOVfixdKxgGFridyOlJG4Fcnw+vD9DNh5aUQfvaSmizQyHzhpYCDMyATkkiOcv2It8WpU0vFenP9/iJUMg+8qZsBONu+Uf93IQoLQ5KX1xWle8dq1AoFyELwjaXyGCy41N3cz8vyx9a2BqzYeDSi50L/k8UbHu9C2Qh2occgsOTmSOaeP9fTOmApY1LFRtANnmiH4Iu9EuFqLbpG2B9Mz3Tys1uaO3AhOgxEXI57T3qWPyMfiosqPNlwuJ115iCNKrHPGISvvm9XCw1N8SN5ygMKpp58P0RcohW2vme1cUBBUAQ9fsMzmyXxwrp12t3/kw1p1S7/vqJsW4G6UvNJf3u+ZBTQHDkU9kdDy7JKtmq1Tko9wUm19F8X+2pCCRKsO3JAcfYlaegZZne4u6i9LwXmhpfqeFyuAOeSNPGyefLDy851Q1UEN4bYToeMV5elZ7QkTGw7JgbbA7RlrEUWlQ9SJg+0CbiadcurLUV9YJJOFflVOGicjkWui7L6uxiID6e1eWlWxOFtncoaic1yuVT0uCjE8rLEflqXLE3vEgwOpcRiBRyxONEKHFE1Rcpa4qt6/GXheYVUG54CMKlHDnb1BiGI7JQM3p1Y4MOfM/Tq4xXN8hxdCUoveNO9y8tOvV2SvqELGlYNcY30Xg5wd56VBHh+OfTJ/VrnV6ewfI3T4oU0eVRpNwtZaOp/uIBkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CMT3hdnov6NFL4tsrVNdwg",
      "input": {
        "note": "Lemon centred on the jaw column, slightly ahead; descending to lemon mid-height with a small forward nudge.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.11,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DShhAiS3q4j51PNsgxMfv2",
      "input": {
        "note": "Closing on the lemon.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CMT3hdnov6NFL4tsrVNdwg",
      "type": "tool_result"
    },
    {
      "content": "ignored: one tool call per turn",
      "tool_use_id": "toolu_01DShhAiS3q4j51PNsgxMfv2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6071, -0.4278, -0.0193, -0.0383, 0.9992, 0.3782, 1.4956, 0.844, -0.1326, 0.2718, 0.1757, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1691 left_yaw=0.0014 left_pitch=-0.0446 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3893 right_y=0.1075 right_z=0.1049 right_yaw=0.049 right_pitch=-0.1601 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.347, 7.2, 1.8095, -0.0366, -0.0269, -0.0122, -0.6222, -6.4752, 8.5265, 1.8437, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7b77edffe77fda7bb1e901bb25541209c97548a18742442bb0f840a0c0f2eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef009f8acf0082b386358b7fc9e310197e75747f6ae883530de402e22c8f4ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:020f35e041210e3067c09c132e4b3c542b2ca3ffc30f0a5da8333e6ee5064374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 3.887 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7982, 0.6075, -0.4053, -0.0193, -0.038, 0.9992, 0.4122, 1.2396, 0.6785, -0.1757, 0.3008, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.292 left_y=0.0015 left_z=0.1752 left_yaw=0.0011 left_pitch=-0.0168 left_roll=-0.0021 left_gripper=0.9992 right_x=0.3406 right_y=0.0957 right_z=0.1218 right_yaw=0.0457 right_pitch=-0.108 right_roll=-0.0461 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.6615, 6.7897, 1.873, -0.0415, -0.0122, -0.0171, -0.0205, -5.1761, 8.9641, 1.9658, 0.2613, 0.1929, -0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6071, -0.4133, -0.0193, -0.0383, 0.9992, 0.3798, 1.4788, 0.8242, -0.1425, 0.2752, 0.1799, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1724 left_yaw=0.0014 left_pitch=-0.029 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3828 right_y=0.105 right_z=0.1017 right_yaw=0.0446 right_pitch=-0.1714 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 7.0632, 1.79, -0.022, -0.0757, -0.0122, -0.7316, -6.3658, 8.4308, 1.7802, 0.0611, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6071, -0.4278, -0.0193, -0.0383, 0.9992, 0.3782, 1.4956, 0.844, -0.1326, 0.2718, 0.1757, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1691 left_yaw=0.0014 left_pitch=-0.0446 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3893 right_y=0.1075 right_z=0.1049 right_yaw=0.049 right_pitch=-0.1601 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.347, 7.2, 1.8095, -0.0366, -0.0269, -0.0122, -0.6222, -6.4752, 8.5265, 1.8437, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7b77edffe77fda7bb1e901bb25541209c97548a18742442bb0f840a0c0f2eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eef009f8acf0082b386358b7fc9e310197e75747f6ae883530de402e22c8f4ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:020f35e041210e3067c09c132e4b3c542b2ca3ffc30f0a5da8333e6ee5064374",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS2gcKEAgSGAI4AUIIdGhpbmtpbmcSDGxn3ODz+CBq4IpEYxoMbihk6AYtSQVj5T5kIjBELyyLAC2yu1UERBAE58pXNxsEG6s+TeDNSshYdVaqe4U1LsLDoAefwsqYcvP+5P8q9wasW/QK6Im6QQlScpImSPnlRGwWv4R2oelyxUUQKkYH+wRe5lNnK1VnDtuRusMAfpVG+NRwMVGAhxScp9VUskNa8vN/XYyLYFEMEznUzro9QAVtVmU6Wu8EBFhfi3g3tftAlulz6IGhtpvOt0n3VLTK+dLCaLSoMWMuxokSDIhJNjslJ6e8P6bnoymOUJ/IoedkT4MX77X9wZ1z98VYuYs34WO7aoVuEYoXuH0cJ7krXfblrOBLeLiQX2XIpiIDBl/+qBJKdWz3QOrlzdidk63Hjjl1jmEiYoH1H1z4ljtg8KJpKYll2g+xk3DmJWyuSEZGx6Ido+TE9JCmgmlUucdc0peAJnqvquX8xGRVJRV01Tv+9jqT5AYcTqKLiFTyFLqmrd2siWvnikotTJCsryVViO4U6L9JhDXptUbzy2ik6xKC3mdIyqxXW0RRcGhmJPlMY4NNG95y/JJ/Gbg1tUSPr2jgIDqSlzBxvE+GSM3U2RlTFZWqkow20IhuCRZyon9iQ34UFSpxSblzyQCh6/HJUGb14ESbBgFR5vZTbfp3M198jCTFuX+IcN/85pGHMz/qsWIkY8Wu+MeBH8wYR/S5T0fuSBLSp9eBRb42XTHh1FvcA6YJr3Tk/IDURVZCP9lgJxYOwHvo2NvRlzxLX0ucPK99fh1yPbVW6/HrQ5zrCA95uDEcmM6ZN69FawJpJltPNH1XgzGeJBEwYNWUuH9tDnNGFpdFyWfO2jc4/LFo09QArIOTvwlxZPF0qq4dQCMUPsCqgDdu9yy4UQVkzKUIZbpR0r6g68tJ/ggYrNFsZp8WIy103/FYpGqwSmFvQnfeotzkk7dRRl57+FUjLzeCVeaFo5Wcz465MwMLGertUPzpHg2c8EmmEIKSTNkY4pvJS9X4V1xfwUNYIp78RfGx7tIqLDCPKMInbAimd9sLyjyWCIDJXyNzIOYnZ9rNhPusVDxow8OFvcywuUNpv7qohjS1Lt94qdaLV61GjccWVq3c4kVJinqV1J3cEKFydz0xAoq8vfHcJ6j9nuvcrn4PVz8a6lM5VKP8i3UvZyW8PsQ5caS4dFxdJJwKveKzztZdXhY4R8VbdVYTq2vQNiPYlRob3HWNXiFqdytVZ/dWg5+HpnwXbxQexwSb441XmVyQCM6viJ2C+x1dNw/Vmhzy5WZQyc8eHxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UefZs2uVrzjizcYaX5GkEE",
      "input": {
        "note": "Arm barely moved last time (speed clamped); re-sending the descent onto the lemon.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.11,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01UefZs2uVrzjizcYaX5GkEE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6071, -0.4362, -0.0189, -0.0387, 0.9992, 0.3668, 1.581, 0.8173, -0.0093, 0.2653, 0.1673, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4012 right_y=0.1084 right_z=0.082 right_yaw=0.0481 right_pitch=-0.1513 right_roll=-0.063 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1692, 6.9949, 1.7851, -0.0024, -0.0562, -0.0122, -0.4718, -2.6872, 2.9744, 0.8181, 0.1978, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc42a375b8aa5d6409cd77ceb97b94b0c18f24eb18b999cda0156d012a6f963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdba21314caefe0bf96c084b81dde2d50be55169c676f6c44f025ed227df6b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4378b4a1096b14b478eb565fb1f487079a9ec60176fdc053b60a3d0c3a618a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 5.35 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8021, 0.6071, -0.4133, -0.0193, -0.0383, 0.9992, 0.3798, 1.4788, 0.8242, -0.1425, 0.2752, 0.1799, 0.9996]\nstate[eef_state]: left_x=0.2911 left_y=0.0015 left_z=0.1724 left_yaw=0.0014 left_pitch=-0.029 left_roll=-0.0022 left_gripper=0.9992 right_x=0.3828 right_y=0.105 right_z=0.1017 right_yaw=0.0446 right_pitch=-0.1714 right_roll=-0.0683 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5521, 7.0632, 1.79, -0.022, -0.0757, -0.0122, -0.7316, -6.3658, 8.4308, 1.7802, 0.0611, -0.0366, -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]: [-0.0189, 0.8032, 0.6071, -0.4278, -0.0193, -0.0383, 0.9992, 0.3782, 1.4956, 0.844, -0.1326, 0.2718, 0.1757, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1691 left_yaw=0.0014 left_pitch=-0.0446 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3893 right_y=0.1075 right_z=0.1049 right_yaw=0.049 right_pitch=-0.1601 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.347, 7.2, 1.8095, -0.0366, -0.0269, -0.0122, -0.6222, -6.4752, 8.5265, 1.8437, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6071, -0.4362, -0.0189, -0.0387, 0.9992, 0.3668, 1.581, 0.8173, -0.0093, 0.2653, 0.1673, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4012 right_y=0.1084 right_z=0.082 right_yaw=0.0481 right_pitch=-0.1513 right_roll=-0.063 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1692, 6.9949, 1.7851, -0.0024, -0.0562, -0.0122, -0.4718, -2.6872, 2.9744, 0.8181, 0.1978, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2dc42a375b8aa5d6409cd77ceb97b94b0c18f24eb18b999cda0156d012a6f963",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdba21314caefe0bf96c084b81dde2d50be55169c676f6c44f025ed227df6b73",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4378b4a1096b14b478eb565fb1f487079a9ec60176fdc053b60a3d0c3a618a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDIBkdyGpFo2NijW7+xoMM8yJf4hnGErAGuAgIjAp3MECnFVidQH4CM0hRYwtm/MmvJuLF7P/ej4d9Jq/aFiQTj1jihwj7GVUvSYT0J0qhwYQiBIMXcB4B80DGMmiNkZez680Ysw5NXY8qu0n2MUq6Y9UdkA2Q+MFE5ZovOHMpreAR2ek7/m9UgxjKgj2OrE+Bg6Y2gO6CqYqbRAydiWHc+fJqI79VTeSRlvsOAyaD5nGXqwRyloOD1C9zy+lOMfAvsEdaBpJeebtKS+llRoscwmk02d27fwGfY29dxm7yir02YkKnnOVFhfSKiYMfJDFpdhMNrHL+pE0nWU+qwCeQY0fJiocNcxPz0q0JfzqYBrYCbJLyifGUmrt2f4ZNExo3+9aMxGdQQoRUv944ERAV3uoSgx4cP3KKG+zQMluPwdf6lodeXOB9AvuCxNqP9lY7py5axv83CA+yUxg2TLrWaODKKwPNJ9pzZnij7XwgfCu4VrYZZ0dahgC/m5gx2rLg28S48pW3ud+yO2CvgybDxfZbP85tpNMbiP1erE/lg5aPrt2xD7nj9uv1tKrKZcdWDQ5mzsjVLNYbhATS7DEWt7cfxxC77il/3YAIeaIts/KOJjKPeMu0KfYmQ4msFH843PrMHKmH0THYJ1Mx/QFDS1uWvdAAXGKcO9ekrB52kcivq2yS6mnc1yAu4wlxj5k3fVsXBsxmFjS2w+LO/xrGn+R7MRuuLK67D9TYNRaOVSpxZkNfzMBM906WU1w1QJk9i/l4MopXSqU8QaJ9inbyvrW7FHb6/Wta+T7dE+4bQG1nM7kxYQfQvdynJ0ieMdrk0pk4V7cUW2BbOzVtPWWQYRtSHYOJUsZ+4P/sXYkiVoDhiIemgUWoPmNVuJiz9pxtcYDQlJictbNn8aPEJOXQu9nqNwbc9WyO/aa0kiijmPHy0wTGD9MZ9zPdxWzQIqeJZVd8GDpfqXO3arAdAwfZ1NG/GZJmbzT0lIpYzPfTCnBWP5vsYQ151R6CGh05+ovZvIkkPG697MMmvoYp/pFFW151IuCKo9lW7GrT2k7yp2AzlmZZ4MLmU4tFC50L2qsId2PHqo4oxJilDWbDzbhTP2YIBKe7EFRa2hfXz96Pmc8QN/oplciGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X2FtDScKrn7v6VYiYgkKk3",
      "input": {
        "note": "Descent progressing slowly (z 0.08); lemon remains centred between the jaws. Continuing down.",
        "targets": {
          "right_x": 0.415,
          "right_y": 0.11,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01X2FtDScKrn7v6VYiYgkKk3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4519, -0.0193, -0.0387, 0.9992, 0.3584, 1.7897, 0.741, 0.2012, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2858 left_y=0.0016 left_z=0.1631 left_yaw=0.0016 left_pitch=-0.0732 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3992 right_y=0.1068 right_z=0.0066 right_yaw=0.0541 right_pitch=-0.226 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 7.1863, 1.8095, -0.0562, -0.0464, -0.0122, -0.5949, -7.8154, 5.7094, 1.7558, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e76c85ffc42721f6bfa185ae823b9e8417bac2ffc1d059c7677c95b6e0c0c1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21910f0607d48fe447f4db78cb0b254b3479aa6443790e228c8f85a498aafc67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0f68ebcc92f35c7c66272c494498e814c61af3525a8e92ba06ba923ff08dccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.94 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8032, 0.6071, -0.4278, -0.0193, -0.0383, 0.9992, 0.3782, 1.4956, 0.844, -0.1326, 0.2718, 0.1757, 0.9996]\nstate[eef_state]: left_x=0.2891 left_y=0.0015 left_z=0.1691 left_yaw=0.0014 left_pitch=-0.0446 left_roll=-0.0019 left_gripper=0.9992 right_x=0.3893 right_y=0.1075 right_z=0.1049 right_yaw=0.049 right_pitch=-0.1601 right_roll=-0.0647 right_gripper=0.9996\nstate[joint_eff]: [0.0068, -1.347, 7.2, 1.8095, -0.0366, -0.0269, -0.0122, -0.6222, -6.4752, 8.5265, 1.8437, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6071, -0.4362, -0.0189, -0.0387, 0.9992, 0.3668, 1.581, 0.8173, -0.0093, 0.2653, 0.1673, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4012 right_y=0.1084 right_z=0.082 right_yaw=0.0481 right_pitch=-0.1513 right_roll=-0.063 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1692, 6.9949, 1.7851, -0.0024, -0.0562, -0.0122, -0.4718, -2.6872, 2.9744, 0.8181, 0.1978, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4519, -0.0193, -0.0387, 0.9992, 0.3584, 1.7897, 0.741, 0.2012, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2858 left_y=0.0016 left_z=0.1631 left_yaw=0.0016 left_pitch=-0.0732 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3992 right_y=0.1068 right_z=0.0066 right_yaw=0.0541 right_pitch=-0.226 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 7.1863, 1.8095, -0.0562, -0.0464, -0.0122, -0.5949, -7.8154, 5.7094, 1.7558, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e76c85ffc42721f6bfa185ae823b9e8417bac2ffc1d059c7677c95b6e0c0c1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21910f0607d48fe447f4db78cb0b254b3479aa6443790e228c8f85a498aafc67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0f68ebcc92f35c7c66272c494498e814c61af3525a8e92ba06ba923ff08dccc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwkKEAgSGAI4AUIIdGhpbmtpbmcSDEPpRmDNWzaJqSRB1RoMBzs3CyFNXW4UykS4IjAC0BI6gXqTJSEDnB9HmhzwbnpLjQC1D7BhbpVLAhQQW7rwglT1Ur9zwNguFDvIPOAq3Airkfx0sQUxmgBVMLYJdydCG08+VScWHhSGaZcKuAO8rREAsDzyAn7tPESp8feLax+5wESyew17pYqyl7c31cRtYvvEWeSr7nyRtwIPrFJBepVWo+4AedB+cdhrUsSWZ6vFPE4g25gTpFvxvGOzRjLXf6i64QE/zYL395eKYmtH4cG0WgQCqIaLuxX0HNuc8o0QLsA8VgHBtIIRYtHOB/hWzRMdD+3b0qkB4I0TWx+DzH5dcuTMgvdBzn8NypcMmL/epOAVMGv2JwXW+y9SI71TzjwC0JjiWssy00HUd1uSYvbkxqWqtRhrfF2JsshDScbBeB8I9QjMBBvOsFJQvYDwcbLcQsq8szElCVVBb0GXRj/kaK/Uy0b09GwEZslja6F1e0VqySc2NDaRhyHU8fUsuzezUihD96sZnjY+VsloYQ/NnqK9tDRfDZqioCwb6Unvi7fjXKTBgtjuY33EvpyROY77pq5FLmp/tvEhrupc4r3xj9YK1r5UxeYQQaAY3xQoFg7kezRQqZYOwDv4yc6h9uYLq2RTcZG3vUkHAx79Vuqrmw07/JSIw1530ljyuBr9oqgnYqpXSc3tJpu7hfTBiJU/dNv3fWaFKdwoYh8AFulhhd+96Yk+Kv7c3G+oJHzRpDGR78d/ERoiUrc7ra9fTGVGAY/ji7FEvTgKnvIvXkT5iT2beOMjW11NEfDg7MrVzBR6X5ZF/dN2F1XsK1EvuIGbmDLNtTOWlFd80QbOlKT6zXARTb59rcAzm2wducIIRa4oXFSLiysIXqLgEgDfstYeFqOjXChq5KAqhc/OeuXWv13uvwStHrIgvWOLck8+c/74jxFmjgVaiTDAnrQNiVILlXTUqo1hc2gWqiUXQG0eJJkh5ptZMP8PPt6ckSOJQJ0h+OauOX5MQq0qIIDFSAyuuIKq58wXzVNkpUCx2+dKZr4doCTIY/n2j8wVOZBYhi8e9n5UQ6q1Vox9MFuuWckqBKWrviEljZnzBGKh61OxTzAMBYjmjohvDROpALXPJmgDz4gEKAZmSdd9Pj3s9p2QyCKUCmnUH7uBb5XYCiLedaJ9+nWblzJCkV0EQZCb//3m4cX69G9/2rFlpsS20duFg0VO6tqRHpfNQgubxabIXv4qqgZEiPI3Jr15UuN0S/8v168Da6w3qH8m5OqUCItYDEj+rdSJObcXpuh9ixXYmP1K2OX7FoicGKfl6Rds90vbt6e0yKrg3IWkr/F+u1rLqSJZwrPBDuHppIbu5KHzlYf42xLUTYSlLX4xhrTxlVWkTyvHpBmrb/5jPhQ2F1YqC3/3IpifwYriJkVZagS9xdOavu1FkzikupsqrxSbV0JH8eK/lN92K77Sg3uySXlcdlooVryu/Fi6a3DEmRGsTG0OmfSOpnGddqmavSU3g24aG99vNUfO8Zyhm+L3LH+tRp1UQFvVVcGWW6K9zk5h7LegSxsyyCqwsJFXwOs+tzu/UOqMrYtAMXIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AU1ZNRzx5FafcrnBZ4Nmj7",
      "input": {
