adhoc

completed
2026-09-22T20:16:45.182997+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (72 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
243.3 s
total steps
369
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 noteOpen safe at centre; teddy bear left of it, lemon right, brown plush in front. Moving left arm above the teddy bear first.
move_to
left_x0.3600left_y-0.2000left_z0.1500left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6071, -0.4007, -0.02, -0.0254, 0.9996] state[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996 state[joint_eff]: [-0.4034, -1.4564, 10.2496, 1.9463, -0.0806, 0.2222, -0.0904, -0.5812, -1.4291, 9.6479, 2.0098, -0.0513, 0.1343, -0.0513] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_y": -0.2, "left_z": 0.15, "left_gripper": 1}, "note": "Open safe at centre; teddy bear left of it, lemon right, brown plush in front. Moving left arm above the teddy bear first."})
tool
executing move_to over 18 steps (1.8s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteBear is just ahead of the jaws and slightly left in the wrist view; advancing a bit and descending to grasp its body.
move_to
left_x0.3750left_y-0.1850left_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7605, 1.4872, 0.8883, -0.1989, -0.5896, -0.5034, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3496 left_y=-0.1921 left_z=0.1314 left_yaw=-0.0205 left_pitch=-0.0593 left_roll=0.029 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0397 right_roll=0.0005 right_gripper=0.9996 state[joint_eff]: [-0.3624, -6.4752, 9.2103, 1.7021, -0.4518, 0.0415, -0.0904, -0.1436, -1.853, 6.9538, 1.9853, -0.0269, -0.0611, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.375, "left_y": -0.185, "left_z": 0.02}, "note": "Bear is just ahead of the jaws and slightly left in the wrist view; advancing a bit and descending to grasp its body."})
tool
executing move_to over 8 steps (0.8s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
Bear is between the jaws. Closing.
agent noteBear fills the wrist view between the jaws at table level; closing the gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6895, 1.7996, 0.717, 0.2523, -0.5514, -0.4557, 0.9992, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0257, 0.9996] state[eef_state]: left_x=0.3672 left_y=-0.1782 left_z=0.0182 left_yaw=-0.0019 left_pitch=-0.1034 left_roll=0.0671 left_gripper=0.9992 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0008 right_gripper=0.9996 state[joint_eff]: [0.212, -7.7744, 4.547, 1.707, -0.1294, 0.0708, -0.022, -0.0479, -1.3607, 7.3368, 1.8926, -0.0317, -0.0269, -0.0073] 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
Bear is between the jaws. Closing.
move_to({"targets": {"left_gripper": 0}, "note": "Bear fills the wrist view between the jaws at table level; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
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 noteClose was empty (0.019); bear is still ahead of the fingertips. Opening and lifting to reposition further forward.
move_to
left_gripper1.0000left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6865, 1.8229, 0.7055, 0.2459, -0.5465, -0.458, 0.0191, -0.0212, 0.8036, 0.606, -0.4778, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3617 left_y=-0.173 left_z=0.0047 left_yaw=0.002 left_pitch=-0.1375 left_roll=0.0887 left_gripper=0.0191 right_x=0.2815 right_y=0.0012 right_z=0.1587 right_yaw=0.0003 right_pitch=-0.0889 right_roll=0.0016 right_gripper=0.9996 state[joint_eff]: [-0.253, -9.7162, 5.6957, 1.4139, -0.2955, -0.0024, 1.2674, -0.2256, -1.306, 6.9949, 1.8681, -0.0464, -0.0464, -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": {"left_gripper": 1, "left_z": 0.08}, "note": "Close was empty (0.019); bear is still ahead of the fingertips. Opening and lifting to reposition further forward."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteBear is centred on the jaw column but ahead; advancing ~5 cm and descending to grasp.
move_to
left_x0.4150left_y-0.1700left_z0.0100left_pitch0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.6865, 1.6367, 0.804, -0.0799, -0.5434, -0.4709, 0.9949, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.3556 left_y=-0.1687 left_z=0.0596 left_yaw=0.011 left_pitch=-0.17 left_roll=0.1038 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1114 right_roll=0.0021 right_gripper=0.9996 state[joint_eff]: [-0.212, -8.9231, 8.4444, 1.3944, -0.3248, 0.1343, 0.0122, -0.1162, -1.1829, 6.9675, 1.8681, -0.0611, -0.0611, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.415, "left_y": -0.17, "left_z": 0.01, "left_pitch": 0, "left_roll": 0}, "note": "Bear is centred on the jaw column but ahead; advancing ~5 cm and descending to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteBear body now fills 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]: [-0.5941, 1.9228, 0.7475, 0.4065, -0.5159, -0.4156, 0.9963, -0.0212, 0.8078, 0.6056, -0.5228, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4002 left_y=-0.1609 left_z=0.0014 left_yaw=0.0417 left_pitch=-0.0719 left_roll=0.0406 left_gripper=0.9963 right_x=0.2744 right_y=0.0013 right_z=0.1489 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996 state[joint_eff]: [0.5402, -7.6103, 4.9436, 1.2332, 0.0122, 0.3101, 0.1343, -0.2393, -1.5111, 7.0769, 1.8388, -0.0415, -0.0269, -0.0122] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0}, "note": "Bear body now fills the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent noteGripper settled at 0.20 on the bear — grasped. Lifting high to clear the safe wall.
move_to
left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5949, 1.9343, 0.7467, 0.4438, -0.5247, -0.4236, 0.2036, -0.0212, 0.8082, 0.6056, -0.5533, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4038 left_y=-0.1621 left_z=0.0032 left_yaw=0.0511 left_pitch=-0.0479 left_roll=0.0239 left_gripper=0.2036 right_x=0.2694 right_y=0.0014 right_z=0.1433 right_yaw=0.0005 right_pitch=-0.1693 right_roll=0.0033 right_gripper=0.9996 state[joint_eff]: [0.0615, -9.5385, 4.8752, 1.199, -0.1343, 0.0317, 0.7839, -0.0752, -1.1966, 6.8718, 1.9121, -0.0562, -0.0317, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2}, "note": "Gripper settled at 0.20 on the bear \u2014 grasped. Lifting high to clear the safe wall."})
tool
executing move_to over 13 steps (1.3s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteBear lifted with the jaws. Carrying it over the red interior of the safe to the right-front.
move_to
left_x0.4700left_y-0.2900left_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.5949, 1.5673, 1.1416, -0.355, -0.5236, -0.4324, 0.2064, -0.0212, 0.8101, 0.6056, -0.5877, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4039 left_y=-0.1624 left_z=0.1726 left_yaw=0.0565 left_pitch=-0.0777 left_roll=0.0387 left_gripper=0.2064 right_x=0.2635 right_y=0.0015 right_z=0.1368 right_yaw=0.0007 right_pitch=-0.2056 right_roll=0.0041 right_gripper=0.9996 state[joint_eff]: [-0.1709, -9.7573, 9.5521, 1.6044, -0.2808, 0.0708, 0.2711, -0.1162, -1.0872, 7.0222, 1.8632, -0.0464, -0.0513, -0.0122] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.29, "left_z": 0.2}, "note": "Bear lifted with the jaws. Carrying it over the red interior of the safe to the right-front."})
tool
executing move_to over 12 steps (1.2s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
Over the safe interior. Lowering a bit and releasing.
agent noteBear hangs above the red safe interior; lowering and opening to drop it in.
move_to
left_z0.1000left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7406, 2.0697, 1.8595, -0.6697, -0.6048, -0.5682, 0.2093, -0.0212, 0.8146, 0.6056, -0.6132, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4656 left_y=-0.2847 left_z=0.1855 left_yaw=0.0506 left_pitch=-0.1091 left_roll=0.0429 left_gripper=0.2093 right_x=0.259 right_y=0.0016 right_z=0.1313 right_yaw=0.0008 right_pitch=-0.2357 right_roll=0.0048 right_gripper=0.9996 state[joint_eff]: [-0.7043, -11.9863, 9.1282, 1.1551, -0.5543, 0.0122, 0.2857, -0.0752, -1.5111, 6.8034, 1.7411, -0.0513, -0.0122, -0.0122] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
Over the safe interior. Lowering a bit and releasing.
move_to({"targets": {"left_z": 0.1, "left_gripper": 1}, "note": "Bear hangs above the red safe interior; lowering and opening to drop it in."})
tool
executing move_to over 8 steps (0.8s)
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 noteBear dropped inside the safe. Parking the left arm home and bringing the right arm toward the two brown mice in front of the safe.
move_to
left_x0.2900left_y0.0000left_z0.1800right_x0.3000right_y0.1500right_z0.1500right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.7448, 2.1006, 1.6001, -0.4068, -0.5995, -0.5735, 0.9958, -0.0212, 0.8165, 0.6056, -0.635, -0.02, -0.0257, 0.9996] state[eef_state]: left_x=0.4598 left_y=-0.2835 left_z=0.1049 left_yaw=0.048 left_pitch=-0.1312 left_roll=0.0555 left_gripper=0.9958 right_x=0.2551 right_y=0.0017 right_z=0.1272 right_yaw=0.001 right_pitch=-0.2593 right_roll=0.0054 right_gripper=0.9996 state[joint_eff]: [0.335, -10.8376, 6.4205, 1.536, -0.3687, 0.0171, -0.1441, -0.0752, -1.0462, 6.8444, 1.6484, -0.0317, -0.0757, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). 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": {"left_x": 0.29, "left_y": 0.0, "left_z": 0.18, "right_x": 0.3, "right_y": 0.15, "right_z": 0.15, "right_pitch": 0, "right_gripper": 1}, "note": "Bear dropped inside the safe. Parking the left arm home and bringing the right arm toward the two brown mice in front of the safe."})
tool
executing move_to over 26 steps (2.6s)
step 121
top_cam
camera top_cam step 121
left_cam
camera left_cam step 121
right_cam
camera right_cam step 121
assistant
agent noteTwo brown plush mice lie just left-ahead of the right jaws; shifting left/forward and descending onto the nearer one.
move_to
right_x0.3300right_y0.1800right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1268, 0.9085, 0.7506, -0.5575, -0.202, -0.1314, 0.9969, 0.7483, 1.1622, 0.6476, -0.3096, 0.5648, 0.4442, 0.9996] state[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0994 left_pitch=-0.1206 left_roll=0.0479 left_gripper=0.9969 right_x=0.2868 right_y=0.1421 right_z=0.1251 right_yaw=0.0325 right_pitch=-0.0832 right_roll=-0.0539 right_gripper=0.9996 state[joint_eff]: [0.1026, -2.1538, 6.2564, 1.8437, 0.0415, 0.149, 0.105, 0.4171, -3.412, 9.9077, 1.8584, 0.4322, 0.1587, -0.0513] camera 'top_cam' (step 121): [image omitted: streamed camera frame] camera 'left_cam' (step 121): [image omitted: streamed camera frame] camera 'right_cam' (step 121): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.18, "right_z": 0.02}, "note": "Two brown plush mice lie just left-ahead of the right jaws; shifting left/forward and descending onto the nearer one."})
tool
executing move_to over 7 steps (0.7s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent notePlush body is left of the jaw column; shifting 3 cm left and a bit forward at table level before closing.
move_to
right_x0.3400right_y0.2000right_z0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1242, 0.9142, 0.7506, -0.5835, -0.1925, -0.1352, 0.9971, 0.7448, 1.6611, 0.5701, 0.1719, 0.5568, 0.445, 0.9996] state[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1751 left_yaw=0.0972 left_pitch=-0.1527 left_roll=0.0458 left_gripper=0.9971 right_x=0.3135 right_y=0.1669 right_z=0.0105 right_yaw=0.0267 right_pitch=-0.1588 right_roll=-0.1115 right_gripper=0.9996 state[joint_eff]: [-0.335, -2.3316, 6.8581, 1.8095, -0.2418, 0.0024, 0.0024, -0.335, -6.4205, 6.4615, 1.453, 0.3883, -0.0855, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.2, "right_z": 0.0}, "note": "Plush body is left of the jaw column; shifting 3 cm left and a bit forward at table level before closing."})
tool
executing move_to over 3 steps (0.3s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteBrown plush now spans the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5861, -0.1951, -0.1356, 0.9971, 0.7612, 1.808, 0.7036, 0.2005, 0.5648, 0.45, 0.9996] state[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1741 left_yaw=0.1002 left_pitch=-0.1572 left_roll=0.0485 left_gripper=0.9971 right_x=0.3389 right_y=0.1973 right_z=0.0046 right_yaw=0.0363 right_pitch=-0.1429 right_roll=-0.1024 right_gripper=0.9996 state[joint_eff]: [-0.2256, -1.9077, 6.9812, 1.5897, -0.0757, -0.0415, -0.0122, 0.4034, -7.0359, 4.9846, 1.0672, 0.3004, 0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Brown plush now spans the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent noteGripper reads 0.02, possibly only fur or empty; lifting 5 cm to check whether the plush comes along.
move_to
right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5888, -0.1951, -0.1356, 0.9971, 0.7647, 1.816, 0.7128, 0.2054, 0.5713, 0.4427, 0.0208] state[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1736 left_yaw=0.1003 left_pitch=-0.1598 left_roll=0.0491 left_gripper=0.9971 right_x=0.341 right_y=0.1998 right_z=0.0056 right_yaw=0.0398 right_pitch=-0.1354 right_roll=-0.1076 right_gripper=0.0208 state[joint_eff]: [-0.0615, -1.8667, 6.8718, 1.5556, -0.1148, -0.0611, -0.0122, -0.6085, -8.2393, 4.0957, 1.3065, 0.1929, 0.0708, 0.8571] camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.07}, "note": "Gripper reads 0.02, possibly only fur or empty; lifting 5 cm to check whether the plush comes along."})
tool
executing move_to over 5 steps (0.5s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent noteUnclear whether the plush is held; lifting higher so the overhead view can show if it comes with the jaws.
move_to
right_z0.1600
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5903, -0.1951, -0.1356, 0.9971, 0.7647, 1.6623, 0.7902, -0.054, 0.561, 0.4374, 0.0287] state[eef_state]: left_x=0.2905 left_y=0.002 left_z=0.1733 left_yaw=0.1003 left_pitch=-0.1613 left_roll=0.0494 left_gripper=0.9971 right_x=0.3366 right_y=0.1976 right_z=0.0505 right_yaw=0.0471 right_pitch=-0.1623 right_roll=-0.1243 right_gripper=0.0287 state[joint_eff]: [-0.0615, -1.9214, 7.0222, 1.5507, -0.1343, -0.0073, -0.0122, -0.294, -8.7316, 7.8838, 1.453, 0.2857, 0.0073, 1.033] camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Unclear whether the plush is held; lifting higher so the overhead view can show if it comes with the jaws."})
tool
executing move_to over 8 steps (0.8s)
step 154
top_cam
camera top_cam step 154
left_cam
camera left_cam step 154
right_cam
camera right_cam step 154
assistant
agent noteThe plush is dangling from the right jaws. Carrying it high over the safe interior, right of the bear.
move_to
right_x0.4600right_y0.2800right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5926, -0.1951, -0.136, 0.9971, 0.7647, 1.5234, 1.0473, -0.4984, 0.5488, 0.4297, 0.0331] state[eef_state]: left_x=0.2901 left_y=0.002 left_z=0.1729 left_yaw=0.1006 left_pitch=-0.1635 left_roll=0.0496 left_gripper=0.9971 right_x=0.3332 right_y=0.1969 right_z=0.1342 right_yaw=0.054 right_pitch=-0.206 right_roll=-0.1545 right_gripper=0.0331 state[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.5556, -0.1441, -0.0415, -0.0122, -0.3077, -9.0598, 8.7863, 1.5702, 0.3394, 0.0415, 1.0281] camera 'top_cam' (step 154): [image omitted: streamed camera frame] camera 'left_cam' (step 154): [image omitted: streamed camera frame] camera 'right_cam' (step 154): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.28, "right_z": 0.22}, "note": "The plush is dangling from the right jaws. Carrying it high over the safe interior, right of the bear."})
tool
executing move_to over 10 steps (1.0s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
Over the safe; lowering and releasing.
agent notePlush is above the red safe interior; lowering and opening to drop it in.
move_to
right_z0.1300right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9207, 0.7506, -0.6083, -0.1951, -0.136, 0.9971, 0.7071, 2.0922, 2.0583, -0.9218, 0.5003, 0.3656, 0.0331] state[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1691 left_yaw=0.1014 left_pitch=-0.1828 left_roll=0.0541 left_gripper=0.9971 right_x=0.4543 right_y=0.2815 right_z=0.2089 right_yaw=0.0691 right_pitch=-0.2216 right_roll=-0.1565 right_gripper=0.0331 state[joint_eff]: [0.0205, -2.2632, 6.8308, 1.6777, -0.149, -0.0366, -0.0122, -0.6496, -12.041, 7.706, 0.989, 0.3883, 0.022, 1.0281] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
Over the safe; lowering and releasing.
move_to({"targets": {"right_z": 0.13, "right_gripper": 1}, "note": "Plush is above the red safe interior; lowering and opening to drop it in."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent notePlush dropped in the safe. The yellow lemon sits just right of the safe; moving the right arm above it.
move_to
right_x0.4400right_y0.1700right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9211, 0.7506, -0.6147, -0.1951, -0.1394, 0.9971, 0.7055, 2.0888, 1.7264, -0.6586, 0.4965, 0.3622, 0.9948] state[eef_state]: left_x=0.2866 left_y=0.0025 left_z=0.1678 left_yaw=0.1036 left_pitch=-0.1894 left_roll=0.0532 left_gripper=0.9971 right_x=0.4472 right_y=0.2751 right_z=0.1186 right_yaw=0.0624 right_pitch=-0.2761 right_roll=-0.1964 right_gripper=0.9948 state[joint_eff]: [-0.0615, -1.853, 7.0222, 1.5946, -0.1148, -0.022, -0.0122, -0.1983, -12.6017, 6.8308, 1.5702, 0.2515, -0.0073, -0.2418] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.17, "right_z": 0.15}, "note": "Plush dropped in the safe. The yellow lemon sits just right of the safe; moving the right arm above it."})
tool
executing move_to over 9 steps (0.9s)
step 183
top_cam
camera top_cam step 183
left_cam
camera left_cam step 183
right_cam
camera right_cam step 183
assistant
agent noteLemon is right of the jaw column and a bit ahead in the wrist view; shifting right/forward and descending to its mid-height.
move_to
right_x0.4700right_y0.1400right_z0.0250right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9211, 0.7506, -0.6308, -0.1951, -0.1425, 0.9971, 0.5129, 1.8362, 1.4441, -0.6075, 0.3954, 0.2008, 0.9966] state[eef_state]: left_x=0.2838 left_y=0.0028 left_z=0.1651 left_yaw=0.106 left_pitch=-0.2049 left_roll=0.0546 left_gripper=0.9971 right_x=0.4364 right_y=0.1718 right_z=0.1326 right_yaw=0.041 right_pitch=-0.3213 right_roll=-0.2161 right_gripper=0.9966 state[joint_eff]: [-0.0342, -1.5932, 7.0359, 1.746, -0.1587, -0.0171, -0.0122, -0.2803, -11.9179, 6.8308, 1.5751, 0.1587, -0.0757, 0.1783] camera 'top_cam' (step 183): [image omitted: streamed camera frame] camera 'left_cam' (step 183): [image omitted: streamed camera frame] camera 'right_cam' (step 183): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.14, "right_z": 0.025, "right_pitch": 0, "right_roll": 0}, "note": "Lemon is right of the jaw column and a bit ahead in the wrist view; shifting right/forward and descending to its mid-height."})
tool
executing move_to over 11 steps (1.1s)
step 194
top_cam
camera top_cam step 194
left_cam
camera left_cam step 194
right_cam
camera right_cam step 194
assistant
agent noteLemon is close but right of centre (right jaw near its edge); shifting ~3.5 cm right to centre it between the jaws.
move_to
right_x0.4750right_y0.1050right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1432, 0.9971, 0.3901, 1.953, 0.91, 0.3759, 0.2863, 0.1864, 0.9968] state[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1069 left_pitch=-0.2145 left_roll=0.0564 left_gripper=0.9971 right_x=0.4634 right_y=0.1405 right_z=0.0275 right_yaw=0.04 right_pitch=-0.049 right_roll=-0.0166 right_gripper=0.9968 state[joint_eff]: [-0.0615, -1.7709, 6.8034, 1.5702, -0.1538, -0.0611, -0.0122, -0.6769, -7.5419, 4.4513, 1.199, 0.1636, -0.1294, 0.0122] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.105, "right_z": 0.025}, "note": "Lemon is close but right of centre (right jaw near its edge); shifting ~3.5 cm right to centre it between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 197
top_cam
camera top_cam step 197
left_cam
camera left_cam step 197
right_cam
camera right_cam step 197
assistant
agent noteLemon sits slightly right and ahead of the jaws; advancing ~2.5 cm and nudging right to put it between the fingers.
move_to
right_x0.5000right_y0.1000right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1429, 0.9971, 0.3046, 1.9694, 0.8921, 0.4511, 0.2039, 0.152, 0.9971] state[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4756 right_y=0.1158 right_z=0.0257 right_yaw=0.0415 right_pitch=-0.025 right_roll=0.0152 right_gripper=0.9971 state[joint_eff]: [-0.1436, -1.8803, 6.8308, 1.4823, -0.1294, -0.0415, -0.0122, -0.253, -10.4547, 5.7778, 1.2723, 0.5201, -0.1587, 0.0171] camera 'top_cam' (step 197): [image omitted: streamed camera frame] camera 'left_cam' (step 197): [image omitted: streamed camera frame] camera 'right_cam' (step 197): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.1, "right_z": 0.02}, "note": "Lemon sits slightly right and ahead of the jaws; advancing ~2.5 cm and nudging right to put it between the fingers."})
tool
executing move_to over 2 steps (0.2s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent noteLemon is roughly centred between the jaws at reach limit; 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]: [-0.1238, 0.9237, 0.7506, -0.638, -0.1951, -0.1429, 0.9971, 0.2676, 2.001, 0.9344, 0.4442, 0.1627, 0.1261, 0.9973] state[eef_state]: left_x=0.2827 left_y=0.003 left_z=0.1632 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4885 right_y=0.108 right_z=0.0241 right_yaw=0.053 right_pitch=-0.0267 right_roll=0.0183 right_gripper=0.9973 state[joint_eff]: [-0.0205, -1.8667, 6.8308, 1.4579, -0.1245, -0.0269, -0.0122, -1.2239, -8.335, 6.7624, 1.6532, 0.3883, -0.1441, 0.0171] camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Lemon is roughly centred between the jaws at reach limit; closing."})
tool
executing move_to over 10 steps (1.0s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteEmpty close; the lemon is ~3 cm to the right of the jaw column and slightly ahead. Reopening and shifting right, slightly higher to gain reach.
move_to
right_gripper1.0000right_y0.0750right_x0.5000right_z0.0350right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9257, 0.7506, -0.6384, -0.1951, -0.1429, 0.9971, 0.2516, 2.0235, 0.9623, 0.4553, 0.1318, 0.1066, 0.0401] state[eef_state]: left_x=0.2827 left_y=0.0029 left_z=0.1626 left_yaw=0.1068 left_pitch=-0.2168 left_roll=0.0572 left_gripper=0.9971 right_x=0.4979 right_y=0.1077 right_z=0.0253 right_yaw=0.0734 right_pitch=-0.0138 right_roll=0.023 right_gripper=0.0401 state[joint_eff]: [-0.0615, -2.0855, 6.9128, 1.4579, -0.1538, -0.0415, -0.0122, -0.5675, -8.6496, 6.3521, 1.6679, -0.0513, -0.0562, 0.823] 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": {"right_gripper": 1, "right_y": 0.075, "right_x": 0.5, "right_z": 0.035, "right_yaw": 0}, "note": "Empty close; the lemon is ~3 cm to the right of the jaw column and slightly ahead. Reopening and shifting right, slightly higher to gain reach."})
tool
executing move_to over 10 steps (1.0s)
step 219
top_cam
camera top_cam step 219
left_cam
camera left_cam step 219
right_cam
camera right_cam step 219
assistant
agent noteLemon is now centred on the jaw column but a few cm beyond the fingertips at the reach limit; pitching the tool forward to extend reach over it.