        "note": "At table height; lemon fills the view just ahead of the jaws. Advancing 2 cm so the jaws straddle it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.108,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01AU1ZNRzx5FafcrnBZ4Nmj7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4553, -0.0189, -0.0383, 0.9992, 0.3584, 1.8088, 0.7403, 0.2497, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0767 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4051 right_y=0.109 right_z=0.0066 right_yaw=0.056 right_pitch=-0.1987 right_roll=-0.0734 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2513, 7.0222, 1.6972, -0.0464, -0.0317, -0.0122, -0.5949, -7.6239, 5.6684, 1.9267, 0.1099, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de966ba11f9f4363ce199aae5a57bf602ec84d37709c8b522c92a994abf435ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7a3dd86eae563aaed8228ec738b0a0c617731dcff0d8da1d9d273f135b15ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db6fe5a90f80a6e3a71afa3cf571308f68d5862d9217fce8784b2be4df8b0502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.516 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8028, 0.6071, -0.4362, -0.0189, -0.0387, 0.9992, 0.3668, 1.581, 0.8173, -0.0093, 0.2653, 0.1673, 0.9996]\nstate[eef_state]: left_x=0.2879 left_y=0.0015 left_z=0.1676 left_yaw=0.0013 left_pitch=-0.0526 left_roll=-0.0022 left_gripper=0.9992 right_x=0.4012 right_y=0.1084 right_z=0.082 right_yaw=0.0481 right_pitch=-0.1513 right_roll=-0.063 right_gripper=0.9996\nstate[joint_eff]: [-0.1162, -1.1692, 6.9949, 1.7851, -0.0024, -0.0562, -0.0122, -0.4718, -2.6872, 2.9744, 0.8181, 0.1978, -0.0562, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4519, -0.0193, -0.0387, 0.9992, 0.3584, 1.7897, 0.741, 0.2012, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2858 left_y=0.0016 left_z=0.1631 left_yaw=0.0016 left_pitch=-0.0732 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3992 right_y=0.1068 right_z=0.0066 right_yaw=0.0541 right_pitch=-0.226 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 7.1863, 1.8095, -0.0562, -0.0464, -0.0122, -0.5949, -7.8154, 5.7094, 1.7558, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4553, -0.0189, -0.0383, 0.9992, 0.3584, 1.8088, 0.7403, 0.2497, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0767 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4051 right_y=0.109 right_z=0.0066 right_yaw=0.056 right_pitch=-0.1987 right_roll=-0.0734 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2513, 7.0222, 1.6972, -0.0464, -0.0317, -0.0122, -0.5949, -7.6239, 5.6684, 1.9267, 0.1099, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de966ba11f9f4363ce199aae5a57bf602ec84d37709c8b522c92a994abf435ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c7a3dd86eae563aaed8228ec738b0a0c617731dcff0d8da1d9d273f135b15ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6fe5a90f80a6e3a71afa3cf571308f68d5862d9217fce8784b2be4df8b0502",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSzgYKEAgSGAI4AUIIdGhpbmtpbmcSDOPaY3e9Cubge6TUYxoMGTjqz0HjDSufZhJWIjBfAwh4wy8FiBbkr+t6tAYZvu2hGRZLH1OGlR+ow1jZmGgYHTfRxav7PPI/1eidb1Eq6wUtEE99Itipr4oeaFApX7/3+9CRThHi8MgCn7gdi9UzG2vbCLj4j5HLvsTr3ljvfYApcAMbaa0Jk01KvCgA+NVKlBfD8HpkEWsMpTuq7yrk1NDGAjaoVNLbgIh237TeYfQ7B3bfsY0gEOA5KYX7FC8/apGhq0aJTAf9emrw9xXl1yc+4sRH+WxkJfNwQHD/s8Xb3W2bWkIc+zg8SHW4hLPLXgUU/ueyLI0XI3OuESZSSnEqCVVZf2e63sKYTFAZFbX8h4HQ2Ugmhjt7s/Bg538lhMJh0pbqYgsvdvJJwvT/BHdflHROBO4mv+IY5dBM2KwHihjHYHPYMfnWgDIBSrGfFsjvUzrRRY8qZSWm2A0uj5uEwI0nTRoXYhJZZOoek8TcxY506+0UeGK7gMtafeS/cxS+M3RAzi7cdYjGcTKDC7/+AaCMEmwlz89ggvyWFwyRNPtiQQHm2h6O39QQgG1qWhnQZ34EK9dqouMVw8u1MnI1m3MgeXEus522H6fbZasdWspIE2eF4zhHl0KU9TAY6UzOBoc9OQatxBNJWm7F+lEIdJZPhyH34nTAZ4tswuGmYoBcMPh/aIKLvj1Dh2JmQdtBxYsyDew0fCen1sWt7K64hi2VTUNZGW+AmrtFYxX2iYkHdfIg+tdagxlHbhuDzIHOiXaoTZCKa/rRy8mUFFmcQpNtppIUDBA9PWPQjRyKegWmrGp48sZZ4gxLrTGgY0r3q6TjiLOA5Xb76D7ScLnS6Q+m31ahVStNRtj3+VXbvtwzfe6kmgSpSuSMB08/gRBnJkJTqE+M6+E/iw3LtGpXeWPTwy97IaBQuLyawCsfWPF8KPtg0VaCF28ExH4fw57rnW02NJSZ2gbSn4ymHRlkVZXZBEjfLUDgk0zeNdO0fbpahGiXa40O3FbzQJs+YbL36ymePfbP+nu9s0DfjGOwPOXJUicnRcVFVxdUiqcEYHsnOPKJySYQZi3MQLeugOcVe5V0H0xvySYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015UpbMsMqoXuzjEy5L8LZxc",
      "input": {
        "note": "Arm only crept forward; commanding further out so the jaws reach around the lemon.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.108,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_015UpbMsMqoXuzjEy5L8LZxc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.458, -0.0193, -0.0387, 0.9992, 0.3584, 1.8088, 0.7403, 0.2501, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2849 left_y=0.0016 left_z=0.1619 left_yaw=0.0016 left_pitch=-0.0793 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4052 right_y=0.1091 right_z=0.0067 right_yaw=0.056 right_pitch=-0.1984 right_roll=-0.0733 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 6.9675, 1.663, -0.0757, -0.0513, -0.0122, -0.5538, -7.5829, 5.9009, 1.9365, 0.1197, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc03a5583541be44c3dcacd8c95d6a1f5d13459cc6201852554ffcbfc9285c76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f943ddc72fd9e9eb89d9ffa0cdb35f23196a5f597cbc4a1797201565004848a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:277fd396e4c2a38db5ff07e57b69225eef4929f7b802d8d107f76878c47752ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /messages · status 200 · 7.284 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4519, -0.0193, -0.0387, 0.9992, 0.3584, 1.7897, 0.741, 0.2012, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2858 left_y=0.0016 left_z=0.1631 left_yaw=0.0016 left_pitch=-0.0732 left_roll=-0.0016 left_gripper=0.9992 right_x=0.3992 right_y=0.1068 right_z=0.0066 right_yaw=0.0541 right_pitch=-0.226 right_roll=-0.0822 right_gripper=0.9996\nstate[joint_eff]: [-0.1299, -1.6479, 7.1863, 1.8095, -0.0562, -0.0464, -0.0122, -0.5949, -7.8154, 5.7094, 1.7558, 0.0855, -0.0122, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4553, -0.0189, -0.0383, 0.9992, 0.3584, 1.8088, 0.7403, 0.2497, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0767 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4051 right_y=0.109 right_z=0.0066 right_yaw=0.056 right_pitch=-0.1987 right_roll=-0.0734 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2513, 7.0222, 1.6972, -0.0464, -0.0317, -0.0122, -0.5949, -7.6239, 5.6684, 1.9267, 0.1099, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.458, -0.0193, -0.0387, 0.9992, 0.3584, 1.8088, 0.7403, 0.2501, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2849 left_y=0.0016 left_z=0.1619 left_yaw=0.0016 left_pitch=-0.0793 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4052 right_y=0.1091 right_z=0.0067 right_yaw=0.056 right_pitch=-0.1984 right_roll=-0.0733 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 6.9675, 1.663, -0.0757, -0.0513, -0.0122, -0.5538, -7.5829, 5.9009, 1.9365, 0.1197, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc03a5583541be44c3dcacd8c95d6a1f5d13459cc6201852554ffcbfc9285c76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f943ddc72fd9e9eb89d9ffa0cdb35f23196a5f597cbc4a1797201565004848a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:277fd396e4c2a38db5ff07e57b69225eef4929f7b802d8d107f76878c47752ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDFrqyGcvZpe8D63ROhoMmACqLFUyOjFAb+tJIjDoHpTBr7trwuCOUAopNnQOiN69wuUZUaEYon2Mdfja4BEadbzWNjFw7d0BYtQOQLsqggdgENDHgGOjFSkkhDKreqJNWOm5YUvyFOUVKzthB5GqrH9FSC3Uvt3/QEbUixBUfS/H9cVCLp+eQZesN9geSk3N9tDb4Vad+xaJ5bQPBvvcVJmnFVV/nYwtsZx8WcKvYL5Kv9pd7cdcOBasgQjseVD8ABHDBH9Lc5ZoH8v14/Z6Rjl+Uvltx90CIgZySM0xtNWzpe8ngQUGZKrbD3tJ5w5qaD59/fSnxEaUoVR7LIFXbF23HlRpDxX3kzus3CD6gmVQDNpnzKGIlfcLaXckRbJO9pGhR3hn5MhpgEO8hZjegLOddo/c3R5GqYU2MCTGzy1P6gfneDj72W/FoUlHpkviXRKrViwmi9iW6tzMIs3epiQp3VhC7kANPMkrLb+GaOheStATPWIdxjZC/Qluw/1MGpfqukscSSxz4auhWvGegCJ6QAoPD7CAh06STuxJV7ukq/sthOw8bq2jDIhUnVQq/EahsnRAKWQfjgUYptKAEeETYgilXm82M7Wc+TaoBvVEcjtACCbsMYotVKnZUqzMWs399h9w6LUMQFKQgyb7eCw+tHNHiFuzQoOnY1r8f+a43k4hChnoxspfLzzUtzDh322+quDFLZWNDTsB12zeOKdQDNPM4lQttNkqs3WBT/PuM4AEBu2DUaIfyqwnd/h8Zoa3LDuxv0LcM1oQe6kzld3VE2AuSIbshqnMuwtxEDxpUHeIYo8/AJAXwdTMqOEKDtJgcTCA+WKuKDLRyhCCEXj6yvCQh+MJdsBIei2ttUjfVLiz35WCChh5PTY4HNI2dLj6RKnsYCU/54SgM+gPJdRNUG8o1UuXfEEabo8Wdalf+UfThD9ZAQPTrtQpZrZFKuP2M3shLbcjoffYDuoUjXhwTCGXDnXx6W8IeAQ3xv+gXUPGtjmXe1HWsQdzLb997sl8Ide50W0wgo84ajVSMM42NJW6C23tcCcYoSvH/Mq7zp2Ok7gHjQKf3/VPipVUX0UlLJUfAtFba5uMjgrJfV4siDBCjffDxKXM6/hSDHyc7WSb5scp+5NqcM9Cszsk/Fr4fh8Xs4eVt/Mv0/8nVWcLYDl3eFIKaJWqzcvoM4hgjie8MtBnHpsZZU77IITnoTjOAnZoRwmbcV2x0W2+rxtF0WLqzp7tfTbwRkWGpEhJprteDxdD6SbhF1iaMySLyzMLwcj8vjW4gnj2ShfGh04vGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PSCGNJum6HtLFDgjNwPiym",
      "input": {
        "note": "Arm stalled at table contact; lifting 2 cm while advancing so the jaws can slide over the lemon's near end.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.108,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01PSCGNJum6HtLFDgjNwPiym",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6071, -0.4725, -0.0193, -0.0387, 0.9992, 0.3576, 1.8091, 0.7403, 0.2646, 0.2497, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.0957 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4076 right_y=0.1096 right_z=0.009 right_yaw=0.0559 right_pitch=-0.1848 right_roll=-0.0696 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4154, 6.9538, 1.7656, -0.0757, -0.0513, -0.0122, -0.2393, -7.665, 5.6821, 1.8193, 0.1538, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bf2c4018b61285b177a38d3c6a5fbfa2d506ff5fccb31bbd259435334f39b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:754de92415836f8c97f61bd64854950fda0a6cec10dda3e012ca89163cc856a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fed72ba28e839276c760be28c32d40dceb806ee0d31383033b71caf7d5cddd5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.8 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.4553, -0.0189, -0.0383, 0.9992, 0.3584, 1.8088, 0.7403, 0.2497, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2853 left_y=0.0015 left_z=0.1625 left_yaw=0.0011 left_pitch=-0.0767 left_roll=-0.0014 left_gripper=0.9992 right_x=0.4051 right_y=0.109 right_z=0.0066 right_yaw=0.056 right_pitch=-0.1987 right_roll=-0.0734 right_gripper=0.9996\nstate[joint_eff]: [-0.0615, -1.2513, 7.0222, 1.6972, -0.0464, -0.0317, -0.0122, -0.5949, -7.6239, 5.6684, 1.9267, 0.1099, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.458, -0.0193, -0.0387, 0.9992, 0.3584, 1.8088, 0.7403, 0.2501, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2849 left_y=0.0016 left_z=0.1619 left_yaw=0.0016 left_pitch=-0.0793 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4052 right_y=0.1091 right_z=0.0067 right_yaw=0.056 right_pitch=-0.1984 right_roll=-0.0733 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 6.9675, 1.663, -0.0757, -0.0513, -0.0122, -0.5538, -7.5829, 5.9009, 1.9365, 0.1197, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6071, -0.4725, -0.0193, -0.0387, 0.9992, 0.3576, 1.8091, 0.7403, 0.2646, 0.2497, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.0957 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4076 right_y=0.1096 right_z=0.009 right_yaw=0.0559 right_pitch=-0.1848 right_roll=-0.0696 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4154, 6.9538, 1.7656, -0.0757, -0.0513, -0.0122, -0.2393, -7.665, 5.6821, 1.8193, 0.1538, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bf2c4018b61285b177a38d3c6a5fbfa2d506ff5fccb31bbd259435334f39b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:754de92415836f8c97f61bd64854950fda0a6cec10dda3e012ca89163cc856a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed72ba28e839276c760be28c32d40dceb806ee0d31383033b71caf7d5cddd5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6QoKEAgSGAI4AUIIdGhpbmtpbmcSDKVbkVMQ/hNt3mGaqRoMXTQp12dHtItiVHJtIjD6GaKh6nCtuANcWVra5R/JM6k63oGd+kfLwxeNQzFGILwoGv8fZUO1/sbNrngGnQ4qhgrFzSXAWlR97mSpY45016t5grWuX4IZv4JB5Cm68KN0uqa0uroBzYMLOHrl/tOdFko7R3GNWHC5iJi6E8eC+Nkvl2AYDoyrgNFqyRgCJTdKXmgUbN/nLh6E0APX2eMtn2mYRwQs+WPUfLOXvQbKb7Ad4+SmphOyhnzYx7ywm2I79M2kVrR4RvHQNZ2fOOk/W3FOsuS9mIBYUPZxF/u9oWx+C6U1/pKC1okkPSe9N+EIlvZ3gOWNQI81J8hoytP+Rv0vsqwHbYPdJj4Tu/5ARlbZPAIul1vbdauymY4G8Spgb9JZpFttFqEbniEZySP1++0x9++cJHEDKnQ6qWsWmMEeRI0kFPbK+OSkLVIUdtFZXanUJEDf/s/9NQ7K0CIxi8aYyKsCLOuRSjyRUnnnOUjU1h7abb6ktftiZmf6drL1QcSSXdDHVLr9vsAq7ofdp8UVJYkS0mW5/vhqwQwH57tkYq7JwFBp1Sw0UEvSdQvmV3APobCXKEavG6xaXU5cyjgNrKd7EF1jNJuNiBId4Biny0t1YltARrpIpc/qqZFvegu6p+qzufg625D1VHIj6V5pGl1gjBk7k/sz+MpGIG4OrUxY1DONrtNSXoIwWTf9JjREu4DJGtBkuNhBYzdcndzAVDQg+VzWobYPklv4emjdvRD+4yP9033A5lqL5SDZVz0BkGxt1ytA+7XhA88ByViqAlIt33xcLUjXl1NFNBzE0XJK6D8UhvfvD1Mb99QIyYTI5OaeyPhMMEpmduMCPKymMXYQqiRzb6SR6GEH5ViL+n2gi9JfqieXY9AdmfDg5rKr3+S6bjXDz+FMJ4f7NMjzuXgv3zagUMwScp9PXDqE/F8bNYoe0NXXr/xeL/dHy1svLacM0uzFf/1OxcwnHHO6B2VFUPFtmyLq/4fiiTPNC3sMXVfTxcHkU7GOdHhQZP2hqoUpu7eXefs7CXneJ5yBHY2z4mtPYDlER6KoMsFa68Ztn89yilCF6qZAUf1GHwrAkaO23tkYLVbLG+oVKWbvh1a4MyTSyukDrrF4gS60PGrDHPafRiuQWehx5sc8ewRhP3m+Oo9gwe/85kQBUGinVvvhbt5os+MJi7UqOnX6+uvfjl7+pNE1svA6mLyGYxeIl8sKjdRncYhdwtep6gtt/nXnUHWUOx4wlkwFdKKDgn6ZDPiVsoBET5WKJqRX1seCUplDGeX51dt92Wx2hVm54B8mvtFGyBXrqcmTC3WQebSmlTWOKzxJAHr3dNOB9jpKku8bAakgrVBn/F6lXVzilOo+3/pSLx6dsbU7c9VyhWiQzqmkI66LoMQ/1npEJSGzK0l9q7SL3S1UqPq1r5Q5M4d+D+T9RIOwSBtQwCiIYESAuErVOr7+wIo7bvOAWL7zwrr74oYPsBCTduv69FTCvvc1h+Tf6jkrunTSCDkfd8/Ds3ha19T7GUWGiR40zePt5HZQwFRQJQVZw5Y8IaE43ieclzgGUQ9og5gCmNUVJIYTCxsCJ4esG4M2gvCepLTbTrG4jg0kyff0+wsc+wC8bp4x/rIJU5nnNpm2vuXNb8v0HPMkUOcaxMZ/CkdQSHUvwVg+5yWpdNil9QDnMS9unJOh15yQmnrhBMnp3yD1NRAboFZjuAdqluOyPL4p3Yi4dIssqCDQXiAgOn4HX1efVVY51cgYmJ/pZ0qt1J9I/k2kbbF6a4RJzYqphrkA7PrjUfb37RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VyAdLwCa2FELNZLtaz9Mee",
      "input": {
        "note": "Arm won't advance further; the lemon's near end is at the jaw tips in the wrist view. Trying a close to see if it grabs.",
        "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_01VyAdLwCa2FELNZLtaz9Mee",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.358, 1.8091, 0.7403, 0.2565, 0.2462, 0.1501, 0.0091]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.157 left_yaw=0.0017 left_pitch=-0.1037 left_roll=-0.001 left_gripper=0.9992 right_x=0.4062 right_y=0.1098 right_z=0.0075 right_yaw=0.0626 right_pitch=-0.1935 right_roll=-0.0746 right_gripper=0.0091\nstate[joint_eff]: [-0.3214, -1.1556, 7.0769, 1.6923, -0.0513, -0.0513, -0.0122, -0.1026, -8.0342, 5.1214, 1.5995, 0.0855, 0.0757, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45931fa06b4fd0a54d16cc68c234d4d1ed1f59227ef4543c8804f8f4b1f5a371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88a3a03cf2fe6cfc75abececf160eafde03cf962f8cd7d1ccb7a587203321b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b725ba8cee40398336af68711c1db189878f3071d09cc2f044679763860af860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.419 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8078, 0.6071, -0.458, -0.0193, -0.0387, 0.9992, 0.3584, 1.8088, 0.7403, 0.2501, 0.2493, 0.1574, 0.9996]\nstate[eef_state]: left_x=0.2849 left_y=0.0016 left_z=0.1619 left_yaw=0.0016 left_pitch=-0.0793 left_roll=-0.0015 left_gripper=0.9992 right_x=0.4052 right_y=0.1091 right_z=0.0067 right_yaw=0.056 right_pitch=-0.1984 right_roll=-0.0733 right_gripper=0.9996\nstate[joint_eff]: [-0.1983, -1.2239, 6.9675, 1.663, -0.0757, -0.0513, -0.0122, -0.5538, -7.5829, 5.9009, 1.9365, 0.1197, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6071, -0.4725, -0.0193, -0.0387, 0.9992, 0.3576, 1.8091, 0.7403, 0.2646, 0.2497, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.0957 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4076 right_y=0.1096 right_z=0.009 right_yaw=0.0559 right_pitch=-0.1848 right_roll=-0.0696 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4154, 6.9538, 1.7656, -0.0757, -0.0513, -0.0122, -0.2393, -7.665, 5.6821, 1.8193, 0.1538, -0.0562, -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]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.358, 1.8091, 0.7403, 0.2565, 0.2462, 0.1501, 0.0091]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.157 left_yaw=0.0017 left_pitch=-0.1037 left_roll=-0.001 left_gripper=0.9992 right_x=0.4062 right_y=0.1098 right_z=0.0075 right_yaw=0.0626 right_pitch=-0.1935 right_roll=-0.0746 right_gripper=0.0091\nstate[joint_eff]: [-0.3214, -1.1556, 7.0769, 1.6923, -0.0513, -0.0513, -0.0122, -0.1026, -8.0342, 5.1214, 1.5995, 0.0855, 0.0757, 0.4664]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45931fa06b4fd0a54d16cc68c234d4d1ed1f59227ef4543c8804f8f4b1f5a371",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88a3a03cf2fe6cfc75abececf160eafde03cf962f8cd7d1ccb7a587203321b08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b725ba8cee40398336af68711c1db189878f3071d09cc2f044679763860af860",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0QcKEAgSGAI4AUIIdGhpbmtpbmcSDMjKVZSFKa78Sy8fCRoMzp6OuJ4a6ydRaLDwIjAW0ikSp5DzE15bQWU4PNh13En3uw4kUFNeeu7FQPjKVeI3iPGOeNV7oJTmaJbLryMq7gZSeRkOOVMy2BNBh7Hv5msZwXI7OGyVwzOrVxYyN0hpQ1l2w9u7f4SzQUjLJxBDUf9KaLE80ZStXzFtA0IVvjNx4Q7VERXZhNuq+/rOIEfg3qMCgO9eIsZYmZ4Ktp0b2eLEKB3vB2JF2DDQCFbnqt78zZ6+k8cxipMB27/Qp3yo9dp2R5zU1yWmN6ReDp0FnXFy6P7O1MJFnsP1g0NFBDou7COhmHiPEwnuJCO4WNXuOxaLrN9YUq8tAK4WdslAxOyio5v+qkeW1X0uKizyXk5sXR+lVdwt6DVaswy9xe4vIdPEDIrP4DLQFeOoGzH+omehDwH/+fK/wGVhcGMDBbpem+3QrRrzkblU24QN/PgrPgw4+4ubYeb5BEWVeXEgqb/DNqYs3oOo87J8uPCmnq6vwUt8vOKxazGT3FeYVbSYKqR+7cpUWoI7mTYgYA+pNdHk87VLO0j6DIXt9zSQIOnv0WYkZVMnMdjRe+t816PMeuiM5pfhjwB5kJLGrLpRd0HE6qqnTBnN0sTLfqMj6v1ipBxdHo4IKLWqHqx183hBgke1hMm/FzNrVs5r8geCdsj+oiuy/XFNv+kpLkJ1smyjv/sAUOyh0Vg7aO2BMihOMz/0pxtF0MXYZL6GCPUwlpjcmxOTK06qXZLnY2kjyKCIbtPf3/a10z8zsFS/xS/B5SFvk1cRXZj0tBabeSFh7gYq50XkE5+YUyUAQloo+/GIwmAF/VJxnuX06NKGnpRdHIWFIgkFljaqfUGlOG2L69FwgbwFDBFv8ecOKST+Xaa3v6sRnjBAhHQCd/1qUlJxW/qpEAiTitXLs1TZGLAKzxW0oQ/MkV9QXxQjgkKuzm3RIvCQZMJu4FKRqp3uczSNlxDeeyNYMTtGIJNxwFSlup1TrKk0jZMdPeAvGxh1k7pGfgwGKVr67p8HLY/+tG3+ZCLfqu0BVG3ttz3RVKp2+ECHuBPZfDcOZ7NtT/iBe9UfgLd7GXO0Zlwk1oIETuxidw8dEW9Hke635SsVKNG2M4LUNq3OLA89wmqokUoSlcAJ35d2WxlmgJAej2pTIcryzbyxmPt66Zq4XufZF6QQu6GifMbjxg8nsIN2d2aafRcgK4dJZgdfKfcc1lZWZIahwq/27SP51BPbgCFxZpLL7iwrj7mTmsI2tPso2wKhhBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016EKEDzz32yhi6Qw6zQnXgk",
      "input": {