move_to
right_x0.5300right_pitch0.3000right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9283, 0.7506, -0.6594, -0.1951, -0.1432, 0.9971, 0.1986, 2.0129, 0.96, 0.424, 0.1345, 0.1047, 0.9945] state[eef_state]: left_x=0.2791 left_y=0.0034 left_z=0.1585 left_yaw=0.1083 left_pitch=-0.2398 left_roll=0.0625 left_gripper=0.9971 right_x=0.4988 right_y=0.0799 right_z=0.0234 right_yaw=0.0191 right_pitch=-0.0361 right_roll=0.0158 right_gripper=0.9945 state[joint_eff]: [-0.0479, -2.1675, 6.7897, 1.707, -0.1343, -0.0659, -0.0122, -0.7726, -12.2462, 5.094, 1.7216, 0.1001, 0.0464, 0.0269] 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": {"right_x": 0.53, "right_pitch": 0.3, "right_z": 0.03}, "note": "Lemon is now centred on the jaw column but a few cm beyond the fingertips at the reach limit; pitching the tool forward to extend reach over it."})
tool
executing move_to over 12 steps (1.2s)
step 231
assistant
Lemon now between the jaws. Closing.
agent noteLemon fills the space between the jaws after pitching forward; closing on it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9287, 0.7506, -0.6724, -0.1951, -0.1429, 0.9971, 0.1951, 2.2047, 0.9085, 0.9321, 0.1387, 0.054, 0.9953] state[eef_state]: left_x=0.2768 left_y=0.0037 left_z=0.1563 left_yaw=0.1089 left_pitch=-0.2528 left_roll=0.066 left_gripper=0.9971 right_x=0.5237 right_y=0.0823 right_z=0.0181 right_yaw=0.0363 right_pitch=0.2258 right_roll=0.0135 right_gripper=0.9953 state[joint_eff]: [-0.0479, -1.9214, 7.0085, 1.5702, -0.1343, -0.0122, -0.0122, -0.3897, -9.0462, 4.7385, 2.2979, 0.1783, -0.0952, 0.0708] camera 'top_cam' (step 231): [image omitted: streamed camera frame] camera 'left_cam' (step 231): [image omitted: streamed camera frame] camera 'right_cam' (step 231): [image omitted: streamed camera frame]
assistant
Lemon now between the jaws. Closing.
move_to({"targets": {"right_gripper": 0}, "note": "Lemon fills the space between the jaws after pitching forward; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 241
assistant
agent noteGripper settled at 0.53 on the lemon — grasped. Lifting clear of the safe wall.
move_to
right_z0.2000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9287, 0.7506, -0.6899, -0.1951, -0.1432, 0.9971, 0.1986, 2.2143, 0.9096, 0.9386, 0.131, 0.0483, 0.5264] state[eef_state]: left_x=0.2736 left_y=0.0041 left_z=0.1535 left_yaw=0.1102 left_pitch=-0.2698 left_roll=0.0699 left_gripper=0.9971 right_x=0.5233 right_y=0.0854 right_z=0.0151 right_yaw=0.0496 right_pitch=0.2236 right_roll=0.0105 right_gripper=0.5264 state[joint_eff]: [-0.0615, -1.8256, 6.7487, 1.5702, -0.1197, -0.0415, -0.0122, -0.4581, -11.4393, 4.3009, 1.7558, 0.0513, 0.0171, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 241): [image omitted: streamed camera frame] camera 'left_cam' (step 241): [image omitted: streamed camera frame] camera 'right_cam' (step 241): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_pitch": 0}, "note": "Gripper settled at 0.53 on the lemon \u2014 grasped. Lifting clear of the safe wall."})
tool
executing move_to over 12 steps (1.2s)
step 253
assistant
agent noteLemon held but the arm only rose to 0.11 at full reach; pulling back and left over the safe interior while lifting.
move_to
right_x0.4200right_y0.1900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9321, 0.7506, -0.6975, -0.1951, -0.1432, 0.9971, 0.1967, 1.8656, 1.3201, -0.2867, 0.1383, 0.0154, 0.5266] state[eef_state]: left_x=0.2723 left_y=0.0042 left_z=0.1514 left_yaw=0.1109 left_pitch=-0.2806 left_roll=0.0726 left_gripper=0.9971 right_x=0.4967 right_y=0.0778 right_z=0.1077 right_yaw=0.0596 right_pitch=-0.238 right_roll=-0.0866 right_gripper=0.5266 state[joint_eff]: [-0.0068, -2.1949, 6.9949, 1.453, -0.105, -0.0611, -0.0122, -0.6906, -16.2667, 12.041, 3.2601, -0.2613, 0.6471, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.19, "right_z": 0.2}, "note": "Lemon held but the arm only rose to 0.11 at full reach; pulling back and left over the safe interior while lifting."})
tool
executing move_to over 10 steps (1.0s)
step 263
assistant
agent noteLemon is still just right of the safe's right wall; moving another ~7 cm left to be over the interior.
move_to
right_x0.4200right_y0.2500right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9344, 0.7506, -0.7052, -0.1951, -0.1432, 0.9971, 0.5411, 1.7859, 1.4574, -0.7681, 0.3599, 0.2188, 0.5285] state[eef_state]: left_x=0.271 left_y=0.0044 left_z=0.1497 left_yaw=0.1116 left_pitch=-0.2902 left_roll=0.075 left_gripper=0.9971 right_x=0.4031 right_y=0.1738 right_z=0.1384 right_yaw=0.0701 right_pitch=-0.4195 right_roll=-0.2227 right_gripper=0.5285 state[joint_eff]: [-0.0752, -2.0034, 6.7214, 1.4872, -0.1294, -0.0757, -0.0122, 0.1299, -14.0103, 11.3983, 2.2784, 0.022, 0.6032, 1.0379] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 263): [image omitted: streamed camera frame] camera 'left_cam' (step 263): [image omitted: streamed camera frame] camera 'right_cam' (step 263): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.25, "right_z": 0.2}, "note": "Lemon is still just right of the safe's right wall; moving another ~7 cm left to be over the interior."})
tool
executing move_to over 7 steps (0.7s)
step 270
assistant
agent noteThe wrist has tilted back (pitch -0.54); re-levelling and moving further left to be clearly over the safe interior before release.
move_to
right_x0.4200right_y0.2900right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1242, 0.9367, 0.7506, -0.7197, -0.1947, -0.1429, 0.9971, 0.6716, 2.072, 1.9968, -1.206, 0.4107, 0.2832, 0.5285] state[eef_state]: left_x=0.2683 left_y=0.0046 left_z=0.1469 left_yaw=0.1118 left_pitch=-0.3067 left_roll=0.079 left_gripper=0.9971 right_x=0.4032 right_y=0.235 right_z=0.1627 right_yaw=0.0719 right_pitch=-0.5448 right_roll=-0.339 right_gripper=0.5285 state[joint_eff]: [-0.0889, -2.0991, 6.8991, 1.4725, -0.0855, -0.0611, -0.0122, 0.0752, -13.1214, 10.3863, 1.8584, 0.1783, 0.6227, 0.9451] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.29, "right_z": 0.2, "right_pitch": 0, "right_roll": 0}, "note": "The wrist has tilted back (pitch -0.54); re-levelling and moving further left to be clearly over the safe interior before release."})
tool
executing move_to over 19 steps (1.9s)
step 289
assistant
agent noteOverhead shows the gripper still at the safe's right-front corner with the lemon outside the wall; pushing further left and slightly forward over the interior.
move_to
right_x0.4400right_y0.3400right_z0.2000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7277, -0.1951, -0.1429, 0.9971, 0.7845, 1.8812, 1.4677, -0.6106, 0.5358, 0.3828, 0.5286] state[eef_state]: left_x=0.2668 left_y=0.0049 left_z=0.1453 left_yaw=0.1133 left_pitch=-0.3162 left_roll=0.0818 left_gripper=0.9971 right_x=0.3899 right_y=0.2669 right_z=0.1304 right_yaw=0.1016 right_pitch=-0.2556 right_roll=-0.2117 right_gripper=0.5286 state[joint_eff]: [-0.0889, -2.0991, 6.7624, 1.4188, -0.1587, -0.0073, -0.0122, 0.1026, -14.4752, 9.4427, 2.8156, 0.4664, 0.5055, 0.7399] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.34, "right_z": 0.2, "right_pitch": 0, "right_roll": 0}, "note": "Overhead shows the gripper still at the safe's right-front corner with the lemon outside the wall; pushing further left and slightly forward over the interior."})
tool
executing move_to over 9 steps (0.9s)
step 298
assistant
agent noteLemon still appears just outside the safe's right wall; moving to the far-left limit of the right arm to get it over the red interior.
move_to
right_x0.4500right_y0.4000right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7414, -0.1951, -0.1432, 0.9971, 0.8249, 2.0315, 1.676, -0.6476, 0.5499, 0.3851, 0.5287] state[eef_state]: left_x=0.2642 left_y=0.0053 left_z=0.1432 left_yaw=0.1146 left_pitch=-0.3296 left_roll=0.0849 left_gripper=0.9971 right_x=0.409 right_y=0.3119 right_z=0.1335 right_yaw=0.1343 right_pitch=-0.2316 right_roll=-0.2059 right_gripper=0.5287 state[joint_eff]: [-0.0205, -1.9214, 6.6667, 1.5263, -0.1392, -0.0513, -0.0122, 0.3761, -13.1487, 11.8496, 3.0256, 0.5299, 0.4908, 1.0379] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.4, "right_z": 0.22}, "note": "Lemon still appears just outside the safe's right wall; moving to the far-left limit of the right arm to get it over the red interior."})
tool
executing move_to over 8 steps (0.8s)
step 306
assistant
agent noteThe safe is being dragged along by the lemon catching its right wall (wrist view never changes). Lifting much higher to clear the wall.
move_to
right_x0.3600right_z0.3000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9428, 0.7506, -0.7486, -0.1951, -0.1429, 0.9971, 0.8726, 2.6637, 2.8304, -1.3197, 0.5266, 0.4454, 0.5285] state[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1412 left_yaw=0.1153 left_pitch=-0.3407 left_roll=0.088 left_gripper=0.9971 right_x=0.4358 right_y=0.3868 right_z=0.1298 right_yaw=0.1341 right_pitch=-0.3509 right_roll=-0.2518 right_gripper=0.5285 state[joint_eff]: [-0.1026, -2.2632, 6.6803, 1.409, -0.1392, -0.0415, -0.0122, 0.5675, -17.4701, 9.4564, 0.5788, 0.6129, -0.1197, 0.5983] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_z": 0.3}, "note": "The safe is being dragged along by the lemon catching its right wall (wrist view never changes). Lifting much higher to clear the wall."})
tool
executing move_to over 11 steps (1.1s)
step 317
assistant
agent noteRight arm won't rise above 0.13 m in this stretched pose; pulling back toward the base and re-levelling the wrist to get the IK unstuck while lifting.
move_to
right_x0.3000right_y0.3000right_z0.2500right_pitch0.0000right_roll0.0000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9466, 0.7506, -0.7494, -0.1951, -0.1432, 0.9971, 0.8845, 2.6839, 2.9139, -1.4803, 0.5117, 0.4759, 0.533] state[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1402 left_yaw=0.1159 left_pitch=-0.3451 left_roll=0.089 left_gripper=0.9971 right_x=0.4141 right_y=0.3746 right_z=0.1304 right_yaw=0.1105 right_pitch=-0.4268 right_roll=-0.2943 right_gripper=0.533 state[joint_eff]: [-0.0479, -2.0444, 6.653, 1.3504, -0.1685, -0.0415, -0.0122, 0.4991, -13.3812, 7.2274, 0.7057, 0.4615, -0.1343, 0.4567] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 317): [image omitted: streamed camera frame] camera 'left_cam' (step 317): [image omitted: streamed camera frame] camera 'right_cam' (step 317): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.3, "right_z": 0.25, "right_pitch": 0, "right_roll": 0, "right_yaw": 0}, "note": "Right arm won't rise above 0.13 m in this stretched pose; pulling back toward the base and re-levelling the wrist to get the IK unstuck while lifting."})
tool
executing move_to over 15 steps (1.5s)
step 332
assistant
agent noteThe wrist view never changes: the jaws have pinched the safe's right wall together with the lemon, so the safe is lifted with it. Lowering the safe back to the table before releasing.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9413, 0.7506, -0.7845, -0.1978, -0.1432, 0.9971, 1.0416, 2.0655, 2.2971, -1.3579, 0.7929, 0.7116, 0.5349] state[eef_state]: left_x=0.2558 left_y=0.0068 left_z=0.1366 left_yaw=0.1209 left_pitch=-0.3735 left_roll=0.0988 left_gripper=0.9971 right_x=0.3344 right_y=0.3297 right_z=0.2839 right_yaw=0.0111 right_pitch=-0.1135 right_roll=-0.2002 right_gripper=0.5349 state[joint_eff]: [-0.0615, -1.4291, 6.6667, 1.5165, -0.1245, -0.0562, -0.0122, 3.2479, -22.7077, 12.5333, 3.5678, 1.4579, 0.6325, 0.9646] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 332): [image omitted: streamed camera frame] camera 'left_cam' (step 332): [image omitted: streamed camera frame] camera 'right_cam' (step 332): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "The wrist view never changes: the jaws have pinched the safe's right wall together with the lemon, so the safe is lifted with it. Lowering the safe back to the table before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 344
assistant
agent noteArm rose to 0.36 instead of descending, with the safe hanging from the jaws and a plush spilling. Commanding it back down and forward to set the safe on the table.
move_to
right_x0.4000right_z0.0800right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9478, 0.7525, -0.7918, -0.1951, -0.1467, 0.9971, 1.0641, 1.8755, 2.1838, -1.0641, 0.7948, 0.7013, 0.535] state[eef_state]: left_x=0.2548 left_y=0.0064 left_z=0.1348 left_yaw=0.1218 left_pitch=-0.3853 left_roll=0.0975 left_gripper=0.9971 right_x=0.3282 right_y=0.3389 right_z=0.3625 right_yaw=0.0434 right_pitch=0.0813 right_roll=0.1068 right_gripper=0.535 state[joint_eff]: [-0.0342, -2.2632, 6.5846, 1.3358, -0.1978, -0.0122, -0.0073, -1.3333, -0.1983, 3.5487, 2.4835, 0.2222, 0.1538, 0.5885] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 344): [image omitted: streamed camera frame] camera 'left_cam' (step 344): [image omitted: streamed camera frame] camera 'right_cam' (step 344): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.08, "right_pitch": 0, "right_roll": 0}, "note": "Arm rose to 0.36 instead of descending, with the safe hanging from the jaws and a plush spilling. Commanding it back down and forward to set the safe on the table."})
tool
executing move_to over 19 steps (1.9s)
step 363
assistant
agent noteSafe is back on the table and the right wrist view now looks down into the red interior; opening to release the lemon into it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9493, 0.7319, -0.8158, -0.1951, -0.1509, 0.9972, 0.9188, 2.0254, 1.3518, -0.1448, 0.6682, 0.5751, 0.5351] state[eef_state]: left_x=0.2459 left_y=0.0075 left_z=0.1235 left_yaw=0.1292 left_pitch=-0.4298 left_roll=0.1074 left_gripper=0.9972 right_x=0.3921 right_y=0.3392 right_z=0.091 right_yaw=0.0574 right_pitch=-0.0239 right_roll=0.0019 right_gripper=0.5351 state[joint_eff]: [-0.2803, -1.9897, 8.3487, 1.3993, -0.1587, -0.0024, -0.0122, -0.9368, -7.6923, 5.8325, 1.3016, 0.3736, -0.1685, -0.0024] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 363): [image omitted: streamed camera frame] camera 'left_cam' (step 363): [image omitted: streamed camera frame] camera 'right_cam' (step 363): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Safe is back on the table and the right wrist view now looks down into the red interior; opening to release the lemon into it."})
tool
executing move_to over 5 steps (0.5s)
step 368
assistant
agent noteI'm almost out of calls, and the safe isn't loaded or closed. The teddy bear and one brown plush went into the safe. While I was carrying the lemon, the right jaws also pinched the safe's right wall, so the safe got dragged and lifted. I think the lemon fell out: there's a lemon on the far right of the table (it may be a second one). The safe has been moved and possibly tilted, some contents may have spilled, and the lid is still open. I can't pick up the lemon again, load it and close the lid with the few calls left.
give_up
hindsight- Free-space poses drift in pitch (it slowly goes to −0.3 to −0.5, tipping the tool back). Command pitch 0 on every move. At reach x≈0.49, pitch +0.3 adds about 3–4 cm of reach, and that's what got the lemon grasp to work. - Soft plush can read about 0.02–0.03 even when it's grasped. Check by lifting, not by the gripper reading alone. - Before closing near the safe, make sure no wall is inside the jaws. Grasping an object pressed against the safe wall pinched the wall too. - If the wrist view doesn't change while the arm moves, you're dragging the object you're touching (here, the safe). Stop and release. - With a load at x≈0.5, z won't rise past about 0.11. Pull x back to about 0.35 before lifting. IK sometimes overshoots in z (asked for 0.10, got 0.36). - To carry into the safe, approach from above the interior, e.g. lift at x≈0.35 first, then translate at z≥0.25. - Start layout: safe near the table centre (right_y≈0.3, x≈0.45 in the right-arm frame), bear at left arm (0.40, −0.16), mice at right arm (0.34, 0.20), lemon at right arm (0.49–0.52, 0.08) right next to the safe wall. - Plan for the lid-closing step. It needs reach to the lid's top edge behind the safe, so leave calls for it.