        "note": "Empty close – lemon is still ahead of the jaws. Lifting and moving forward to get the arm unstuck from the low pose.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.44,
          "right_y": 0.108,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016EKEDzz32yhi6Qw6zQnXgk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3222, 1.7573, 0.9611, -0.0776, 0.2195, 0.1127, 0.9947]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.1541 left_yaw=0.0017 left_pitch=-0.119 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4274 right_y=0.1059 right_z=0.0525 right_yaw=0.0663 right_pitch=-0.2597 right_roll=-0.0983 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.7998, -0.0855, -0.0659, -0.0122, -0.4855, -10.9607, 8.335, 1.6581, 0.022, 0.0708, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398b773003026c6a5b51df1d7e0a90b55168e446efcfad3cc491188af86f21cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3a299b6c7d5fde5d7f2e482e47d5a7c4605a176ac46d5e239f0809b3b1392f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e74a043a459955cca69a3e348c509b4fbd9f8f8ce53e56370c8c55b23523bb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 6.606 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6071, -0.4725, -0.0193, -0.0387, 0.9992, 0.3576, 1.8091, 0.7403, 0.2646, 0.2497, 0.157, 0.9996]\nstate[eef_state]: left_x=0.2828 left_y=0.0017 left_z=0.1586 left_yaw=0.0017 left_pitch=-0.0957 left_roll=-0.0011 left_gripper=0.9992 right_x=0.4076 right_y=0.1096 right_z=0.009 right_yaw=0.0559 right_pitch=-0.1848 right_roll=-0.0696 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.4154, 6.9538, 1.7656, -0.0757, -0.0513, -0.0122, -0.2393, -7.665, 5.6821, 1.8193, 0.1538, -0.0562, -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]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.358, 1.8091, 0.7403, 0.2565, 0.2462, 0.1501, 0.0091]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.157 left_yaw=0.0017 left_pitch=-0.1037 left_roll=-0.001 left_gripper=0.9992 right_x=0.4062 right_y=0.1098 right_z=0.0075 right_yaw=0.0626 right_pitch=-0.1935 right_roll=-0.0746 right_gripper=0.0091\nstate[joint_eff]: [-0.3214, -1.1556, 7.0769, 1.6923, -0.0513, -0.0513, -0.0122, -0.1026, -8.0342, 5.1214, 1.5995, 0.0855, 0.0757, 0.4664]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3222, 1.7573, 0.9611, -0.0776, 0.2195, 0.1127, 0.9947]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.1541 left_yaw=0.0017 left_pitch=-0.119 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4274 right_y=0.1059 right_z=0.0525 right_yaw=0.0663 right_pitch=-0.2597 right_roll=-0.0983 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.7998, -0.0855, -0.0659, -0.0122, -0.4855, -10.9607, 8.335, 1.6581, 0.022, 0.0708, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:398b773003026c6a5b51df1d7e0a90b55168e446efcfad3cc491188af86f21cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3a299b6c7d5fde5d7f2e482e47d5a7c4605a176ac46d5e239f0809b3b1392f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e74a043a459955cca69a3e348c509b4fbd9f8f8ce53e56370c8c55b23523bb0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQShQcKEAgSGAI4AUIIdGhpbmtpbmcSDF3XeD7t7HEysVsZKxoMIcKK4KX/UInpfArsIjD8QlfMa3ODB6tWmHD0CAsNPLIwk/WdvZONf2fEUox+67+Bot8ENzMxlwBJJ1HY44YqogYLtcI/qF31wDmZFrcaQV0tfO5UeGbgLdSEu9JQHQwTvIjW0ScexXbDftPlDF01p3VFI/Oms+vHOnURU2ci7xzo1nSzaEeDBKEIBocyJ91Hcy5K+S9ZYz0ddxdxQvtq4l6sC5N2zluzVXxqSezT4j3DnSXt8bTNZxyJX62YU3IYk27uEvngAPZNVRWOXB33uT5Um1CRqpapAgfTVen8ag+ANpNdMJ732K5G/lEJgdSORgdnF6G6aJDrugLWlfUiNtSLnCkKjRq2EqOkdzDLdGREdy//Ya9Bfpovo2f8FZz3vdBgFFTdxm8YZauVtLUKCp2LHa5QBzOuQE3Sncek+dlSnCo5aWC5eiAPoM+eXqmcL/UVvZ+Xb0+n5HzaSBrIgkGevWUYF+BUFf8YHzFocKQKn31cS6Rz9wS9cNtzO2dLQ8pmTE2jcVj8q3FnpXanMWS3OdzUxuRaV0qs8cJUTkMoGWkBdK2jgxu7CUE3LjUwOcq5dcnbkC3zJH+olD/UCR24maBpO3b92mzSX4twsHZOG5BI4+OXmN1WlQm2tnABNQ3Puz1lQ2tB1VD455Z2teLcP49CLuNSObPPOZFi7MCgs+NWYOkITWX3v2wtFe7ATa1ZsNAqlZfTgAwj2Zg8Tw5zu5ZpFEue7CDcGjPoaNYOyzS90S6XxdgvgkyIYOyuIR7CnlRxVXgDPt0mHXnIBi6Tkd74X9tHmzhrWXRGC7vkNqiu2RNk+01cJLVDThD67TOyvelh06Y438NkxQZ0eKiTSyPtPQxHMABTtCWfZ88lMkTzoVJWa7C0eDYr6DdW5aJniQeb3aOjx+RHbtYdW7uKGYDaqqF/PcwkQzDY7LIO9yulyDGDSygLQhX/BQyxbTedX1mT44zmVY5ANvL5j+5dj6O9g0IoNS6W8JbVKlzIdDbSTvw0mzGW76VFlFq+0Ncfa0HVU7pdGRnepXKyt+bj+Vfwbf8C5UQmKJdNt/e8S73V+Pnr3MrzkFqwA6BCbITZxI9Nvj7NOh/8TSAYyeH61qTLv/3AowCmuRtpBQNGDWC59ik3cMGvsUZIuGFVb9TpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GfVHifiWuGTmkT6hux8C52",
      "input": {
        "note": "Lemon is centred between the jaws in the wrist view but still ahead; advancing and descending to straddle it.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.108,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01GfVHifiWuGTmkT6hux8C52",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.506, -0.0189, -0.0387, 0.9992, 0.3012, 1.945, 1.0275, -0.0025, 0.1989, 0.1093, 0.9964]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1515 left_yaw=0.0014 left_pitch=-0.132 left_roll=-0.0006 left_gripper=0.9992 right_x=0.449 right_y=0.1067 right_z=0.0063 right_yaw=0.0614 right_pitch=-0.3086 right_roll=-0.0962 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.2513, 6.9402, 1.7802, -0.0562, -0.0317, -0.0122, -0.253, -10.4684, 8.1436, 0.5543, 0.5836, -1.1258, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d7b24eef65959b21db0bbe48ad122cb25eedcc53288949e0c2353c36de34ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0936caa9870bd88882e8ff4d5f780f89b0fe1457fc09ac6082a0bfa301254f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:56cab0e237c85e75f5e05dafc2ca16d90bf5e0a8edff3a93d8d16f2d0a16b4de",
        "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 · 5.617 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4801, -0.0193, -0.0387, 0.9992, 0.358, 1.8091, 0.7403, 0.2565, 0.2462, 0.1501, 0.0091]\nstate[eef_state]: left_x=0.2815 left_y=0.0017 left_z=0.157 left_yaw=0.0017 left_pitch=-0.1037 left_roll=-0.001 left_gripper=0.9992 right_x=0.4062 right_y=0.1098 right_z=0.0075 right_yaw=0.0626 right_pitch=-0.1935 right_roll=-0.0746 right_gripper=0.0091\nstate[joint_eff]: [-0.3214, -1.1556, 7.0769, 1.6923, -0.0513, -0.0513, -0.0122, -0.1026, -8.0342, 5.1214, 1.5995, 0.0855, 0.0757, 0.4664]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3222, 1.7573, 0.9611, -0.0776, 0.2195, 0.1127, 0.9947]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.1541 left_yaw=0.0017 left_pitch=-0.119 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4274 right_y=0.1059 right_z=0.0525 right_yaw=0.0663 right_pitch=-0.2597 right_roll=-0.0983 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.7998, -0.0855, -0.0659, -0.0122, -0.4855, -10.9607, 8.335, 1.6581, 0.022, 0.0708, -0.149]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.506, -0.0189, -0.0387, 0.9992, 0.3012, 1.945, 1.0275, -0.0025, 0.1989, 0.1093, 0.9964]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1515 left_yaw=0.0014 left_pitch=-0.132 left_roll=-0.0006 left_gripper=0.9992 right_x=0.449 right_y=0.1067 right_z=0.0063 right_yaw=0.0614 right_pitch=-0.3086 right_roll=-0.0962 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.2513, 6.9402, 1.7802, -0.0562, -0.0317, -0.0122, -0.253, -10.4684, 8.1436, 0.5543, 0.5836, -1.1258, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d7b24eef65959b21db0bbe48ad122cb25eedcc53288949e0c2353c36de34ac7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0936caa9870bd88882e8ff4d5f780f89b0fe1457fc09ac6082a0bfa301254f60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56cab0e237c85e75f5e05dafc2ca16d90bf5e0a8edff3a93d8d16f2d0a16b4de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AYKEAgSGAI4AUIIdGhpbmtpbmcSDH+zKkIy/289at31QBoM+CNm7MSeUC9mnr88IjDiR7YdX70iF5uyRsHzZVJsoG5jRdkK0ljtaxD38CkZg849g3pa4bjDwtgsRtLC5Zoq8QWmajMCUwS9Q8T9ZIWfNY0Cc52myFVLBtrFu6lCuZIEyjBiXvMUmWFD96Si4luaeWyjaxwXrnbEPbJdbdMSp60H3+bBrEPEVQVdP9huwZYruRoHI0JCtQ5nGSMYidgmXtsnKuWnxksOpFEsZmtCEGOCVIioXUjufXx3FaPobPy3GxgIPCtVNruC4ZHOk9gifzEpy+RPS5palHo7i+6c6srdyN+0J26nlrzWQ4lSORIWrf+fsWI83ON0vZbw+cUuK39GY5TDYxtiRTVWp9VzWGi6AQGx3KycfJj7xBPeM6VxPQW6L5U6tiPxaPSuaudlimaNbDNeRvXkbOqKQwT8vWHmMR1ClTYQjjTY24srJ/BfcC1TL5bd/ke8nTecQJZ9TEptbvwMb2PKnq4mA4UF2mk9mGJf44+9bnx893tBbiknl+3V7uN4CcFZafb5AXlSpVABbDdh1qtFYd1BKpALXq6ZxZGJLZnWi/9ZdC5CAE23CQ+eUxh1tGPG03xhJYYUJR1hYzF+tNf/5O8HT0FyfhbtR/WA6u6BF0DByzYT5m4vyEDc2M1uN1IUTExr/O6JDfHGh8mpQ0yEdghYVofaXZmCfu2RlZd0fjTDLYelz3KcR5c1p2OazZQb67SzuoPLR7rKmD/vUO+Tj38f7V44Fo4ths1TsKLrozP6KT91lUZA8eUHCBqewxJiChoZTX7aum+Cmw9xVzD3tpUfy0r0YqqWbd/Iw5KE6cmU/fM2MP7qkwX38EJBYR502I+2fjVles9MJryR3OAnAs0TVjb3wFiihfT38IFG6mKQPXd7bitwqHEeZ4YO2s61MTo6oMDkNRI3dLOhh1HeiTSSgTFmnuiG436no5qgXrx24vPv5EU4S6ziFv3jfKxQ2DP5kEQYpPWXacMPtG45s8URZfK5fplJZCTXPJXuw6vP4AYdJJ/qXjLCF3s3moXauv+trLw00J4qfPbvlkYAFjYJbcwQAhyfQNYYYpIXINiuJZg5G+5pH+oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011mK1eqGtyqoAcVEPzCpQj7",
      "input": {
        "note": "Lemon now fills the gap between the jaws down to the bottom edge; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011mK1eqGtyqoAcVEPzCpQj7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5179, -0.0193, -0.0383, 0.9992, 0.2996, 1.9617, 1.0374, 0.0097, 0.1936, 0.1051, 0.4515]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.1487 left_yaw=0.0016 left_pitch=-0.1461 left_roll=0.0002 left_gripper=0.9992 right_x=0.4529 right_y=0.1081 right_z=0.0039 right_yaw=0.0673 right_pitch=-0.3046 right_roll=-0.0933 right_gripper=0.4515\nstate[joint_eff]: [0.0205, -1.4701, 7.0906, 1.6825, -0.0415, 0.0024, -0.0122, -0.1026, -11.1658, 4.7385, 1.2088, 0.0855, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d14d01a3beab389d6bd20c5d0b2820b991e5cd9e850264987055a2a364e1614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de5884f046933f4f114d970a1850443f57ce67b607583856ba25f29608e355f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0af18f0bf22608c5bbbc0113d4b98497f490d41df68a3f9fea738b7d0c8c62fe",
        "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 · 5.094 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8097, 0.6067, -0.4953, -0.0193, -0.0387, 0.9992, 0.3222, 1.7573, 0.9611, -0.0776, 0.2195, 0.1127, 0.9947]\nstate[eef_state]: left_x=0.2791 left_y=0.0017 left_z=0.1541 left_yaw=0.0017 left_pitch=-0.119 left_roll=-0.0006 left_gripper=0.9992 right_x=0.4274 right_y=0.1059 right_z=0.0525 right_yaw=0.0663 right_pitch=-0.2597 right_roll=-0.0983 right_gripper=0.9947\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.7998, -0.0855, -0.0659, -0.0122, -0.4855, -10.9607, 8.335, 1.6581, 0.022, 0.0708, -0.149]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.506, -0.0189, -0.0387, 0.9992, 0.3012, 1.945, 1.0275, -0.0025, 0.1989, 0.1093, 0.9964]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1515 left_yaw=0.0014 left_pitch=-0.132 left_roll=-0.0006 left_gripper=0.9992 right_x=0.449 right_y=0.1067 right_z=0.0063 right_yaw=0.0614 right_pitch=-0.3086 right_roll=-0.0962 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.2513, 6.9402, 1.7802, -0.0562, -0.0317, -0.0122, -0.253, -10.4684, 8.1436, 0.5543, 0.5836, -1.1258, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5179, -0.0193, -0.0383, 0.9992, 0.2996, 1.9617, 1.0374, 0.0097, 0.1936, 0.1051, 0.4515]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.1487 left_yaw=0.0016 left_pitch=-0.1461 left_roll=0.0002 left_gripper=0.9992 right_x=0.4529 right_y=0.1081 right_z=0.0039 right_yaw=0.0673 right_pitch=-0.3046 right_roll=-0.0933 right_gripper=0.4515\nstate[joint_eff]: [0.0205, -1.4701, 7.0906, 1.6825, -0.0415, 0.0024, -0.0122, -0.1026, -11.1658, 4.7385, 1.2088, 0.0855, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d14d01a3beab389d6bd20c5d0b2820b991e5cd9e850264987055a2a364e1614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1de5884f046933f4f114d970a1850443f57ce67b607583856ba25f29608e355f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0af18f0bf22608c5bbbc0113d4b98497f490d41df68a3f9fea738b7d0c8c62fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSkwoKEAgSGAI4AUIIdGhpbmtpbmcSDDaU4yAFWxJqeswUhxoMdZqAKurEs/31s3knIjAPzWiiq8KOKkDO5u70iSZ1LmVK9vggbpfU53XY2EPwfirK83wtTw+BZlQX8BNFqZ4qsAmCEH4lvAiP+Yf3PN/Lo47vpTsL5patrBq9l3xlpYVJKLtOscf1oeBZmJ74P1QInD1CQkMD7rX4kP+Cp8kdEuH4uy6x5ijZD6rgjj2ysF1hf8wsBkQ6QvC0QS6VPiNm/cyrdvW4WH7vmfeTQWBWU+jWUZjHsGDzH6fGsFlh8fA9cuv3LFY731FfekfvSMMu+OgRmSONfve3Dqt6aObEUs7Oq0UMgkBhWyDPK0llvKqKNcg975WWXjydQ4kkRR2GKqR45pK0WQRYAyjGLlp0q5+rDBPGCAXIVMiInocQsdKTvHtJMpuT2VaBs1LN28Av6T6i4nKDmCPEKT2xF1nYTlftkxZqzz/QShAhwhEVbRBzV40pvWKGALLyfrOjXqlkNJdQ0XHjMayIlnv4aNZ2DnPfEVMqff2aYazI/pNTwsI5k1/P11pyQPc/QXWk2y5sPU3d/g9mQYpOyLwvAK6yIh0LifS5HJgV2EFdST/1iGw7gElarJVUfDbN4YPeqSIt0ywDifVqO6PND/UZuB8wHQiiZifLo4F2vUuBwNS4O4zddYGWPR2AhDHYdHra76lirRLo2O9W4yLoSeb+bx8laTihVtcE4gp3KQQctrg73TjnbaQg4NmU+vTOEdeGn8DXhIOPz2Fn7+BGM8uYfDva7lIVOVpOQg1wxUv5DO1Szwr/nsiWsp0eDg1Psxgpwv0cJT7u3DJQS/YymkssjYwPNXk5t9wBOC37uOJx5fnvwL5et+1NjLBFE/NgCUcVspxw/Eg+pTU3DDe8w8a4Dc8SHv9pKGfVtrtMs/ro6BF5v+NXTxpBjnRFYpKXvnIo6o+W/yDGmFwwkiNu7YpaSoukFSEI4ocIEvH4B0vDvg1VRxB7TvfSUMoYspSGk6kCTzzZl3IgQ+ITeESen+MFguXHgL7gf8OXYQBJCLy1kJq9TbWQo8NebagziaM31eTIfWzo6ZYKOxO9enCUcOoKUIQROF3CrzRvoD7afd++/XSPFUEF8saC40sWErSA+ysRBd28NZzw48Vvc2urIu7nxui7KWDf1A1lOEtwUrFkBDBZLo16W+FeReUJOAeIjECEXG6RdvP1PRfZGCdw492eYQWjrlgeylypxm9/4UcMVpSbePSxLoSotWc71a4FBbKgGClOhepQCk3cK4QPI8l4afwjGH1QKWIuM+CXuyrrYURlIqkCCoSwEzDY48u6UC+xDvNzMIA+twaJUjkzuzn11OqSNb2XkJV1X65F8p75pvtV1Q4l4PvcFJHTt8HAkkvsoQa2dSDJDAV8Lmyy9PgVqDmTeWProVZWbUtSoIwa98pTeYvAwsKRm2cOV4hq/Fo37PO958bezmnl2lpt7cxvGLIdprZP9W7EzUqP4qMvz2xND8O9+eJMur3B9lV+u8Xz9EC/9NO07+eDYf2hnl+OUEWG18cUgAXygnVBw1Ux3JIGlaXPFfghBRNka/KjTJjIkAWV1kI++aXAzeETWz9BV8vNoWlHSEldhoYAIcCFeWqM9WyYaTd7L/+8XloEa5acQNf/ddIQ29rnRYLu5H1zJuF9bUukqO4v5doKY21id88LNu4h9fxRUdDztRZNdDIrjPUeaCsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NTAuZQXaVAzwqmJKfGozHR",
      "input": {
        "note": "Gripper settled at 0.45 – lemon grasped. Lifting high to clear the safe walls.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.15,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01NTAuZQXaVAzwqmJKfGozHR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4187, 1.7771, 1.647, -0.8261, 0.2504, 0.1783, 0.4563]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1468 left_yaw=0.0015 left_pitch=-0.1556 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4402 right_y=0.1519 right_z=0.2012 right_yaw=0.0917 right_pitch=-0.3281 right_roll=-0.104 right_gripper=0.4563\nstate[joint_eff]: [-0.1573, -1.1009, 7.0222, 1.6435, -0.0513, -0.0562, -0.0122, 0.1846, -9.4838, 8.7179, 1.453, 0.2955, 0.2076, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30ba468cd1a4d0cc71e50c3273a5efa5471f69eb2cbeb80f30d5ba6bff9ad42f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f585a3f599201675ccb9b1b4fb4bca34fa6118d89b8029eb38995b47676f5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83017784aba179b70a0406728e009f5a6ba23f21a0821e7a2b19ef114c3ebc61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 14 attempt 0 · /messages · status 200 · 4.965 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.812, 0.6067, -0.506, -0.0189, -0.0387, 0.9992, 0.3012, 1.945, 1.0275, -0.0025, 0.1989, 0.1093, 0.9964]\nstate[eef_state]: left_x=0.2775 left_y=0.0017 left_z=0.1515 left_yaw=0.0014 left_pitch=-0.132 left_roll=-0.0006 left_gripper=0.9992 right_x=0.449 right_y=0.1067 right_z=0.0063 right_yaw=0.0614 right_pitch=-0.3086 right_roll=-0.0962 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.2513, 6.9402, 1.7802, -0.0562, -0.0317, -0.0122, -0.253, -10.4684, 8.1436, 0.5543, 0.5836, -1.1258, 0.0952]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5179, -0.0193, -0.0383, 0.9992, 0.2996, 1.9617, 1.0374, 0.0097, 0.1936, 0.1051, 0.4515]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.1487 left_yaw=0.0016 left_pitch=-0.1461 left_roll=0.0002 left_gripper=0.9992 right_x=0.4529 right_y=0.1081 right_z=0.0039 right_yaw=0.0673 right_pitch=-0.3046 right_roll=-0.0933 right_gripper=0.4515\nstate[joint_eff]: [0.0205, -1.4701, 7.0906, 1.6825, -0.0415, 0.0024, -0.0122, -0.1026, -11.1658, 4.7385, 1.2088, 0.0855, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4187, 1.7771, 1.647, -0.8261, 0.2504, 0.1783, 0.4563]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1468 left_yaw=0.0015 left_pitch=-0.1556 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4402 right_y=0.1519 right_z=0.2012 right_yaw=0.0917 right_pitch=-0.3281 right_roll=-0.104 right_gripper=0.4563\nstate[joint_eff]: [-0.1573, -1.1009, 7.0222, 1.6435, -0.0513, -0.0562, -0.0122, 0.1846, -9.4838, 8.7179, 1.453, 0.2955, 0.2076, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30ba468cd1a4d0cc71e50c3273a5efa5471f69eb2cbeb80f30d5ba6bff9ad42f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f585a3f599201675ccb9b1b4fb4bca34fa6118d89b8029eb38995b47676f5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83017784aba179b70a0406728e009f5a6ba23f21a0821e7a2b19ef114c3ebc61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStwgKEAgSGAI4AUIIdGhpbmtpbmcSDK1iXpRoXPb2eJdpoxoMA/QN9QMQseARPy++IjBVSi3fHO3/CaeYK4v6O0kb9mnXy55pCz4bMsKXT/AlCaAzOONpFyIGQz1zt/bH7dgq1Ac7tsNVYuONB4DEbNXw2wBGN0NnuGLiQydfGDFNDRPg1zCOQXqHurpuI9hSm2LeIHw1gGNgqwdyyPpCal0VFXv6uOoKapELyGSDhsZOTMDDYUaQJaD273Cr9N6rfT/el+sdx+smLPjKEvioHfOrrAqKU7qMROrfY2otMl+vq5tAqlS2U0kerp+nvgNf+OiIid9UJWw8MrGkbWN50NM8Y8OMDjQil0e+Lb0KG5JyDpN9ySgFAgiwkjnsnjL6rp0VAFWsdI66x6QGYA8IJcSJ6EEPKnO/Er612LuoJv59tE5f3CZl2XePwiTZBDKOPZ61/CCQRdbq+B8SKfFjKIIuIxWAe84WyiBCwNyRfelIcrOZJsMIMfuZZOhVqNpDS4Op2FqmEZz1LzE5fDOMYnQKotoneSl2nZgKO6p73oWIWnwvW8H0XmO2Wi3giNIpXE1bLb2v2XOB00sJ7R3RQMJnIUey6ar8QD6A5g7OZ20fxT56RmoxAU0g8EBbPIaChMKbWnAGZXoU8gIIqFwnJseUcZcQWf3TGB8fbMZiYnVTwFrNtL5Eda09KUX0yoA7HCYsfG/igih7D3ZmYHFuIQL1QG3ZkfjiL1x49IYZFXyHwZBbkwVLl7dBorGeZlMjLuhIQOGvaKSdR+ZTijB3cLA/oG+v6FOHvvMibthTYAFYHdTXVFtQwJjMsooO9gaI0wKb3a7a4MGpNNusV53ebcRLTxO0qzS5u205uNVof4pWsn9hsJqvEN02xBMdDP3o3fsFRehiA2lSwn/PcILzKQ3ld3V2q3KgmpuMviCf8uDA2wbq3fa4aJ0LHFibP6Z/UNfU+i7gjPF5S+8rqXClh8HW7AsGnprDU8OsoE5OqQE40AffoOQ7+kzwFSVTdQs7Y56jpbefC5iMbh9SAi/YWb66OPkl+kHEhcpkoHhDof56qV0x3JDKhYPcCm05qa8glIg9QBC7jJNzXwv8S4T+VwUgYhK/zcwHVoJhHoPNqikBRiMtQ2EgON1mWZrzv9Ur1KxCDrvdgePfmF8T7ATx63nDLpNHZAluZ8+z0ZgeeQ687/qllQGFfTAyPL3LHGemhQSvZEZqMc4iMDioeg8NynBsQzsrAdyix/Y86zXOXSRsiwPHN538jZuM31LYVWGfo4jIbe5hcvu35eI/no2a3zcU8vKrHIrgysqdylXo0TPICfFGso/IYUroazyNr8Ep5f51G6/RqqBN/V0hRTO/wtOIyryk8g8mGnzkm+c8N4M88wv5/o3azlMvJTKjxXRj1BfektB8vANlQXc+2UVXBw6a2nPQGtl3+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GSpjyxenzmkHVPhVwn9wiG",