Raw transcript
user
Current observation. Instruction: Place all the objects into the safe, then close the safe. state[joint_pos]: [-0.1238, 0.9493, 0.7319, -0.82, -0.1951, -0.1509, 0.9971, 0.9188, 2.0296, 1.3518, -0.1398, 0.6598, 0.5758, 0.9947] state[eef_state]: left_x=0.245 left_y=0.0076 left_z=0.1229 left_yaw=0.1296 left_pitch=-0.4338 left_roll=0.1085 left_gripper=0.9971 right_x=0.392 right_y=0.3409 right_z=0.089 right_yaw=0.0628 right_pitch=-0.028 right_roll=0.0071 right_gripper=0.9947 state[joint_eff]: [0.0752, -1.5932, 6.6393, 1.2088, -0.1343, -0.0464, -0.0171, -0.3487, -11.3983, 6.2838, 1.326, 0.2906, -0.0269, -0.149] camera 'top_cam' (step 368): [image omitted: streamed camera frame] camera 'left_cam' (step 368): [image omitted: streamed camera frame] camera 'right_cam' (step 368): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I'm almost out of calls, and the safe isn't loaded or closed. The teddy bear and one brown plush went into the safe. While I was carrying the lemon, the right jaws also pinched the safe's right wall, so the safe got dragged and lifted. I think the lemon fell out: there's a lemon on the far right of the table (it may be a second one). The safe has been moved and possibly tilted, some contents may have spilled, and the lid is still open. I can't pick up the lemon again, load it and close the lid with the few calls left.", "hindsight": "- Free-space poses drift in pitch (it slowly goes to \u22120.3 to \u22120.5, tipping the tool back). Command pitch 0 on every move. At reach x\u22480.49, pitch +0.3 adds about 3\u20134 cm of reach, and that's what got the lemon grasp to work.\n- Soft plush can read about 0.02\u20130.03 even when it's grasped. Check by lifting, not by the gripper reading alone.\n- Before closing near the safe, make sure no wall is inside the jaws. Grasping an object pressed against the safe wall pinched the wall too.\n- If the wrist view doesn't change while the arm moves, you're dragging the object you're touching (here, the safe). Stop and release.\n- With a load at x\u22480.5, z won't rise past about 0.11. Pull x back to about 0.35 before lifting. IK sometimes overshoots in z (asked for 0.10, got 0.36).\n- To carry into the safe, approach from above the interior, e.g. lift at x\u22480.35 first, then translate at z\u22650.25.\n- Start layout: safe near the table centre (right_y\u22480.3, x\u22480.45 in the right-arm frame), bear at left arm (0.40, \u22120.16), mice at right arm (0.34, 0.20), lemon at right arm (0.49\u20130.52, 0.08) right next to the safe wall.\n- Plan for the lid-closing step. It needs reach to the lid's top edge behind the safe, so leave calls for it."})
tool
give_up: I'm almost out of calls, and the safe isn't loaded or closed. The teddy bear and one brown plush went into the safe. While I was carrying the lemon, the right jaws also pinched the safe's right wall, so the safe got dragged and lifted. I think the lemon fell out: there's a lemon on the far right of the table (it may be a second one). The safe has been moved and possibly tilted, some contents may have spilled, and the lid is still open. I can't pick up the lemon again, load it and close the lid with the few calls left.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 15.18 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the objects into the safe, then close the safe.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6071, -0.4007, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2496, 1.9463, -0.0806, 0.2222, -0.0904, -0.5812, -1.4291, 9.6479, 2.0098, -0.0513, 0.1343, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f62760641223f09d6fb1ecef539efcdd88efae051fbabdf89d48fcd54a3f2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7a11245d4533c6c85753d0179d668308e337b7b4554e30a29d15c04125782f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b4a5dd2b5bff198b0777812e285c9d7cb59fffb2142ecde3abb7d1a360247b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 4.482 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6071, -0.4007, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2496, 1.9463, -0.0806, 0.2222, -0.0904, -0.5812, -1.4291, 9.6479, 2.0098, -0.0513, 0.1343, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f62760641223f09d6fb1ecef539efcdd88efae051fbabdf89d48fcd54a3f2a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d7a11245d4533c6c85753d0179d668308e337b7b4554e30a29d15c04125782f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4a5dd2b5bff198b0777812e285c9d7cb59fffb2142ecde3abb7d1a360247b2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8RcKEAgSGAI4AUIIdGhpbmtpbmcSDOi/74Euoir5mgREbhoMuLXpsjtgrJU0OasaIjANvNrksHovcAP/D9OPk52EysEY26fraZlVrscpzzVAa1lHfaHIt+Gz88vtXXKMhAoqjhcBuLtFL3rgs+3Jzmp2Tzlv6VPsVnCE2addlqzxcajy5wPQdk0wxPQl/rn9BlgjIfA1gC9TLLZLG9SAZymF54IyRIavyG8mpzq1kqUvtDUXA/6kaPblUKFXeIkyZYOQnva++A1fCPAYx0HByy2PDNi5y6+/og2HyJbRGlFG+EGiZur9JcaJLZHu0MgfLL2H031/8jPHlC5QqbcPQGn5XeWR9N+2tfvOCQWGWmGsdMVDFF0VUQFmSfzbfuvsQJrY9I+Z7Zvx1Uj9dkahc5mm+RqSyGKaSH+dQOOTa3o0/2iRp8vqqghuVWHk4Yxb0s773GxwkYSrj5TRQQdronfIzJ3hTJNNxdPNVWj/UxWu05EB7b3FqV5/PN1sVbePdibT35CZA57W+7CwWMJxtS7wLRUTNs3nv+fkdukk8sUWC/fcnuwRui/3SabrOJDzUpaQ92zlS7Ffm/DHlYoRFBlWDZ7v/DtfCo9hSxSBgHFk+ifTmXiZ0btGekG1P7rIZsVS6gF350WHcgw/4hZwYfNtyrsS+SEYs/WVzPvT7yi7DJnUh96otAIoVOS3ACCVPxcDtcLjREr2nh9dYFHIfXl0wuXmCxpN/US4KtMskAmB5Dpe0trT/LKbufA+GNV9MYa2dTQfBuUDKHRvwgbevowTlWr/4Ov/Zj9fLNT8z2hW7oSLt1qCYK8XOETf44e/FxOzJdVtdJ3jRVPFv0vCFSOTCnMAJdOiNHAQv7QIn36o2Ssuo9ShRNjXS7VjBKo/vzDf34T2vJ/CuXFDWFQlQOwH54kmberl7EVyRU7n1C3F73CoKFl/JCtkqMybXEkEQ9mpUuNv2Wy79AWkgnJWyhtGrEs4viXl4AJ6QSpmEA9r4dbFIAWfc5hBvT72wt01pdlwBCtl8pvAxfwDvOxuy770vQY35OFfJL2BbWNtjq/b+eKO2/sIIhLsRaqzT6hKkYimCmKxcQoBqEOjz0Sjpv0eu6hXEaaeCsPD9xw3YX1o/5Lx54tpXoExIYaxn+42D0vuRDvRCl5RW7gB9Lin8KgaD/Kms98o1ZaAc2oueLAJnN8lDvkFUSM62HGp48OBqjJAfGPGBnBKs3CoWoImO4m+5LITiy2vAORNujeGYCHV0ZdmJ9QHBj+7mnnb7Q589liVGZKPZxtaPEeMQozB1EcwiGevifEoekprmjZXaFe+1GPKLbxOgkAoqt9JrXnUDzyNVdbG6ouxXP2GH9bdYZ5vEfR+2UQBKbG+rCgyFHkaGkzzIALdgPxuT8R/UO8RamQ9s4jc2IcrggNn06Zpu00BWfEsXLug7PlbY1AXTsCR9NHCF3AgF4TRXDSgq2XJSZfoVyKsLOaJLQH8QT2arL5IQ66wvQ9hxtGwka2a6IgQSJoCWGryRn/uCfuOcQiuLlvMjDwG+OUuBtmfuhLv4Xk2GoDk05MPf2BQGXjq1OhKXAcm/4EUGUuhNhXU2iJwjGuDr/7m8i9P7oRUiOZHLNwW+ANOFEDXq2cvmeu92Rlaq3OCVjZAzzOkuONAamjIKGo1Efhxn7Q7hX9xC4yOpTD97pMi6s+N6tdav8yXX1m85ZAqcuTBjKLdzhrQ9OnaCxOvrAMR42JanuDj7xui1li4/8AlR7eCObHK7hCD3CJhjzQFQr5RsVir4TGGFnORwx9qsqNmTftMPmzERvUAJzfPuNwv8U7gaRRiK73SH7YPWqnVJmxoaLB9r1Y0bqrKxT2q4xM5Y5/q7weCH5QeSCZX6fMZ8Bk+L3Bh4qloDRSxuw/BBDxCOYetuv26k4w5XRwyXTWB6mIv2rgNLkqdWPfELndV+WgZ79/07khf9QpCI38ugWQD3wY1gzZec+T4qF/NWN/32ClLpnz4ElXEGLU6GKpIwYFCCQ7BvaNB0lXlBlOH/E02/KrUzPD6AgR5xuRlbyR9V9eiEF4So5bDUrYp4hzXcQLqiPFIgIZqjb4VyTEN0ajPIFd1Dd7HCfxsMHTUb7HfqzgioPAtOWGj2R/TslA8ezvNvDXPVKnwXkGLVHLDCUGeduzGqa87OCE0sG9zPkkQ/FZTMozRLwgU7xcuww3rP+37P7tORM4xwnCwm4PRAl42P75lOLjoKUCcdOhNKOgHse4HmTyy2gFToghu64o07FiJN3vDKDT2EV8m7J84qwDmaqMZdsTPC0mk6FtvDcKTD5fnZpm8lKt201te2EZvLeTv6VlvqMR9qmegu49SMg944nOfF4FjeMho6TiH7PPhi4pdbA6joAlYUFZjES8/G0oPzJHS1FdUZqfITVh0XsDGb6oqCBIdcZXiJ/tLQQCT/Qb2M9PV5gNI2VfofVcUuClPQdmo+G5mHrboOF0llzsdhjdVsU6cYRGw9++FAhCyWrOH1Hm4A/YbfQWvFCqeFSLGCT/xFgHZGe4aAQ9uhQLG+zq5aMD+TE7fMnijajo1P5LluMrTrWXBt1CtoU1DndMoNHNfDOh7taqU5UCoOOYp08aLxRuPX2DgMjsNgyN7W/0k4zfXt1ZAYW54v/6xk/YGIkX+5dn6IA6VFSRUD0Ic4zh79+p0StTO2bkReXk0WaqdkvLM0briEmlcvJbh9lDJrZ7BhO6K/ISqb6p26K4kNIfeo6EyioF3JxYQMPM9/we0YRBAKSvNNp+pRqOxenIype3ljlHE7WUSRId8W0Imzt4y/TKIu/J+kyElA9I8dWhhkFkYQ3fSWZhNGD1kl7BoGAprROupUhLyDhJ0MKYcztBHh9Cww8v6vAIS+T7BK48HUlYxy/P4aQS9QYD5JVDPvfuN7ADa45MRWG/fxEbpfZuArEec5k0NfuPGSJPC4y2QckP28fb0PI3u5YCGjBRS3lcrw+pjJw2jrcvEHftr3WbM67je5NDgwmoes/N7nfAA52J4w3xZy/yi0L5V1zhG0DeSkFYczNxJhCZczN5DwHvJhcH94akEoSsaIFOiX2ChGD2Z3mIN0/rEArta03qsDzS2jESSdHNOpwuDX2K9DMqPRxlnOKmUvnJZrLPPRmt+n1XtuylMFYO+j8+5dKAD5nvqw3RPps7kN6WSkEiKpXRaMkq5wJK/x6EownyivLlXGL/dhlj1q66ar7sL7SU1okrgoNkabcmYhPzz8Ltl1j8ue9tfl9fIkD8NfD2hXqkLv5Cl/rO9Mk4mr9RMpbmroL/zPrd/kz5Go29tZC5St2KmhA7kPNnu+XI3bq4+2ELhQs4jznWMlQ2kP+xM62kHSSup+nMf1geJ55bPOkwxgUNCRFEhJMg55SnahrdV1qnBH+x9/goMQGBbiLsdJnC9MemjOyadPmtX+J9I5FszrXvGU3gbotPmt5KKpqbIttvFR2H58Pw+KpYD/vnEzY9D5tkKVTSZHc47/UxltWU2ASRb3OD2V8rIvINdEODqhLlshEeIM44eEdcmQm8o5FIZ4/ESKqlLSK4ReMFFruG/qp8cIEBjRspqALdKuEQBRTpmE3mVIlSmStIuczDkp3e5kq7QG1ZYhP4HwGvziRZPd9W/gyuv8lYZI0X3v2CMrfaHU0xetbblqO0el8I0Y4UqiOmFyZbpvbyT3kiX8AchaKtDj7aG5WZn4MmOe9ruxAg6CT50759VHr6Bm6xiIVaOncdajWqEtiTQkYO1G4dR8s75HJEcItbwu7LeO8/98tamFth5c6R+XZ8eL8c0XXcFhudKYlvhnmJjr6Qpw1SWmDLeY9slLJvXnj4AfHgwehwxpvj+SWiEF4SnQ5bnIks43jXWPDm7QbarkpkLKKCpiqhN5/ceWup8YGaM96c9TUMLqwDDuwm/RA1fA10Al4wlLrAdRmj+2ff5K2ynJYz3AeXuyK+X0gozZLQOa1T0IpLVThls5HgG4w2U3kKJHpiySXw8BxT/T/VB5wG5R6m4uhdBk9T/qf4bJxTNG61aUXFAwC1c+hMWxqLGjNU6eHS7sFyHB7VItrN59z0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XrTqCy4jab4DUkbBAYMnqv",
      "input": {
        "note": "Open safe at centre; teddy bear left of it, lemon right, brown plush in front. Moving left arm above the teddy bear first.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.36,
          "left_y": -0.2,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01XrTqCy4jab4DUkbBAYMnqv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7605, 1.4872, 0.8883, -0.1989, -0.5896, -0.5034, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3496 left_y=-0.1921 left_z=0.1314 left_yaw=-0.0205 left_pitch=-0.0593 left_roll=0.029 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0397 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -6.4752, 9.2103, 1.7021, -0.4518, 0.0415, -0.0904, -0.1436, -1.853, 6.9538, 1.9853, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ed58b371fe159b1caac28909affc3f566862e5fc3bf60f66ef9fd383293773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d69b8b3121e3f518ba7b09238cafe04b795e3c5c6dca34467f26b12ab3574f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:970f5a0e8415a330a021ade49fb935f3255699185ac85d99d71ddb1c598b46c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.301 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6071, -0.4007, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2496, 1.9463, -0.0806, 0.2222, -0.0904, -0.5812, -1.4291, 9.6479, 2.0098, -0.0513, 0.1343, -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]: [-0.7605, 1.4872, 0.8883, -0.1989, -0.5896, -0.5034, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3496 left_y=-0.1921 left_z=0.1314 left_yaw=-0.0205 left_pitch=-0.0593 left_roll=0.029 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0397 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -6.4752, 9.2103, 1.7021, -0.4518, 0.0415, -0.0904, -0.1436, -1.853, 6.9538, 1.9853, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:92ed58b371fe159b1caac28909affc3f566862e5fc3bf60f66ef9fd383293773",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d69b8b3121e3f518ba7b09238cafe04b795e3c5c6dca34467f26b12ab3574f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:970f5a0e8415a330a021ade49fb935f3255699185ac85d99d71ddb1c598b46c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQcKEAgSGAI4AUIIdGhpbmtpbmcSDGzW4iunkiW9AgAkohoMuNw5QXsYqhCk2O7gIjAUwnQ67XpywlfO2nFSgZ216TJEjPPCyLTPb72J/A4xcXUtrHJDthvj4cQouXH2yTAqxgYDj0GFuwFkDPyIJw3xwqGDo6LD/Psk205SPJA0HhUKDf1cW1QnqcXTpn3o5aRTNVqpbh6GGfhB8L3jJ1tm8kJwYnB3qI3q1bnkPxHhkYQeJSwxwzzKLvLIN6OIUsSrEzaRTBn7ZdTy5iP61TJrxZr1EVeJ7sPOTkLGBGZAYYSUO/BaPASw+nG4tUCQ/wrn7CubhJ/xtm9SCiwfKvFlANzcdLgYZ1UFJwp+KdXtJS8CQr9N/x38N8xUckE0rO6xjgaOkVE/RHZuV7+vS4Tos8DJgSExWgmPa+SQEMimeLdP/2AusC8a1aIHKyrjAyE7aRcrEAOT27ROfIrlYxjE/KuVss7WvCppRwmZLrcdEakh+7VILCKtiw+WSiVP6BJghHVHt5uvzlK46vJI8OapaBfxYpLt/eS3UoHxxf/JFE9hM4Q8SZ/xz33+PYTNoVZE3ZZGTViR90eC05OLuNBsdbK5ddwqjgVHDxdBDWEgKvAO9yrHD7lr9JYmcosSHTLVlFTcKBoO4TBsx1RhNpnV6I7Q3RsrdnR9jZyqRod9E5xMaLdE8EuHf1JLQtHTCBg9KK8i2dKnFgqSkS4VaDZlf5fI/AbS1l/nyP4/cCl6nYsVs+U2MauW/TRErMTrgO3TzEPuD3laqDeAVcWeZ5ICBqbYDgge8WepIpOzizmTIdmZWrjEK/wj5Xlkxoyn48LTewhq7ek6A0mFjgKGVo+uTKdJLGfTpaw1PXQrMM7TxQu4D61FozLlgT9WVuPS318HVxm1Cf9xAd87Z+17qLxJrcEjXrk5k8sK9M5jZ6VwzH1Qn0Qgy4cfai5VrDF2HPEVzfrhW8Vu6oQCHVr8MUt/KhjDvsPNdL/CJhP3m0qrlbqKYpqiOzFMHyBJRSHNaBxULA+evJNUjCsU8PnkyPDho+U8jKvKNOiY4pvI8wld7R33u7wVk4H81AQcwc0VE7KKHn5lR/n14izt/n2Amt1dlAiwB/8gS8X1PzNUZYZytFc+ytcMdP9kYEEZ6ojo6la/dkXZdc1khg9rLnXRRTSsnut6rebOOeLkDMfJsr6L2fuSzI/z0g03Oy2nPTL0uk/eVMixa6XHORVN8wlV3Ge5snFS4OL0gclkGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJRPZeiHW9ACi3bCY4KWeN",
      "input": {
        "note": "Bear is just ahead of the jaws and slightly left in the wrist view; advancing a bit and descending to grasp its body.",
        "targets": {
          "left_x": 0.375,
          "left_y": -0.185,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01CJRPZeiHW9ACi3bCY4KWeN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6895, 1.7996, 0.717, 0.2523, -0.5514, -0.4557, 0.9992, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3672 left_y=-0.1782 left_z=0.0182 left_yaw=-0.0019 left_pitch=-0.1034 left_roll=0.0671 left_gripper=0.9992 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -7.7744, 4.547, 1.707, -0.1294, 0.0708, -0.022, -0.0479, -1.3607, 7.3368, 1.8926, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:373e2917ceb8766e326dedaffa33615dae0a2d80dc00fff5c473bc8c4cfae808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ee60131447e66be6ed76be9afa83c56d971c5749148505b5d04e7fdc0b9f513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f858a614966b3d0260089ba00216c53c63d935c4839c5823d961c5c196fc98f",
        "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 · 8.067 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.0189, 0.7925, 0.6041, -0.3908, -0.0193, -0.0338, 0.9993, -0.0212, 0.7929, 0.6071, -0.4007, -0.02, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2932 left_y=0.0015 left_z=0.1782 left_yaw=-0.0002 left_pitch=-0.0008 left_roll=0.0003 left_gripper=0.9993 right_x=0.2923 right_y=0.0009 right_z=0.1774 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4034, -1.4564, 10.2496, 1.9463, -0.0806, 0.2222, -0.0904, -0.5812, -1.4291, 9.6479, 2.0098, -0.0513, 0.1343, -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]: [-0.7605, 1.4872, 0.8883, -0.1989, -0.5896, -0.5034, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3496 left_y=-0.1921 left_z=0.1314 left_yaw=-0.0205 left_pitch=-0.0593 left_roll=0.029 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0397 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -6.4752, 9.2103, 1.7021, -0.4518, 0.0415, -0.0904, -0.1436, -1.853, 6.9538, 1.9853, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6895, 1.7996, 0.717, 0.2523, -0.5514, -0.4557, 0.9992, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3672 left_y=-0.1782 left_z=0.0182 left_yaw=-0.0019 left_pitch=-0.1034 left_roll=0.0671 left_gripper=0.9992 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -7.7744, 4.547, 1.707, -0.1294, 0.0708, -0.022, -0.0479, -1.3607, 7.3368, 1.8926, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:373e2917ceb8766e326dedaffa33615dae0a2d80dc00fff5c473bc8c4cfae808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ee60131447e66be6ed76be9afa83c56d971c5749148505b5d04e7fdc0b9f513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f858a614966b3d0260089ba00216c53c63d935c4839c5823d961c5c196fc98f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bear is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CdhzitbNcj1MtUSg1v6Qur",
      "input": {
        "note": "Bear fills the wrist view between the jaws at table level; closing the gripper.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CdhzitbNcj1MtUSg1v6Qur",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.8229, 0.7055, 0.2459, -0.5465, -0.458, 0.0191, -0.0212, 0.8036, 0.606, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.173 left_z=0.0047 left_yaw=0.002 left_pitch=-0.1375 left_roll=0.0887 left_gripper=0.0191 right_x=0.2815 right_y=0.0012 right_z=0.1587 right_yaw=0.0003 right_pitch=-0.0889 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -9.7162, 5.6957, 1.4139, -0.2955, -0.0024, 1.2674, -0.2256, -1.306, 6.9949, 1.8681, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272ad4bc83cb08327f738c0a30c883e1f059c5cfaf26c4409bc9a6c4053d4946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704d625adc8777106e3f75b0b86a52f32f647fb589decef55299a1e0d1c560ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4afcef123acfe7ed852723331ed4b8b62b00803975f733258051c5b5ea68ff67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.317 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]: [-0.7605, 1.4872, 0.8883, -0.1989, -0.5896, -0.5034, 0.9993, -0.0212, 0.8005, 0.6075, -0.4332, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3496 left_y=-0.1921 left_z=0.1314 left_yaw=-0.0205 left_pitch=-0.0593 left_roll=0.029 left_gripper=0.9993 right_x=0.2882 right_y=0.001 right_z=0.1689 right_yaw=0.0002 right_pitch=-0.0397 right_roll=0.0005 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -6.4752, 9.2103, 1.7021, -0.4518, 0.0415, -0.0904, -0.1436, -1.853, 6.9538, 1.9853, -0.0269, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6895, 1.7996, 0.717, 0.2523, -0.5514, -0.4557, 0.9992, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3672 left_y=-0.1782 left_z=0.0182 left_yaw=-0.0019 left_pitch=-0.1034 left_roll=0.0671 left_gripper=0.9992 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -7.7744, 4.547, 1.707, -0.1294, 0.0708, -0.022, -0.0479, -1.3607, 7.3368, 1.8926, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.8229, 0.7055, 0.2459, -0.5465, -0.458, 0.0191, -0.0212, 0.8036, 0.606, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.173 left_z=0.0047 left_yaw=0.002 left_pitch=-0.1375 left_roll=0.0887 left_gripper=0.0191 right_x=0.2815 right_y=0.0012 right_z=0.1587 right_yaw=0.0003 right_pitch=-0.0889 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -9.7162, 5.6957, 1.4139, -0.2955, -0.0024, 1.2674, -0.2256, -1.306, 6.9949, 1.8681, -0.0464, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:272ad4bc83cb08327f738c0a30c883e1f059c5cfaf26c4409bc9a6c4053d4946",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:704d625adc8777106e3f75b0b86a52f32f647fb589decef55299a1e0d1c560ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4afcef123acfe7ed852723331ed4b8b62b00803975f733258051c5b5ea68ff67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CJKqja5HrLSLWd35RLLepB",
      "input": {
        "note": "Close was empty (0.019); bear is still ahead of the fingertips. Opening and lifting to reposition further forward.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01CJKqja5HrLSLWd35RLLepB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.6367, 0.804, -0.0799, -0.5434, -0.4709, 0.9949, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3556 left_y=-0.1687 left_z=0.0596 left_yaw=0.011 left_pitch=-0.17 left_roll=0.1038 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1114 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9231, 8.4444, 1.3944, -0.3248, 0.1343, 0.0122, -0.1162, -1.1829, 6.9675, 1.8681, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1a9508cc33928f7f54b0f22fb7caa1b5745b8ee2575f56df560309c1880a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4951ff3237407ffbfa86fe3c5efc13a72937690a96633b1c1e302ddb5680f008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e5eb73ff9e9937973a6366d1a0052bdd7dcdcfbd041c7c1d9dddaa394ab6d397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 2.668 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]: [-0.6895, 1.7996, 0.717, 0.2523, -0.5514, -0.4557, 0.9992, -0.0212, 0.8024, 0.6064, -0.4549, -0.0196, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3672 left_y=-0.1782 left_z=0.0182 left_yaw=-0.0019 left_pitch=-0.1034 left_roll=0.0671 left_gripper=0.9992 right_x=0.285 right_y=0.001 right_z=0.1636 right_yaw=-0.0001 right_pitch=-0.0645 right_roll=0.0008 right_gripper=0.9996\nstate[joint_eff]: [0.212, -7.7744, 4.547, 1.707, -0.1294, 0.0708, -0.022, -0.0479, -1.3607, 7.3368, 1.8926, -0.0317, -0.0269, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.6865, 1.8229, 0.7055, 0.2459, -0.5465, -0.458, 0.0191, -0.0212, 0.8036, 0.606, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.173 left_z=0.0047 left_yaw=0.002 left_pitch=-0.1375 left_roll=0.0887 left_gripper=0.0191 right_x=0.2815 right_y=0.0012 right_z=0.1587 right_yaw=0.0003 right_pitch=-0.0889 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -9.7162, 5.6957, 1.4139, -0.2955, -0.0024, 1.2674, -0.2256, -1.306, 6.9949, 1.8681, -0.0464, -0.0464, -0.0122]",
      "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]: [-0.6865, 1.6367, 0.804, -0.0799, -0.5434, -0.4709, 0.9949, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3556 left_y=-0.1687 left_z=0.0596 left_yaw=0.011 left_pitch=-0.17 left_roll=0.1038 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1114 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9231, 8.4444, 1.3944, -0.3248, 0.1343, 0.0122, -0.1162, -1.1829, 6.9675, 1.8681, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1a9508cc33928f7f54b0f22fb7caa1b5745b8ee2575f56df560309c1880a63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4951ff3237407ffbfa86fe3c5efc13a72937690a96633b1c1e302ddb5680f008",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5eb73ff9e9937973a6366d1a0052bdd7dcdcfbd041c7c1d9dddaa394ab6d397",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrAcKEAgSGAI4AUIIdGhpbmtpbmcSDFKNb54K4bMdRFKIbhoMSiRtX96avOvl+CfmIjDIszsE6OP5qfHVBSd5FrRDKSYhCuSj02WJZ9sFHI1A/BrlEppem4MfiF9b1qmEeEsqyQY36OV1K2w6N1EafJRClvg6uJ1P4je2dF6agF3jcIdbt4+FMfwq0TJw8unDvnpAPwnWi3yqWiN0mH1BwqP8Wj2KhHX8fqkYI/IsbrgulZRebZphI5ha9nkWQCPp7EJ3bgKLsihwRl4377eCgzrAXviZlukfNqToDn7vdmLVqus98hoCYAww/nYbvLyn0vdVDb/oTQlAJGY0KBBuobNgjBkxwsCtG09QoFdUjqoVhht7M2euDpY7AXSkzvQRuHz0BjBYizmEIKi19ne5cCNbOMRlRdmxIdK93cyWn2yajYRogNA4cMN6CJuQqwrou95SZNfLrofkQs+KcH3qDCymAy+DqQF9/oOqknmcq5MVHMPb2tVOh1hVZEIRcxL2pplk71TiMoUQvyrhvgHeZ9HjRYxSTMK0uaajrZsU+kOoJ3rIQvtY0oxMohpXDS8hNL+JObIXrHxqBj1xApREnE5cuxN3CQe76+0MYrbRs327xbhN2m+/4zoZ3XYvKJ9dLfJAFORjkbOynswNWZWCfhfKpOdenvQ5u5bRo4V6tvXYvwpq+PejDyvfFw/gj1LRDK3fj33I7aeARXbgJpRiH7BGAAF7kILaDIMEnLprN9TKtWA0ddeIAYTQ8tTjLAlC/327TwFmOJWI4AWvN16+2fXObdooG7aH3yIoAtWI3RF3cpQS0pc+naJrc/GmpqE27m3Jag+tiuESZ+Ldp1wyWOK6ZAGGCpWTv1MoCRNwitFykiFyY0RcHkrcGYClZceTdSp5v8u4H6oMECMppo99ZPJenb5z8JrECvHBukMz4wtfZmQ0QSitFtv6NCbh0XKeDg1vURsGBvGS7epx1ZTMd3XKaj1DDJ7vXsrKOI8GW1dvnA6w0vV6U0a9hfcugm9DS7l3fB1RL+sGKQ0pjAZ/7SRyuj6CdPr/ErjuXxtBbnP12C/OTpjS2irEEnLSZeFhG+u4Q3DzTbzNGDsTjwfrYy9h3vB9zIBqh3NxLz1qSQbow5RVD6XxfSIdNXEx1NGF7LngOvhn2y0DkVbgLAEjLTe/WFpikF3cp3MBMn3rUAxM5ezZ8HjbSReCgJnF4Uf1E7znyCej8ewu0+Jhj8BwUiE16BWyZ9UqNxA9Fou3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018VFXSr5iWcUejBvRZ6Ffum",
      "input": {
        "note": "Bear is centred on the jaw column but ahead; advancing ~5 cm and descending to grasp.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.415,
          "left_y": -0.17,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018VFXSr5iWcUejBvRZ6Ffum",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5941, 1.9228, 0.7475, 0.4065, -0.5159, -0.4156, 0.9963, -0.0212, 0.8078, 0.6056, -0.5228, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.1609 left_z=0.0014 left_yaw=0.0417 left_pitch=-0.0719 left_roll=0.0406 left_gripper=0.9963 right_x=0.2744 right_y=0.0013 right_z=0.1489 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.6103, 4.9436, 1.2332, 0.0122, 0.3101, 0.1343, -0.2393, -1.5111, 7.0769, 1.8388, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eeb27387ebada866f207893d9163c3ad5afc5ca02f7915c3dcba509dbc4008b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108ed41ffa7e84514b4f7d00549b845e3a3995f16e8000e5ec61d640127f0b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ffed403bed6a998cce2480c5a49e286c0056291938834086482a3db70a89dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.406 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]: [-0.6865, 1.8229, 0.7055, 0.2459, -0.5465, -0.458, 0.0191, -0.0212, 0.8036, 0.606, -0.4778, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3617 left_y=-0.173 left_z=0.0047 left_yaw=0.002 left_pitch=-0.1375 left_roll=0.0887 left_gripper=0.0191 right_x=0.2815 right_y=0.0012 right_z=0.1587 right_yaw=0.0003 right_pitch=-0.0889 right_roll=0.0016 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -9.7162, 5.6957, 1.4139, -0.2955, -0.0024, 1.2674, -0.2256, -1.306, 6.9949, 1.8681, -0.0464, -0.0464, -0.0122]",
      "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]: [-0.6865, 1.6367, 0.804, -0.0799, -0.5434, -0.4709, 0.9949, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3556 left_y=-0.1687 left_z=0.0596 left_yaw=0.011 left_pitch=-0.17 left_roll=0.1038 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1114 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9231, 8.4444, 1.3944, -0.3248, 0.1343, 0.0122, -0.1162, -1.1829, 6.9675, 1.8681, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5941, 1.9228, 0.7475, 0.4065, -0.5159, -0.4156, 0.9963, -0.0212, 0.8078, 0.6056, -0.5228, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.1609 left_z=0.0014 left_yaw=0.0417 left_pitch=-0.0719 left_roll=0.0406 left_gripper=0.9963 right_x=0.2744 right_y=0.0013 right_z=0.1489 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.6103, 4.9436, 1.2332, 0.0122, 0.3101, 0.1343, -0.2393, -1.5111, 7.0769, 1.8388, -0.0415, -0.0269, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6eeb27387ebada866f207893d9163c3ad5afc5ca02f7915c3dcba509dbc4008b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:108ed41ffa7e84514b4f7d00549b845e3a3995f16e8000e5ec61d640127f0b8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ffed403bed6a998cce2480c5a49e286c0056291938834086482a3db70a89dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M6ZTgbbm3vy3y7kzRUaiAu",
      "input": {
        "note": "Bear body now fills the jaws at table level; closing.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M6ZTgbbm3vy3y7kzRUaiAu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5949, 1.9343, 0.7467, 0.4438, -0.5247, -0.4236, 0.2036, -0.0212, 0.8082, 0.6056, -0.5533, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1621 left_z=0.0032 left_yaw=0.0511 left_pitch=-0.0479 left_roll=0.0239 left_gripper=0.2036 right_x=0.2694 right_y=0.0014 right_z=0.1433 right_yaw=0.0005 right_pitch=-0.1693 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -9.5385, 4.8752, 1.199, -0.1343, 0.0317, 0.7839, -0.0752, -1.1966, 6.8718, 1.9121, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678a631461e5d4560d95f0a20f969dd0b0d90a6f196469162b4442c21d0e74e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a3410e942d20a22334a377dbe80fba4303d64dba972e2b35ccf3dd71f49dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6842a5ca2ac2c0d859d28d4ca91f45fe093e7fd5529019686456045cd5a3b5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.02 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]: [-0.6865, 1.6367, 0.804, -0.0799, -0.5434, -0.4709, 0.9949, -0.0212, 0.8036, 0.6056, -0.4999, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.3556 left_y=-0.1687 left_z=0.0596 left_yaw=0.011 left_pitch=-0.17 left_roll=0.1038 left_gripper=0.9949 right_x=0.278 right_y=0.0012 right_z=0.1543 right_yaw=0.0003 right_pitch=-0.1114 right_roll=0.0021 right_gripper=0.9996\nstate[joint_eff]: [-0.212, -8.9231, 8.4444, 1.3944, -0.3248, 0.1343, 0.0122, -0.1162, -1.1829, 6.9675, 1.8681, -0.0611, -0.0611, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5941, 1.9228, 0.7475, 0.4065, -0.5159, -0.4156, 0.9963, -0.0212, 0.8078, 0.6056, -0.5228, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.1609 left_z=0.0014 left_yaw=0.0417 left_pitch=-0.0719 left_roll=0.0406 left_gripper=0.9963 right_x=0.2744 right_y=0.0013 right_z=0.1489 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.6103, 4.9436, 1.2332, 0.0122, 0.3101, 0.1343, -0.2393, -1.5111, 7.0769, 1.8388, -0.0415, -0.0269, -0.0122]",
      "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]: [-0.5949, 1.9343, 0.7467, 0.4438, -0.5247, -0.4236, 0.2036, -0.0212, 0.8082, 0.6056, -0.5533, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1621 left_z=0.0032 left_yaw=0.0511 left_pitch=-0.0479 left_roll=0.0239 left_gripper=0.2036 right_x=0.2694 right_y=0.0014 right_z=0.1433 right_yaw=0.0005 right_pitch=-0.1693 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -9.5385, 4.8752, 1.199, -0.1343, 0.0317, 0.7839, -0.0752, -1.1966, 6.8718, 1.9121, -0.0562, -0.0317, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:678a631461e5d4560d95f0a20f969dd0b0d90a6f196469162b4442c21d0e74e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a3410e942d20a22334a377dbe80fba4303d64dba972e2b35ccf3dd71f49dbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6842a5ca2ac2c0d859d28d4ca91f45fe093e7fd5529019686456045cd5a3b5a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wkKEAgSGAI4AUIIdGhpbmtpbmcSDJw873HDlDhIDMnTXhoMNJE9nMFDRNIuWRstIjBEYayuomTF7QAjQBcT1GnUcNZ0/pCFKiZzvA+879m0BmXVCb1r7UjKxI31kkeSzmcqkAmvZYeQpkzLdgjmXpbJPcxy7Ax0FIucFnYANJmILNEK0kWM3H92WjQ3dC5yVeUozYw+mWvsXfKLOMItS/Qlm5Cj9RJSwgWMZA4yhMj2/w2MOyas7EAaaa1Y4iiWLhmgdYsckXJzTDxRnkK5oVzc02ZI6jYzznOaryATGhi0eOVMgqAXqc4r/haEtckVofltj19DjPwFI336OP4lLKVlub+t71wLszIOspcrwChgzw5ll2pyqjyx/IsZ2cKX1nHZI3XRgGK7Y/tcE1xhTl1xEGRbTEXFRPIdZ8vDMn7oeR+o0673t/w19F1g1Fo+SlAgfD1JezvYT8xXf55JUkJ8UMAnzcqPJPnoVn1h8CRiPlZWCjzDIQifEPq+VcPRbGqmJw/ahwJEefH3pX5XRr9XE5rae1u8M9v9HuT5UMUBnDdzSkvh02Cw9AFON7Wzld6uVSsN0BoqIUXXfujfT3u8uNecdLMuR4sEWycwRC6jgr+1xKmrw4FJ4sxayRxOsMAoZpwO4AT0klIsMak+BSQClcIiOe+PfCnG221oMhNg8roke315zdvWmm0OB6iNpyWgDk5wMmQiZDDYVYUn95Hm0/KOEnFgbi9lX7W2IrvZk3mV1wKNoL20V6kBHK5KhQxoAUhEj7plpoXyzPs5xE3UqSzs/xMdtDGYhHvZ/5iAf2aXVt/k2AkaV25OcRarcQ86AHts0gQT6lOUeW4lnz+OcxsOjSEfQkTF1VP9LE7KLA6NySY1bARDd3tvRPe23VKLKWFPjV0mgX57hWpjgR/T9tl8JPF0lcHEK4sO4J7msUo4YJuc45KKRUWs3Ezt3H06bcpsJXDY3G0PNOFwz0etpG++suv0PhGsOTw2QczWl7uZFQcisfM3nYzcFb9idFH9qbKyzAMkfwKG3cxJgvPdg4EApFO+tsxYVzrPFMayPOb61nCF2PeIPht2YSu5tTWBPcFAzsyOWEsA7K+Ud7bXK0eJOB+5wS8kAAwLopMKAfQZtVGqohQxFeHblV1hNU53Na12+hu9Aa9IwvQ2w6EYtRmh2jOnk+rGFEYzBd1Ts2vORrgfAnlBYBYDxx30kK3sAlM0k1HAcTPCwtF8A1vL7raI6Pq3K/UPATiua6+QcCCsTmccVk/6rPhb/0RbFXNh84CV9Fd+SPCjSbHbsLt+zrpUBW2OU9vQdZX7UZ3Cw0GPwKJnGIVkS2s5P+fvyYTXWFaLOEA5WEYxwNHVYSyW87rzy1oeoakEzxyyY/UIa9ZB0YK7Wml0yOHwR1r7ZPIjBlAbg4+k5iZLH3/NEr8W86A3MB/gYr7Kj4xJaIcrWROtxADjMH+XGChFZA8AtRkcNqCFjGOVAGWREvaBiIpiknnYj1uxUhhIU3QH7+May/2Tv0py8VqTiJm7jubfpz4M6tSMdgRvMQ3O7QM7s6wbRwpakoY8STKIfgcIxaP4UGqvQt5GHvTqnKMNsAp21fx7i8h+OAN7thUmZCvhQqVCDS8uNQPuaaFIE1suJxsCTj+6oGRS+Nhttwwo24isVMDSokMXMLqHYRjciGmShCJxYW9PGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JVG5MTR8b4Vwxqy4cvGu32",
      "input": {
        "note": "Gripper settled at 0.20 on the bear — grasped. Lifting high to clear the safe wall.",
        "targets": {
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01JVG5MTR8b4Vwxqy4cvGu32",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5949, 1.5673, 1.1416, -0.355, -0.5236, -0.4324, 0.2064, -0.0212, 0.8101, 0.6056, -0.5877, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4039 left_y=-0.1624 left_z=0.1726 left_yaw=0.0565 left_pitch=-0.0777 left_roll=0.0387 left_gripper=0.2064 right_x=0.2635 right_y=0.0015 right_z=0.1368 right_yaw=0.0007 right_pitch=-0.2056 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -9.7573, 9.5521, 1.6044, -0.2808, 0.0708, 0.2711, -0.1162, -1.0872, 7.0222, 1.8632, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb454d8bbc167fde625a445c6c87cc24b3a4ea56ea47293e8c0a30f0e4f675d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608db6d88ea4389b907a638c23ad48566839ce64200b7eba4e7023e0ea6e4ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3f90ee8ab248b9e72adb96f5e0869f59e9957cf93af903afb52fd92d1c2387a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.111 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5941, 1.9228, 0.7475, 0.4065, -0.5159, -0.4156, 0.9963, -0.0212, 0.8078, 0.6056, -0.5228, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4002 left_y=-0.1609 left_z=0.0014 left_yaw=0.0417 left_pitch=-0.0719 left_roll=0.0406 left_gripper=0.9963 right_x=0.2744 right_y=0.0013 right_z=0.1489 right_yaw=0.0004 right_pitch=-0.1384 right_roll=0.0027 right_gripper=0.9996\nstate[joint_eff]: [0.5402, -7.6103, 4.9436, 1.2332, 0.0122, 0.3101, 0.1343, -0.2393, -1.5111, 7.0769, 1.8388, -0.0415, -0.0269, -0.0122]",
      "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]: [-0.5949, 1.9343, 0.7467, 0.4438, -0.5247, -0.4236, 0.2036, -0.0212, 0.8082, 0.6056, -0.5533, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1621 left_z=0.0032 left_yaw=0.0511 left_pitch=-0.0479 left_roll=0.0239 left_gripper=0.2036 right_x=0.2694 right_y=0.0014 right_z=0.1433 right_yaw=0.0005 right_pitch=-0.1693 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -9.5385, 4.8752, 1.199, -0.1343, 0.0317, 0.7839, -0.0752, -1.1966, 6.8718, 1.9121, -0.0562, -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 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.5949, 1.5673, 1.1416, -0.355, -0.5236, -0.4324, 0.2064, -0.0212, 0.8101, 0.6056, -0.5877, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4039 left_y=-0.1624 left_z=0.1726 left_yaw=0.0565 left_pitch=-0.0777 left_roll=0.0387 left_gripper=0.2064 right_x=0.2635 right_y=0.0015 right_z=0.1368 right_yaw=0.0007 right_pitch=-0.2056 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -9.7573, 9.5521, 1.6044, -0.2808, 0.0708, 0.2711, -0.1162, -1.0872, 7.0222, 1.8632, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb454d8bbc167fde625a445c6c87cc24b3a4ea56ea47293e8c0a30f0e4f675d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608db6d88ea4389b907a638c23ad48566839ce64200b7eba4e7023e0ea6e4ce1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3f90ee8ab248b9e72adb96f5e0869f59e9957cf93af903afb52fd92d1c2387a",
        "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+wYKEAgSGAI4AUIIdGhpbmtpbmcSDGs6ukJsqbbjgTWyNRoMvKvMnrpZ5COVz203IjBEz37Df3bkRpfV1juLWjUYtLjTSjnfQY5BVHzz1/yuieRqFF9Oh1ieNbsFJh9Gf74qmAY/TpUdjNK4EtAPxcv7KMj2rkIUWMheghEmHjBdSWxIDPRmcgftgPjT68LWLQ/v0q6mZla0aLYo1C0F//6E31YN08L+5OZ9EljmcvhhWlsXeC4HvKPgUyP1jgJhFOb32e0oHgxRnmlAhZ2rRCGPVd9/vnvyVtcblPCtX5hH0N115zdn0Xf5uBXRehTiatzLY9o84Fz9K/XSUTZI8NPlHNqXKDxf6HgaUdoZicXkceoxs1HHYRr1b2SJsQWYfG711LFFt1iQ3lnWYje7DIVxef0braMyHk8sgYQkc5ve4D8/PQWiXN8gt4dLVViMgtRdp9gnRGAUpbB8T/8+9hEhfFJ0DLyHc85IpOhHrCtXAY4mPHe53jeMWniqZo4ke+dz1X+5gaOUbByLyCHhk7P12uHyCkbXrOFfyQ3IaVAEdQ01PtRyGgOMZPRj6xN3HnSZy+PcJxLJHonGi3mCDXdFJUioVHRaz29cZv6zl3UwmIPAgTfUsB5SsbLSmfWkKW+2mzKLcdbek9CDTCP4j0MNaAbpGaUNdgxqnMpcnCZVyAR8WZP3qFJlgLNONQBXBYIxQDeXLovzqFCDtemAgE9HG/ggr8Sb0JW9d6sQ4nWQZ0bMXC/W3iwyQPH4lao7tlDVOu/hUPmUa9BUYvVCSHsrfdLF5RbVuwTqHe+7F9Y8jYE3o7zkieMmJ417xRTf1xVg8wOA7pv3M36Y037wmviDQRS+XxlmFbSyHC96UVLJkAaPQwKnP5VKjrFmyaLvSPIqwJw+R3NGU3Qx5K2F24krWjnXQbCV+bF3l3/a+Y+PWR45mMERnQtVBMTG0j0slxjVwCexqF2W3nKm4BS5guNbj/ZsFm4YUEHLbpozYloSOTL+8MyQ1xSLO+a/20jC3nVOKCxgM4jQD9eS6orGAbJNqzw98Tz+44YB/aUTj5/cGQtMHIMrG+6azN4u6CpxrJHqC0XP5q/eFMqkNDCpEzVz42cxCK2m556fVoJG6tHjgr7UhZrVFjxhzwohLNRMn4TNK4y6hdpiIL8+EOddiRQb8ougkA6FQNIfPYQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016ugi9PkWzDQ322URrTSccR",
      "input": {
        "note": "Bear lifted with the jaws. Carrying it over the red interior of the safe to the right-front.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.29,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_016ugi9PkWzDQ322URrTSccR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7406, 2.0697, 1.8595, -0.6697, -0.6048, -0.5682, 0.2093, -0.0212, 0.8146, 0.6056, -0.6132, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4656 left_y=-0.2847 left_z=0.1855 left_yaw=0.0506 left_pitch=-0.1091 left_roll=0.0429 left_gripper=0.2093 right_x=0.259 right_y=0.0016 right_z=0.1313 right_yaw=0.0008 right_pitch=-0.2357 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -11.9863, 9.1282, 1.1551, -0.5543, 0.0122, 0.2857, -0.0752, -1.5111, 6.8034, 1.7411, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8959f762d6623db4a2df417e92ef5eb87975d79155d5790d0781ea95ca5df26a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320f4b53539bfb4d7b4d2b0ae44446271a141c87cad44c11cd42311bf0125ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e9437c9cde3eb1f5f22712012ad921504865e92af2fa5eae7c671ef904a4b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 8.348 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]: [-0.5949, 1.9343, 0.7467, 0.4438, -0.5247, -0.4236, 0.2036, -0.0212, 0.8082, 0.6056, -0.5533, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4038 left_y=-0.1621 left_z=0.0032 left_yaw=0.0511 left_pitch=-0.0479 left_roll=0.0239 left_gripper=0.2036 right_x=0.2694 right_y=0.0014 right_z=0.1433 right_yaw=0.0005 right_pitch=-0.1693 right_roll=0.0033 right_gripper=0.9996\nstate[joint_eff]: [0.0615, -9.5385, 4.8752, 1.199, -0.1343, 0.0317, 0.7839, -0.0752, -1.1966, 6.8718, 1.9121, -0.0562, -0.0317, -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]: [-0.5949, 1.5673, 1.1416, -0.355, -0.5236, -0.4324, 0.2064, -0.0212, 0.8101, 0.6056, -0.5877, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4039 left_y=-0.1624 left_z=0.1726 left_yaw=0.0565 left_pitch=-0.0777 left_roll=0.0387 left_gripper=0.2064 right_x=0.2635 right_y=0.0015 right_z=0.1368 right_yaw=0.0007 right_pitch=-0.2056 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -9.7573, 9.5521, 1.6044, -0.2808, 0.0708, 0.2711, -0.1162, -1.0872, 7.0222, 1.8632, -0.0464, -0.0513, -0.0122]\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 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7406, 2.0697, 1.8595, -0.6697, -0.6048, -0.5682, 0.2093, -0.0212, 0.8146, 0.6056, -0.6132, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4656 left_y=-0.2847 left_z=0.1855 left_yaw=0.0506 left_pitch=-0.1091 left_roll=0.0429 left_gripper=0.2093 right_x=0.259 right_y=0.0016 right_z=0.1313 right_yaw=0.0008 right_pitch=-0.2357 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -11.9863, 9.1282, 1.1551, -0.5543, 0.0122, 0.2857, -0.0752, -1.5111, 6.8034, 1.7411, -0.0513, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8959f762d6623db4a2df417e92ef5eb87975d79155d5790d0781ea95ca5df26a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:320f4b53539bfb4d7b4d2b0ae44446271a141c87cad44c11cd42311bf0125ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e9437c9cde3eb1f5f22712012ad921504865e92af2fa5eae7c671ef904a4b61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Over the safe interior. Lowering a bit and releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019vrTqidceKd1jNLAe1Nggf",