      "input": {
        "note": "Lemon held high; safe interior visible to the left in the wrist cam. Moving over the safe's interior.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.27,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GSpjyxenzmkHVPhVwn9wiG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5392, -0.0193, -0.0387, 0.9992, 0.7277, 1.9404, 1.9289, -1.0584, 0.3912, 0.4129, 0.458]\nstate[eef_state]: left_x=0.2722 left_y=0.0019 left_z=0.144 left_yaw=0.0019 left_pitch=-0.1705 left_roll=0.0004 left_gripper=0.9992 right_x=0.3957 right_y=0.267 right_z=0.2108 right_yaw=0.131 right_pitch=-0.3625 right_roll=-0.1233 right_gripper=0.458\nstate[joint_eff]: [-0.0752, -1.3333, 6.8718, 1.6923, -0.0611, -0.0464, -0.0122, 0.1162, -9.6615, 8.6085, 1.199, 0.4322, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d3a68edb0f3372a41f5aae2cb66e22f00ca09e1a730a3d57ad4ba9c76f4e717",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ba2f8b881096c5b821a010f128f848f1a5fc7fd1354c5bb9f964b02ee8e0d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6abec6d33b95b64a27ce671a34a278029ffde7ec488794638848dd91c3ebc6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 5.184 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8143, 0.6067, -0.5179, -0.0193, -0.0383, 0.9992, 0.2996, 1.9617, 1.0374, 0.0097, 0.1936, 0.1051, 0.4515]\nstate[eef_state]: left_x=0.2757 left_y=0.0018 left_z=0.1487 left_yaw=0.0016 left_pitch=-0.1461 left_roll=0.0002 left_gripper=0.9992 right_x=0.4529 right_y=0.1081 right_z=0.0039 right_yaw=0.0673 right_pitch=-0.3046 right_roll=-0.0933 right_gripper=0.4515\nstate[joint_eff]: [0.0205, -1.4701, 7.0906, 1.6825, -0.0415, 0.0024, -0.0122, -0.1026, -11.1658, 4.7385, 1.2088, 0.0855, 0.0024, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4187, 1.7771, 1.647, -0.8261, 0.2504, 0.1783, 0.4563]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1468 left_yaw=0.0015 left_pitch=-0.1556 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4402 right_y=0.1519 right_z=0.2012 right_yaw=0.0917 right_pitch=-0.3281 right_roll=-0.104 right_gripper=0.4563\nstate[joint_eff]: [-0.1573, -1.1009, 7.0222, 1.6435, -0.0513, -0.0562, -0.0122, 0.1846, -9.4838, 8.7179, 1.453, 0.2955, 0.2076, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5392, -0.0193, -0.0387, 0.9992, 0.7277, 1.9404, 1.9289, -1.0584, 0.3912, 0.4129, 0.458]\nstate[eef_state]: left_x=0.2722 left_y=0.0019 left_z=0.144 left_yaw=0.0019 left_pitch=-0.1705 left_roll=0.0004 left_gripper=0.9992 right_x=0.3957 right_y=0.267 right_z=0.2108 right_yaw=0.131 right_pitch=-0.3625 right_roll=-0.1233 right_gripper=0.458\nstate[joint_eff]: [-0.0752, -1.3333, 6.8718, 1.6923, -0.0611, -0.0464, -0.0122, 0.1162, -9.6615, 8.6085, 1.199, 0.4322, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d3a68edb0f3372a41f5aae2cb66e22f00ca09e1a730a3d57ad4ba9c76f4e717",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ba2f8b881096c5b821a010f128f848f1a5fc7fd1354c5bb9f964b02ee8e0d7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6abec6d33b95b64a27ce671a34a278029ffde7ec488794638848dd91c3ebc6b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSkwkKEAgSGAI4AUIIdGhpbmtpbmcSDB6lrcTExIjK6A+kCRoMmPZ1DkXJQyOmgP5AIjAMxwyPLGc2fTVWE7D7VSMaRbjjMUZtRzI+05AreBxd217LHj+oghbJyBdJft6gGpwqsAiFr3aabYyC3nD6nuUISgWQ0TQZP0nD4Olg3JNS6oipNZoz3dUV6qVOULaMFf1Xe51cuUvgpkit+Kc/29dLwfmmJHpMXLBqpkHSd+O2I20nug7XAfCbkDG9oLGugVi9tf3l1rE75aIBkxX3KlHVLF74u3WjTmkU7nVAdd+CTK4cZVPo3wRdewSkSuhfMeVPycgzJeF3MFFtCK1bb7qTu2OtfPLIFz5vj6/w8kdgDMqrZqytGNSPBqbxXgrMGjQTENksMjyvexeKsL7G/d0dmcgvPIe3MoS1OdDBipcbgVR7z40HdO6Iess/Hletie1nTOH/d3wlPd6rEtxJRAzsJaaSI5/gSoe6B/xEHVyyzT0qUUYM9Pi+EfJWepQxGzwwFoaL934FZv98RQI+UnAj8xEvqSZKTAsFBCSRjhZZcNaFSuTthtMgKbOz4kq21sNbGFPkfJ0DEONy22P/2EsFp88rpkfTeSnmTWWdFRuZb/bhQRvtseECkQOEU9IbYSLJZGIpJElvG5MB5PI+sCgAV8w63OdDxQVBkm5hwS6/N0qvo/USEtYsAD+vdAZr0dcLS8kinKJkI99RR1ubcJbnY8cd/AQji5RaKyEHP3uG0DLDDx99WolrAyL4PIues0cUFnf7+by+ZveSn+RLvcAD27gpnrG5bEliu+LoHc8o8HXHCcqWxFB+nvXLi9RrqLhfReSKUK0TwDtJ4V0XExQUTJq+7wmukTPmrSA3E/asnP7vZyzKeOBs1fJHUvqRv047m6dC2UUcLMXmC2RR075UX10OFfNFMsso77SJCoaqaZQlzmmYGvH6tGlE6AavinKOrzLzFHZ+1KxIgvbGGE2zFjeTYeJ40DhpSBEk5/SRv8MxQhTHW2eQBamw64kguMFMjEePiF45VdQI+0VMWHYu04ZigCzlgi9s4ZiU1Jn29AO8mz4IlVlpOI9VRWZSUNbbgVFNDxQa2qehRTnzwnkvOXCdVXvS1iJX0a2f242DJFl3KWLKON3iZ59QBLLMabR9gehNnMO3tdu7MRBQyLpyG40i80e6qVTDqwUN+KuCpg7KLyhgEqqafxMuRzTZZgZauGwOdml5h3w2C+xukSGnS4WNnb/LJ0NwpUALiAq2OAhUe792cv9X2rzMRX4eaeM/6Dt/v+FeOl7gsJi3zs+bxbt4V+Pn78Uk4rVzSBtfZBJRDgPQomWsfSNLvVhvSm1CraBnkoaOLa5PtYhx/hYmrH3mgGq88LxTunIrU/5iiWBHqn4phI+cwMmuXSbowAyb50rzQoJcqlM4U0xnTeb+fXPHSiPLz5aQxxECeftN7WrI6Yvy94i0UGXpy0o+MNGpca5xOJpQCINfNwpCMuTS6LJ1KBNNbK/Mfw5lt2MSanaQbt3v4/6doxKCNpW82Ek+DjMeT47Dy+BjKWXn24QHv1U1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018L3AZGcirZKD33HNDQFBms",
      "input": {
        "note": "Gripper is over the right side of the safe; shifting a bit left toward the interior centre and lowering to release.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.31,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018L3AZGcirZKD33HNDQFBms",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5468, -0.0193, -0.0383, 0.9992, 0.8078, 2.0144, 1.7473, -0.8841, 0.4114, 0.4694, 0.458]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1424 left_yaw=0.0017 left_pitch=-0.1793 left_roll=0.0009 left_gripper=0.9992 right_x=0.3801 right_y=0.3005 right_z=0.132 right_yaw=0.1429 right_pitch=-0.4132 right_roll=-0.1566 right_gripper=0.458\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6728, -0.0464, -0.0464, -0.0122, 0.335, -9.894, 6.4615, 1.2381, 0.315, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b78782fe283f99e3bd8ef3cf503b943747d471364dcd7da1ecbfc606150f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77216bfa561c237a51d5b36871c6263eca47b26c1221a20d5ff6aa325d02e9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c26362de9d2da4706df556606dba8e914a7b9811fad1e34d1ea555bbbedd5df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.486 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8162, 0.6067, -0.5255, -0.0189, -0.0387, 0.9992, 0.4187, 1.7771, 1.647, -0.8261, 0.2504, 0.1783, 0.4563]\nstate[eef_state]: left_x=0.2745 left_y=0.0017 left_z=0.1468 left_yaw=0.0015 left_pitch=-0.1556 left_roll=-0.0001 left_gripper=0.9992 right_x=0.4402 right_y=0.1519 right_z=0.2012 right_yaw=0.0917 right_pitch=-0.3281 right_roll=-0.104 right_gripper=0.4563\nstate[joint_eff]: [-0.1573, -1.1009, 7.0222, 1.6435, -0.0513, -0.0562, -0.0122, 0.1846, -9.4838, 8.7179, 1.453, 0.2955, 0.2076, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5392, -0.0193, -0.0387, 0.9992, 0.7277, 1.9404, 1.9289, -1.0584, 0.3912, 0.4129, 0.458]\nstate[eef_state]: left_x=0.2722 left_y=0.0019 left_z=0.144 left_yaw=0.0019 left_pitch=-0.1705 left_roll=0.0004 left_gripper=0.9992 right_x=0.3957 right_y=0.267 right_z=0.2108 right_yaw=0.131 right_pitch=-0.3625 right_roll=-0.1233 right_gripper=0.458\nstate[joint_eff]: [-0.0752, -1.3333, 6.8718, 1.6923, -0.0611, -0.0464, -0.0122, 0.1162, -9.6615, 8.6085, 1.199, 0.4322, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5468, -0.0193, -0.0383, 0.9992, 0.8078, 2.0144, 1.7473, -0.8841, 0.4114, 0.4694, 0.458]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1424 left_yaw=0.0017 left_pitch=-0.1793 left_roll=0.0009 left_gripper=0.9992 right_x=0.3801 right_y=0.3005 right_z=0.132 right_yaw=0.1429 right_pitch=-0.4132 right_roll=-0.1566 right_gripper=0.458\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6728, -0.0464, -0.0464, -0.0122, 0.335, -9.894, 6.4615, 1.2381, 0.315, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41b78782fe283f99e3bd8ef3cf503b943747d471364dcd7da1ecbfc606150f3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77216bfa561c237a51d5b36871c6263eca47b26c1221a20d5ff6aa325d02e9e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c26362de9d2da4706df556606dba8e914a7b9811fad1e34d1ea555bbbedd5df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AgKEAgSGAI4AUIIdGhpbmtpbmcSDBqYbT6EWCEcs5xl5xoMhUnxq9MMShPV84gfIjC2oBBl7mV2JxFPUcQlh147OytA+P9fVr/dJ2hEi7Cn3Os5BJON2n29Q94ApaQMtqUq9QcKAZigBLTOX4Vlons7R7np56l0j6KECAdHqdQGalpbSi6T4NbDx4pda30Xt8/zaThQ8AEsyJnbmxBceL8P9I88QSYodAQMFqntZbYjs42L1/rQqW1CdbLO1qX8SbOoiYj3NR+hC8WfmT4wL76HIG5Hs/aq7g2mT6gXngsnbAO1ZETu+4qq4EwROMTG7eAz/BE9OTxp0z1UaNvxAJXp/aHOD11iIE7/XOpD0mtnBSaqRZT4ijvudjn76wMIG0jMGrYXoNLldGlg4Ig/yw1MTcW36SQnPVDTc7b5w/F5G6A4lgRH1PcrQoeftHyLCFA/vU+4t0X9foypcNxB5VEGcOqC2lkcAkDXuAOcNJjVZ/WA6CbsrDRTU0KE3y1U2muIwj5DocyIxxrgqcZKku0VdWeR5lrQn32SUJQVaZonEOYO1miwcdxiBcAoPQgFw4v70qNVpmJ9WespNvitdgtVaT8C+IJIuoVWLm0q2Q7ebZtLxQEJPUwsY7+fTxP1F5uzKPqS4hVXjwtJrV2VyPx8/+/ogzFiwJ3JT0sxCIU5E2ozj0WXuMyW/Bn6nHBLLeamuqhMie2kNPJoNDhMEqlMP33iYYS/Uz9lpCpXPivhgw8TMKyNb0gYk/imRve8ya9zu7jHIJ2xFR7zP++c6l1fHNq3OovxBAeyBdYqslnPS4C8szOXrQq1SjpLfMiuROYkRUx5096ipF76MR2mZEojRPMmMRB52Z3u4dN7ESAz0eLxAPeeL5X2nnx/CJOosF0V4oOGwrFKaFMhqyHU52EFyODT1qs9kyLzSuCCaIR9z0fXjXTxjmDQxW6ttz8scq5NmNosLiMCFz35MOdEUhLZ8wOhEpDUFpVxU7G+VzMgBHnVnWSpR9DXNdPNqkoyXREUyaHECrDGp2yPUHlRcLm55bXmHvolGUArHg1OpdufxeY3LXaQ/GFpLFifCQqMAtb59kXV1F5oCrlt2Rwxgjk/3yZur+hnl0fU/d7gfWAytSu8a04wSwxTREk1OaKKMO9P2OOyRgJSkt3C4qdJE+7AzN/PToTgAEhvnxs4d4Fq35oEhAUxiElpT+3bZ55DdqL9gkty54sloL6ovnzHnPUCDgWHxQjHhXMO+zXUnakRJ9ktpyqEt67d2yu0ICml9RxqTrMI3oZMnQ+bo19cH7QolvKu5pAw2yehALNL3TLoGwoKVm81wx76P2tjtA0ahWStmhTuU1+EA4irHAxJIzuSOn9/g3qrXdQd2YDJrywM4Bjos8QfOdJlOGoYXunXrw70AdJTCQjBXreMfYIunGIbGYcw1clv3XRxrhh8QOCuYQNfu7BoukcKm5pPRXHpk57af+SNuIkwOxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C8MLo2vJuda6eMFDNaDSNd",
      "input": {
        "note": "Wrist view shows the gripper is over the safe's front wall; advancing ~5 cm to be over the interior before releasing.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.3,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01C8MLo2vJuda6eMFDNaDSNd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.7334, 2.138, 1.9118, -0.9203, 0.3779, 0.4084, 0.458]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1395 left_yaw=0.0016 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.9992 right_x=0.4204 right_y=0.2959 right_z=0.1248 right_yaw=0.1314 right_pitch=-0.4329 right_roll=-0.1622 right_gripper=0.458\nstate[joint_eff]: [-0.3214, -1.2786, 6.8991, 1.7411, -0.0611, -0.0464, -0.0122, 0.0342, -11.1521, 8.5402, 1.0427, 0.1929, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11ea2bb7157cfe2a9514d4dde2128f01f1ed39b8b760925f35a3a8e869fe2e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77dcdeaa8fa88c1b206f62b719a4dfe467b7712fda656c386d6534baba5cf96f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b95b32f6f7341c03f1a55b1747d2930b94ddcc9d64d124e56489d5902a892b6",
        "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 · 6.78 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8173, 0.6067, -0.5392, -0.0193, -0.0387, 0.9992, 0.7277, 1.9404, 1.9289, -1.0584, 0.3912, 0.4129, 0.458]\nstate[eef_state]: left_x=0.2722 left_y=0.0019 left_z=0.144 left_yaw=0.0019 left_pitch=-0.1705 left_roll=0.0004 left_gripper=0.9992 right_x=0.3957 right_y=0.267 right_z=0.2108 right_yaw=0.131 right_pitch=-0.3625 right_roll=-0.1233 right_gripper=0.458\nstate[joint_eff]: [-0.0752, -1.3333, 6.8718, 1.6923, -0.0611, -0.0464, -0.0122, 0.1162, -9.6615, 8.6085, 1.199, 0.4322, 0.188, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5468, -0.0193, -0.0383, 0.9992, 0.8078, 2.0144, 1.7473, -0.8841, 0.4114, 0.4694, 0.458]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1424 left_yaw=0.0017 left_pitch=-0.1793 left_roll=0.0009 left_gripper=0.9992 right_x=0.3801 right_y=0.3005 right_z=0.132 right_yaw=0.1429 right_pitch=-0.4132 right_roll=-0.1566 right_gripper=0.458\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6728, -0.0464, -0.0464, -0.0122, 0.335, -9.894, 6.4615, 1.2381, 0.315, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.7334, 2.138, 1.9118, -0.9203, 0.3779, 0.4084, 0.458]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1395 left_yaw=0.0016 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.9992 right_x=0.4204 right_y=0.2959 right_z=0.1248 right_yaw=0.1314 right_pitch=-0.4329 right_roll=-0.1622 right_gripper=0.458\nstate[joint_eff]: [-0.3214, -1.2786, 6.8991, 1.7411, -0.0611, -0.0464, -0.0122, 0.0342, -11.1521, 8.5402, 1.0427, 0.1929, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11ea2bb7157cfe2a9514d4dde2128f01f1ed39b8b760925f35a3a8e869fe2e5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77dcdeaa8fa88c1b206f62b719a4dfe467b7712fda656c386d6534baba5cf96f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b95b32f6f7341c03f1a55b1747d2930b94ddcc9d64d124e56489d5902a892b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon is now over the red interior. Releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PC1GEHLpcwhRHNJie2u5Hr",
      "input": {