      "input": {
        "note": "Bear hangs above the red safe interior; lowering and opening to drop it in.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019vrTqidceKd1jNLAe1Nggf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.7448, 2.1006, 1.6001, -0.4068, -0.5995, -0.5735, 0.9958, -0.0212, 0.8165, 0.6056, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4598 left_y=-0.2835 left_z=0.1049 left_yaw=0.048 left_pitch=-0.1312 left_roll=0.0555 left_gripper=0.9958 right_x=0.2551 right_y=0.0017 right_z=0.1272 right_yaw=0.001 right_pitch=-0.2593 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.8376, 6.4205, 1.536, -0.3687, 0.0171, -0.1441, -0.0752, -1.0462, 6.8444, 1.6484, -0.0317, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fedb9262f6b1affacf73ed7ca0873b58bcb6aff69160fec7fcd9db02b123df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c23d62c50bfdedfed1492b4fe14681b9c7275622b5ccffedec2875e59e028a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8245bc3d5f87737092acff3edb1a260c406b0d817696407833ea0a9bcb9e1d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.742 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]: [-0.5949, 1.5673, 1.1416, -0.355, -0.5236, -0.4324, 0.2064, -0.0212, 0.8101, 0.6056, -0.5877, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4039 left_y=-0.1624 left_z=0.1726 left_yaw=0.0565 left_pitch=-0.0777 left_roll=0.0387 left_gripper=0.2064 right_x=0.2635 right_y=0.0015 right_z=0.1368 right_yaw=0.0007 right_pitch=-0.2056 right_roll=0.0041 right_gripper=0.9996\nstate[joint_eff]: [-0.1709, -9.7573, 9.5521, 1.6044, -0.2808, 0.0708, 0.2711, -0.1162, -1.0872, 7.0222, 1.8632, -0.0464, -0.0513, -0.0122]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.7406, 2.0697, 1.8595, -0.6697, -0.6048, -0.5682, 0.2093, -0.0212, 0.8146, 0.6056, -0.6132, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4656 left_y=-0.2847 left_z=0.1855 left_yaw=0.0506 left_pitch=-0.1091 left_roll=0.0429 left_gripper=0.2093 right_x=0.259 right_y=0.0016 right_z=0.1313 right_yaw=0.0008 right_pitch=-0.2357 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -11.9863, 9.1282, 1.1551, -0.5543, 0.0122, 0.2857, -0.0752, -1.5111, 6.8034, 1.7411, -0.0513, -0.0122, -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]: [-0.7448, 2.1006, 1.6001, -0.4068, -0.5995, -0.5735, 0.9958, -0.0212, 0.8165, 0.6056, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4598 left_y=-0.2835 left_z=0.1049 left_yaw=0.048 left_pitch=-0.1312 left_roll=0.0555 left_gripper=0.9958 right_x=0.2551 right_y=0.0017 right_z=0.1272 right_yaw=0.001 right_pitch=-0.2593 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.8376, 6.4205, 1.536, -0.3687, 0.0171, -0.1441, -0.0752, -1.0462, 6.8444, 1.6484, -0.0317, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fedb9262f6b1affacf73ed7ca0873b58bcb6aff69160fec7fcd9db02b123df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64c23d62c50bfdedfed1492b4fe14681b9c7275622b5ccffedec2875e59e028a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8245bc3d5f87737092acff3edb1a260c406b0d817696407833ea0a9bcb9e1d3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ShetMywrR9MmFs2uYykHbh",
      "input": {
        "note": "Bear dropped inside the safe. Parking the left arm home and bringing the right arm toward the two brown mice in front of the safe.",
        "targets": {
          "left_x": 0.29,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_gripper": 1,
          "right_pitch": 0,
          "right_x": 0.3,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 26 steps (2.6s)",
      "tool_use_id": "toolu_01ShetMywrR9MmFs2uYykHbh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1268, 0.9085, 0.7506, -0.5575, -0.202, -0.1314, 0.9969, 0.7483, 1.1622, 0.6476, -0.3096, 0.5648, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0994 left_pitch=-0.1206 left_roll=0.0479 left_gripper=0.9969 right_x=0.2868 right_y=0.1421 right_z=0.1251 right_yaw=0.0325 right_pitch=-0.0832 right_roll=-0.0539 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.1538, 6.2564, 1.8437, 0.0415, 0.149, 0.105, 0.4171, -3.412, 9.9077, 1.8584, 0.4322, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f665c1ce9c4b1a0150d5df1b7815420bfeff2bc5c64ee49bd69798b28730249c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8452b237e9e29fc51b09304bd8f2c69a30f9c474aa25d843d68ded426d538046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9127b941ed58890b75bb64da315d86682f33205ccf8850c8c661dca906be1d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 3.639 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]: [-0.7406, 2.0697, 1.8595, -0.6697, -0.6048, -0.5682, 0.2093, -0.0212, 0.8146, 0.6056, -0.6132, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4656 left_y=-0.2847 left_z=0.1855 left_yaw=0.0506 left_pitch=-0.1091 left_roll=0.0429 left_gripper=0.2093 right_x=0.259 right_y=0.0016 right_z=0.1313 right_yaw=0.0008 right_pitch=-0.2357 right_roll=0.0048 right_gripper=0.9996\nstate[joint_eff]: [-0.7043, -11.9863, 9.1282, 1.1551, -0.5543, 0.0122, 0.2857, -0.0752, -1.5111, 6.8034, 1.7411, -0.0513, -0.0122, -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]: [-0.7448, 2.1006, 1.6001, -0.4068, -0.5995, -0.5735, 0.9958, -0.0212, 0.8165, 0.6056, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4598 left_y=-0.2835 left_z=0.1049 left_yaw=0.048 left_pitch=-0.1312 left_roll=0.0555 left_gripper=0.9958 right_x=0.2551 right_y=0.0017 right_z=0.1272 right_yaw=0.001 right_pitch=-0.2593 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.8376, 6.4205, 1.536, -0.3687, 0.0171, -0.1441, -0.0752, -1.0462, 6.8444, 1.6484, -0.0317, -0.0757, -0.0073]\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 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1268, 0.9085, 0.7506, -0.5575, -0.202, -0.1314, 0.9969, 0.7483, 1.1622, 0.6476, -0.3096, 0.5648, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0994 left_pitch=-0.1206 left_roll=0.0479 left_gripper=0.9969 right_x=0.2868 right_y=0.1421 right_z=0.1251 right_yaw=0.0325 right_pitch=-0.0832 right_roll=-0.0539 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.1538, 6.2564, 1.8437, 0.0415, 0.149, 0.105, 0.4171, -3.412, 9.9077, 1.8584, 0.4322, 0.1587, -0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f665c1ce9c4b1a0150d5df1b7815420bfeff2bc5c64ee49bd69798b28730249c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8452b237e9e29fc51b09304bd8f2c69a30f9c474aa25d843d68ded426d538046",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 121):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9127b941ed58890b75bb64da315d86682f33205ccf8850c8c661dca906be1d2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwgKEAgSGAI4AUIIdGhpbmtpbmcSDENp1dQLKBtnh8BDPRoMYt+dsoeM3NtXch/pIjDvkKeZsT+Yq7hT7qFIioLzgh2njqyCtrvIM3tQdX8MIT1i6oHc75hEbLTjcMScLG0qtAeo0U+H65AVXWVIUcF828X1kBT1lR+Gb7l6ZgzG/Y3t6cz52eQanyzKXTiz33RKw5H1YZRlIv3uQWHT/K7gnXvpVV5mepRonggEiugd0JeNnggwV4+2guvuNYOA1vPnhoWleVT+IL+skMr6IeoDKbX//mHDWg97R4kz9t0jIVircerhrHUyuYR5ZGwTYuXHzoOlWDprTsn2CpgqwD81EYGkR/2wyaQE+3myKUfDWcxaY5TbrBzq0Cj10iUI2Uqom3SKHs6S05fIcT0+5xAilhrT12hzGW6LhXcSrVCRGRdyW+dZEHQayR3+tpkTdinUPYQhlwiVfhBN+FaJPwF0XUpD0587Lw4lIZ0UUVstUp7yWyyr2QGzIp3iunUSqDsgsLV83X/WvCWM/51HKqDVe+c+8cQW3ac8AW/TkpaGgUDnRgbrQU1PL+gJFZYW14nM9oDYClBywc+a1wyp0SuIedEmSVWPrEtCfLxHeA8ocl/eNgXaxPTxOGxm1vCn/h5lg8m12G1lrkoAOze1EDy+8khIZVxYjgVjzum1k9hjjvwWgMoHKbAPJNYbCsGHQXXeGrZqBahoOUs4VBOcVBjnR1K4uBAIRInCdcRHioHoQ0vMCacEr58ytlO93uIPwwdmBdzRLAAHmMGB+xHhq0cHZ9ah4zB6hp1sYQP3kzGTAxaAl5UOdT9bw4ubRhES9tydPzV8WMpM1z+Vf6Lq66YpXR2ccFB882TBumeqXoQh4VH+4jCgMOkBczqGVJpXIuv5oG2d8TMH0aaRoCGyvi7XZ8gRzRwQH+HuCUoSLDgHVtSRs9RpdI3lL9Hohfbh7bbLN6x28popq2yBBjp6ZKsVrRT6S/cQW0Uzc5v02Q+O9lD1mmNL/tF7jVxuEY2YZYAdxMhwBDWDw3cc34inVFALj2KT+ZuFBehAVc1xxV0at7pE9HeH71PWvpPazM55ogD8jTfovVmOw82cb6NkM1pTfiQGkmykTQIFrWinXUrXeoO2BywlaUl4Wz1FhZcK8aXrvdq3PTQjnoaaMlVCRLIc/XuCx7usw85EN4zBFvPT+5VtjFfCT5tf/LHLkP6jVxeHZn0Pr4rJZmrKRmV+ORBxV5gQTDJe9s0cmAgULkYqvHhuQ8NDdG1O+DM2rbHM32PdiKF6tZPYWn/cZfmI7B7lV/v+yAUCFTB/g8/lOCikny5rbd4dt/T+Y+iIj/fnzR4IQoIj8K4RzliokI8uRfo/5DGP4nifrBWHrUoBMs32Xw1jdDfpUcoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QuT3NisJHrYRqD7UmSfAsg",
      "input": {
        "note": "Two brown plush mice lie just left-ahead of the right jaws; shifting left/forward and descending onto the nearer one.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.18,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01QuT3NisJHrYRqD7UmSfAsg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1242, 0.9142, 0.7506, -0.5835, -0.1925, -0.1352, 0.9971, 0.7448, 1.6611, 0.5701, 0.1719, 0.5568, 0.445, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1751 left_yaw=0.0972 left_pitch=-0.1527 left_roll=0.0458 left_gripper=0.9971 right_x=0.3135 right_y=0.1669 right_z=0.0105 right_yaw=0.0267 right_pitch=-0.1588 right_roll=-0.1115 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.3316, 6.8581, 1.8095, -0.2418, 0.0024, 0.0024, -0.335, -6.4205, 6.4615, 1.453, 0.3883, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b783468da411acd8d6e3aaeff934c61d3196f7edeb6636c744b940597343f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0ae36a5706cc65557583fda8df6f7fcfcee546dca0faff3e694305c885b4bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3e275ec58ecdaddf6fdf910d858c8d3e0f244d313a68c1c2fcc5ba5e0e5b346",
        "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 · 2.848 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]: [-0.7448, 2.1006, 1.6001, -0.4068, -0.5995, -0.5735, 0.9958, -0.0212, 0.8165, 0.6056, -0.635, -0.02, -0.0257, 0.9996]\nstate[eef_state]: left_x=0.4598 left_y=-0.2835 left_z=0.1049 left_yaw=0.048 left_pitch=-0.1312 left_roll=0.0555 left_gripper=0.9958 right_x=0.2551 right_y=0.0017 right_z=0.1272 right_yaw=0.001 right_pitch=-0.2593 right_roll=0.0054 right_gripper=0.9996\nstate[joint_eff]: [0.335, -10.8376, 6.4205, 1.536, -0.3687, 0.0171, -0.1441, -0.0752, -1.0462, 6.8444, 1.6484, -0.0317, -0.0757, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.1268, 0.9085, 0.7506, -0.5575, -0.202, -0.1314, 0.9969, 0.7483, 1.1622, 0.6476, -0.3096, 0.5648, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0994 left_pitch=-0.1206 left_roll=0.0479 left_gripper=0.9969 right_x=0.2868 right_y=0.1421 right_z=0.1251 right_yaw=0.0325 right_pitch=-0.0832 right_roll=-0.0539 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.1538, 6.2564, 1.8437, 0.0415, 0.149, 0.105, 0.4171, -3.412, 9.9077, 1.8584, 0.4322, 0.1587, -0.0513]",
      "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]: [-0.1242, 0.9142, 0.7506, -0.5835, -0.1925, -0.1352, 0.9971, 0.7448, 1.6611, 0.5701, 0.1719, 0.5568, 0.445, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1751 left_yaw=0.0972 left_pitch=-0.1527 left_roll=0.0458 left_gripper=0.9971 right_x=0.3135 right_y=0.1669 right_z=0.0105 right_yaw=0.0267 right_pitch=-0.1588 right_roll=-0.1115 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.3316, 6.8581, 1.8095, -0.2418, 0.0024, 0.0024, -0.335, -6.4205, 6.4615, 1.453, 0.3883, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b783468da411acd8d6e3aaeff934c61d3196f7edeb6636c744b940597343f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c0ae36a5706cc65557583fda8df6f7fcfcee546dca0faff3e694305c885b4bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3e275ec58ecdaddf6fdf910d858c8d3e0f244d313a68c1c2fcc5ba5e0e5b346",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgcKEAgSGAI4AUIIdGhpbmtpbmcSDN1nYwfJP56cF02OgRoM0KPqfVLwyZRhMZYVIjDCKtChEtZvKpJI3EQeNd7C+/sDkhmW2qcib4CXZ6mzHwV9msvz6fzMuGxBihvZc1MqqwahpZkEXlrcZzVqah3YSXzv6snal9eG/TTBA3S/z4BsrplgoxjuXmvgJWHCLmTTPokQPXgnGJ9RTP9b/dafZgbYObWn6nrsV1wy3gdS0N/1WLiSFZxDfOIVkdNR+SXQfyz1GMmyyMxv4iMSkMf3FCu3fz2Sis6nXbMF8N0NAsAPQ/iY6874s2G95v2087dnAb5B/S0wgCY224pdUR0wjTYPvVokk+ScT3CPhciFSFggNTDuNrNWF3sOmJmvjuzo3p2qk7u9rCjbLH4cOD4prrktknB/5MtPTLEbqyUjhj91UhM/18yR3bqnZBkpA2tVQluCfy2AlqY0yKBHQJaXeokMcLe2OF1p8/uUt85oOjHGv+WCvAWLChIDo3rSRZ6+U1e+PBrQvDFv/F6DRzGPSKG4gkxDMmwy99Xp1w+uLqc6V+6nRVOzj+IIgvP3A/S3623d9lgNV3qKHw8HfJSbtv0zdWpM/u6TH1q115LeQe7cskv2It/GQECJ607G7NLYGoo82m/oB92Z7/iyF/IthbgIxcj4XNKl3Qtd5dP4B+GgwPUiRVZIBBW63h8ruMMm7x4iUndDT/vZXMTqn1P9KsaMt+5hIgl+5fUkP/ZN22Wwo3lNx3X5tgjg8PKbDoVaEsGgvrbD+CIGnJ9/cakT7+mSXaFdAs32mgzBpmP1v4jKWKCozifdopXcL2LijCJhFnJZBj/+qVpntpP25Xv6MQ6qEaQunrDsszZxDCUesSk8sQECQCUeu2kJyycdioBHKsywlDViHy0m2gcbRSdoa+aIl5C3ohJLkZWY8Vy6MUb1J4gxjMVTq4iT/CFQUxhMkNfnG7KMBLT9r7boeSAYq70WrUt8FJGWtLSUiIqvVaLHbEGvlGJ9aDqS0etW48Odph4tOL7wbCZgd8NtZaJbUvv93qeObqAK0LFVcQBihW8RBE1d1YFAEiNARtdiP6hAMyzsswyFI92fu81ldBxLV3PL2gK0QWHt3wmdABHhJBFVXoA4LsVaGd0UCDiSyuPmdWyCU3G5iyFzv5QgiUJyPNhNzllWFmuGiG98iJ4rtBAsZ3DGYvWpI/9MkETVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RKMtESD5Cg78K3ArGVqi5k",
      "input": {
        "note": "Plush body is left of the jaw column; shifting 3 cm left and a bit forward at table level before closing.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.2,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RKMtESD5Cg78K3ArGVqi5k",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5861, -0.1951, -0.1356, 0.9971, 0.7612, 1.808, 0.7036, 0.2005, 0.5648, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1741 left_yaw=0.1002 left_pitch=-0.1572 left_roll=0.0485 left_gripper=0.9971 right_x=0.3389 right_y=0.1973 right_z=0.0046 right_yaw=0.0363 right_pitch=-0.1429 right_roll=-0.1024 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.9077, 6.9812, 1.5897, -0.0757, -0.0415, -0.0122, 0.4034, -7.0359, 4.9846, 1.0672, 0.3004, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4558a4e5a3b4b43d277cd7285aca41935d1969ec1f6e2104d858c96b5770c2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8337bb47a0542fc30498d786ff8b41ef810531b731a522106277866f3a42b200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31faf55ae84ed6606dc08d14a2908109cfed37b111590109bb5a081786e20106",
        "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 · 4.05 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]: [-0.1268, 0.9085, 0.7506, -0.5575, -0.202, -0.1314, 0.9969, 0.7483, 1.1622, 0.6476, -0.3096, 0.5648, 0.4442, 0.9996]\nstate[eef_state]: left_x=0.2952 left_y=0.0017 left_z=0.1816 left_yaw=0.0994 left_pitch=-0.1206 left_roll=0.0479 left_gripper=0.9969 right_x=0.2868 right_y=0.1421 right_z=0.1251 right_yaw=0.0325 right_pitch=-0.0832 right_roll=-0.0539 right_gripper=0.9996\nstate[joint_eff]: [0.1026, -2.1538, 6.2564, 1.8437, 0.0415, 0.149, 0.105, 0.4171, -3.412, 9.9077, 1.8584, 0.4322, 0.1587, -0.0513]",
      "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]: [-0.1242, 0.9142, 0.7506, -0.5835, -0.1925, -0.1352, 0.9971, 0.7448, 1.6611, 0.5701, 0.1719, 0.5568, 0.445, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1751 left_yaw=0.0972 left_pitch=-0.1527 left_roll=0.0458 left_gripper=0.9971 right_x=0.3135 right_y=0.1669 right_z=0.0105 right_yaw=0.0267 right_pitch=-0.1588 right_roll=-0.1115 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.3316, 6.8581, 1.8095, -0.2418, 0.0024, 0.0024, -0.335, -6.4205, 6.4615, 1.453, 0.3883, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5861, -0.1951, -0.1356, 0.9971, 0.7612, 1.808, 0.7036, 0.2005, 0.5648, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1741 left_yaw=0.1002 left_pitch=-0.1572 left_roll=0.0485 left_gripper=0.9971 right_x=0.3389 right_y=0.1973 right_z=0.0046 right_yaw=0.0363 right_pitch=-0.1429 right_roll=-0.1024 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.9077, 6.9812, 1.5897, -0.0757, -0.0415, -0.0122, 0.4034, -7.0359, 4.9846, 1.0672, 0.3004, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4558a4e5a3b4b43d277cd7285aca41935d1969ec1f6e2104d858c96b5770c2b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8337bb47a0542fc30498d786ff8b41ef810531b731a522106277866f3a42b200",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31faf55ae84ed6606dc08d14a2908109cfed37b111590109bb5a081786e20106",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ikTbTNWvdRqA17em8fJah",
      "input": {
        "note": "Brown plush now spans the jaws; closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012ikTbTNWvdRqA17em8fJah",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5888, -0.1951, -0.1356, 0.9971, 0.7647, 1.816, 0.7128, 0.2054, 0.5713, 0.4427, 0.0208]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1736 left_yaw=0.1003 left_pitch=-0.1598 left_roll=0.0491 left_gripper=0.9971 right_x=0.341 right_y=0.1998 right_z=0.0056 right_yaw=0.0398 right_pitch=-0.1354 right_roll=-0.1076 right_gripper=0.0208\nstate[joint_eff]: [-0.0615, -1.8667, 6.8718, 1.5556, -0.1148, -0.0611, -0.0122, -0.6085, -8.2393, 4.0957, 1.3065, 0.1929, 0.0708, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77faf9e4330c426831d91ad8e8fb84c477bac696ad8f700ddb6224eced40c6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85dac1b2f4b5bdb7516e8bde190dde7cd316edc24ca442c4373dff1182d7e6ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:acadf4799a9430b5de766161603d6fe20662ec568c696984a6e16e98ca130102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.992 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]: [-0.1242, 0.9142, 0.7506, -0.5835, -0.1925, -0.1352, 0.9971, 0.7448, 1.6611, 0.5701, 0.1719, 0.5568, 0.445, 0.9996]\nstate[eef_state]: left_x=0.2915 left_y=0.0013 left_z=0.1751 left_yaw=0.0972 left_pitch=-0.1527 left_roll=0.0458 left_gripper=0.9971 right_x=0.3135 right_y=0.1669 right_z=0.0105 right_yaw=0.0267 right_pitch=-0.1588 right_roll=-0.1115 right_gripper=0.9996\nstate[joint_eff]: [-0.335, -2.3316, 6.8581, 1.8095, -0.2418, 0.0024, 0.0024, -0.335, -6.4205, 6.4615, 1.453, 0.3883, -0.0855, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5861, -0.1951, -0.1356, 0.9971, 0.7612, 1.808, 0.7036, 0.2005, 0.5648, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1741 left_yaw=0.1002 left_pitch=-0.1572 left_roll=0.0485 left_gripper=0.9971 right_x=0.3389 right_y=0.1973 right_z=0.0046 right_yaw=0.0363 right_pitch=-0.1429 right_roll=-0.1024 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.9077, 6.9812, 1.5897, -0.0757, -0.0415, -0.0122, 0.4034, -7.0359, 4.9846, 1.0672, 0.3004, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5888, -0.1951, -0.1356, 0.9971, 0.7647, 1.816, 0.7128, 0.2054, 0.5713, 0.4427, 0.0208]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1736 left_yaw=0.1003 left_pitch=-0.1598 left_roll=0.0491 left_gripper=0.9971 right_x=0.341 right_y=0.1998 right_z=0.0056 right_yaw=0.0398 right_pitch=-0.1354 right_roll=-0.1076 right_gripper=0.0208\nstate[joint_eff]: [-0.0615, -1.8667, 6.8718, 1.5556, -0.1148, -0.0611, -0.0122, -0.6085, -8.2393, 4.0957, 1.3065, 0.1929, 0.0708, 0.8571]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f77faf9e4330c426831d91ad8e8fb84c477bac696ad8f700ddb6224eced40c6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85dac1b2f4b5bdb7516e8bde190dde7cd316edc24ca442c4373dff1182d7e6ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acadf4799a9430b5de766161603d6fe20662ec568c696984a6e16e98ca130102",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkggKEAgSGAI4AUIIdGhpbmtpbmcSDBokNMWY2fv46fm3mxoMw64SYYwp3d05V4Z6IjD2Hu4e9CTmrgTu6N5A4Os6BU5rZ2hXhiDBPqyZoq+xcP7yjagUPTNfYdsUN1ltVMcqrwdimn/FMiJb1GjpDwyKHlhqj7itTGnrkZu6IQz/Sc/yYWqi29J0FxebWgqvqurVVcVqwrXh0F8Aj/Rwq8i8l5y16rXRL5N0EGhiluNN5A9kEUOF/s/UCl7RrEh+h3HpLz4avsjTu1qIs07u9JihSOfbTwvVqgdHVdGjea70dUkFGg2YDLTvitmd5b8PPqKpq9ZE+ki74VuDRlXwiaNVXt2xoQGrWnCJ8fivrTca5aOzwLRz9GTPSlhfnk+B/AykZXBBGzNeJ36yBFy5uuZSFSr7b+gZ4b1OgZGqzbSmJWNVLyHl1dXugskH3U6IYiOSs333s+uJPxY7Adf5r9Hih+nk0c04VUcwsNlzU+GOVZ9hzbqjQM/wit1JuqffrMEgIMwx65NSqinB8hxIeeVETngrOllKx0J58naW9Dl5Fx83WL5SUXDkkF6QekfAwVj5PS8TKO6jYgjyiKkiLSX8z0POAMdawhJ85cUDk3n5jVxNdpmqBZNjMZlzKfioWClTsfFHaBEeUBXmEliYXgCnzqpMHtFhWQzcboMU8MV489EzpEZfX4ReDXu8KZrs8xX9sKIiSp+mM+/wRWBNokFFFZLJXgtZYeP0kVTyqV2zHTRUFAeGXVUUOtWZHYdRUfBpBOR96Fxtj0oUc40CxtTzvSxJh6QUZRyKz/9vEwtkrWoQItVjOfnW4Z8wZnh0oZ0MQa/X0UW8bMOn1pzgLTtAxL+hkoD35vhLtv+ij+j0StmnQ9geBUDsG7hR6Yg4B0QiBST71A/kcv9nCfsV3ESP/6BJA35TxNt/usYBVtQRic55JfVw8DLDaiuHQQBOzuNDmUu2Ak784SqYhSluH4bsXJ8e/yWVHKhenoNcsKhtUKyGZVa02rw1EnwWEKhecHNOHNBHORZFeqlLKBDPUmywQobGCkhyzGrMbD6dchoSjIGpnFV8XNCEHmw6oF0WrwprkrPZLan6X2i4apmRh2fxCokJhau42bynBxYT8giwWwgmfbfnq89HymARSD+bhf+1HG6FF0CytmuCdN/ZXUOCViJK4e5l8XWQ454c0/xtVcGc7YSp5A7zjZdCNhOnjCDxL26M6/zY2tqbzRHB6k1r91yBmZbqPeYaSgGRx/0LoS4Oag98x0XOn1qv6xNr2ZQ7FTIQKqB00Z0cqK/O3Pw6lJkjrhvShgQ8vjlk/gXzGl8fvnfJlLC4LHz9v631GtKwuGM6Nd6LJfhCkI0Or6uE2jd+Bu6bgLCSZZrPCVK63lx+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H7XbMne8pgV9oq5EHq1n4P",
      "input": {
        "note": "Gripper reads 0.02, possibly only fur or empty; lifting 5 cm to check whether the plush comes along.",
        "targets": {
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01H7XbMne8pgV9oq5EHq1n4P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5903, -0.1951, -0.1356, 0.9971, 0.7647, 1.6623, 0.7902, -0.054, 0.561, 0.4374, 0.0287]\nstate[eef_state]: left_x=0.2905 left_y=0.002 left_z=0.1733 left_yaw=0.1003 left_pitch=-0.1613 left_roll=0.0494 left_gripper=0.9971 right_x=0.3366 right_y=0.1976 right_z=0.0505 right_yaw=0.0471 right_pitch=-0.1623 right_roll=-0.1243 right_gripper=0.0287\nstate[joint_eff]: [-0.0615, -1.9214, 7.0222, 1.5507, -0.1343, -0.0073, -0.0122, -0.294, -8.7316, 7.8838, 1.453, 0.2857, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea9d000d3af255ee75f8aa07d2492c1acfd3f84f4f06138e0b4c5cfa2e405b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9c31ecdd139c2f7d87ee3a0fd743f98437d5bde999a0480f0114d9402e3086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e1824c2d63d53f06828e3a7c1a350f4db1bef3a3baf061d05c1b7ce54f86bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 6.437 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]: [-0.1238, 0.9165, 0.7506, -0.5861, -0.1951, -0.1356, 0.9971, 0.7612, 1.808, 0.7036, 0.2005, 0.5648, 0.45, 0.9996]\nstate[eef_state]: left_x=0.2912 left_y=0.0019 left_z=0.1741 left_yaw=0.1002 left_pitch=-0.1572 left_roll=0.0485 left_gripper=0.9971 right_x=0.3389 right_y=0.1973 right_z=0.0046 right_yaw=0.0363 right_pitch=-0.1429 right_roll=-0.1024 right_gripper=0.9996\nstate[joint_eff]: [-0.2256, -1.9077, 6.9812, 1.5897, -0.0757, -0.0415, -0.0122, 0.4034, -7.0359, 4.9846, 1.0672, 0.3004, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5888, -0.1951, -0.1356, 0.9971, 0.7647, 1.816, 0.7128, 0.2054, 0.5713, 0.4427, 0.0208]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1736 left_yaw=0.1003 left_pitch=-0.1598 left_roll=0.0491 left_gripper=0.9971 right_x=0.341 right_y=0.1998 right_z=0.0056 right_yaw=0.0398 right_pitch=-0.1354 right_roll=-0.1076 right_gripper=0.0208\nstate[joint_eff]: [-0.0615, -1.8667, 6.8718, 1.5556, -0.1148, -0.0611, -0.0122, -0.6085, -8.2393, 4.0957, 1.3065, 0.1929, 0.0708, 0.8571]",
      "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]: [-0.1238, 0.9165, 0.7506, -0.5903, -0.1951, -0.1356, 0.9971, 0.7647, 1.6623, 0.7902, -0.054, 0.561, 0.4374, 0.0287]\nstate[eef_state]: left_x=0.2905 left_y=0.002 left_z=0.1733 left_yaw=0.1003 left_pitch=-0.1613 left_roll=0.0494 left_gripper=0.9971 right_x=0.3366 right_y=0.1976 right_z=0.0505 right_yaw=0.0471 right_pitch=-0.1623 right_roll=-0.1243 right_gripper=0.0287\nstate[joint_eff]: [-0.0615, -1.9214, 7.0222, 1.5507, -0.1343, -0.0073, -0.0122, -0.294, -8.7316, 7.8838, 1.453, 0.2857, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ea9d000d3af255ee75f8aa07d2492c1acfd3f84f4f06138e0b4c5cfa2e405b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed9c31ecdd139c2f7d87ee3a0fd743f98437d5bde999a0480f0114d9402e3086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e1824c2d63d53f06828e3a7c1a350f4db1bef3a3baf061d05c1b7ce54f86bbd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQgKEAgSGAI4AUIIdGhpbmtpbmcSDDVq0I4i8yWk/uEiNBoMuFwfDE7KkslH5weoIjD4uBpMRVQAch0/7O77x+rlKvlOM+y7lRfECh+Hk8rmOqAe5x/8CUmkwvl8iwGTiLoq0gfWWZwRd22m/w6uXGB4Lo+czyQjuNrgoyVCfglggWwi614BkZPR9d+EGBTYhatmNS3tcWJ63FKHM8R7yO0niFoSpxMfd/VrwgQDBXi7syDzE78nZUuBlAmKDQI1fMIzDAnG1yQtDO4HvHhmClhcU7sKXgVBf2gkIQb/vTVkdtiVSPZM01NRVaNrzzc80q6FJKofurph8o+TxEIx9o3nuYViud4w/4Bf6yI3q3Tnpa15u+WRFoTNspWKTrysaNOl2dQn71mD23FID6Qmv0ykLIGzu6Kh2+fTq4IJ9W3UEKeDi3j5jcSN4fE4EYaSjnVKCUfEercSdaj7V8IESCujbGw5bdrKhyvAaQIKIB/wOPGfQsbsiQN/Ph/boNqwup4nurGiBWctI0LcJcfnzR0bMF4usA/FDEnLItCcEHk3ZTuv1u62dcfYmOkJxKNjOLlohK6xrd3WrT1AdY/fxp6xh5BAqsst8u/w8KNNke9J6aYSszrRjm/TTM45FKSxfzQlGATpj490+7YfOo701QwslcClwizIo0XCLfvaRLCsu8ksZIo15VtR0Q6YfPRZthkrq/P88wt+oAw61Hv+uyCfaHiClgbrMlm/AXqbxiGs0cfqkroXRZBFeUszm+GfRLnrq2HONzQUnDN14iMhdjmLb+zbSpYf11iO3jhaQhim3aD8mPVX9rhNWWYSk3qXupB16u1SHWi2ko8sLEuUgRY13E7AJCdQzMmSq51Xdnip+ebfPiPLv2hlAMrS78M4XdExW9+jFRHVG22NiDqJzhhnpqpRQvoaYtGaQH+Q2N6QMZibrW95kIY7fFDlXC+1FuQ+E7Yixj/OCnyOB01UBrCTVn6A/AUpR1jPl7m1vrzZV2UXQ9aEoFrck6I9dohMpUhFdm9UHRAKODkzqxIHvFiSFgDbLaYUu7mOHIHJPqicfHmbdiLQTvnFfeFvjELf3/WENM+0g68mf2qi0EPXqgkm6dO/+knj9Vf/QHpK+a6B15JIDm9LBsYgjlVh+ZVKAlha7u6JzJ45cw9rf1efMK2mb1K2qRxuD0ftpiJa6/MU/FS03+zra0bvIPpQRdVkjePxbj0he6CAgtdvlnYflKABrG0aNw+den1MvkTR3YWimuco3QKKEdE4Io+5foSYS+pu8p9qiF4Z/SqNi50+C7b0+ZV0gSqC2h+eQqVfxtZlFm9x+yuDZGUccfNE0zfCaTRB4LXR59IO/y7iFfWgKAgM0a6UYpLyY6oXsbpwBkEC668NeXbk6TiG2EWySv73QGOabI5bLqL91n+T2mlV0KErSDnIJcwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XEPqMQ6XzTfsHf3FXhQVzs",
      "input": {
        "note": "Unclear whether the plush is held; lifting higher so the overhead view can show if it comes with the jaws.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XEPqMQ6XzTfsHf3FXhQVzs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5926, -0.1951, -0.136, 0.9971, 0.7647, 1.5234, 1.0473, -0.4984, 0.5488, 0.4297, 0.0331]\nstate[eef_state]: left_x=0.2901 left_y=0.002 left_z=0.1729 left_yaw=0.1006 left_pitch=-0.1635 left_roll=0.0496 left_gripper=0.9971 right_x=0.3332 right_y=0.1969 right_z=0.1342 right_yaw=0.054 right_pitch=-0.206 right_roll=-0.1545 right_gripper=0.0331\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.5556, -0.1441, -0.0415, -0.0122, -0.3077, -9.0598, 8.7863, 1.5702, 0.3394, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab672ce4b140aab506ee5a9ff5279a8d6cc544ab5513713e5e31a531deaea9cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1230ae7110cddfa1981abda1d809f939c4096b0d6ed335b079672de89da3e2ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:de04914554d74981862f27f36a405ac4e666e362660f2237311010b9a6f13735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.07 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]: [-0.1238, 0.9165, 0.7506, -0.5888, -0.1951, -0.1356, 0.9971, 0.7647, 1.816, 0.7128, 0.2054, 0.5713, 0.4427, 0.0208]\nstate[eef_state]: left_x=0.2907 left_y=0.002 left_z=0.1736 left_yaw=0.1003 left_pitch=-0.1598 left_roll=0.0491 left_gripper=0.9971 right_x=0.341 right_y=0.1998 right_z=0.0056 right_yaw=0.0398 right_pitch=-0.1354 right_roll=-0.1076 right_gripper=0.0208\nstate[joint_eff]: [-0.0615, -1.8667, 6.8718, 1.5556, -0.1148, -0.0611, -0.0122, -0.6085, -8.2393, 4.0957, 1.3065, 0.1929, 0.0708, 0.8571]",
      "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]: [-0.1238, 0.9165, 0.7506, -0.5903, -0.1951, -0.1356, 0.9971, 0.7647, 1.6623, 0.7902, -0.054, 0.561, 0.4374, 0.0287]\nstate[eef_state]: left_x=0.2905 left_y=0.002 left_z=0.1733 left_yaw=0.1003 left_pitch=-0.1613 left_roll=0.0494 left_gripper=0.9971 right_x=0.3366 right_y=0.1976 right_z=0.0505 right_yaw=0.0471 right_pitch=-0.1623 right_roll=-0.1243 right_gripper=0.0287\nstate[joint_eff]: [-0.0615, -1.9214, 7.0222, 1.5507, -0.1343, -0.0073, -0.0122, -0.294, -8.7316, 7.8838, 1.453, 0.2857, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5926, -0.1951, -0.136, 0.9971, 0.7647, 1.5234, 1.0473, -0.4984, 0.5488, 0.4297, 0.0331]\nstate[eef_state]: left_x=0.2901 left_y=0.002 left_z=0.1729 left_yaw=0.1006 left_pitch=-0.1635 left_roll=0.0496 left_gripper=0.9971 right_x=0.3332 right_y=0.1969 right_z=0.1342 right_yaw=0.054 right_pitch=-0.206 right_roll=-0.1545 right_gripper=0.0331\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.5556, -0.1441, -0.0415, -0.0122, -0.3077, -9.0598, 8.7863, 1.5702, 0.3394, 0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab672ce4b140aab506ee5a9ff5279a8d6cc544ab5513713e5e31a531deaea9cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1230ae7110cddfa1981abda1d809f939c4096b0d6ed335b079672de89da3e2ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de04914554d74981862f27f36a405ac4e666e362660f2237311010b9a6f13735",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkwsKEAgSGAI4AUIIdGhpbmtpbmcSDMc1ea9rb8Af6pNSTxoMRKtoak8hU2SlKE/MIjBcBq4HHP9s8DLlnh3YL2TbSGj3qSmI7TUWeEqlQnWKl5KgV2UDDBfc+8u2gBZtHasqsArmUzte8CbCy7RefOZWvcyddGjhjHbbP6ifb8NTLjuvyX5wIPHrTo4BM8ZCSU2Iw852W/Wfrh5oqsAaWgCPU4XLLTCxv+WDnbeJsxlWtjq6XnShkjWG4h3tvfJ2x2Pvx7E6wqrHolDwTtz7qjfjWrEew5151FIwqcWBXVJnMyUO52G8L2iBINuZwaKklMl3ylI5KQxS6ikwGA+1zuIuZ1KT/1FhOEAP6i8+1OMu91ns4d0s58ob66aEovnL7e7XA+z8+wEzUPprediFGvq0M/XrK7o3aMm5jceVXIBHB4EqyoPs9UxqgcILZP0T9KHw7l8hmBpH8gMxbnk+EanO2oWpAsGsj9NakaXpfpD3ELGgxBwsxnOf+/v+olyRfyEEvz0PT7ct2soIx/+7aByI9ipP9WDYS63/Ks1HnlTPpVB3vrSizT+l+RkD80EmOYfyqbn3HgeLpGHwFrbNx9A9+lPSYyHf6Rn8cMu3YeBaeiz6v+bYzQeCY0DNChnDrt4MrSm2txGDl3n8jCyUglHF8PtTmQXNeVwMMQoP6nx2N03rNxCb2KTu1UcPj5bmRyp8aNZHzhj6Iv5lvq63DYYkCMyvkAziROSn9mRKCZJ0T/Vaj7R72KJ8XmKpeUEBv63ohj75hjZIewHA679W6LQCsmiYEK3QhV0NRSPN26bLbINMHR3lMEgUXof947WcYugAlpdn9ccHMXTIrPmmfu6t+CSxvI+vdCG4rVsucMOuULdICdIcxL15L9es433vPv23G1z04MSv4JvY3CL/7VtjtR4LP/BxrovPh3FP9OR4IMQCuT6mF86JAQCu5FWWktemBpPw9jHmOcqksuJrDY1/2W/mEBu6ib0SFc5NYC2StmvwsHxlRKZgQKcz2iRCg6hVNVdeNREr6TFBBuXj6UVC9I84+XP7eT/4h+MfF+qH3vwcph468pINnlyq9mZZRn82c+Z1orWVetfHU0SHEL4FfPH/uTkUsg0HeguoKO8dZ/4DsWMBYXn3J6HtM4hneR/0HO9FPLTDbjd0uVT+XWH+eXzIjUb9AUj7c2OhTOmh0oYlXj/wML016g3TMhKfpQNkGLkxjEY8daaNOr644mAljnyQCDH6N+6pBG2dGIUdOjJGSKJBvjvyuFcHuUMHBR5TiSENClDPG388fDVqHQU6azGUrbDJTN+ZuU5xlhcuCBPg6d/85rVfAdSkEarj5FLwU+i9qHQ8uKiHKRaRxzvVpoCAAONxm8WZ+ZNsONyteS4ZvFDw3AvkkVZ+zlB3mGAPbyj1ZY+BkOIPTo84eAAIAkwkE6qZ17MYl5z9qrzSq3YzpzvYgQl42dYXc5maoXR2hv9iZVXvozMK7Rs+/26Thu7K/OPsq1bResgFmJqmUyF7HSF3Zkkez4Gfqxfb52w0H+54msrznf1Qt9PNCZVRVNVll7qLJFHIhep0P/cLVWnfi/kOzSqKlIR8H9W3gj99mCWUmqBT8BpxtmF2lq/mmtlqaj//4D61aWHl+WAuKOr41itDMqx98CRbSbUX572eipaTyghQqxIjzoscq6YH5ywHVFwAicWbR3KFtgwnKNz14o7x9DovGgMzPzcaqeFgKjab/XaY/nLUJgijdDViUUOeNIFK1nzYOkRAKIyTfQXll10bo1sWQKLOxKq2ZEkCxRe74o9XyCN6lHJkaB/Nq6SMWeNvdwwAiuNazoMNDsj3Vmy9/8EkwmNo0uCdVtNJX9RXLi0cwwi7Hy1otCTf9byGE4kE/3DyipYQn+qobVPsnBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NLVKAzbFyngGpZgWyyrwSM",
      "input": {
        "note": "The plush is dangling from the right jaws. Carrying it high over the safe interior, right of the bear.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.28,
          "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_01NLVKAzbFyngGpZgWyyrwSM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9207, 0.7506, -0.6083, -0.1951, -0.136, 0.9971, 0.7071, 2.0922, 2.0583, -0.9218, 0.5003, 0.3656, 0.0331]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1691 left_yaw=0.1014 left_pitch=-0.1828 left_roll=0.0541 left_gripper=0.9971 right_x=0.4543 right_y=0.2815 right_z=0.2089 right_yaw=0.0691 right_pitch=-0.2216 right_roll=-0.1565 right_gripper=0.0331\nstate[joint_eff]: [0.0205, -2.2632, 6.8308, 1.6777, -0.149, -0.0366, -0.0122, -0.6496, -12.041, 7.706, 0.989, 0.3883, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82a624403d0c819103320ad5d9f7e5ab7380074cfdb9ba0d2492be26ae31ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed91cfee05a76f5811d1ba3d5b05c3069c2b6da253f128c50ff5ca2ae547f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8af8c43ebdac0173e12378a5c9e68fd096fa7ade6e7d72ebb2ca58c6b3a25ff3",
        "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 · 6.341 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]: [-0.1238, 0.9165, 0.7506, -0.5903, -0.1951, -0.1356, 0.9971, 0.7647, 1.6623, 0.7902, -0.054, 0.561, 0.4374, 0.0287]\nstate[eef_state]: left_x=0.2905 left_y=0.002 left_z=0.1733 left_yaw=0.1003 left_pitch=-0.1613 left_roll=0.0494 left_gripper=0.9971 right_x=0.3366 right_y=0.1976 right_z=0.0505 right_yaw=0.0471 right_pitch=-0.1623 right_roll=-0.1243 right_gripper=0.0287\nstate[joint_eff]: [-0.0615, -1.9214, 7.0222, 1.5507, -0.1343, -0.0073, -0.0122, -0.294, -8.7316, 7.8838, 1.453, 0.2857, 0.0073, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9165, 0.7506, -0.5926, -0.1951, -0.136, 0.9971, 0.7647, 1.5234, 1.0473, -0.4984, 0.5488, 0.4297, 0.0331]\nstate[eef_state]: left_x=0.2901 left_y=0.002 left_z=0.1729 left_yaw=0.1006 left_pitch=-0.1635 left_roll=0.0496 left_gripper=0.9971 right_x=0.3332 right_y=0.1969 right_z=0.1342 right_yaw=0.054 right_pitch=-0.206 right_roll=-0.1545 right_gripper=0.0331\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.5556, -0.1441, -0.0415, -0.0122, -0.3077, -9.0598, 8.7863, 1.5702, 0.3394, 0.0415, 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]: [-0.1238, 0.9207, 0.7506, -0.6083, -0.1951, -0.136, 0.9971, 0.7071, 2.0922, 2.0583, -0.9218, 0.5003, 0.3656, 0.0331]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1691 left_yaw=0.1014 left_pitch=-0.1828 left_roll=0.0541 left_gripper=0.9971 right_x=0.4543 right_y=0.2815 right_z=0.2089 right_yaw=0.0691 right_pitch=-0.2216 right_roll=-0.1565 right_gripper=0.0331\nstate[joint_eff]: [0.0205, -2.2632, 6.8308, 1.6777, -0.149, -0.0366, -0.0122, -0.6496, -12.041, 7.706, 0.989, 0.3883, 0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e82a624403d0c819103320ad5d9f7e5ab7380074cfdb9ba0d2492be26ae31ddf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fed91cfee05a76f5811d1ba3d5b05c3069c2b6da253f128c50ff5ca2ae547f64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8af8c43ebdac0173e12378a5c9e68fd096fa7ade6e7d72ebb2ca58c6b3a25ff3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Over the safe; lowering and releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HoCzz5kmYNPNAeJLrbLuTg",
      "input": {
        "note": "Plush is above the red safe interior; lowering and opening to drop it in.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HoCzz5kmYNPNAeJLrbLuTg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9211, 0.7506, -0.6147, -0.1951, -0.1394, 0.9971, 0.7055, 2.0888, 1.7264, -0.6586, 0.4965, 0.3622, 0.9948]\nstate[eef_state]: left_x=0.2866 left_y=0.0025 left_z=0.1678 left_yaw=0.1036 left_pitch=-0.1894 left_roll=0.0532 left_gripper=0.9971 right_x=0.4472 right_y=0.2751 right_z=0.1186 right_yaw=0.0624 right_pitch=-0.2761 right_roll=-0.1964 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.853, 7.0222, 1.5946, -0.1148, -0.022, -0.0122, -0.1983, -12.6017, 6.8308, 1.5702, 0.2515, -0.0073, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a86c26108fba2a3e1c17419fb67dd269340afbb6117579a32d732b1f4d32b4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a9cd9ed7d5c4449dc0bd1d23d8761f30c9ea62a7d4dbacac52eee2f0b2b031b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:901797f5bca2ab40686a675978f6f73ef282e30d2d3125257d49faed3cc3e97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.581 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]: [-0.1238, 0.9165, 0.7506, -0.5926, -0.1951, -0.136, 0.9971, 0.7647, 1.5234, 1.0473, -0.4984, 0.5488, 0.4297, 0.0331]\nstate[eef_state]: left_x=0.2901 left_y=0.002 left_z=0.1729 left_yaw=0.1006 left_pitch=-0.1635 left_roll=0.0496 left_gripper=0.9971 right_x=0.3332 right_y=0.1969 right_z=0.1342 right_yaw=0.054 right_pitch=-0.206 right_roll=-0.1545 right_gripper=0.0331\nstate[joint_eff]: [-0.0068, -1.6889, 6.9128, 1.5556, -0.1441, -0.0415, -0.0122, -0.3077, -9.0598, 8.7863, 1.5702, 0.3394, 0.0415, 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]: [-0.1238, 0.9207, 0.7506, -0.6083, -0.1951, -0.136, 0.9971, 0.7071, 2.0922, 2.0583, -0.9218, 0.5003, 0.3656, 0.0331]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1691 left_yaw=0.1014 left_pitch=-0.1828 left_roll=0.0541 left_gripper=0.9971 right_x=0.4543 right_y=0.2815 right_z=0.2089 right_yaw=0.0691 right_pitch=-0.2216 right_roll=-0.1565 right_gripper=0.0331\nstate[joint_eff]: [0.0205, -2.2632, 6.8308, 1.6777, -0.149, -0.0366, -0.0122, -0.6496, -12.041, 7.706, 0.989, 0.3883, 0.022, 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]: [-0.1238, 0.9211, 0.7506, -0.6147, -0.1951, -0.1394, 0.9971, 0.7055, 2.0888, 1.7264, -0.6586, 0.4965, 0.3622, 0.9948]\nstate[eef_state]: left_x=0.2866 left_y=0.0025 left_z=0.1678 left_yaw=0.1036 left_pitch=-0.1894 left_roll=0.0532 left_gripper=0.9971 right_x=0.4472 right_y=0.2751 right_z=0.1186 right_yaw=0.0624 right_pitch=-0.2761 right_roll=-0.1964 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.853, 7.0222, 1.5946, -0.1148, -0.022, -0.0122, -0.1983, -12.6017, 6.8308, 1.5702, 0.2515, -0.0073, -0.2418]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a86c26108fba2a3e1c17419fb67dd269340afbb6117579a32d732b1f4d32b4cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a9cd9ed7d5c4449dc0bd1d23d8761f30c9ea62a7d4dbacac52eee2f0b2b031b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:901797f5bca2ab40686a675978f6f73ef282e30d2d3125257d49faed3cc3e97b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgsKEAgSGAI4AUIIdGhpbmtpbmcSDMTN2y3btLk8ByRI3BoMtba1unWIkRQZfO5HIjAjBtzrw2YDUq5Xs9fPVMDQ8sye0yLkaECtp3z/6GYrDxlhgnIPhJFLMKkFZ/Dbfl0qwwpOKammwCHPHDwkHKsVdRZlpWHdsm/Gr/Act7wRpduIdI2Z8f6voCmvaTJle8TD+hdR2HI2Hx0BDFydYAP+JrgKL/KJ20mYTKWYTN7wshDpHfaU8dOFWS9UOPqgLN0pUaU3vaKSwwvy9pVkMHmLsprsC9VWrHz9/QwIm+dhpH9t27NQZAJNpyYi+iJCmHt6OJuDlUyhpUnMRLG5xhI0vacVIww4loJkqTHIbaFCVVhVUD93SG8XXpqTwg687W5GwM27NiFoYy+MWN2ao4D8ggf26STsF9L7+LEXfMRMEdWWeeV5LfVRsq+9GRQV1XPBHtT6Gm2J7QWEwwkoiponpaiGPSzAwPQeu8QUg+VbZ6mfADRuwuWseXneXI7atO9rfzVAUk+MLV6bMeJc93e2RuBa39LON5iRDeXFng9Sj80OWaw461Sm2tsid3veyx1E+KYvFZXUSc2aW83ot3kGWJqwm7gbgUJ+T5waBGXFz0BCCtNTaQgFr4xYA0LQ5VK4K24wRxyzvc+F7/wgqfmEaG/45Yact3WRKB5KcBsTLNu90fRJGqwaorMjVQVgysCCYtoKput6GSs00MQL2mf9v0bDADqKV0bnVRQgv11UCcAHXPSWKXCnwruuuTYsO9RdSyKmdtk+t3OKoHMN0c/Kl86gLqpQADxV8uzRHWYQcorZ0syue/CRnHSOuZyGrOyiKYXvJWyRNW4seA1AimF+RqtbJCUTjOVcaSKt4Eogg1IU7l5bWPKgxb0TqbSTHtncvCLrQ4SRK638LbLzsymzO1sIzof+EaBveLzn46UVK2pzJ3s2oj3yox6KK+Sfd+DE+wFlyzPpB8895YBRy6QZsDD4OZsNG5F1s3T04xHeJFy/AlDWRSmhit2IW5UoeCAMAVv+Qod6c2Alu/amCXzUvitinh4N0VE6+Wuv57BRizpfWQ//zTnuzrncCgIaC4f9KDVT05J39Cc/fFzqo0Tf83G6tQk/enqdpTjUURnihcchYC2WTJChgfWNmKOXxopVU8yD0El3iC9mZXqFSYMSfmTS7v2a15o4MMDhh5+0adPyF5RHQNla8oSXh8NnItTKeSeXoZgZrv30rI/JOw6UgUeeqW5mcCAnyWoAZclbzlrXikQ0u8GTuihdQF/3ZMULjCdRk0RjDJxPJej0TsltnDhLchC2A66nePGTiH6QCc7D/SEIZJ+QLOAHisGIGFO3dLO2R0IMVRbc07q76NchRd1ZaiNobE5HTOXuuvHHvF6yMtg6lLwHolmUvhywu2LQVYlbbwMGU3E9PhHr91S7gVtbqm+skgZ7LHnA7QNq3VmWhdddcXilgwIP5jzPgnhI6UrRdXN/VAyH1aHukKUM86L8dFFnagBTqelVqRHNot7ll9KHVGoCRAtlol9DMhXJjkCLJ8Qjn4R7nvVnbMWMuP6xhR9TP3CQ10uGle5eXVo8nhZJJSZ756NH5mSx/nGIwENOuUxSoSecOJIyH/NZRx426I/SEqr8bsJJp/FsAXJ31ELJEjweQZzwLlAg5O/yaS2q/tPKNQScv2QUgaehsUMUXsCv15ouYfaP2oEcRdPK5gK5g17Mu3wwsdsQ8Ytv/OLH3yE/VeJHGaVdxy/t580s9Oo7qoY6DFzefl+tdKynCtwxxD7MFPQeTzNXw54NJQX2yuUkhs6kH5KUFcUk2gT5Yyt5bENX7z3E7CYPykQ5+wKpeWG4HSknsWggg11JPvN4yVBdJcEfmZU3Rgu8reQ4Q0793zJgO0acBbr6cylDBgbeCcolej3yWkDXKuTCmwieLEsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KVym3J61F3N3HWDiPzRQoB",