        "note": "Wrist view shows red safe interior all around the lemon; opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PC1GEHLpcwhRHNJie2u5Hr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5705, -0.0193, -0.0387, 0.9992, 0.7319, 2.1544, 1.9163, -0.9264, 0.3771, 0.4, 0.9947]\nstate[eef_state]: left_x=0.2669 left_y=0.002 left_z=0.138 left_yaw=0.002 left_pitch=-0.2037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4207 right_y=0.2953 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.4488 right_roll=-0.1776 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.2376, 6.8444, 1.619, -0.0757, -0.0708, -0.0122, 0.0479, -13.4906, 6.1744, 0.9988, 0.1392, 0.0513, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b83adce76876054765e306f4d02260342257c2273fd6c6f5454fead025f32280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:718b6b54da73cc1bc1248f4f6dfcd3e23519c79c58bd66d551ac127e6d216404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a380cfc74ff37b0e9ad0b42a6f30f2dc0fbae7e8a353f51300c2d8e7f32a11d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 14.73 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8185, 0.6067, -0.5468, -0.0193, -0.0383, 0.9992, 0.8078, 2.0144, 1.7473, -0.8841, 0.4114, 0.4694, 0.458]\nstate[eef_state]: left_x=0.271 left_y=0.0019 left_z=0.1424 left_yaw=0.0017 left_pitch=-0.1793 left_roll=0.0009 left_gripper=0.9992 right_x=0.3801 right_y=0.3005 right_z=0.132 right_yaw=0.1429 right_pitch=-0.4132 right_roll=-0.1566 right_gripper=0.458\nstate[joint_eff]: [-0.0615, -1.3333, 6.8991, 1.6728, -0.0464, -0.0464, -0.0122, 0.335, -9.894, 6.4615, 1.2381, 0.315, 0.0708, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.7334, 2.138, 1.9118, -0.9203, 0.3779, 0.4084, 0.458]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1395 left_yaw=0.0016 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.9992 right_x=0.4204 right_y=0.2959 right_z=0.1248 right_yaw=0.1314 right_pitch=-0.4329 right_roll=-0.1622 right_gripper=0.458\nstate[joint_eff]: [-0.3214, -1.2786, 6.8991, 1.7411, -0.0611, -0.0464, -0.0122, 0.0342, -11.1521, 8.5402, 1.0427, 0.1929, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5705, -0.0193, -0.0387, 0.9992, 0.7319, 2.1544, 1.9163, -0.9264, 0.3771, 0.4, 0.9947]\nstate[eef_state]: left_x=0.2669 left_y=0.002 left_z=0.138 left_yaw=0.002 left_pitch=-0.2037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4207 right_y=0.2953 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.4488 right_roll=-0.1776 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.2376, 6.8444, 1.619, -0.0757, -0.0708, -0.0122, 0.0479, -13.4906, 6.1744, 0.9988, 0.1392, 0.0513, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b83adce76876054765e306f4d02260342257c2273fd6c6f5454fead025f32280",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:718b6b54da73cc1bc1248f4f6dfcd3e23519c79c58bd66d551ac127e6d216404",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a380cfc74ff37b0e9ad0b42a6f30f2dc0fbae7e8a353f51300c2d8e7f32a11d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7QoKEAgSGAI4AUIIdGhpbmtpbmcSDEqebtsWGUldRnH4uRoM6L0BiS0hq+rHC+FVIjD8e/VBOwqwlVwpnpSBh5O8pUvdslMhSvPSL7GDvO+jBojnorIX5u9Lc0gY3ZuMGcoqigqJxvGI8+eiT8JIKqaS9QBHnPBL41NnW7gDG2/YEoyo4ZrYsj1w04dndXkx1vmHNlgRsTy07ff9RBJt+rTsz4hZvDfXwuHDngQiIqJiCcybTYx9UjxCGHmfGEH4VOcctv9cAr1cy/CIaYG7cTGgrMn+LBy8lf27HP+dELvmNio/gjF1KI2eqBCNdPUUUH49xXHiVR6ixB+WGqQHQSSm/dt852yt11SFs9QQ2+gwmYdDRaYVvLP2vNMSx2wA/XUk/U8m0kgsw2WhEJ+FqzKfmxcWlGa2ZKYP1i9eVW3ykm5GzOKYK8+Xtw3EjY/AR+PqsOu+JnV8ZYL1bHW3rp+Nn+B9/Wl7SDJ2/Wvdd4drMMV1MR1K1bDzG0mJZCQYAHk+YErIfPqathjGO4g6xpqfrOkrw25ACQnAJv39Qa30cDtJwQzE1vqAfbKzv5ewFMw07Ez4TZ+f1TmoUrNOOWJRIoLfZ7RSOpk7/qTgo8TYzd7/kF16gZWZl1R1qtdQMSoRbQ9L3hdIVkznLPK6ezrN/97iugcYKynL7LRvxzyECM0QZyoynhITENSFuP1MVRa1YbtDkaOiouwApHFhOwVVZJaBAYVY6XIki1uhnU5iMBXFeFriEYr62RBOPd94n+pMWueKGMFcG0NWb4Rt4TQfwAwvPKI8pTwS/Jmxvs/LAnDv3vZ7sUG8+mkYHXg3UU8Jm+mq7Zs8Qvm3GPb4l39IWjw9IPGko9dRA6GiTnNvumS72l293NA+cSYENr09JLo8ZYAtudDfnZzI+jKOFO3sssLKDNdX77dXO+sietogi4oWe76W1bPJwoqcU2Lkjmomx+XR7NAu8qP1dxtCcMjdvmg9BYYdMZrH4FW8Vqz63qlesJlvD23MO5VOE/bOzxKlC48Lk7blBlRLM2AXzpM5jNPpw381XQXK5Yp6v7VxWiI/aqWwT2eBqXhsU2NksJscIOYMn9Ugm9zIdRKPNxfv/Oeom29IS5RIBQEx920g38osX3NHeAdLIraFAhXpaGJHYSY93l0TCyLW8qO4jIEjOUR1lP5b37wIoSfP/lMIB6yUferu0mNzNrijEHyP6RF5XDb0CYAniJJlUglQKCg1TKDrpzbChOfvp3ySMajcXY0pPUcn730fo285n/GHDde5oSgRfYz+jBbDGkxGV2pUAj0Il0c0rGWLgtwnWVXmfSH19YbMQIO+0m7lwczLY+bJwSHJbqEHjw1ZNax35InQ3PepZ6hJl2qKPuK0//o8G7z0yPY7y3F4CryjM5Km5K19dWaZAOecXHn6oB3r7SjDXadtluY3o+ku4LskbQ1Ma5ZJs7nbbUjLneoOok6QesfNrUVdvDmjJ4cMutbmM4f2o9ZMmDHMOM7CTbXroSPsc8af4me7WzU9SYHw6aMZ6mEjBZok0RcHfnwQEoI3n45qUgk487tqYulRzy4jWcC+Nvs7YhwLM0G95/u/jdT9POTmKRVRQbBO7bbt12qXow/Gr4qR6jtKOM78RfZuu+NuvbSu9JT0uNTcHhT80ARcm1Lj/sBVbAO/v+S2/s+vLcybqoIw9YMYtu/aGg8Gmgidj4Mn658rjIdYO06uxjpD/bGB8VSUgW/Yh0sYsNwzO+NUWqgw9TmolaJ2+rXqzqUZ6TDMBsztw9C6sbCXzRhKyVTdUCNECVC6NncfLRTwnRZ/gJhoFkd6lapN/noG3V0exhvkV4has7CC8PJnaOgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FDatJLCc7kyVfA8bf2GcyT",
      "input": {
        "note": "Lemon is in the safe. Parking the right arm at home and moving the left arm above the small teddy bear, which sits just left-front of the safe.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.37,
          "left_y": -0.08,
          "left_z": 0.15,
          "right_x": 0.29,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 25 steps (2.5s)",
      "tool_use_id": "toolu_01FDatJLCc7kyVfA8bf2GcyT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3283, 1.3384, 0.8894, -0.4332, -0.2264, -0.271, 0.9993, 0.0257, 1.1866, 1.1515, -1.0016, 0.0647, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.3546 left_y=-0.0751 left_z=0.1297 left_yaw=0.0047 left_pitch=-0.2727 left_roll=0.0108 left_gripper=0.9993 right_x=0.2935 right_y=-0.0003 right_z=0.1962 right_yaw=0.0863 right_pitch=-0.4583 right_roll=-0.1765 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -4.9162, 10.0308, 1.6337, -0.2955, 0.0952, -0.0904, -0.0205, -4.3692, 6.3248, 1.3895, -0.1099, -0.0757, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c278d15619492edbafe12743b0e52a64b7523c50a63d7a0084f07f69afa49881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:342c67022bb54de4f477b0a83b2a3b75a3a44f392684ec6c0a1ea3dec468df63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42a6b84f6b4cfbfa71ad1da4b64abe5ab2f2cf4bbe05f2e8af50b45beb03ab4a",
        "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 · 5.47 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8188, 0.6067, -0.5625, -0.0189, -0.0387, 0.9992, 0.7334, 2.138, 1.9118, -0.9203, 0.3779, 0.4084, 0.458]\nstate[eef_state]: left_x=0.2683 left_y=0.0019 left_z=0.1395 left_yaw=0.0016 left_pitch=-0.1953 left_roll=0.0007 left_gripper=0.9992 right_x=0.4204 right_y=0.2959 right_z=0.1248 right_yaw=0.1314 right_pitch=-0.4329 right_roll=-0.1622 right_gripper=0.458\nstate[joint_eff]: [-0.3214, -1.2786, 6.8991, 1.7411, -0.0611, -0.0464, -0.0122, 0.0342, -11.1521, 8.5402, 1.0427, 0.1929, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5705, -0.0193, -0.0387, 0.9992, 0.7319, 2.1544, 1.9163, -0.9264, 0.3771, 0.4, 0.9947]\nstate[eef_state]: left_x=0.2669 left_y=0.002 left_z=0.138 left_yaw=0.002 left_pitch=-0.2037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4207 right_y=0.2953 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.4488 right_roll=-0.1776 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.2376, 6.8444, 1.619, -0.0757, -0.0708, -0.0122, 0.0479, -13.4906, 6.1744, 0.9988, 0.1392, 0.0513, -0.1783]",
      "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]: [-0.3283, 1.3384, 0.8894, -0.4332, -0.2264, -0.271, 0.9993, 0.0257, 1.1866, 1.1515, -1.0016, 0.0647, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.3546 left_y=-0.0751 left_z=0.1297 left_yaw=0.0047 left_pitch=-0.2727 left_roll=0.0108 left_gripper=0.9993 right_x=0.2935 right_y=-0.0003 right_z=0.1962 right_yaw=0.0863 right_pitch=-0.4583 right_roll=-0.1765 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -4.9162, 10.0308, 1.6337, -0.2955, 0.0952, -0.0904, -0.0205, -4.3692, 6.3248, 1.3895, -0.1099, -0.0757, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c278d15619492edbafe12743b0e52a64b7523c50a63d7a0084f07f69afa49881",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:342c67022bb54de4f477b0a83b2a3b75a3a44f392684ec6c0a1ea3dec468df63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42a6b84f6b4cfbfa71ad1da4b64abe5ab2f2cf4bbe05f2e8af50b45beb03ab4a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmggKEAgSGAI4AUIIdGhpbmtpbmcSDDS3casUx15UN0uicBoMHUHvVms4DtW8lbxlIjA/j6+Ey0xHHVSZ7T1dp+H/S6KqbWCxoFfkn7sK+JhYl/22KewzBEkXBKoae8FjenwqtwciUzPKsKb05XEBWwOdYwgemGHZKgU0yhdORJx1yfgABeMLrnY184T/VhQwIeVr9JP7CD2BugOH5Yb+bZUGevYbsLpAiKl0zzs0TBU7pOkwAZyPN3hKPryqlMoXyzQudWufErfC+a6d19K2nb6N+XvATmZOK0UpTw0B/g3arrP+9nygzGhJruVaC9c22WGIdqz5VU7wTEXAU/0g7uvGG8dz5ldq8INuau9S4B+mLQR0p6pmata4272XmuSrY4JNp9ZOk8TdN5HObxLZMDsQlYCz4kXEh9BV/yZUh/r6iWB/8/0dizvL1AbG1f677xk3NEVFtYhcj5jKuSQDnCil668LkKk6DP/ML8nkkJ+hvJOHxetGi5b2V1QR6q7xMGCL4W/yDuLR/21oGMgFsA/JH2upoEZwkR4m2TsvP/k3Q7WGZEYcdi5iw0D+ax9uJurYElBwz3g/4yAm5yRNQI15mp3UaBQSrdavx2h6V9yCbfISGeW5jgJw+WfQwhYX7aCwd5YX2N6tWr0SjXtAYfQsVv9aPGX8v+iH5u1+1yUdWoOk14gWQzlO8+iAGCm/zK+TB9VMwt2LZ6C1SrmmkqbL2AJhZoEt+UgwxVVAgDa0P6Hk7mA1NbYMd/brCHpPR69RTV+GeucN6CEGNUdR4nu4xwAycyaN5TtzSFCzkQOD2gyH5pdYzJ2b5Yq+wqA6ycKyHeWpdcVCdzPYPGcwhAD7w64vS+fo06ZQSzgAVOmbQfkXITK5KENRWozUlFAHPrUSwZ8bjCklT9WFZpUv5eKEP3ND1ZbjPzcziAM4ZGeeAPGyBztCtTM1bOTzxcqRSUq+IdXnENExIDi6b8KOxy2VEiOZhqt/joxXd4ya0QngXOaEnCDvibRhC3jzyoOp81V3gIcLuReVnIyLEHWG3poSFFq89aO3YlGFO1ci0/jjKnbeGAzZamhxPn2m1Xtqpjty2cUBj8zyKxz2+q4KyG9Nb9IXZlz8DFTs9tgx/4Da34wpcOVAVRdLTDcPk6Rg1I4QUmEuWvnDHp0pDni1UzMw23OqqI/ZgZxd9D2lLO6KeaDu0EOl6fDu3dErjVOGqmiRK3YJgRBB6pMbnEGwpZdd7wLZ07PjsahgoiyoVkQcK0eazhS5E5flbfrWvmRUJls7p9bHSpNaONmW6772kEYW1O42LEasdlyO8ollJIGZR6atV+lX0c3EEWmPYLOWdRJ9yg/faa/g4zNZemlUfCefuPqvgZclwTER/X3lVTSi4H+wyWWeC5fMpeUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0189NQe3sXQAhBC21sRrji1i",
      "input": {
        "note": "Small teddy is right of the jaw column and a bit ahead in the left wrist cam; shifting right and forward over it.",
        "targets": {
          "left_x": 0.39,
          "left_y": -0.105,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0189NQe3sXQAhBC21sRrji1i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3779, 1.533, 0.9173, -0.3542, -0.2489, -0.3054, 0.9992, 0.0257, 1.1877, 1.1511, -1.0229, 0.0555, -0.2245, 0.9954]\nstate[eef_state]: left_x=0.3716 left_y=-0.0968 left_z=0.0844 left_yaw=0.0036 left_pitch=-0.348 left_roll=0.038 left_gripper=0.9992 right_x=0.289 right_y=0.0012 right_z=0.193 right_yaw=0.1105 right_pitch=-0.4828 right_roll=-0.179 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -9.0598, 9.3197, 1.5458, -0.3199, -0.0806, -0.022, -0.0889, -3.3436, 6.4205, 1.3944, 0.1197, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b96cd07f2290b6567c09ae811bcffeaac6a82ea3142d7e01d3ca4583136ae87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d3e98b7b5e50ff8853f82db1a0eca22ecff358179f17fb508ef3a7ba75e833",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14923742df2cc768267d2456abab465ad21f5679562cfd3bfd9557eaf71dacf4",
        "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 · 5.469 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.8192, 0.6067, -0.5705, -0.0193, -0.0387, 0.9992, 0.7319, 2.1544, 1.9163, -0.9264, 0.3771, 0.4, 0.9947]\nstate[eef_state]: left_x=0.2669 left_y=0.002 left_z=0.138 left_yaw=0.002 left_pitch=-0.2037 left_roll=0.0011 left_gripper=0.9992 right_x=0.4207 right_y=0.2953 right_z=0.1177 right_yaw=0.1307 right_pitch=-0.4488 right_roll=-0.1776 right_gripper=0.9947\nstate[joint_eff]: [-0.1846, -1.2376, 6.8444, 1.619, -0.0757, -0.0708, -0.0122, 0.0479, -13.4906, 6.1744, 0.9988, 0.1392, 0.0513, -0.1783]",
      "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]: [-0.3283, 1.3384, 0.8894, -0.4332, -0.2264, -0.271, 0.9993, 0.0257, 1.1866, 1.1515, -1.0016, 0.0647, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.3546 left_y=-0.0751 left_z=0.1297 left_yaw=0.0047 left_pitch=-0.2727 left_roll=0.0108 left_gripper=0.9993 right_x=0.2935 right_y=-0.0003 right_z=0.1962 right_yaw=0.0863 right_pitch=-0.4583 right_roll=-0.1765 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -4.9162, 10.0308, 1.6337, -0.2955, 0.0952, -0.0904, -0.0205, -4.3692, 6.3248, 1.3895, -0.1099, -0.0757, 0.0513]",
      "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]: [-0.3779, 1.533, 0.9173, -0.3542, -0.2489, -0.3054, 0.9992, 0.0257, 1.1877, 1.1511, -1.0229, 0.0555, -0.2245, 0.9954]\nstate[eef_state]: left_x=0.3716 left_y=-0.0968 left_z=0.0844 left_yaw=0.0036 left_pitch=-0.348 left_roll=0.038 left_gripper=0.9992 right_x=0.289 right_y=0.0012 right_z=0.193 right_yaw=0.1105 right_pitch=-0.4828 right_roll=-0.179 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -9.0598, 9.3197, 1.5458, -0.3199, -0.0806, -0.022, -0.0889, -3.3436, 6.4205, 1.3944, 0.1197, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b96cd07f2290b6567c09ae811bcffeaac6a82ea3142d7e01d3ca4583136ae87b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73d3e98b7b5e50ff8853f82db1a0eca22ecff358179f17fb508ef3a7ba75e833",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 139):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14923742df2cc768267d2456abab465ad21f5679562cfd3bfd9557eaf71dacf4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQcKEAgSGAI4AUIIdGhpbmtpbmcSDG6A1sbqwp4bZv3KVxoMHjn2VfPi4OFv1xibIjA/WjczMzwuzc8O6/LrFKZCJcnwXvgt33gVY7X7mlodT0t4EUF4jdU5lrJNklzzhgcq5gZfEDryNDqrel6OpZtxDpqhAh+Fh+l2XeVWw+MsMNswHEko68Hi7S9ZFCS8kv7zjfvy9jqhVRCtDzbWgpriFMdDIPxhFFX8K76NAi98kIvArLNaFBEx3JlBzZBrvRExsWuyMYyvZFMuhA3IW6j039a+xhLikhFkRmu9nNjP4eUWuCYo15EJmgM/u1jM/K4BcrdEmaDc76Xpzvuj7enpQIh19WP9TwKpnrzOwFRmqF3VQA84KXRDlbLM0q75GijSUo9YTX3V2gPfjeofxwk15lqw2Pf0Sia9QN+1al9dnD56Sa4pDkjp+EHGKbZIasO3+P31VfQwU4gZgmYHNkAqxpBDAnlB49JM7kVBMV4A9kIzMWkyLTn7YFLtuCXL6/WMRT8i7gFATY4MS9nYT0ppl9l46Tdi6Q1v9c1qezQDNVnNCcxGJ8x/YaHNZE/MC4GjERIYaxKsNHzA70aP7DQlOMbC8lY2fN3viVGKfB0fGyL8TLC0Z6OYM5hvpxIoSZ4mVdL4IEioQ3uTMa5dJu0yLzIlwAIbfotl2RY6Qy+47Zg47UX9QEFOXR8EubxHznv5fr7aMcNrw1VUugWX4vpuaTqwFceG7Rv/R7eGSIjKmuAePHdt5AtXx8f85VayAFScVI6KYn6VbUv1KX1CHoKKA2NzIWh3/6cJj75u3CxUPo84498s17V7BkfSjSfZS45doyvAHcA0RfgTIo8Ck1RRCb+Lc9si7fILU1hKyO7lIye+cWRkyqkQTrL+QDFT1QIb9mk9lVkaMQwUUyqIJ3FPM0vxXTfMs1U8beulmp6HABslQ5Lhi1fpjNRAOgQv6SEOki/V007/MT2CNLyKspsaBQ8t2IA+UMhUWxJei6TqEJ3IKI/7C7+CM7kRHkws6E6WNanXawrCUzQEhuvRX1BzaA5J3vgSEV6Xo/04DpivSYOfZZ6e858nst72vmfGA4CKuluRXKflBfJgH3DLcDl9JVUP96r6lWTpOxRPV+h1pxT+68GamvbJSp1oIVid4BOm7VE/QscG5Qv3ZNqz65ZieAyr4q/eK5KRqaHTBfgcfTRM14/rq6Sq4PeZm/4esAR+ULexFZpRqnZp6UQlotqjdqb48LzepDr4Qz0vYLi6Z3XLiRwL9KGAqxmnyJPe9HlXfn6LQpIdJWgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gqu6v1sDz1VXwc92W7XJwH",
      "input": {
        "note": "Teddy is slightly right and ahead of the jaws; descending onto it with a small right/forward correction, keeping the right jaw clear of the safe wall.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.115,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Gqu6v1sDz1VXwc92W7XJwH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3859, 1.5669, 0.9173, -0.3279, -0.2527, -0.3237, 0.9992, 0.0261, 1.1893, 1.1511, -1.0275, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0758 left_yaw=0.0106 left_pitch=-0.3535 left_roll=0.0325 left_gripper=0.9992 right_x=0.2881 right_y=0.0014 right_z=0.1921 right_yaw=0.1096 right_pitch=-0.4886 right_roll=-0.1764 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -8.253, 8.7316, 1.6337, -0.2418, 0.0513, -0.0122, -0.212, -3.5761, 6.3385, 1.2527, 0.0171, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b1527d033a749a6212bb6c1215d9cc792ac7f830fb892db76f41af38a3ce039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3392aad9ef796d2ee67a88c150afd7b74fb0b7a75ec63c7b67e8bd1cf888eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e3cd7c64458ebdb7687d15d0c37fb8a2aa7c2e23a3483d43a7079c763d813b7d",
        "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 · 5.742 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]: [-0.3283, 1.3384, 0.8894, -0.4332, -0.2264, -0.271, 0.9993, 0.0257, 1.1866, 1.1515, -1.0016, 0.0647, -0.2005, 0.9953]\nstate[eef_state]: left_x=0.3546 left_y=-0.0751 left_z=0.1297 left_yaw=0.0047 left_pitch=-0.2727 left_roll=0.0108 left_gripper=0.9993 right_x=0.2935 right_y=-0.0003 right_z=0.1962 right_yaw=0.0863 right_pitch=-0.4583 right_roll=-0.1765 right_gripper=0.9953\nstate[joint_eff]: [-0.5538, -4.9162, 10.0308, 1.6337, -0.2955, 0.0952, -0.0904, -0.0205, -4.3692, 6.3248, 1.3895, -0.1099, -0.0757, 0.0513]",