      "input": {
        "note": "Plush dropped in the safe. The yellow lemon sits just right of the safe; moving the right arm above it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.17,
          "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_01KVym3J61F3N3HWDiPzRQoB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9211, 0.7506, -0.6308, -0.1951, -0.1425, 0.9971, 0.5129, 1.8362, 1.4441, -0.6075, 0.3954, 0.2008, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=0.0028 left_z=0.1651 left_yaw=0.106 left_pitch=-0.2049 left_roll=0.0546 left_gripper=0.9971 right_x=0.4364 right_y=0.1718 right_z=0.1326 right_yaw=0.041 right_pitch=-0.3213 right_roll=-0.2161 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.5932, 7.0359, 1.746, -0.1587, -0.0171, -0.0122, -0.2803, -11.9179, 6.8308, 1.5751, 0.1587, -0.0757, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b6eba5905d1c0ee864f15a50101a53b5d69c2d7f3e2ecab194b977b4084a4b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f63bb3679c4c551639afbe69bf45e9cdef34cca8237d699e4830f3488fe17638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:933ce9a5e075da5dea1efc2299f2fb95f0d4f26f87958a9542ba4f49dcdb6a91",
        "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 · 4.428 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]: [-0.1238, 0.9207, 0.7506, -0.6083, -0.1951, -0.136, 0.9971, 0.7071, 2.0922, 2.0583, -0.9218, 0.5003, 0.3656, 0.0331]\nstate[eef_state]: left_x=0.2877 left_y=0.0023 left_z=0.1691 left_yaw=0.1014 left_pitch=-0.1828 left_roll=0.0541 left_gripper=0.9971 right_x=0.4543 right_y=0.2815 right_z=0.2089 right_yaw=0.0691 right_pitch=-0.2216 right_roll=-0.1565 right_gripper=0.0331\nstate[joint_eff]: [0.0205, -2.2632, 6.8308, 1.6777, -0.149, -0.0366, -0.0122, -0.6496, -12.041, 7.706, 0.989, 0.3883, 0.022, 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]: [-0.1238, 0.9211, 0.7506, -0.6147, -0.1951, -0.1394, 0.9971, 0.7055, 2.0888, 1.7264, -0.6586, 0.4965, 0.3622, 0.9948]\nstate[eef_state]: left_x=0.2866 left_y=0.0025 left_z=0.1678 left_yaw=0.1036 left_pitch=-0.1894 left_roll=0.0532 left_gripper=0.9971 right_x=0.4472 right_y=0.2751 right_z=0.1186 right_yaw=0.0624 right_pitch=-0.2761 right_roll=-0.1964 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.853, 7.0222, 1.5946, -0.1148, -0.022, -0.0122, -0.1983, -12.6017, 6.8308, 1.5702, 0.2515, -0.0073, -0.2418]",
      "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]: [-0.1238, 0.9211, 0.7506, -0.6308, -0.1951, -0.1425, 0.9971, 0.5129, 1.8362, 1.4441, -0.6075, 0.3954, 0.2008, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=0.0028 left_z=0.1651 left_yaw=0.106 left_pitch=-0.2049 left_roll=0.0546 left_gripper=0.9971 right_x=0.4364 right_y=0.1718 right_z=0.1326 right_yaw=0.041 right_pitch=-0.3213 right_roll=-0.2161 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.5932, 7.0359, 1.746, -0.1587, -0.0171, -0.0122, -0.2803, -11.9179, 6.8308, 1.5751, 0.1587, -0.0757, 0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b6eba5905d1c0ee864f15a50101a53b5d69c2d7f3e2ecab194b977b4084a4b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f63bb3679c4c551639afbe69bf45e9cdef34cca8237d699e4830f3488fe17638",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 183):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:933ce9a5e075da5dea1efc2299f2fb95f0d4f26f87958a9542ba4f49dcdb6a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwgKEAgSGAI4AUIIdGhpbmtpbmcSDDgPfptjEHC9Ufd4uxoMTXdJAL/KZ6/K8CVkIjDY77LXm0Xkcq+hT2AiHy/wU35t9kX8ZpykVkA2vUZUuQ7m5blAFlO5pkHzAf4zLmcquAePX4rK0PQkkRzvysWia2fzxXlQ44ibnSGFlsnxBrGQlKNkWJNr4f6u3odYee0Q7ZZ0IGPlxYUEqk6pJhVvORAnTMyxVOAVJPRinPaT64U9K0zrVhMG3hdsd4lbPS+9r6U3CLCb5URPcLp4jFc1SptQxgRsQUq2xE6zQ03LUhdc2eUvUm7i6vsEM4tzoBBoKHitayzeuL/xuBKNKYeeLral4ba7xYCjfcqZx/Yf+piz9aSaKq/UGXTl20k6njG8wHAiiPq14eVYeCzxXCie4UXzzTwG1Z6abtoHHbft8gMn+5oUxtFELA5Z0inQ67U2Vyjj8nlk/q1e3j8u9kqzIe8SR/tFg2A8FN0u2B5WPWFimog4IZ4v0My98clLGU00e2Aq/5WtDNj8I41XCyUW1mMOyc4Vd+sjYMhiyeqCkmbuXXMmgeAJHGzEHvhv8msQzQq+vxSU+g0BJF3pJfRC+uxhJUNPiXE+/qfQCc6rBB5VkgBZxUkmdVGB1GYUdTlfvq421CE4L1XkMzAMQ84bG4Cai5n5VC6GIRqkKbD/SqDMpCwsssaN/Fb7jB+2uvegsOmPM912wy6gIpYNQ+TNmAh7oSI5AUI5yQwbc37Yc10jU9ORhxJFq7Zgouplj4iDhOav+N4n+xe/nmKCSqq8sVgILDctI0ePR3voldgY4qs9wyP0byHfGd6t+NdUJ//7kbivrLkF6JXTUq9XoYDUeFXw6SMR4BCG1NuGWhMIJ1ndFIDAhMvaUoYsi7qcwzZjrxHtvgXaGcrhyPDq9iR6EWTVX+5xizpjsI3hOHLepxXgU25M2PgoxzNn5xDonO8BxucxfQOgdfgouQCepxSzJXZ54z0UAul37x+XySLiIBgzXWUCMzr5PC2l96s3QEZU3pBZUGeg0KyCqta0V89lNc2qJqatMuYiVuDdkWVNSRloQXDZB28FDrAW6q1HMUPxoz6exvo6bIljTHY1rIKXYBSxj1VAI6Qk0GgQdrKTGd7UfuFJMYmOdpTgEse1TcV5YpX0LM3q6MsZfjpz+X3LUg1tAY8RCcOg7B+uv/8C/dwm1+3c5m7rOStMMIVk8Pqoxe8FVD+D4WvboShrzUNjECeBakvqj3YvBu7OAnddWSZKOw2eQPM28DHiemQU9pWtbPt3MiCNaI6FEef60fB3ZJGJBomyOER2hCKQIK+nY+hlDXkAvkNS0qwwg8iPkWzQffWQ0Tnj2lQf0WphRlHt7wArU6a663wmlME+f552/W36rseYQkLWEP7rGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ms13QPXTrsWbPJYqek6gUo",
      "input": {
        "note": "Lemon is right of the jaw column and a bit ahead in the wrist view; shifting right/forward and descending to its mid-height.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.47,
          "right_y": 0.14,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Ms13QPXTrsWbPJYqek6gUo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1432, 0.9971, 0.3901, 1.953, 0.91, 0.3759, 0.2863, 0.1864, 0.9968]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1069 left_pitch=-0.2145 left_roll=0.0564 left_gripper=0.9971 right_x=0.4634 right_y=0.1405 right_z=0.0275 right_yaw=0.04 right_pitch=-0.049 right_roll=-0.0166 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.7709, 6.8034, 1.5702, -0.1538, -0.0611, -0.0122, -0.6769, -7.5419, 4.4513, 1.199, 0.1636, -0.1294, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f89d84668ff392b87ccc14cc14cace6854c8160ce8d61ba26f03179f8cadea9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f41223a38a7869c9c3336643aa213143bb11f58beb52f3349244bbb208ba169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:440ff5c5a8d03993a437369631a1fc4670e41d5812c88210e81d510c0cb8c801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.245 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]: [-0.1238, 0.9211, 0.7506, -0.6147, -0.1951, -0.1394, 0.9971, 0.7055, 2.0888, 1.7264, -0.6586, 0.4965, 0.3622, 0.9948]\nstate[eef_state]: left_x=0.2866 left_y=0.0025 left_z=0.1678 left_yaw=0.1036 left_pitch=-0.1894 left_roll=0.0532 left_gripper=0.9971 right_x=0.4472 right_y=0.2751 right_z=0.1186 right_yaw=0.0624 right_pitch=-0.2761 right_roll=-0.1964 right_gripper=0.9948\nstate[joint_eff]: [-0.0615, -1.853, 7.0222, 1.5946, -0.1148, -0.022, -0.0122, -0.1983, -12.6017, 6.8308, 1.5702, 0.2515, -0.0073, -0.2418]",
      "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]: [-0.1238, 0.9211, 0.7506, -0.6308, -0.1951, -0.1425, 0.9971, 0.5129, 1.8362, 1.4441, -0.6075, 0.3954, 0.2008, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=0.0028 left_z=0.1651 left_yaw=0.106 left_pitch=-0.2049 left_roll=0.0546 left_gripper=0.9971 right_x=0.4364 right_y=0.1718 right_z=0.1326 right_yaw=0.041 right_pitch=-0.3213 right_roll=-0.2161 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.5932, 7.0359, 1.746, -0.1587, -0.0171, -0.0122, -0.2803, -11.9179, 6.8308, 1.5751, 0.1587, -0.0757, 0.1783]",
      "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]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1432, 0.9971, 0.3901, 1.953, 0.91, 0.3759, 0.2863, 0.1864, 0.9968]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1069 left_pitch=-0.2145 left_roll=0.0564 left_gripper=0.9971 right_x=0.4634 right_y=0.1405 right_z=0.0275 right_yaw=0.04 right_pitch=-0.049 right_roll=-0.0166 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.7709, 6.8034, 1.5702, -0.1538, -0.0611, -0.0122, -0.6769, -7.5419, 4.4513, 1.199, 0.1636, -0.1294, 0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f89d84668ff392b87ccc14cc14cace6854c8160ce8d61ba26f03179f8cadea9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f41223a38a7869c9c3336643aa213143bb11f58beb52f3349244bbb208ba169",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:440ff5c5a8d03993a437369631a1fc4670e41d5812c88210e81d510c0cb8c801",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gcKEAgSGAI4AUIIdGhpbmtpbmcSDA4WKppg8UhvL32OdRoMXf8g9MzownAOWPQuIjCd1erSG0HRAGzutnwJfZd/j/bhj739q00I4mnD8d9qjz0Zk9qXAvFU0BJl8ty3dlUq8wYE7yvxAuvplDrZ/43RrXVlzJLFZN6IQGwIdWt3Qy2Ne6FaTr2jtywceK3KWmuMD7UIj3K7rHire0NZtf3+yfNV0CUMhxtTfkt292t1TXQ25EWfC0Qc7chODkhjmueJGihQmkhvdwfnyzc7tIlAx76e6T0u4141BQFKNXF2MDgNI/5I5QFJhCgzGFkQnP9rJd7Fx4m/EYouSJ0sFs86FX5oRHzlhTD/DDrKFDa6WhlaOWg3yI9rKfkriUNGldLoFBIqh2r+eJEfyXrM833hBf53HW95xjf8FDf/46lYQbJPe0ZEx+8CVk72WeLSiFdqVyYQwghL/iR5sF06HEkkkXzCUGhHzQFaIKtlcBWR7Lrxs/wwtSYri1FGnACB4zyM94LcDNogPGcvslXvQfW9oClIpQ2JFgN7ggaJfZzCTqId5VRhEa1VnL+cRon020cqr6LeZKr4Al0XinxozzYfEvJdTZgAdrnL2RZglpgJjIexFOM+1Kp9GzSFSrhw9nXrYilF0+ljVOHs64ctaTo+fjNO9ocubgv2ViziRLuGU9wZPlir+dHx9WG7o8VWR+NWK4ov2+36YxXw3xJyu4XUs8hHpJ7l0HVpgtysCEFb8K7Oc6d7uZOSpTDnFkvaY1POg7EctOSLBAgmqQRQyk/baKNP1FQ3EaNxD859rL+eSvkeuyJ02k6LO3jiJHppI/MeLJHRr0yBhngXffywL+yuQIleP0dgJInCeO2BKrzfCJoOuLx8R0qllEVZQjDmg6+p+qpCfqj8VYHEpQwpXuowtoML2vcDAu8PxKkZNDh7VUlvz3w6o0lJiKxMftSYVAe0zUlUVY+QS+Kgo8cmLuzoRgjHinFf77fvF/HJn8vc+IlCJYpBLtCVlNo9JqnIJW4ku4mBjpsT0NXDZH7JcTvQoQYiOHFL9za381EGkVUJLK0uoSkDSxvIHWmPKM1PBFzy+R7yIpRxAF/mDRuG4/meh2hKo3DxMCLDH4mLoW5/dkPFWsJP+abkButRpMkW7rXM/FMQ7ULFYdn4+NFvndNIb+1OT7a6JnO8WcAohcAoq1jBiLtSx+D9mv+UmmGNkukaoyM69T0SNj0ykUioyoN0PNbtnQ81GUL+Us4TbP8CB+TGTXMpgQ4eeyn9RxlzARjUP7EBmdVQ0Zmq1uyKXioB5BjmsXU3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01StwY1hof5jKu5achzsNW4h",
      "input": {
        "note": "Lemon is close but right of centre (right jaw near its edge); shifting ~3.5 cm right to centre it between the jaws.",
        "targets": {
          "right_x": 0.475,
          "right_y": 0.105,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01StwY1hof5jKu5achzsNW4h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1429, 0.9971, 0.3046, 1.9694, 0.8921, 0.4511, 0.2039, 0.152, 0.9971]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4756 right_y=0.1158 right_z=0.0257 right_yaw=0.0415 right_pitch=-0.025 right_roll=0.0152 right_gripper=0.9971\nstate[joint_eff]: [-0.1436, -1.8803, 6.8308, 1.4823, -0.1294, -0.0415, -0.0122, -0.253, -10.4547, 5.7778, 1.2723, 0.5201, -0.1587, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce6f82c2a1ccff6906ac4033ba66eccddd416157fb931e6ab623daeb93283aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f904fc014825e175d12441243798a42346be706815833c5b3c74bfc0a40e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a55f7a26037567858d94ff8e7a5d26124f5e0156172d30868822c80ff8acc34",
        "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 · 4.004 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]: [-0.1238, 0.9211, 0.7506, -0.6308, -0.1951, -0.1425, 0.9971, 0.5129, 1.8362, 1.4441, -0.6075, 0.3954, 0.2008, 0.9966]\nstate[eef_state]: left_x=0.2838 left_y=0.0028 left_z=0.1651 left_yaw=0.106 left_pitch=-0.2049 left_roll=0.0546 left_gripper=0.9971 right_x=0.4364 right_y=0.1718 right_z=0.1326 right_yaw=0.041 right_pitch=-0.3213 right_roll=-0.2161 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.5932, 7.0359, 1.746, -0.1587, -0.0171, -0.0122, -0.2803, -11.9179, 6.8308, 1.5751, 0.1587, -0.0757, 0.1783]",
      "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]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1432, 0.9971, 0.3901, 1.953, 0.91, 0.3759, 0.2863, 0.1864, 0.9968]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1069 left_pitch=-0.2145 left_roll=0.0564 left_gripper=0.9971 right_x=0.4634 right_y=0.1405 right_z=0.0275 right_yaw=0.04 right_pitch=-0.049 right_roll=-0.0166 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.7709, 6.8034, 1.5702, -0.1538, -0.0611, -0.0122, -0.6769, -7.5419, 4.4513, 1.199, 0.1636, -0.1294, 0.0122]",
      "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]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1429, 0.9971, 0.3046, 1.9694, 0.8921, 0.4511, 0.2039, 0.152, 0.9971]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4756 right_y=0.1158 right_z=0.0257 right_yaw=0.0415 right_pitch=-0.025 right_roll=0.0152 right_gripper=0.9971\nstate[joint_eff]: [-0.1436, -1.8803, 6.8308, 1.4823, -0.1294, -0.0415, -0.0122, -0.253, -10.4547, 5.7778, 1.2723, 0.5201, -0.1587, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ce6f82c2a1ccff6906ac4033ba66eccddd416157fb931e6ab623daeb93283aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61f904fc014825e175d12441243798a42346be706815833c5b3c74bfc0a40e98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 197):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a55f7a26037567858d94ff8e7a5d26124f5e0156172d30868822c80ff8acc34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1wcKEAgSGAI4AUIIdGhpbmtpbmcSDPMw6xelREyx69jdlRoMztL4o7IerMlMZvu8IjAePAtCUrmPecQ8w0fnEG3k1v9Txx8z6Qc3vP05UA2tymWQ35fDhHNoiqc9aShDXjgq9AbVVlMHzLKJi3zb+9wgFMBc1pKaFAuHEQmsKpzu/a5DXsS2v+ugaE6bYLlnq06k4jKUoJI1yfwDY6mh2IPFGfvCFMHveHTdGB2I9GvO9MnyYwDs61/ir98An8moNsdcLtuJ8kw6pbqybN1vSFvAJzinl4hrxLv7rdtnJ4dr04x0/B8vBBOJc4dgcJs/owRV/gQatmvYnsP5Flb3RhXPK6D0KwK1+Z/pTWCq6d6UCAC08I8xjMW5mMqnwLDNGBZxMjaPagRjH8HDN1WtmgzgaV5yseCoPeg3Od72YNUmDnx5WXYLsSOCql73XJN+vlnSWM+LqwEabRlkZl/CF74oBl7+ySezUpBChBQEk2M/6KXJGkaE3yWK+SsQ5Fbl7HI/SZIwmf49Jou1mqe960LAfRDe7JYCObl3Qnwu1/l/3cGmBflIpR67YCwzt6lIFR1DJXsE7jb6rN4iFF9LFZrAALRfWKwlEM2mfvkfhUnx+E3IKa1T9S2q4/f8lVev1qYm28XOdsk0e1ooeCH7GEqqS3f6Qi8Lxt/PFR+AmAD9AOb/sE9AXfrybzhZFr5DsfYMdxAqZVI6LDXtA5SxPDRPY74odF/g92uGogjUJpZ4yRlam5L1hVIRCjq6hmvIARFvErzY0m2pKgFamBuToQmxtiR0YPhorHP3VUllvlSts5hneG7Piu33AwCORc09sYw2mCxfy04rRCUGaV2APGZrmQVVRhiMofiA4i0l2eEYLWgQpfuLkLY4sYJdRMoIZs/tu3nn5tlXPUb4nu4kN9M6ev7Pc9AfyJ2NXf3+yNPe+Yes5lCn2pcrt41zqQgQxCsgokFREARbMV/sFpxVsUBHfPpBLQ1b5NuLI+LNNcYErU9EPXh623QjvjhFBWFXhHqDm+oqMy4ZBXfQ81DRse8YSg3jwRj2f0D4xD5yZK1N1D2SwaLRvA+w3cTg3hALfBCXMZRzn0kU4I7tHpFfKGThp4zXYm3lYcsHmhuUnvPtYXj/iBBjuEgma5WyOdMls2DzRh1GIuT/tTgi/BE3334NvfTyLBjAEwPfqnXZYBeKUDji1EBn3xUHujLvXpgBVihSIpbVORcs3Uyl3kwoNEGILca3spwGhlqoxoIc1T76QTaS2cCqgLSCtmDrw988BTVHT3IvENb77QdiKdxJU7u22IlX+dYyihgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T1pbXECEQZZFWeGgoYQd77",
      "input": {
        "note": "Lemon sits slightly right and ahead of the jaws; advancing ~2.5 cm and nudging right to put it between the fingers.",
        "targets": {
          "right_x": 0.5,
          "right_y": 0.1,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01T1pbXECEQZZFWeGgoYQd77",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9237, 0.7506, -0.638, -0.1951, -0.1429, 0.9971, 0.2676, 2.001, 0.9344, 0.4442, 0.1627, 0.1261, 0.9973]\nstate[eef_state]: left_x=0.2827 left_y=0.003 left_z=0.1632 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4885 right_y=0.108 right_z=0.0241 right_yaw=0.053 right_pitch=-0.0267 right_roll=0.0183 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.8667, 6.8308, 1.4579, -0.1245, -0.0269, -0.0122, -1.2239, -8.335, 6.7624, 1.6532, 0.3883, -0.1441, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:211055d3d5a4c0f7bb9f2effb1323eb3d2aea0f0934798ab74f6d67b81b8dedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51595c71f8b54b189f130c07b68c5817c227a23cc75165a7d8f174fa561135c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:450e449e54bfcb9d34280c2ce83c5782d4d62ee369191aee2506da3a7f019dc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 7.342 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]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1432, 0.9971, 0.3901, 1.953, 0.91, 0.3759, 0.2863, 0.1864, 0.9968]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1069 left_pitch=-0.2145 left_roll=0.0564 left_gripper=0.9971 right_x=0.4634 right_y=0.1405 right_z=0.0275 right_yaw=0.04 right_pitch=-0.049 right_roll=-0.0166 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.7709, 6.8034, 1.5702, -0.1538, -0.0611, -0.0122, -0.6769, -7.5419, 4.4513, 1.199, 0.1636, -0.1294, 0.0122]",
      "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]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1429, 0.9971, 0.3046, 1.9694, 0.8921, 0.4511, 0.2039, 0.152, 0.9971]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4756 right_y=0.1158 right_z=0.0257 right_yaw=0.0415 right_pitch=-0.025 right_roll=0.0152 right_gripper=0.9971\nstate[joint_eff]: [-0.1436, -1.8803, 6.8308, 1.4823, -0.1294, -0.0415, -0.0122, -0.253, -10.4547, 5.7778, 1.2723, 0.5201, -0.1587, 0.0171]",