      "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]: [-0.3779, 1.533, 0.9173, -0.3542, -0.2489, -0.3054, 0.9992, 0.0257, 1.1877, 1.1511, -1.0229, 0.0555, -0.2245, 0.9954]\nstate[eef_state]: left_x=0.3716 left_y=-0.0968 left_z=0.0844 left_yaw=0.0036 left_pitch=-0.348 left_roll=0.038 left_gripper=0.9992 right_x=0.289 right_y=0.0012 right_z=0.193 right_yaw=0.1105 right_pitch=-0.4828 right_roll=-0.179 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -9.0598, 9.3197, 1.5458, -0.3199, -0.0806, -0.022, -0.0889, -3.3436, 6.4205, 1.3944, 0.1197, 0.1001, -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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3859, 1.5669, 0.9173, -0.3279, -0.2527, -0.3237, 0.9992, 0.0261, 1.1893, 1.1511, -1.0275, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0758 left_yaw=0.0106 left_pitch=-0.3535 left_roll=0.0325 left_gripper=0.9992 right_x=0.2881 right_y=0.0014 right_z=0.1921 right_yaw=0.1096 right_pitch=-0.4886 right_roll=-0.1764 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -8.253, 8.7316, 1.6337, -0.2418, 0.0513, -0.0122, -0.212, -3.5761, 6.3385, 1.2527, 0.0171, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b1527d033a749a6212bb6c1215d9cc792ac7f830fb892db76f41af38a3ce039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c3392aad9ef796d2ee67a88c150afd7b74fb0b7a75ec63c7b67e8bd1cf888eb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 144):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3cd7c64458ebdb7687d15d0c37fb8a2aa7c2e23a3483d43a7079c763d813b7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyAcKEAgSGAI4AUIIdGhpbmtpbmcSDOax54F5T7hVo6AJ9RoMwFWe2I5W2DJezCx5IjDnO0A5at7HjaX7cYz4fJt4jWHZQiZ7NPhNK6j4RDlJ4rWruE+6U6oZqx5ILuv0vKgq5QYdDZbVS4YaIaCGhqgVM4MGu+V6g0gIH++3NtZDeQODf91d6KTTtaG9fqmP7PcoVP3B2jDZIK+MXFclIO59mMeOBxy63GYcwF+z2BogTf4EU6IASJNQpkgwfIN/aXhXIaQvxl/8vgW34i+QukMiHcSE/JTzMHtjqpzlHMKRhXneQW2t8zVmPDIEcqF8L1yKb1Aeduoqyrux9hXGeRE/DmOmJmIauRJ9u/w1/b8mThvKIww9cakLLYNm7fjiu3KQg+sTNUzHhcjm+BBANWY9CnpFvLWJCaXDA5kUZgjKWUuiF9TVa/1oU7BFjfkN6AcRbv0hngm+SOQI6J5NNO7BOfJJOnoQjO8rS5KoOUBIsuP+GTA1YyD/rbiOT7xSbC+RlO3kFlJaPlBvT9Qx4JuOvo8do3KLqaV8u2hNQlSkbns0OBTIoLCy3KPiV+ESupXNK+Y9vgDtrrbS8wbkXOzSZQODUhNnQ+znHBWSKsr0H5jsvPV03wQqLWBubtN9255Og1n9yK+KJgXdJt1Nxla2xZN8lRFFg8pX6PLGu4OWSj8eCRDbwW7eApI5bIhgN1ETCN/b9LCcbIdMEwVoVhcph43mavu6fBuuGluiBJMYFcTenQ4L2k7ITesspXC0VrWl8a9s22a45kfrvMQau/LWAwxKJU/+YJIqTn3CDtiJhYm8oJlJl8IbRJKP+vrNC1NsaY/tV80/EfyBaRLqixITgzbrxT7VvNi/6k2P8o/oG5afEfM+xEWf+TlfFqOWb+d4GDHvFiEVjDlZSxZ/G6pHBBEjiRY2iuR99T11/s+zyuJ0oPYcKx2tHxCHqNyxCqIjD89nsVLpGQjFZKtob1YUJPj7oHC//toSBUvNXlYVXHyYZtEKpFI2s1UnQ3qcQMOwVAIfoQ7SN54DYor+tBrj+RPVVpApoXHTld2nxaRBFiv7MUnJQH3CGfqEUSbKmYhyZNAwoujegMHYfEHJbikBcIkcbvovAOkMxw49/ax2qpJnr0TK7d6PvwV6fWiywsoLcNSNXI0UPJ+LsubPLgOt/FHfjHmrKsE9dejis5Y68AW+2DPcJPh7IEpJXGmnAkAvtq85SA/gy2HVYKsnMt2d3EoQy1x+iqQNhWw9oEPTQ+KgvX27LMNCvgWkta73eoPH2UfBM6TPVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dg3xFW5QF5m8KRrko5kj9g",
      "input": {
        "note": "Arm is tracking slowly; re-sending the descent onto the teddy, which sits just right of the jaw column.",
        "targets": {
          "left_x": 0.405,
          "left_y": -0.12,
          "left_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Dg3xFW5QF5m8KRrko5kj9g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3859, 1.5669, 0.9173, -0.3283, -0.2527, -0.3241, 0.9992, 0.0261, 1.1893, 1.1511, -1.0382, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0757 left_yaw=0.0108 left_pitch=-0.3538 left_roll=0.0324 left_gripper=0.9992 right_x=0.2858 right_y=0.0014 right_z=0.1908 right_yaw=0.1104 right_pitch=-0.4992 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -8.2803, 8.9094, 1.6386, -0.2515, 0.0513, -0.0122, -0.1709, -3.412, 6.3248, 1.2674, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1034d35b2e4b610b8a4459b4b235c9fffaa46dd9e8fd1c02ce7eebccf9a73d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:101048856e630825c75e3fd908b9788735efdf8b46378a8c6ee417bb2773cb62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08ce094cc695555b78dce9fdae584ba1ae896ff92c81f64534c4b27ed1499c90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 7.032 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]: [-0.3779, 1.533, 0.9173, -0.3542, -0.2489, -0.3054, 0.9992, 0.0257, 1.1877, 1.1511, -1.0229, 0.0555, -0.2245, 0.9954]\nstate[eef_state]: left_x=0.3716 left_y=-0.0968 left_z=0.0844 left_yaw=0.0036 left_pitch=-0.348 left_roll=0.038 left_gripper=0.9992 right_x=0.289 right_y=0.0012 right_z=0.193 right_yaw=0.1105 right_pitch=-0.4828 right_roll=-0.179 right_gripper=0.9954\nstate[joint_eff]: [-0.1026, -9.0598, 9.3197, 1.5458, -0.3199, -0.0806, -0.022, -0.0889, -3.3436, 6.4205, 1.3944, 0.1197, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3859, 1.5669, 0.9173, -0.3279, -0.2527, -0.3237, 0.9992, 0.0261, 1.1893, 1.1511, -1.0275, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0758 left_yaw=0.0106 left_pitch=-0.3535 left_roll=0.0325 left_gripper=0.9992 right_x=0.2881 right_y=0.0014 right_z=0.1921 right_yaw=0.1096 right_pitch=-0.4886 right_roll=-0.1764 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -8.253, 8.7316, 1.6337, -0.2418, 0.0513, -0.0122, -0.212, -3.5761, 6.3385, 1.2527, 0.0171, -0.0904, -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 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3859, 1.5669, 0.9173, -0.3283, -0.2527, -0.3241, 0.9992, 0.0261, 1.1893, 1.1511, -1.0382, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0757 left_yaw=0.0108 left_pitch=-0.3538 left_roll=0.0324 left_gripper=0.9992 right_x=0.2858 right_y=0.0014 right_z=0.1908 right_yaw=0.1104 right_pitch=-0.4992 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -8.2803, 8.9094, 1.6386, -0.2515, 0.0513, -0.0122, -0.1709, -3.412, 6.3248, 1.2674, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1034d35b2e4b610b8a4459b4b235c9fffaa46dd9e8fd1c02ce7eebccf9a73d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:101048856e630825c75e3fd908b9788735efdf8b46378a8c6ee417bb2773cb62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08ce094cc695555b78dce9fdae584ba1ae896ff92c81f64534c4b27ed1499c90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDDi7gE9nrI60O9ip7xoMN3jKlPvjBCZZNPO9IjDio+W3G0eNN7l7zFpFLFCusrvD9Cw/6SZSXJwN+yFZlY8L9LU0v+2/ywUUIuvmWQIquQjZwncwBP82T7PGzGEXpY5w+A0cAOPy9jy3bLEuL6wRFUYkXIPcVv+8rZ6Hq++ga8nI0c6aDGsKmilzoWS7yKpzZDl3WYKVi1MJ3QkwNDdWkgZiL7r2TwNqSgx93flclHRWv4dXArA9Qjb/yM1MIrnt431sKsOTCTaJTt2qXdNnLk38IVjJkyfg/M0KREwK6JDTqAN2EzhicbMn6tUVAaVBWOyxQiL9//oykSIHK58N2LWGQicHUO6Z0BeL9USohuHrx3gARecdXQfPOZUVOtdMYtiQqAkwMIXVgLdmvwpfpFimDTHioFnHfITY3oeqKuBIfgm1q4gZ3ByIkFGC/Hy9DH5S+oBf7yXyQEVKsRlpTHqHhKbpQdP0kPwohP0+MipHbiGK1Lt/lCJgMUWo1UWbBjwufAMhzay9UJGllLUQVyddFI+ctezhSzJTA493r070+YqhYZndPCmKxn2uQeJh2zR6FyxmPQN/0Cw7m4T/c0GxVOeLjva6alVKhQ2zd4bcYlU6KsU0KLuIDsYcqnk//w6s4K0KVEdda99J9v9gh+nPEtR0VDgljSCPQXJd4xLaID0LzjIHuHrKkvPmbNd5uvMwAagw/LME00EsckeQwCWog9udHKbZ5FR2nqg0ig7NCSXhhRkHDOxhZAxVZ+CF/m0n4dJ1XIFa+9H0BwfWwsF2hu6ytGr6822025wGq3HXVICsdqIHVpRpGuMk4EwOQPdaK7VNQ4WncRH5EkIBFyq2FS8jbsIn1CA8hY9hynuEOwmB6p4axWb7Mtpcw0I9YmJambdF4NcbFh/wK2AyYgp59FEbpPDvFU10k+E/n1s8WBVX5LyHHZnXy9HJoa0fbt0jft5lVzhXnNpZOau4zOCYwDvvvhE2b75uxA9IdA67t3WSsucO5ZRVPhiilgVPhcqsOy43fVQUgAQWAxmBJ0vTL85GMR2lc2CahqhjcaJzJVKOrP73pYKh4uz6H01G0ABkB+uhoAFv4LSeriGhR9lB4nZHHM7GWt9s7jeBvFZwa3FDmP3frDh4VIdBKf7/MZdTsZYdOJVA6mwtrsnY4WnjrWUFhstzf63ByXN659ysBzLktUPfqQJMggodQcl+AhJCeGsUmZ5KvX/AhYp7xHlhJavO5cvNbAKnR8KllGHOCFIXnLgS2tD+HmXmvgzrj5UBrM9deSvGYYnL2/fsPKa+9Rqwg6rJlWVbc5LyJC5ECQCQSULnT9Fbdpjxot5+fKPHBqEi1Fn0mS/OdCNnWCsa12lazt5dy5Zm09RY5t4xzS+J13zoPNDrgSnt1HdP+G4D+LawEN+39yHbqYv8cm7UzYFJlJZnMuQhqbKcdfq07Ld8vm7s5fIs89cXc4YEAxG0HUMhdwx/HRmAiPcAyr8A1Fh7/VSdDJhcnco+TEc6Ig5hILwDq8wEyYtM+DXnOsrtldS8Ksi1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012t2QnSw8chEfY9vhTegJGr",
      "input": {
        "note": "Left arm is stalled (possibly jaw touching the safe or an IK hang); lifting and backing off to reset before a fresh approach.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.09,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012t2QnSw8chEfY9vhTegJGr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3725, 1.4399, 1.0981, -0.6071, -0.2481, -0.3233, 0.9992, 0.0261, 1.1893, 1.1511, -1.0389, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.0935 left_z=0.1521 left_yaw=0.016 left_pitch=-0.3285 left_roll=0.0175 left_gripper=0.9992 right_x=0.2856 right_y=0.0014 right_z=0.1907 right_yaw=0.1105 right_pitch=-0.5 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -6.0239, 7.2821, 1.0867, -0.1441, 0.0904, -0.0122, -0.1436, -3.6171, 6.4752, 1.1209, -0.0024, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c644c6d347bebe0928bffe3352505a38d5ce78c06e4abb8582beee8e91922a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74396653a834cc6dd4c71c3b04734e1611eeac3579cca953c3cf791ac76f933f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e047189c8f006ab052353f4ede61cb5ed09369e5cdc951b287848c4f8d4b0ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 4.661 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]: [-0.3859, 1.5669, 0.9173, -0.3279, -0.2527, -0.3237, 0.9992, 0.0261, 1.1893, 1.1511, -1.0275, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0758 left_yaw=0.0106 left_pitch=-0.3535 left_roll=0.0325 left_gripper=0.9992 right_x=0.2881 right_y=0.0014 right_z=0.1921 right_yaw=0.1096 right_pitch=-0.4886 right_roll=-0.1764 right_gripper=0.9954\nstate[joint_eff]: [-0.2667, -8.253, 8.7316, 1.6337, -0.2418, 0.0513, -0.0122, -0.212, -3.5761, 6.3385, 1.2527, 0.0171, -0.0904, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.3859, 1.5669, 0.9173, -0.3283, -0.2527, -0.3241, 0.9992, 0.0261, 1.1893, 1.1511, -1.0382, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0757 left_yaw=0.0108 left_pitch=-0.3538 left_roll=0.0324 left_gripper=0.9992 right_x=0.2858 right_y=0.0014 right_z=0.1908 right_yaw=0.1104 right_pitch=-0.4992 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -8.2803, 8.9094, 1.6386, -0.2515, 0.0513, -0.0122, -0.1709, -3.412, 6.3248, 1.2674, -0.0073, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.3725, 1.4399, 1.0981, -0.6071, -0.2481, -0.3233, 0.9992, 0.0261, 1.1893, 1.1511, -1.0389, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.0935 left_z=0.1521 left_yaw=0.016 left_pitch=-0.3285 left_roll=0.0175 left_gripper=0.9992 right_x=0.2856 right_y=0.0014 right_z=0.1907 right_yaw=0.1105 right_pitch=-0.5 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -6.0239, 7.2821, 1.0867, -0.1441, 0.0904, -0.0122, -0.1436, -3.6171, 6.4752, 1.1209, -0.0024, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c644c6d347bebe0928bffe3352505a38d5ce78c06e4abb8582beee8e91922a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74396653a834cc6dd4c71c3b04734e1611eeac3579cca953c3cf791ac76f933f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e047189c8f006ab052353f4ede61cb5ed09369e5cdc951b287848c4f8d4b0ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016NZpbvr1rAHB8eDyvdRfs8",
      "input": {
        "note": "Teddy lies against the safe's left wall; the right jaw likely hit the wall last time. Rotating the gripper so the jaws close front-to-back and descending onto the teddy.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.115,
          "left_yaw": 1.2,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016NZpbvr1rAHB8eDyvdRfs8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4259, 1.5185, 1.1034, -0.6258, -0.3462, -0.4957, 0.9992, 0.0261, 1.1904, 1.1511, -1.0576, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.0967 left_z=0.128 left_yaw=0.1586 left_pitch=-0.3684 left_roll=0.0306 left_gripper=0.9992 right_x=0.2816 right_y=0.0011 right_z=0.1883 right_yaw=0.1107 right_pitch=-0.5198 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -7.706, 6.5846, 1.3993, -0.3785, -0.0024, -0.0122, -0.1026, -3.6991, 6.2974, 1.3016, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5e56df959d491fd4bfdbcecacb3190e5fcad50c571397ca0bff5e51c9313f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0280c7ca10ed53c31e2da00dcdba2429376d0289ab0d1d5c376938ab8bb61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6c783dadf780a1bcbe13d02a15da267f3207b63b650632a40b5fb27b5d12b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 4.066 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]: [-0.3859, 1.5669, 0.9173, -0.3283, -0.2527, -0.3241, 0.9992, 0.0261, 1.1893, 1.1511, -1.0382, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3748 left_y=-0.1007 left_z=0.0757 left_yaw=0.0108 left_pitch=-0.3538 left_roll=0.0324 left_gripper=0.9992 right_x=0.2858 right_y=0.0014 right_z=0.1908 right_yaw=0.1104 right_pitch=-0.4992 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -8.2803, 8.9094, 1.6386, -0.2515, 0.0513, -0.0122, -0.1709, -3.412, 6.3248, 1.2674, -0.0073, -0.0317, -0.0122]\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]: [-0.3725, 1.4399, 1.0981, -0.6071, -0.2481, -0.3233, 0.9992, 0.0261, 1.1893, 1.1511, -1.0389, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.0935 left_z=0.1521 left_yaw=0.016 left_pitch=-0.3285 left_roll=0.0175 left_gripper=0.9992 right_x=0.2856 right_y=0.0014 right_z=0.1907 right_yaw=0.1105 right_pitch=-0.5 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -6.0239, 7.2821, 1.0867, -0.1441, 0.0904, -0.0122, -0.1436, -3.6171, 6.4752, 1.1209, -0.0024, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4259, 1.5185, 1.1034, -0.6258, -0.3462, -0.4957, 0.9992, 0.0261, 1.1904, 1.1511, -1.0576, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.0967 left_z=0.128 left_yaw=0.1586 left_pitch=-0.3684 left_roll=0.0306 left_gripper=0.9992 right_x=0.2816 right_y=0.0011 right_z=0.1883 right_yaw=0.1107 right_pitch=-0.5198 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -7.706, 6.5846, 1.3993, -0.3785, -0.0024, -0.0122, -0.1026, -3.6991, 6.2974, 1.3016, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5e56df959d491fd4bfdbcecacb3190e5fcad50c571397ca0bff5e51c9313f5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df0280c7ca10ed53c31e2da00dcdba2429376d0289ab0d1d5c376938ab8bb61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6c783dadf780a1bcbe13d02a15da267f3207b63b650632a40b5fb27b5d12b85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AcKEAgSGAI4AUIIdGhpbmtpbmcSDB8fnzZg+WEyzjnzLRoMYR8r7ETpkPFYP4lvIjA3A4EjgPr4Sg83/yWhn2vkVvqDXZmNy0WHD4qdccOx6jj9ya1XlPSp+SIQnRPG9i4q/Qa7eiXsMTjzCOB63Uk4pP1adpfN86rqXl6waVtf+Jsn6Or97mycY5B9cMTQdaORY/s3Q7TlxlM+1QTZa+gTYUGmJO/R3/4nWr/ag423+rlI6WsIo1/HODwWsitXSh84msUjPD4vwTCwZO6WBHfxaLqpgRvbxllVrqgPpyey7hXHsbaA2xxZN92xZEzr2b6RQ1+UzyTC5ZHDLlBKb2egqs4JaUuew7AzZEIVI/K9D6oS/pr1KFYagnWjWbAxgRLPXiWm1J1iwHau9Yt96W0yV8ljs4u+oXimkSHxfdKP/Z5gD1h0Aos6NdRqG3gw+0NsHB3lK4XQIGj+1hfxU7CH8nGU9/nWSgE0i9rUYcjdtzjlKE6oXjrQjF3vZ7gf6LoYXnRv4EmeJTmBneDS2c8pcbcGDcYUGmcgaGquPoMjFy1tW/HG2odtRefKPyN5afT1aJ3EdrgvCENVyDPXShMiMFzTn7t4cNchvpv2zN9SmjrfQhl5q9FIPv1O6Xnn02G0tMcX58ghgzwp9dZKcnTJ9hUZwDGKGFW2VTsP8F5JRGtCJLmRkU3vAEdPTz6NdKG/YOuqsH1NxOG5duUFbegLIzRL6n2FLFo6WVy6lWEzG//KKy52YfJ4zzN7hKCCuydR0wGSMSnrJkt1u0bphArUB2byDL9mLrCJDCuHtOkzg1gM1JvvrGAU971+Tq/pFJCJPB9UQ7jBBKFpTSjCDABvoHpVRb+GorrM4mgItf4Y/Go4eSZFCSYVl+GLlienbuYeNdsVLBAN2ZlLmqPlBgj29zKZixqWCNInF1q7KpIfr2acvs0NnLSNV4vcq64m1t2ukMJRvvmBfR9O/c7siLtdD0WdGk57pXNyC2mgMT+xkdiNhdDRHrlvhkcRpeGcwGTx005PDukEReVveu9PoPWqPxm2hJIEhYQBb/8vVBh22ETd5L0WsHd6L28TcsBayT/4exwqPsVG/p+zbY5VHTS99NhR/ZLeUjUx2s2iSFTPZEoUMdSfb/zeFMsKAy4GPpXBJOqraLkTFFM/jr57yxGzWTrh3gNnvv60zi74/raF1ICPs+IWTyvyWaD71U91HZT0w1745ZxcsTV/X+f/72g5lZHV1RT0MOfn4YYY4QFMhYZcPNZLgeyuyZuMSB3xRkT+lcvnEr8Uia8FTmYLdxWmeuFxB/B3fvXqxLXMxBMThxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014mcBvFiLuVdE7aGfEckSQx",
      "input": {
        "note": "Arm is moving slowly toward the teddy (z 0.13, yaw only started turning); continuing the same descent and rotation.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.115,
          "left_yaw": 1.2,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014mcBvFiLuVdE7aGfEckSQx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.551, 2.0277, 1.6238, -0.9756, -0.5484, -0.8932, 0.9991, 0.0261, 1.1946, 1.1511, -1.0824, 0.0551, -0.2211, 0.9954]\nstate[eef_state]: left_x=0.414 left_y=-0.1421 left_z=0.0911 left_yaw=0.5081 left_pitch=-0.4343 left_roll=0.2025 left_gripper=0.9991 right_x=0.2765 right_y=0.0011 right_z=0.1845 right_yaw=0.1123 right_pitch=-0.5486 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [1.1556, -11.5761, 6.106, -0.0806, -0.6569, -0.1099, -0.0171, -0.1026, -3.7675, 6.2701, 1.409, 0.0122, -0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9244b7c702080e59efcfbb86dcb75c505a44203955ce48d4de1a9296ad2ea39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bf32843dbadfd3944439a285bc2f079c00a6d2cdbbe573bcf08aad7efdb5853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ea9d2723df48e0991d16310a65d7855347e43624f6a2b2e75254ad2c0338c627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 3.599 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]: [-0.3725, 1.4399, 1.0981, -0.6071, -0.2481, -0.3233, 0.9992, 0.0261, 1.1893, 1.1511, -1.0389, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3683 left_y=-0.0935 left_z=0.1521 left_yaw=0.016 left_pitch=-0.3285 left_roll=0.0175 left_gripper=0.9992 right_x=0.2856 right_y=0.0014 right_z=0.1907 right_yaw=0.1105 right_pitch=-0.5 right_roll=-0.175 right_gripper=0.9954\nstate[joint_eff]: [0.1026, -6.0239, 7.2821, 1.0867, -0.1441, 0.0904, -0.0122, -0.1436, -3.6171, 6.4752, 1.1209, -0.0024, -0.0513, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.4259, 1.5185, 1.1034, -0.6258, -0.3462, -0.4957, 0.9992, 0.0261, 1.1904, 1.1511, -1.0576, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.0967 left_z=0.128 left_yaw=0.1586 left_pitch=-0.3684 left_roll=0.0306 left_gripper=0.9992 right_x=0.2816 right_y=0.0011 right_z=0.1883 right_yaw=0.1107 right_pitch=-0.5198 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -7.706, 6.5846, 1.3993, -0.3785, -0.0024, -0.0122, -0.1026, -3.6991, 6.2974, 1.3016, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.551, 2.0277, 1.6238, -0.9756, -0.5484, -0.8932, 0.9991, 0.0261, 1.1946, 1.1511, -1.0824, 0.0551, -0.2211, 0.9954]\nstate[eef_state]: left_x=0.414 left_y=-0.1421 left_z=0.0911 left_yaw=0.5081 left_pitch=-0.4343 left_roll=0.2025 left_gripper=0.9991 right_x=0.2765 right_y=0.0011 right_z=0.1845 right_yaw=0.1123 right_pitch=-0.5486 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [1.1556, -11.5761, 6.106, -0.0806, -0.6569, -0.1099, -0.0171, -0.1026, -3.7675, 6.2701, 1.409, 0.0122, -0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9244b7c702080e59efcfbb86dcb75c505a44203955ce48d4de1a9296ad2ea39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bf32843dbadfd3944439a285bc2f079c00a6d2cdbbe573bcf08aad7efdb5853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea9d2723df48e0991d16310a65d7855347e43624f6a2b2e75254ad2c0338c627",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9AYKEAgSGAI4AUIIdGhpbmtpbmcSDEnqOCKb+GanEp8O0hoMgMxav2jh1xxirQxNIjDcaUsCx1KkqyTAPOXclZ/Bghz/eN/cBC1aSrSHN5EFQEBvYSAuMgnAp2apqDRpaM4qkQZO13a4tBxGuxQpaiYIKKZybHE4wCRW5rwDdkP/wP5Ik/NMyHoVDgQR6crc0L+VML6fE9a0rWqLmL3EiRwVdkSCyEav2cEc3LyjpLNzUJyYxwpMfVwLX7ouQxG6HCN8pqlQUDRhJ0f/wEqSWUOpbp5+RUISTdn5dh2WKordlOpqLAhbLVfPhv/VPn37xi006vbNajzUxGBE7+dx61Fe0HObDV07Dp9if6E0PAPg9NxYS9gCiPLa2D6uWCTOOJXptH59OtKYr7kAKWgEKiCk9kjbXT9RVBrVEJ4F/oln25x/bsyteuO0AbSnSgQf/GlPaEBiYwvddPsFwHUIL9+RV9caTvMfkFeKq55NS4tjjLkBN9nD08aGzidEqyncfWPmyjHT3sG9PnZ4hwf/bG3tzAcwtmsNlJphOJMSlKyBxFkYVz+5SZXu+ElitSb466XjKjon0IdZsFMNPUQEBN4SAWh4BCCHP0wzkA9+0ZysNFLudiHjsf75ssEtzflTyI1rTHU6a/JzJBZtRmQrohbLulL96R4XqtJSIAqsJ015UhuU5EHZnJu+MO62ceBNIQLCiHr1n0ADrHjOJPWcmT85whRAg/iCdO+tKec45lYm0wPMY51o3P+qYBPGlvZrMrt8x6cO+l3XY/Ly1sKtF3lhjDAXjzjbGQC7jQ+XW/ATrEhTZT2wuzhItEmSuqvfUtYh4YYZIJV+FMKChGRr4Zx+zoNaS/P9dLPEak+06M/HhtcdtWRJDKm9WMZ23AcNwjMCuG9DopEAIIK0MRS5ctCsAfaKa0pAdLM+gOax8i/Wz29JjHxaePkQlcQxSEVpYGUGoFEnBsgU/cO8uAqMFifFKwtXDY7kIWjism6O4+WIQbYTwSou316m/e/gDLsbpXM/f5jBM1ujAGB8dBNvpJa3q2FL5Odrk9EJIPls7Zqu8TyvSNJ9tyO73/sucsOi9A+zfWRf4A1jjNohuE4QukRypx5GDsJm4VtkrArCC7+D4uAPqwh8HXC1tw5T0yVJuEjQbdLfC6pixXPHCsaQJKe+ZEsvlhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RkPQcpA2UtiXUHX7kxXgg8",
      "input": {
        "note": "Teddy is between the jaws in the wrist view; letting the arm finish the descent.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.115,
          "left_yaw": 1.2,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01RkPQcpA2UtiXUHX7kxXgg8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5285, 2.323, 1.8622, -1.2194, -0.5617, -1.4948, 0.9991, 0.0261, 1.1961, 1.1511, -1.0843, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.4139 left_y=-0.1286 left_z=0.0315 left_yaw=1.0287 left_pitch=-0.436 left_roll=0.1761 left_gripper=0.9991 right_x=0.2761 right_y=0.001 right_z=0.1839 right_yaw=0.1123 right_pitch=-0.5521 right_roll=-0.1706 right_gripper=0.9954\nstate[joint_eff]: [1.5111, -10.4547, 6.0376, -0.4957, -0.2906, -0.149, -0.0122, -0.1299, -3.6855, 6.2838, 1.0965, 0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3deaa0089e780f8052ee1da7e0b5b07ec65ca88728d8b22a859ebf89af6265c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7550b35cb247392fe7c22c75750151b9d80037e049e607966b9ac985c49e24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a90550680625de9c968bcde9f88d7c4470a32c27abf37efa1932a0b0ad84eadd",
        "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 · 4.893 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]: [-0.4259, 1.5185, 1.1034, -0.6258, -0.3462, -0.4957, 0.9992, 0.0261, 1.1904, 1.1511, -1.0576, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3668 left_y=-0.0967 left_z=0.128 left_yaw=0.1586 left_pitch=-0.3684 left_roll=0.0306 left_gripper=0.9992 right_x=0.2816 right_y=0.0011 right_z=0.1883 right_yaw=0.1107 right_pitch=-0.5198 right_roll=-0.1738 right_gripper=0.9954\nstate[joint_eff]: [0.0068, -7.706, 6.5846, 1.3993, -0.3785, -0.0024, -0.0122, -0.1026, -3.6991, 6.2974, 1.3016, -0.0122, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.551, 2.0277, 1.6238, -0.9756, -0.5484, -0.8932, 0.9991, 0.0261, 1.1946, 1.1511, -1.0824, 0.0551, -0.2211, 0.9954]\nstate[eef_state]: left_x=0.414 left_y=-0.1421 left_z=0.0911 left_yaw=0.5081 left_pitch=-0.4343 left_roll=0.2025 left_gripper=0.9991 right_x=0.2765 right_y=0.0011 right_z=0.1845 right_yaw=0.1123 right_pitch=-0.5486 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [1.1556, -11.5761, 6.106, -0.0806, -0.6569, -0.1099, -0.0171, -0.1026, -3.7675, 6.2701, 1.409, 0.0122, -0.0024, -0.0171]\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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5285, 2.323, 1.8622, -1.2194, -0.5617, -1.4948, 0.9991, 0.0261, 1.1961, 1.1511, -1.0843, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.4139 left_y=-0.1286 left_z=0.0315 left_yaw=1.0287 left_pitch=-0.436 left_roll=0.1761 left_gripper=0.9991 right_x=0.2761 right_y=0.001 right_z=0.1839 right_yaw=0.1123 right_pitch=-0.5521 right_roll=-0.1706 right_gripper=0.9954\nstate[joint_eff]: [1.5111, -10.4547, 6.0376, -0.4957, -0.2906, -0.149, -0.0122, -0.1299, -3.6855, 6.2838, 1.0965, 0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3deaa0089e780f8052ee1da7e0b5b07ec65ca88728d8b22a859ebf89af6265c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da7550b35cb247392fe7c22c75750151b9d80037e049e607966b9ac985c49e24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90550680625de9c968bcde9f88d7c4470a32c27abf37efa1932a0b0ad84eadd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgYKEAgSGAI4AUIIdGhpbmtpbmcSDK7hZCYKN09A1wnnkRoMCVv1QMD3rUYFC5UyIjB/UU6F7vbXzecRvLI7KJSPOJd9TU2CsiVBHHZ57dY0HU/md2+aJ713KwXOH1ER8/cq3wX/cF3jHooXm4c/SvUVVX0/jzEyWtf4wVt8nJd8TLFJR52Y1DloLPLiteIny3cD7OrLT86gyWWxHhuqoVAz/AuKhRU+ql/xLS7yBQNVV1eT7Xd5BmQL2+9KWbS8Ry/6h4vvsEVnSHN5VH/5zQJhxzyglvCZtWzpeTxkYA/jPX5/0DmQFb3LX/lk0q7L2dCCUKxYM5IW0aPXQd5zKoj/AokLX06bZjWZHLQgf44ytPn8mMBKugKO/PQzpycvtMhI2TxuIap6iosC9kyeWUxU2RVgm2Fa1e/FASH4T51aAqbuU07HBud8iuaofWogQjvahozlyodsBPDE3nM2O9i1eDuckcttvUtjde59/39HzM0QhNocEjLogPcIBuVcNTvYq3nFOJuUlsmgsPe0UWrmAtXIPojq0uY6Vw6js7zKXQdx6g9Prt6zNp1Qll8TH0IuCh6I+L9JUdt3EF8Fjzi9Z0iFo/4t+5XuKwloi43biAEDpZ3SfANARVPUvljDUkkd5VeRJvZ8i2s3fGACXOvr75TmmEFS4//FjRnT7jjEBiQ7bix8yhkMup+ic+nkjtNdErFHTh2AXufqdHgKsDcj8ALTaOAahYtT+50fnqTPNld1OhoyPYXqrT1V91JT1sI9Y0XIPbJcUeY7BIMOYNSBrWkH7hG3mzZ5VDiKFl0kfeVE5CZgoofNMczgLxkqdJ8zAqfQj4sQi41vgBLmxIQ/vPEaXbA07Aou87pi9oOtduiPr4nGOlCB9lMYienOL5ItEVMgeWHOtVeI5+yDxiGmw1u9PwebCvFElTo0ryN5PZUoxqflBPVRe5JHZZjENO+ooIv+JjIjAUjEnfEc7kg9U4VBQWMA8OvJmqc/dQkKtgC8gDsgxmoaiM4MB7Vf33Fx0bP5U8Xz5jgGXRLxtAU3sqY4E1RL6ZR/BG4fPk0Wh6UstmPcb2TcEcClwDgydyNSYh0ySjFHJX+6iMm8lPGzmKsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013Mh58nwWfuAG5GeqKFKd4M",
      "input": {
        "note": "Small teddy sits squarely between the jaws at table level; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013Mh58nwWfuAG5GeqKFKd4M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5163, 2.3611, 1.8744, -1.2995, -0.5392, -1.6512, 0.1976, 0.0261, 1.1961, 1.1507, -1.0912, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.1177 left_z=0.0199 left_yaw=1.1872 left_pitch=-0.4352 left_roll=0.2026 left_gripper=0.1976 right_x=0.2745 right_y=0.001 right_z=0.1831 right_yaw=0.1131 right_pitch=-0.5593 right_roll=-0.1695 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -11.5761, 6.1197, -0.2369, -0.3443, -0.1148, 0.696, -0.0889, -3.3983, 6.2701, 1.1209, 0.0024, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec88b96ed0d6920d41e64c02be1d7c62e1fb217a22db2e4a5c2c36337bba4d92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c8218c39c7b5e7d79314de314f711f01af2c4d7112b676a6eb7446ccf7c54fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0b5e3ea553486954c45999baea77c8924dc2bc7b95a537465f1d86bc6c332d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 8.037 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]: [-0.551, 2.0277, 1.6238, -0.9756, -0.5484, -0.8932, 0.9991, 0.0261, 1.1946, 1.1511, -1.0824, 0.0551, -0.2211, 0.9954]\nstate[eef_state]: left_x=0.414 left_y=-0.1421 left_z=0.0911 left_yaw=0.5081 left_pitch=-0.4343 left_roll=0.2025 left_gripper=0.9991 right_x=0.2765 right_y=0.0011 right_z=0.1845 right_yaw=0.1123 right_pitch=-0.5486 right_roll=-0.1704 right_gripper=0.9954\nstate[joint_eff]: [1.1556, -11.5761, 6.106, -0.0806, -0.6569, -0.1099, -0.0171, -0.1026, -3.7675, 6.2701, 1.409, 0.0122, -0.0024, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.5285, 2.323, 1.8622, -1.2194, -0.5617, -1.4948, 0.9991, 0.0261, 1.1961, 1.1511, -1.0843, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.4139 left_y=-0.1286 left_z=0.0315 left_yaw=1.0287 left_pitch=-0.436 left_roll=0.1761 left_gripper=0.9991 right_x=0.2761 right_y=0.001 right_z=0.1839 right_yaw=0.1123 right_pitch=-0.5521 right_roll=-0.1706 right_gripper=0.9954\nstate[joint_eff]: [1.5111, -10.4547, 6.0376, -0.4957, -0.2906, -0.149, -0.0122, -0.1299, -3.6855, 6.2838, 1.0965, 0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5163, 2.3611, 1.8744, -1.2995, -0.5392, -1.6512, 0.1976, 0.0261, 1.1961, 1.1507, -1.0912, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.1177 left_z=0.0199 left_yaw=1.1872 left_pitch=-0.4352 left_roll=0.2026 left_gripper=0.1976 right_x=0.2745 right_y=0.001 right_z=0.1831 right_yaw=0.1131 right_pitch=-0.5593 right_roll=-0.1695 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -11.5761, 6.1197, -0.2369, -0.3443, -0.1148, 0.696, -0.0889, -3.3983, 6.2701, 1.1209, 0.0024, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec88b96ed0d6920d41e64c02be1d7c62e1fb217a22db2e4a5c2c36337bba4d92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c8218c39c7b5e7d79314de314f711f01af2c4d7112b676a6eb7446ccf7c54fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0b5e3ea553486954c45999baea77c8924dc2bc7b95a537465f1d86bc6c332d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDFyb5gNt649s7I5KwhoMEQUF0ICGFpVOyHvlIjD8p2mB7e53Wea47gTKslfoLMn64pHNP9BC8hfOzc1yV4BEMJUr6A0mVw/aPqEj5MQq8gbPDhShD/pODrA5eO9Aco1y/O3kUuyKtNFwMr6VJUaKjdlmNkPGqgW7wqB9Q0A6av11wFk4wfrwZOjfCAbvCc1iFi5/Bf8snxXhdIizcFZhH/HTe8Hq4R8k55Z8QdHexvi9weuij5Ym2pqERckV/X5Kl5jfJwM1PL7YxMYdEFijJ7vk5U3si+/aCbI2ZG3r7Bj3uq121EAzm7YSldUwB+VzDC8xon2rWjCwzWl0TC9Nskvsw+dfHaQrZbayNe8fLgv580n6lT7Gix8sutoTtUTjPuAi4lucZwHP9DhRdpoBX5Y+uXyC6aPOFxbRCTwJ3mEs2osGJeBKJ68NXwKSOJwt1OzOsn+xv4hUIdIbC+qP1ASJ5MBLCKd8ylA3/Lej2JHZwLel7n+Eahq7bmINT2W/AMiFoYYSyd3Tm2CS66gaQP+VDKvAc4sMNEC3y7qSmb6jvD2jKGYMsGlASE5cOCfxLIL0cniyzinvJabQD0pwlzCEuayIlGc82FqxUkoFVByasqtQUjAFWm5J2EX8DMXD/JliUM3dy/Yl/eLUJqaNZGYS9mhnYIQO0RBUBQjktJ742jdFkP71ff4hmqz7mkTqluixlXC8cJZ0eox8v608Z69ZRzZzDWcWRVEltcuxDDBOq7+MYgQldbrx8JSm/pXFUWOYZ+ZT7livwGh54HMbXdTp6RvbXG+VqjiLhbWo0gIrYBkqCnsGQlkT+TEeiGmIR3TTo2NMbUnMI6rRGYH+Q8cjAlQkla2lwsL/bkC6cafTweNJbHWnqR0C+6jjmcSNN81gcCxZ9sgElHJfIiP0QcL5/a1bvXNNhvuOpCUXaCL9pvB3OCHaFAwD4sOBA+kBt+bXE28beRGrQKbbQOxs0/LNQapvsyU92VA9etmnxi13Nwv1/k7jJ/m31oNS7vp5ReELxN76mbwWYSmgJ2wSOVCNRr12exo/tmxbef9gvcL3VkGLpCmw/zv98M1w6GFZDBFtSs1LI4smde1ED21cnne6lwuXuTO9RkkPKe/6SKnIo42W51GJHrruTLvgkqrSzTuTqvUmfigPh6rB/9eczfHab5+rPdPHM2sAz6hQLKkFWwb+qgqzZ3npjwQA3QqZ2hg+pMsfrCgCACTqQx40uV0tFBiixmJaIZ6LVqvx8QRaX77GBf+s3OdTtwvGHtXjFRYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W3YJME3wepmm4m2oJZYyz1",
      "input": {
        "note": "Gripper settled at 0.20, so the teddy is held. Lifting high and heading toward the safe.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01W3YJME3wepmm4m2oJZYyz1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5636, 2.1788, 1.9491, -1.5528, -0.5201, -1.6871, 0.1978, 0.0261, 1.1961, 1.1507, -1.1061, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3665 left_y=-0.1236 left_z=0.1132 left_yaw=1.1648 left_pitch=-0.4503 left_roll=0.1805 left_gripper=0.1978 right_x=0.2712 right_y=0.0009 right_z=0.1815 right_yaw=0.1135 right_pitch=-0.5741 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -14.3795, 4.7521, -0.2271, -0.486, 0.0415, -0.0024, -0.1436, -3.5077, 6.3658, 1.1355, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cafe802ef238b6458a92a20dfca031ab7cbb9a09c317cd694f3f9d32ff87fc08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888debc9c9b1c04d6c022a3fbfb7dc327c0019f4f178d4347faa004e31dfffcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dbb3a6d83277dacf4e8e99a3507653a81f37bf04c21213e384a9871dcb90c83",
        "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 · 3.821 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]: [-0.5285, 2.323, 1.8622, -1.2194, -0.5617, -1.4948, 0.9991, 0.0261, 1.1961, 1.1511, -1.0843, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.4139 left_y=-0.1286 left_z=0.0315 left_yaw=1.0287 left_pitch=-0.436 left_roll=0.1761 left_gripper=0.9991 right_x=0.2761 right_y=0.001 right_z=0.1839 right_yaw=0.1123 right_pitch=-0.5521 right_roll=-0.1706 right_gripper=0.9954\nstate[joint_eff]: [1.5111, -10.4547, 6.0376, -0.4957, -0.2906, -0.149, -0.0122, -0.1299, -3.6855, 6.2838, 1.0965, 0.022, -0.0415, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5163, 2.3611, 1.8744, -1.2995, -0.5392, -1.6512, 0.1976, 0.0261, 1.1961, 1.1507, -1.0912, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.1177 left_z=0.0199 left_yaw=1.1872 left_pitch=-0.4352 left_roll=0.2026 left_gripper=0.1976 right_x=0.2745 right_y=0.001 right_z=0.1831 right_yaw=0.1131 right_pitch=-0.5593 right_roll=-0.1695 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -11.5761, 6.1197, -0.2369, -0.3443, -0.1148, 0.696, -0.0889, -3.3983, 6.2701, 1.1209, 0.0024, -0.0611, -0.0122]",
      "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]: [-0.5636, 2.1788, 1.9491, -1.5528, -0.5201, -1.6871, 0.1978, 0.0261, 1.1961, 1.1507, -1.1061, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3665 left_y=-0.1236 left_z=0.1132 left_yaw=1.1648 left_pitch=-0.4503 left_roll=0.1805 left_gripper=0.1978 right_x=0.2712 right_y=0.0009 right_z=0.1815 right_yaw=0.1135 right_pitch=-0.5741 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -14.3795, 4.7521, -0.2271, -0.486, 0.0415, -0.0024, -0.1436, -3.5077, 6.3658, 1.1355, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cafe802ef238b6458a92a20dfca031ab7cbb9a09c317cd694f3f9d32ff87fc08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:888debc9c9b1c04d6c022a3fbfb7dc327c0019f4f178d4347faa004e31dfffcb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dbb3a6d83277dacf4e8e99a3507653a81f37bf04c21213e384a9871dcb90c83",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrA4KEAgSGAI4AUIIdGhpbmtpbmcSDKuo/jGQ2YiVRZ/jLxoMM3pYFd2F+WU3VgilIjCU152o1xVlO6JqV8uGeptrFnobTouZvxHfbeU5Uf6CLh5cFOB2EOlhPeSwQgydo+wqyQ3fmKRsbJ6gWwb96Iz5hYzIrfG5naW8hLqK7COWEhinJDdhWk671qBM7jXXC7tn7AeNJBE/ybW1DR5Uch2IZYjLg8OUGA3hyq5eBoOZD3Myl6GsN/0emzoeHO3uiLXmVJtPb1NVX4IQYnmhyZfW+R8wX6EVPycvK/UuLQgiq/hQ3AfI0qhzkjMa6xY/EN2iwZ5V5i6bdfOEmCW2lHYSmid5aJMKg/C/1JABDDaS0ioMGDXOcqyM48OA+egncfLTqHZOyOyxJQjPhSJOeDP30gp+XT4HehiFxkl11rgBovfKiv0r9Ae7HCkTtaeO4s9UDvGLB7+5gMWEUU4Haob9nJIw5EL8yyGwID2eNvMUtszDQDTZ21mZsEv/bCrGsMI14PN4nhHLYOgp5dtMpdGnKG12d+ztBXw6m77960BOjN2c/Wydo20HRNizH5vaqNmLph6f0yZwpSu6lQNcLZRKXXjJSThFEYLa5HsP0zA8H9nqRZQhWfozT1iQjEy4cLgH5ifCvbnVIoaAvc/TKJsLHjHKMZq7Yhp51L0/8Sb4eRfJm4i3beyqRjsdToYLcxBWmg3c2TTBpJpS84RThTXkZCL3A0K8E73QsAH0Mc23c5HrTjG8MhceDsuqAVglRbPPAznanrN7yGZzeRKeEKoISN+izz32werISs+7udBmPWdk1rxxz72UTWeqWwy7WDg8cGNqg04WALsJTRzKHCD2D9Oz/trU7iZqEhea+rYX23eLBIvIdPda797TZxTjIzLv96YAIXqGE21rADcBtQ+rVHHRfkHDfgUGYwdZo94Oez8ikYraj8pPdYmRVs21ZSkyxIT5xVWDBaYXI1b8Imc4jWAC1vLSvTjC0YuW1sGDHIq2X1K79eDcUDX+wsHMLroMn++vcrl7MgNFsiF+jjz5xmAadTEyYVD3r8vJ6jejpDv3CRH5mMghESjgjgdNmTLNfJbfBjMRmh0Vy0M8+4cPgZIpQEgHjqb3EQqug+X6OeMhtrWQPyEX5XxQySAqhARw6ZjOUvjyAwRWBCA433XPbhIzzvqUgNjMdnHWi2v7YfLb0kWtuqnjUkHB36E1qJ8w8qkdnPLnFPPVznq7vLTECxPFKZroA/K3uVGkVogosJ+IPe9tcZsh6K71Gqvx2c5h7XuEcn6yoDQC/PWNI4HeIFx3ofhewbaaoX07UertF9fo62z8C9D8VsRyvL4bNThWBiC+TGZocVfERCYFDuDa56lQ0cdrmntassSyDx+jDesflOrm8uH3SduN5RENnCCY0fkDpqbWAG2gB8mAgFEFcx4ZYmFDi2YH1CS2q69Q9C7jLEE8s+8oQDwvehjbdeTQYgXAsUwL6eiePtTxNNw2lpZgRandfh2CJLgkTbmHlJ5zElQSU68bRjfXROZHfR8k4JalNuZqYeh1qZUp7NdhzOvkvcJSnC8iEm89AF6i5VRSG4YqilVL1v1357hgx/MEgYID6nhwcq3cgs+3p6sbPt85ZScUhlxCQ1s5zIaRft/rymRWc3r2tTh2wHp4OrZc3tnxUzOoNnJ/4AgFvdp+o2IPEXC4gH2Du34dcPPEqlrQDop4ciMZQcPGd9+CCgpU59Zp01lWxmIcdMlNlf7Y5Ryao8WAxH3+2EHIM7BhosFs7eZLd70HlEuUuzzmcjmlXxZZN1wi+RBup95WMu7rMvodiIcvjzwl/hk9SLmigO4qJoPO+fhqgtbtoq/jeFlocA1EH0xA4lR9vk/spTcYGq31RBW7rnHR4hcfi5XzVgoD+JbGe4TrJ5DXbf2NQW8gYxHrOnFTzC3P/N+svCjX4sBsXlot1kj81u7Q2DvnUf/CSm2hohNetf7bI6V/cb8EaRX6kj3NjkEyhGe1/HanlrvRQrRmaWkaIb07YoYfle2GwDxOPRKFHmvaaOjvE5tpUWEHhkwlIfNSFnXDtr8LinVdBMrNvSBmwakiQz+IPwxwJk9NdydmdeEPaPrNzgV1mNQS2tSPig644QQiS1ntKN0hzTwVAp4TYJczN33fX6/Lkt3yd90cdcRg0rkR/vv2zlEtZHoibd8aliHi5eEmtffQd39zl7DlzqHNEN7r9D0MM0iDMfEDBdMCmV9sfm6Fx/im4IFiSYeZA+gRKCdshr3PU63oYL0w7gWk1ys/FdB+W9XJYQ8L6pi1yHJ7CGfpxAfQXwkY7HVRG5Sx8gsbP7yfHkSoEFlMoTlRGPy5kEUlUEfyuSWzAjr2vOncqEOJ/bcH2x9fdDkJh64JQObnzyw1qwbCavFxnGi6xV0yKGONzvAmVUYJVwedJ250N5KBci86pLHVhbpydxgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AKQvk5CtR6in9cdCMMoE4F",
      "input": {
        "note": "The teddy slipped out – it is back on the table just ahead of the jaws in the wrist view. Opening and descending again at the grasp spot.",
        "targets": {
          "left_gripper": 1.0,
          "left_x": 0.4,
          "left_y": -0.12,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01AKQvk5CtR6in9cdCMMoE4F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5255, 2.3386, 1.85, -1.3067, -0.5194, -1.6424, 0.9955, 0.0261, 1.2026, 1.1442, -1.1248, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3899 left_y=-0.1206 left_z=0.0223 left_yaw=1.1828 left_pitch=-0.4542 left_roll=0.2206 left_gripper=0.9955 right_x=0.2662 right_y=0.0008 right_z=0.1759 right_yaw=0.1158 right_pitch=-0.6056 right_roll=-0.1645 right_gripper=0.9954\nstate[joint_eff]: [0.759, -12.2188, 5.1761, -0.188, -0.4469, 0.0757, -0.1099, -0.1983, -3.9179, 6.8308, 1.1551, 0.0171, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672cf2701f0dbbd32a93f67a42109a8ab203ce87dda08004c38e60456b71538c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607ef0be7be2b8cd2ff1d897a4dc66180da840dcde43c1614a11f9368f459c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c828f83f9d00ef9dc00edfdffd15f4d168e0b2767523910b078a36bc2b3942c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 5.272 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]: [-0.5163, 2.3611, 1.8744, -1.2995, -0.5392, -1.6512, 0.1976, 0.0261, 1.1961, 1.1507, -1.0912, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3984 left_y=-0.1177 left_z=0.0199 left_yaw=1.1872 left_pitch=-0.4352 left_roll=0.2026 left_gripper=0.1976 right_x=0.2745 right_y=0.001 right_z=0.1831 right_yaw=0.1131 right_pitch=-0.5593 right_roll=-0.1695 right_gripper=0.9954\nstate[joint_eff]: [0.3077, -11.5761, 6.1197, -0.2369, -0.3443, -0.1148, 0.696, -0.0889, -3.3983, 6.2701, 1.1209, 0.0024, -0.0611, -0.0122]",
      "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]: [-0.5636, 2.1788, 1.9491, -1.5528, -0.5201, -1.6871, 0.1978, 0.0261, 1.1961, 1.1507, -1.1061, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3665 left_y=-0.1236 left_z=0.1132 left_yaw=1.1648 left_pitch=-0.4503 left_roll=0.1805 left_gripper=0.1978 right_x=0.2712 right_y=0.0009 right_z=0.1815 right_yaw=0.1135 right_pitch=-0.5741 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -14.3795, 4.7521, -0.2271, -0.486, 0.0415, -0.0024, -0.1436, -3.5077, 6.3658, 1.1355, -0.0073, -0.0171, -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 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5255, 2.3386, 1.85, -1.3067, -0.5194, -1.6424, 0.9955, 0.0261, 1.2026, 1.1442, -1.1248, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3899 left_y=-0.1206 left_z=0.0223 left_yaw=1.1828 left_pitch=-0.4542 left_roll=0.2206 left_gripper=0.9955 right_x=0.2662 right_y=0.0008 right_z=0.1759 right_yaw=0.1158 right_pitch=-0.6056 right_roll=-0.1645 right_gripper=0.9954\nstate[joint_eff]: [0.759, -12.2188, 5.1761, -0.188, -0.4469, 0.0757, -0.1099, -0.1983, -3.9179, 6.8308, 1.1551, 0.0171, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:672cf2701f0dbbd32a93f67a42109a8ab203ce87dda08004c38e60456b71538c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:607ef0be7be2b8cd2ff1d897a4dc66180da840dcde43c1614a11f9368f459c3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c828f83f9d00ef9dc00edfdffd15f4d168e0b2767523910b078a36bc2b3942c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwcKEAgSGAI4AUIIdGhpbmtpbmcSDBzjUFxy8E/JnzDaVBoMN1IGM7s5ZkBJJZ6GIjCcCFb94QCPeupSmLzLUP4kNaEKgyhDZaSMwNGhGlNuYJ0G6y86JViTctJiNXghAccquAbDWoQmp8sUzd+jymamq7icVqfiSO0FkvL3YVYOCRkauU+Q4wp14KVpeAXqy1wj5uoq4NhxZz1DtF9LV6WpoU5BoDDloBHEpkH99HhilnhV4t74OFpiivZM0QxG04xpk+D4r3F6Al/WilHiTgtzdpV7/r5JmaLCZ9hRuJaVoVKc2okhJOT8X+MC82i1e8A5CqfXFjbfM5IfAuVq3djN7y0lA+7cPb9gW1GTegZ5qiLQbIkhAupd4xZm5y+/awvjm7EU1VnDZJifDTCEbhCL3+s266RLV0BtfeqXyXKVIMZx18o5VUu9gvYW60/fDxxnv/VhADiBWfp0UQtp3OSSpOi3T7VAvI+4BSbgASwYzjQuRELUH8px2G4joWAdspozNvH46bcRAH11APVgC+Cxu6s55+Pe4W0WWo6W9wR8mLkJElMk7aovfrzfhFS+3be4yM8lITNxy47lwSp/KVHcnUFXcU9YPWXYSxf0XZ/lEKQ/I7b1NP92ueUqAZ9xwas1bhXW4jfMfkMYsJRSCetn4Rwk2WvH83VVzVxheR52Oqv6eH1aVadh22SPVNHPFy26CVM7ud8lY4+oLHfQdF01VSSpL5pLgQHABfIE7nqDzNPq5U2oHRh9JDJ3uGmrus942QqxxE5vGnG9I7PSe7ScyGowgREnrAyOeUoaJgow6qGEWjuttg3B3cfBu8BJbSenglRvWBk8aBTKR88lSvxzS7noLyIeKHrXnNj5JGueDtIvvXBi5WKmQqTIoB90t9iWUVcIK4PzC33PiCWvfRit0EB6bIfBxY2y/NTTt9t6EZNubcmMfFIUfHWTIdgRapgn3k6iZvakrI+qN5Gl40GE8XOZWbO1dFDKaB3kNFUeAwKfHk2xKizCx4hT3AVS17UVseX9mQRzS+eX76uVOKQPuso/apH/UFS0w7egM62d/yURPu6Sngzhk1AZJVfkVqvqKLPeiUMiLR+pSJOQ4EpxO4zh6uhJ9k2P1x2ORebg7Wg8IE0f03b8Wqr9JJirK1z6m3arnAtEFi70CIPXzFsUNc/iRV5o238mlh/zAHzJXfE8i59Z3PR/GphOMtYXeXPxY23dlWr4xH3c+RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KRAYcqsde5biLKMFZZBpPy",
      "input": {
        "note": "Teddy body fills the gap between the jaws; closing again.",
        "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_01KRAYcqsde5biLKMFZZBpPy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5259, 2.3417, 1.8503, -1.2865, -0.5201, -1.6402, 0.216, 0.0261, 1.2026, 1.1439, -1.1294, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3936 left_y=-0.1228 left_z=0.0203 left_yaw=1.1723 left_pitch=-0.456 left_roll=0.2025 left_gripper=0.216 right_x=0.2651 right_y=0.0008 right_z=0.1753 right_yaw=0.1165 right_pitch=-0.6105 right_roll=-0.1636 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -12.6701, 5.2444, -0.2662, -0.3199, -0.0562, 0.9646, -0.1436, -3.9453, 5.8188, 1.0818, 0.0024, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac540d1d82b96e173a5e3854240447885f595d355158f1ffc2e87cf4fc34d517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe1a4f842403c44027f41e9d3c7ea084e9d8da74ae4e776594bc7d3a8359174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:44b37f3502e2d9495b26007ed7df1af91e3b234f8196686cc8e79efe77c11ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 5.294 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]: [-0.5636, 2.1788, 1.9491, -1.5528, -0.5201, -1.6871, 0.1978, 0.0261, 1.1961, 1.1507, -1.1061, 0.0555, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3665 left_y=-0.1236 left_z=0.1132 left_yaw=1.1648 left_pitch=-0.4503 left_roll=0.1805 left_gripper=0.1978 right_x=0.2712 right_y=0.0009 right_z=0.1815 right_yaw=0.1135 right_pitch=-0.5741 right_roll=-0.1683 right_gripper=0.9954\nstate[joint_eff]: [-0.3624, -14.3795, 4.7521, -0.2271, -0.486, 0.0415, -0.0024, -0.1436, -3.5077, 6.3658, 1.1355, -0.0073, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5255, 2.3386, 1.85, -1.3067, -0.5194, -1.6424, 0.9955, 0.0261, 1.2026, 1.1442, -1.1248, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3899 left_y=-0.1206 left_z=0.0223 left_yaw=1.1828 left_pitch=-0.4542 left_roll=0.2206 left_gripper=0.9955 right_x=0.2662 right_y=0.0008 right_z=0.1759 right_yaw=0.1158 right_pitch=-0.6056 right_roll=-0.1645 right_gripper=0.9954\nstate[joint_eff]: [0.759, -12.2188, 5.1761, -0.188, -0.4469, 0.0757, -0.1099, -0.1983, -3.9179, 6.8308, 1.1551, 0.0171, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5259, 2.3417, 1.8503, -1.2865, -0.5201, -1.6402, 0.216, 0.0261, 1.2026, 1.1439, -1.1294, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3936 left_y=-0.1228 left_z=0.0203 left_yaw=1.1723 left_pitch=-0.456 left_roll=0.2025 left_gripper=0.216 right_x=0.2651 right_y=0.0008 right_z=0.1753 right_yaw=0.1165 right_pitch=-0.6105 right_roll=-0.1636 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -12.6701, 5.2444, -0.2662, -0.3199, -0.0562, 0.9646, -0.1436, -3.9453, 5.8188, 1.0818, 0.0024, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac540d1d82b96e173a5e3854240447885f595d355158f1ffc2e87cf4fc34d517",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe1a4f842403c44027f41e9d3c7ea084e9d8da74ae4e776594bc7d3a8359174",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44b37f3502e2d9495b26007ed7df1af91e3b234f8196686cc8e79efe77c11ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwkKEAgSGAI4AUIIdGhpbmtpbmcSDLdMlZPJDJAYYo0/fxoMsHdGU9KpRpHCtVqHIjA7/NbkQ4m0+PdQ2YT77QsVF7uEq91ZfdUHQauffzwsHcx9VvlpoAaPTaqIp2UoNG0q3AhAoOKM4hiBxA9iTEtKWP69M7Xg7bOIbnyVqMiJtQV/I16v3wqy0osROJ1hVBbVAPgyID3LK8IP9iM9TKS5+Xw7gpLNovalYReHyVb0xOWgS2icKxSjZYv2YUn1eBbREFpa4APBK0jLLYTycWVuex6iO3zGDJCp9YMDXui5AJxWCb0gC8y9TmLTDE+LxVoMj4WTPSjJdzIu7FGuZ6rTRMNFNMAxyham5UAPbe6Q7JIoMsP2rCkCS/PQu7wNj3r2SLp+cWEiyFx4gBBbrqIiCg4SmHmE046+K0NsEkfVjuJFeFZqKZ/ynGYzLNlfZBNmjmml+S6S8zcpi+z/PFZzUq9ltL42menepTEjKNt9ZMhtsFdc9vlVZhqgG2FWMiTbWVR7eYKL4Pp8FcYsvovS7ANdVVbXW8ot4zX+0IQ1Rd5MX3iA9XtEfgn7Ab5hASom2PzVx8iWvR8aDWVeqT8PNMolAY+bf85wzXQhZ/GWwKW7+qRWe60tYJJG4Nun9nEPdIrpuKEMuNo7kDfmy6wtszo97gXSUtoetB5U50B0x1SEQEdFnWwBvNqlhcftb3JsbenSN2gN/rGKCkw5bOyY1nfnlwWLWiI6evDmTWvglnXH/DcLEk2lq2QhK/VLKkd17LjuQHpL8TtR+UFRcGciySJD7IfKxqt5rKN2OeSFR1GMlyHJtajiIh1S2y5ANNvXVmHGfuqMV2PsPOBayIUV8vEG6G9JtfvQTZuB3K8gQFhPaQUt0uJj1CZM0N72IgPMMEJS859gj4T5WP37eDhREw5SO9UxZVPRCfJXhcp+bMhHMNGFJTfqOvzn3ezQoyuIVPQZhUC0GFBBaqxYyIRvBSkOZsdBho71p7VfwELg6mGTkIe8Bh6cFOFCeVbV02xKes2mf5Ga+C7Lt7SzeCEtquuTifD2lq4iM4nqOdeSU5Ryuf/6zXTwDb7lcKdDomEhWmFg+RWqEVOmRMLIPagZy41OUin3ROLnOFgfYqjTIYlse2Hvz91cba9FGtGh/JS5KEnhbjvYUeeFZC7huAkEE7Rx1ttA0FLA61Tz8dMrNnfNmmVgCFXWZ7wOva0BSkiyK+36K9I1zv//pU/EsNRZcXl5BuU9rduXnp5o3swgQg1DYuXh8SoJlR+LNxc4OMqXQB1lrgzWWJ9ffM3gavm92calVzZwBj2wu5hKZqx2aPZ4mYW+9ahlXmTzbRTT0C1/8vaHWPbWqCSOsuF6xTrWNAQYbtSJzDYOrPlbguHBkzXX1CMon2mbIFKZWwzvv8rEnBDLsWDeaHUIAwQSrq9fOA8TH663euNEkRt+5d7hfUtL5wZgsZXplyCfXDhHGzKg/kesbjztP/axiclOOFPRxb+A+dbQnBiP92r4ENIzd5r/V/FLZh8w6vCpjH5aLP1EROLYQG1QfKd+M3NDcCcci8gGID+wtxWlGqKz9PSInkuA9kGh6vhqpBbP+EuG3R7D3gDxXM/90qwU1Upe8DwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015hmrzj1FTkBPcB6NrGZkFf",
      "input": {
        "note": "Closed at 0.22 on the teddy; lifting straight up to clear the safe wall.",
        "targets": {
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_015hmrzj1FTkBPcB6NrGZkFf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4496, 2.1174, 1.9083, -1.5826, -0.4835, -1.5204, 0.2194, 0.0257, 1.2022, 1.1381, -1.1324, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.361 left_y=-0.079 left_z=0.1247 left_yaw=1.1938 left_pitch=-0.5067 left_roll=0.2891 left_gripper=0.2194 right_x=0.2633 right_y=0.0007 right_z=0.1732 right_yaw=0.1166 right_pitch=-0.6189 right_roll=-0.1626 right_gripper=0.9954\nstate[joint_eff]: [0.4855, -16.5812, 6.3658, -0.0171, -0.8767, -0.1099, 0.8376, -0.4171, -4.2051, 5.8735, 1.1013, -0.022, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57eb1a62de740fe3053e878ba495710cbf1d77694617ac99432cca83ee02154a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:454d563f644e9cf5b4d7011acfb722987f8d14d6f0f9b2ae7ad98fa45899bdf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3660971de5657436c397db1a00496346be9904e89c0c5a378a3c334ba9963925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 12.1 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]: [-0.5255, 2.3386, 1.85, -1.3067, -0.5194, -1.6424, 0.9955, 0.0261, 1.2026, 1.1442, -1.1248, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3899 left_y=-0.1206 left_z=0.0223 left_yaw=1.1828 left_pitch=-0.4542 left_roll=0.2206 left_gripper=0.9955 right_x=0.2662 right_y=0.0008 right_z=0.1759 right_yaw=0.1158 right_pitch=-0.6056 right_roll=-0.1645 right_gripper=0.9954\nstate[joint_eff]: [0.759, -12.2188, 5.1761, -0.188, -0.4469, 0.0757, -0.1099, -0.1983, -3.9179, 6.8308, 1.1551, 0.0171, -0.0415, -0.0122]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.5259, 2.3417, 1.8503, -1.2865, -0.5201, -1.6402, 0.216, 0.0261, 1.2026, 1.1439, -1.1294, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3936 left_y=-0.1228 left_z=0.0203 left_yaw=1.1723 left_pitch=-0.456 left_roll=0.2025 left_gripper=0.216 right_x=0.2651 right_y=0.0008 right_z=0.1753 right_yaw=0.1165 right_pitch=-0.6105 right_roll=-0.1636 right_gripper=0.9954\nstate[joint_eff]: [-0.0615, -12.6701, 5.2444, -0.2662, -0.3199, -0.0562, 0.9646, -0.1436, -3.9453, 5.8188, 1.0818, 0.0024, -0.0659, -0.0171]\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 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.4496, 2.1174, 1.9083, -1.5826, -0.4835, -1.5204, 0.2194, 0.0257, 1.2022, 1.1381, -1.1324, 0.0547, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.361 left_y=-0.079 left_z=0.1247 left_yaw=1.1938 left_pitch=-0.5067 left_roll=0.2891 left_gripper=0.2194 right_x=0.2633 right_y=0.0007 right_z=0.1732 right_yaw=0.1166 right_pitch=-0.6189 right_roll=-0.1626 right_gripper=0.9954\nstate[joint_eff]: [0.4855, -16.5812, 6.3658, -0.0171, -0.8767, -0.1099, 0.8376, -0.4171, -4.2051, 5.8735, 1.1013, -0.022, -0.0317, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57eb1a62de740fe3053e878ba495710cbf1d77694617ac99432cca83ee02154a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:454d563f644e9cf5b4d7011acfb722987f8d14d6f0f9b2ae7ad98fa45899bdf2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3660971de5657436c397db1a00496346be9904e89c0c5a378a3c334ba9963925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAgKEAgSGAI4AUIIdGhpbmtpbmcSDD+mv3m8ys32cxugehoMvFGYk0PbyOYP9ebmIjCFM6jrI6nLxM/xZ6XbVrfDxbuNRWLFKBxZmSbxO4wImy9eBIriYp2o0On76I/4NroqyQejIx1vNroj0FIkoEpj8spFbgBIVRKHKxrs7XTHCbV2LaJ8KVZZhCwJFZcJucZq4S+/b97sNaiodvWUGRgl7vpNIeJKFv+bYNpwLX/bbyUwlP5QOuOAt73NhX2nusaEEtgilsbz37vTeVrOa0m81Tec+iprbPRxA+GiDCNc1BhXqtDVEUGN16ieiPvKx0T+dGq0LV78tZqd9aznQGIOnhW4uvSzhzHrWEb1f/x8JaZt0oDqX7SnFu+xGNbvpcECNsHzLR5xIKPioPfjGluCT7U99y6kiGn3bf3w3LBR28V2MVcJag5q9CHyLBnc3p5tMEKu+DbV6lJMBJnwUS6POFcdcRJSi4jfEt0XezC97kefN+p4GOSxF1IJxtJTvpidRHTYIxcUwUhD3ZPPBRabFDBYZbdLoLrqQETJoN/b7zF+r1+4o8Mc3VE9l5cqizmYUBRVIG6WUipnpTALZbydNH407jdokJvjCV0CVYEEOqBDGz9hzihUjTgbUKSayHPcpi6ZEy/BeJt/EKtoR9bNFrP5q/Mnn2V4td+QCYBt3+wG3exVKPjW/bV8YLuEcZrWgAtMZeEgnV1mIftPhLKHeny6SC57X4OKUOxoUXZhFhQWYk4tqdpAvXwLRajbfjd3M62UYLOLr0qv1ywGqKxfXwqADh+M4ZDYqLGRAZSHDhXOt14v9ZfYwz2K0KmFW10uid4kP9+FcJEk3fnlLNqZFyaHCn4QoXnJCE8hnCamN/MvmjF9zdQGXH4xRWH384Pf40ou0amo7/PUzsa5KbrL+B0VkYaU1PmrXS2qyVTdXrILu5pi2xj5Zc/Vm0rfkHtDDPZqGDQc447O1MfPgL/JvM4Y0JJb0dRDnoSMZDkFw5qbdu2kjVD4cSut/kiEC15yP60jPpakrc3TfVTfzcits3mdwrC2peQYYGVjwCtckYMEAo4aBKeqcQ7cmL1/sWMNRNOEfEb9q2Q6KKS5MyNiV9G1Ep52Aj4Ud0lY1sDqKozA9UNJXtzaqgnCUl2BWzMPEbphr42p5IYOijsQlTAWkPSjeszdNxkEXwbqC1yjHFAUrSNFLc7y2vL9AIFqzZpNSNzCPPCJnhbimjqmpv+NVhdqEizVODYpA7MUCvrDKw/d634JeYsn7FOv65sl6BM5mR3Bc60ckO8wXgC9UPyelK2SaSnSv4MIbcCNNnDrg6jcapb6aGXUxcT7Tak8w1/9V26ByHDsh2yBoe4aVu0U5/TSZQGMufI36bS9e4NAfNWuz9fTiZqTT+ofeKdgVczKO03zI5DW5bIFAKYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WH6KhgpoRddLiK4SfDZ2BB",
      "input": {
        "note": "Teddy is lifted in the jaws beside the safe; moving it up and over the safe interior.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.32,
          "left_z": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01WH6KhgpoRddLiK4SfDZ2BB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6846, 2.2593, 1.964, -1.5719, -0.4065, -1.7294, 0.2201, 0.025, 1.2015, 1.1198, -1.1324, 0.0551, -0.2214, 0.9954]\nstate[eef_state]: left_x=0.3342 left_y=-0.178 left_z=0.08 left_yaw=1.1551 left_pitch=-0.5347 left_roll=0.2774 left_gripper=0.2201 right_x=0.2598 right_y=0.0003 right_z=0.1672 right_yaw=0.1166 right_pitch=-0.6364 right_roll=-0.1611 right_gripper=0.9954\nstate[joint_eff]: [-0.7726, -11.8359, 8.335, -0.3053, -0.4127, -0.1099, 0.6471, -0.0752, -4.8889, 6.2701, 1.0818, 0.0073, -0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd10d7fbebbde8abdc0e90b1aa3bea116e03cbb15336a3809cf3fb3038ada059",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:642284036441a264642035db79f75485fc72fbcd53db3c420b47c4f9f59e4219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
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