      "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]: [-0.1238, 0.9237, 0.7506, -0.638, -0.1951, -0.1429, 0.9971, 0.2676, 2.001, 0.9344, 0.4442, 0.1627, 0.1261, 0.9973]\nstate[eef_state]: left_x=0.2827 left_y=0.003 left_z=0.1632 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4885 right_y=0.108 right_z=0.0241 right_yaw=0.053 right_pitch=-0.0267 right_roll=0.0183 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.8667, 6.8308, 1.4579, -0.1245, -0.0269, -0.0122, -1.2239, -8.335, 6.7624, 1.6532, 0.3883, -0.1441, 0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:211055d3d5a4c0f7bb9f2effb1323eb3d2aea0f0934798ab74f6d67b81b8dedd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51595c71f8b54b189f130c07b68c5817c227a23cc75165a7d8f174fa561135c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:450e449e54bfcb9d34280c2ce83c5782d4d62ee369191aee2506da3a7f019dc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AcKEAgSGAI4AUIIdGhpbmtpbmcSDLC/X7Y+VmKpYtfCuBoM6yUxelDCttPhHzmWIjDGzqS9rhGV4uQsO1M+oqCA/uaMghHC8gcAsCRp/odweDudi3IlszgXL/fDAbl7xhUq9QZy8wWEQa472W7A13XPICPjOHF+UOo89eOzfXcb6jGsUh0y5OB+v7lsp3WHn0AQfnIyyVLx4gDp7p6yR99ArJViLumNDFqFrRQdrEQyxwTsdT2pcwQRnMLZsivYLHxJdSkeJFG1LWePCvHnGL9iTaL4IMNlgID9DcRk045J+gFf+aDOAXswfLDJA5FMgPtmyOo3XBYuYKKxJtwU8UP+eLm5Ol+DaZS6PQlIuN0aSMztI+dunARHj4OsnobLWxI5nbfaqHWqqtKGAiACxrsWsF/uvfWQhCF3HaiHHv8sMnmzqEDuM1wMGRbGYcTeHGFB046mlIwB/NYeW2oXz1EcK9Cnl7W5/1t6wmZ/QXODNorCf7Hq6yuXwauODI4FF/67nRqfQW7yj62Z2vFcfmPvRPgBvncl8O+DyXlmB+6DhA0eDpJS2AjuUMX+UDcNb3P7SWF/tocByPsmeRFR37yk+03Bx9BFrg0fJHq44ZfKxvi3mRetgO3GP05zeaE0AXMWW7mRV77/6W/LCJUXT/9Qj96bXNxJ3s8d7+NJVeoZdOYoNjmhqo++bcxr4ZEJ5FL7Pir096PFh9hSPyb4ez5OUsav9F1nbYKmcRgIEzByl4wYMXY/durF2gVpu3e0Sey3Z9iuFt18UYnjV75/nbgT1fhVPMBylbf65HAt72x36uS1O8MguRPXo63Bbqv34uh0iTELABCE3NainHsLb1t44lgwYrKCrgewwQMnmJe4wSGLjLW6AU1cGCWGulFo0BhGoPNbVT+mZfzitvgchQpGrbw5CFvE8LO5b82tQ64U3dwyipUNaHx0zSiRTP2KBON/6DHVwk4ZZau+C9VFpRufAZHIhyOScFmDVueRQEzMlMhoYUJoNcwFGXysMaAV92ZJruRI6QaNcKoZPsGIZzVfuRTp9/M9VlHCBMKKkSIWA7gK7E5KnFay/15o3Uqh8AVugDz6D7gNTTXtU8aK5YznxNdZCmujIy9w+49E3khmGasYCl6G+UanKH5sq84UIh2qAJzM5WVK+sPLkNO01zIqTAiHWLEE/CAQPhas95mh7XnGt2ofSR33bOqZYsW9hn2tqHXpZmpcxWqTMttlMVIMXjqgceOcIiudTnGWi16GuUjertAdtMFnjhX33xndVYi9X8ZBNY9Lus499Wxi2V+biutBq6NYypQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0151QPyPY6vMfQ7nJMSqNNn1",
      "input": {
        "note": "Lemon is roughly centred between the jaws at reach limit; closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0151QPyPY6vMfQ7nJMSqNNn1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9257, 0.7506, -0.6384, -0.1951, -0.1429, 0.9971, 0.2516, 2.0235, 0.9623, 0.4553, 0.1318, 0.1066, 0.0401]\nstate[eef_state]: left_x=0.2827 left_y=0.0029 left_z=0.1626 left_yaw=0.1068 left_pitch=-0.2168 left_roll=0.0572 left_gripper=0.9971 right_x=0.4979 right_y=0.1077 right_z=0.0253 right_yaw=0.0734 right_pitch=-0.0138 right_roll=0.023 right_gripper=0.0401\nstate[joint_eff]: [-0.0615, -2.0855, 6.9128, 1.4579, -0.1538, -0.0415, -0.0122, -0.5675, -8.6496, 6.3521, 1.6679, -0.0513, -0.0562, 0.823]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a963bd633722480f0e98c45c6994c183491fb5f84e89945234010368acf195ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f364499c021d96ee55242b79039ca76050b247dd7caa6f495a4f485f8d2bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d3b171844ca9bd6c59232819876d4731902fd1856d1bd5c6b89fa649ea782dc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 6.262 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]: [-0.1238, 0.9241, 0.7506, -0.6376, -0.1951, -0.1429, 0.9971, 0.3046, 1.9694, 0.8921, 0.4511, 0.2039, 0.152, 0.9971]\nstate[eef_state]: left_x=0.2828 left_y=0.0029 left_z=0.1631 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4756 right_y=0.1158 right_z=0.0257 right_yaw=0.0415 right_pitch=-0.025 right_roll=0.0152 right_gripper=0.9971\nstate[joint_eff]: [-0.1436, -1.8803, 6.8308, 1.4823, -0.1294, -0.0415, -0.0122, -0.253, -10.4547, 5.7778, 1.2723, 0.5201, -0.1587, 0.0171]",
      "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]: [-0.1238, 0.9237, 0.7506, -0.638, -0.1951, -0.1429, 0.9971, 0.2676, 2.001, 0.9344, 0.4442, 0.1627, 0.1261, 0.9973]\nstate[eef_state]: left_x=0.2827 left_y=0.003 left_z=0.1632 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4885 right_y=0.108 right_z=0.0241 right_yaw=0.053 right_pitch=-0.0267 right_roll=0.0183 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.8667, 6.8308, 1.4579, -0.1245, -0.0269, -0.0122, -1.2239, -8.335, 6.7624, 1.6532, 0.3883, -0.1441, 0.0171]",
      "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]: [-0.1238, 0.9257, 0.7506, -0.6384, -0.1951, -0.1429, 0.9971, 0.2516, 2.0235, 0.9623, 0.4553, 0.1318, 0.1066, 0.0401]\nstate[eef_state]: left_x=0.2827 left_y=0.0029 left_z=0.1626 left_yaw=0.1068 left_pitch=-0.2168 left_roll=0.0572 left_gripper=0.9971 right_x=0.4979 right_y=0.1077 right_z=0.0253 right_yaw=0.0734 right_pitch=-0.0138 right_roll=0.023 right_gripper=0.0401\nstate[joint_eff]: [-0.0615, -2.0855, 6.9128, 1.4579, -0.1538, -0.0415, -0.0122, -0.5675, -8.6496, 6.3521, 1.6679, -0.0513, -0.0562, 0.823]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a963bd633722480f0e98c45c6994c183491fb5f84e89945234010368acf195ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2f364499c021d96ee55242b79039ca76050b247dd7caa6f495a4f485f8d2bdc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3b171844ca9bd6c59232819876d4731902fd1856d1bd5c6b89fa649ea782dc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FYt4CHEPX8CcphW82k2xiP",
      "input": {
        "note": "Empty close; the lemon is ~3 cm to the right of the jaw column and slightly ahead. Reopening and shifting right, slightly higher to gain reach.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.5,
          "right_y": 0.075,
          "right_yaw": 0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FYt4CHEPX8CcphW82k2xiP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9283, 0.7506, -0.6594, -0.1951, -0.1432, 0.9971, 0.1986, 2.0129, 0.96, 0.424, 0.1345, 0.1047, 0.9945]\nstate[eef_state]: left_x=0.2791 left_y=0.0034 left_z=0.1585 left_yaw=0.1083 left_pitch=-0.2398 left_roll=0.0625 left_gripper=0.9971 right_x=0.4988 right_y=0.0799 right_z=0.0234 right_yaw=0.0191 right_pitch=-0.0361 right_roll=0.0158 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.1675, 6.7897, 1.707, -0.1343, -0.0659, -0.0122, -0.7726, -12.2462, 5.094, 1.7216, 0.1001, 0.0464, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:483cf1bd2820ef58c6b26c49869bc288291508387df385e0efc137565b585565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc46563c3a31c46b13fd703ddc0e2b2e653306811c9aefb8c5c473bc41d33585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cc1b233707e4a597b25b3989ad8beabd8e2a38374099456f2f127ce6d6bfe1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.058 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]: [-0.1238, 0.9237, 0.7506, -0.638, -0.1951, -0.1429, 0.9971, 0.2676, 2.001, 0.9344, 0.4442, 0.1627, 0.1261, 0.9973]\nstate[eef_state]: left_x=0.2827 left_y=0.003 left_z=0.1632 left_yaw=0.1067 left_pitch=-0.2145 left_roll=0.0567 left_gripper=0.9971 right_x=0.4885 right_y=0.108 right_z=0.0241 right_yaw=0.053 right_pitch=-0.0267 right_roll=0.0183 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -1.8667, 6.8308, 1.4579, -0.1245, -0.0269, -0.0122, -1.2239, -8.335, 6.7624, 1.6532, 0.3883, -0.1441, 0.0171]",
      "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]: [-0.1238, 0.9257, 0.7506, -0.6384, -0.1951, -0.1429, 0.9971, 0.2516, 2.0235, 0.9623, 0.4553, 0.1318, 0.1066, 0.0401]\nstate[eef_state]: left_x=0.2827 left_y=0.0029 left_z=0.1626 left_yaw=0.1068 left_pitch=-0.2168 left_roll=0.0572 left_gripper=0.9971 right_x=0.4979 right_y=0.1077 right_z=0.0253 right_yaw=0.0734 right_pitch=-0.0138 right_roll=0.023 right_gripper=0.0401\nstate[joint_eff]: [-0.0615, -2.0855, 6.9128, 1.4579, -0.1538, -0.0415, -0.0122, -0.5675, -8.6496, 6.3521, 1.6679, -0.0513, -0.0562, 0.823]",
      "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]: [-0.1238, 0.9283, 0.7506, -0.6594, -0.1951, -0.1432, 0.9971, 0.1986, 2.0129, 0.96, 0.424, 0.1345, 0.1047, 0.9945]\nstate[eef_state]: left_x=0.2791 left_y=0.0034 left_z=0.1585 left_yaw=0.1083 left_pitch=-0.2398 left_roll=0.0625 left_gripper=0.9971 right_x=0.4988 right_y=0.0799 right_z=0.0234 right_yaw=0.0191 right_pitch=-0.0361 right_roll=0.0158 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.1675, 6.7897, 1.707, -0.1343, -0.0659, -0.0122, -0.7726, -12.2462, 5.094, 1.7216, 0.1001, 0.0464, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:483cf1bd2820ef58c6b26c49869bc288291508387df385e0efc137565b585565",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc46563c3a31c46b13fd703ddc0e2b2e653306811c9aefb8c5c473bc41d33585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 219):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cc1b233707e4a597b25b3989ad8beabd8e2a38374099456f2f127ce6d6bfe1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QkKEAgSGAI4AUIIdGhpbmtpbmcSDB9rsWiBd+q6/YeXFRoMiPzH/j54v7NlIzeSIjCI2xZUKeOwekiNJsEfz+/hh+G6tA/bEe2qgk51el5+IdLudheF3LqIz0V0+Do9ie0q9gg7gTbGN2cCJMaa4OwmKzUTdcwP47uIxjKUuKNVOPjzxyr9Eih8tTjvmI1Yvv/dEhaLDgpZjcir8usfAMNQVga5LO8M6zotQniV6XeuMXmX2Fqfa6sBoQEapq1y2ccXAvzxRomFKgdR4Oxys726ckWAQUopISWmO+s1HQB99zb6IzlKqLbJ9O+rmKCwDy10yvEIHKko3y9AX0HgJHTGdP8jyg3UPxzmQzLoX/r2vW/BM2grHQCoNzR9somPmMb0q8w5fcYU+Zyiq7m/Mfg5m4lggNpo+g4fSYWZLNpCuLR4b84W2SqEQDRYlwWp3uVi3A0D3ei0ZvLvWX0QDITSn5o4tf0zWsQnGZvSxkasFZrOKuRJevRTrNLRgQPNiH0TfMqNkvfaPeGQe//PHoRQTcC3Oe4QSe0w/W/LA5LX0BLspVXg7XS42T7UG2GOgoX/Kc0cv4JHW4vbxYjVvbshfP2jNc4lMuILNR6mNp/ZoTvaDcHdo3GtVqJcIDhdYJVkvB5q/6PIsjna64UVCHrtVxJxpilDq+roPqH+p+F8+XHPHIqflgXPni4TX22o5OO/2HzKzg88Ylgop3tXeV3LnPEAGGJT7gpYfSOKwLYgKewwuwCozPGpAmPPX8N/y7UH14BzxOMRLBjYJtOoOM0teQdQ22xIhY9rkxwsh1HzdpXAjTvK9hT3ZYVy3JRfoRl/23BVjBozJ5S1fWgyCYMAaDqmPMHuHFnfflMVzrDwh2gIaqdPOe/fa7OJ1cU+FOK8lRWvwHoqePfTtHGYnPTUK+qzvhjwj6gpIXdS9zyYoAamA4LdKGyFpVriCeBH9IGg35z0g6/wxEzKUahefsR2PRPXXFQTPblpzQ4myu2x8hggan4cVtfEMa9K6wrMbjDDCQXEzgkNTzL/eeoKQ8/UQWmBZv5fO9z2196qW2AZGH2zjVHZqNdq4nWBUzF2EUUyFyiGSgWAfDaxM47cRyRlelLugzc+m871YhcV/bJ+ERdXSzR+kY4DOb6KtHMLcvAxP4DI+EpYfoS+JnypwBbpu2mfDjVcMEDCKkjkZwpb7w525Usr7g580a7LxE+pZP8pA6N3O+9AQh0FiUWoktSdvL3MnYge6F0jvGGYnJR468G+jb/xYP/u2eWRDqm9G62epxSxOToICPeVRKznijAhtCYRQyJ/xFyC9A5DQgGyMIi+fAldoOH+i+L/FTPiY7UQxe5RkbeyoOgoB6Afd+Z1qSKdVtPVo9m/HSsDbYaekGvJjsk4+wJ9fug39S1+0WlNnM8exMZfN96YnTA1y0re+6TR5n6T0f3ojEM0dhoK4JuAMviO6JzxUeCZ1hpuk4DyRW7gJSuGiJ/8f/cPM2ISTsU9rCf/XCo6s1P1Nl/TXoklXH+ISwlOR/zu+MsnZFq1IBfkhYDEJXIyRoqRoqr0XgnIpUSHwF9NpMhbrtoobzXbpwuV5zZD+IoX76WpoltNZOdkoEJKOfYg4kQwcIslHHbZIpPCpcyKQqkrtGnV9JJeuCoInBB6exgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016GaiyFEmeCKkepGrV35Bfs",
      "input": {
        "note": "Lemon is now centred on the jaw column but a few cm beyond the fingertips at the reach limit; pitching the tool forward to extend reach over it.",
        "targets": {
          "right_pitch": 0.3,
          "right_x": 0.53,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_016GaiyFEmeCKkepGrV35Bfs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9287, 0.7506, -0.6724, -0.1951, -0.1429, 0.9971, 0.1951, 2.2047, 0.9085, 0.9321, 0.1387, 0.054, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0037 left_z=0.1563 left_yaw=0.1089 left_pitch=-0.2528 left_roll=0.066 left_gripper=0.9971 right_x=0.5237 right_y=0.0823 right_z=0.0181 right_yaw=0.0363 right_pitch=0.2258 right_roll=0.0135 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.9214, 7.0085, 1.5702, -0.1343, -0.0122, -0.0122, -0.3897, -9.0462, 4.7385, 2.2979, 0.1783, -0.0952, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ce9199ffd05090757185b4b5d82e195bd492b85287bd2a94c73fb96f5d22621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a7696b9ae6c8294b67e85cd835c6257a551cf89413cbc5307cf883611567dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d61f466d0de44d8d0e6109a6587a8eaf3b2da286a899d6c4a2ef1a49ed803c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.025 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]: [-0.1238, 0.9257, 0.7506, -0.6384, -0.1951, -0.1429, 0.9971, 0.2516, 2.0235, 0.9623, 0.4553, 0.1318, 0.1066, 0.0401]\nstate[eef_state]: left_x=0.2827 left_y=0.0029 left_z=0.1626 left_yaw=0.1068 left_pitch=-0.2168 left_roll=0.0572 left_gripper=0.9971 right_x=0.4979 right_y=0.1077 right_z=0.0253 right_yaw=0.0734 right_pitch=-0.0138 right_roll=0.023 right_gripper=0.0401\nstate[joint_eff]: [-0.0615, -2.0855, 6.9128, 1.4579, -0.1538, -0.0415, -0.0122, -0.5675, -8.6496, 6.3521, 1.6679, -0.0513, -0.0562, 0.823]",
      "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]: [-0.1238, 0.9283, 0.7506, -0.6594, -0.1951, -0.1432, 0.9971, 0.1986, 2.0129, 0.96, 0.424, 0.1345, 0.1047, 0.9945]\nstate[eef_state]: left_x=0.2791 left_y=0.0034 left_z=0.1585 left_yaw=0.1083 left_pitch=-0.2398 left_roll=0.0625 left_gripper=0.9971 right_x=0.4988 right_y=0.0799 right_z=0.0234 right_yaw=0.0191 right_pitch=-0.0361 right_roll=0.0158 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.1675, 6.7897, 1.707, -0.1343, -0.0659, -0.0122, -0.7726, -12.2462, 5.094, 1.7216, 0.1001, 0.0464, 0.0269]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9287, 0.7506, -0.6724, -0.1951, -0.1429, 0.9971, 0.1951, 2.2047, 0.9085, 0.9321, 0.1387, 0.054, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0037 left_z=0.1563 left_yaw=0.1089 left_pitch=-0.2528 left_roll=0.066 left_gripper=0.9971 right_x=0.5237 right_y=0.0823 right_z=0.0181 right_yaw=0.0363 right_pitch=0.2258 right_roll=0.0135 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.9214, 7.0085, 1.5702, -0.1343, -0.0122, -0.0122, -0.3897, -9.0462, 4.7385, 2.2979, 0.1783, -0.0952, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ce9199ffd05090757185b4b5d82e195bd492b85287bd2a94c73fb96f5d22621",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:95a7696b9ae6c8294b67e85cd835c6257a551cf89413cbc5307cf883611567dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 231):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d61f466d0de44d8d0e6109a6587a8eaf3b2da286a899d6c4a2ef1a49ed803c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon now between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012tnfudPbtxFU1oLSUktYq4",
      "input": {
        "note": "Lemon fills the space between the jaws after pitching forward; closing on it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012tnfudPbtxFU1oLSUktYq4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9287, 0.7506, -0.6899, -0.1951, -0.1432, 0.9971, 0.1986, 2.2143, 0.9096, 0.9386, 0.131, 0.0483, 0.5264]\nstate[eef_state]: left_x=0.2736 left_y=0.0041 left_z=0.1535 left_yaw=0.1102 left_pitch=-0.2698 left_roll=0.0699 left_gripper=0.9971 right_x=0.5233 right_y=0.0854 right_z=0.0151 right_yaw=0.0496 right_pitch=0.2236 right_roll=0.0105 right_gripper=0.5264\nstate[joint_eff]: [-0.0615, -1.8256, 6.7487, 1.5702, -0.1197, -0.0415, -0.0122, -0.4581, -11.4393, 4.3009, 1.7558, 0.0513, 0.0171, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae13eff4528e2e9452f6a74b5be55cafe69e5798fd1b21f9ecc137c33227f3b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:628f5d4882f54c2edf7b0990e15e099ab55c4cfae2e0b0ed99d9ddbafc9d9b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4693274332ff70473c43d64084703fb94e047d6676608c132f234ab6aa8d5907",
        "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 · 4.593 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]: [-0.1238, 0.9283, 0.7506, -0.6594, -0.1951, -0.1432, 0.9971, 0.1986, 2.0129, 0.96, 0.424, 0.1345, 0.1047, 0.9945]\nstate[eef_state]: left_x=0.2791 left_y=0.0034 left_z=0.1585 left_yaw=0.1083 left_pitch=-0.2398 left_roll=0.0625 left_gripper=0.9971 right_x=0.4988 right_y=0.0799 right_z=0.0234 right_yaw=0.0191 right_pitch=-0.0361 right_roll=0.0158 right_gripper=0.9945\nstate[joint_eff]: [-0.0479, -2.1675, 6.7897, 1.707, -0.1343, -0.0659, -0.0122, -0.7726, -12.2462, 5.094, 1.7216, 0.1001, 0.0464, 0.0269]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.1238, 0.9287, 0.7506, -0.6724, -0.1951, -0.1429, 0.9971, 0.1951, 2.2047, 0.9085, 0.9321, 0.1387, 0.054, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0037 left_z=0.1563 left_yaw=0.1089 left_pitch=-0.2528 left_roll=0.066 left_gripper=0.9971 right_x=0.5237 right_y=0.0823 right_z=0.0181 right_yaw=0.0363 right_pitch=0.2258 right_roll=0.0135 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.9214, 7.0085, 1.5702, -0.1343, -0.0122, -0.0122, -0.3897, -9.0462, 4.7385, 2.2979, 0.1783, -0.0952, 0.0708]",
      "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]: [-0.1238, 0.9287, 0.7506, -0.6899, -0.1951, -0.1432, 0.9971, 0.1986, 2.2143, 0.9096, 0.9386, 0.131, 0.0483, 0.5264]\nstate[eef_state]: left_x=0.2736 left_y=0.0041 left_z=0.1535 left_yaw=0.1102 left_pitch=-0.2698 left_roll=0.0699 left_gripper=0.9971 right_x=0.5233 right_y=0.0854 right_z=0.0151 right_yaw=0.0496 right_pitch=0.2236 right_roll=0.0105 right_gripper=0.5264\nstate[joint_eff]: [-0.0615, -1.8256, 6.7487, 1.5702, -0.1197, -0.0415, -0.0122, -0.4581, -11.4393, 4.3009, 1.7558, 0.0513, 0.0171, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae13eff4528e2e9452f6a74b5be55cafe69e5798fd1b21f9ecc137c33227f3b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:628f5d4882f54c2edf7b0990e15e099ab55c4cfae2e0b0ed99d9ddbafc9d9b98",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 241):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4693274332ff70473c43d64084703fb94e047d6676608c132f234ab6aa8d5907",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwkKEAgSGAI4AUIIdGhpbmtpbmcSDHFZ41GO7nfINFeq1BoMfhTxq6AhrtU43svdIjCkzVQyZ37d6Kyex4lKCS66EbxhrtiJDIoYsBSyiNf2/P0DKNL35zmJEpRU67d817wqxAgTDbF1EefUwReit9ex+HcGvWdvMiKASbcMt5e5rUE55ZfbVxV9pjpP80JViBbRGZwZ1C3nNJg6sVgEh4cRIHCDOfNMCInFg0fJ/pA8OTgyba/smU+i5N67x1aLHec8MEi1TC6Ce5mvVgZjyo0SYkGGISSvQ8f+xRlaeYXTxpuXJ5B1z64fiBDwpZfr/AhMBuEbp+vLzUP3PKCo1wLFPuD6QxOuknb6MvOCn4dJt7djy8sSbiYibDivlL+nVUGmwwOBlo6bOpTEJbwwmogj0JF0FRYcQbeqcyAYiluS/QJaT2ZaKVX1J8LlNQtFFfpkwX0OhCYg4dELoGHXjnuKz9SzYsxejDuoIubBu+xbs+E4WoqOhLj9hnDzMI41uwON3+k5FO1dsnGhqX14RZj7y2eGXNU1IbQ2M00rNkkBiAvZGbUzx0yP7O2q6lzx54HMmAiaWY3a89n1x0ndtsp7FuNaLXXPfGEuzVhAD5Y2ftwtvRanzrcszn40dbFjt1jW6JKpC8peUJ/PFrUzbQIZg0NnqjyCjCYUaG88vyTHIruJs1QEkyto5pkN8mNQ2h7fCCPONhkOPv7RFU0H9AJp5ZQGuQzFOaN3tpB5x+SEq+T/iJanRvj6RWpy9P5m9DuXqSxjIDCjIbM4BmCukULDjJUtjmMTd1IoRSa1bUwqXk7cYuiFjITppTfv0s6b66oDvqTIIANo10PmRzsYRlIgTRxSEv3dQLBA2esl3SbLnatJ4sl436hpF1izu+ieBgrPv0HmgDeXCj5Y0xEHWsL6eq0SG4rcx+E1AMEhjvafjxmvxojLy7sf4YHwpgkLDxyH4zc4qM93Pfm+ukgHxQana0AgkDw/ZEwHe/DTUqrhiiHcEgTEa48wyKN+L64/8uGgclqJyNYeGKetlPiO4+L3zyM8lFkHXUscWWEacqQn0iUdp3LtoxjSWZtWBbiCMM4SOfYb48UgXXwBzXjPyNGfHgjEh3xCZHTBCu4Sez2jEgauHWItWEzhUO15k45X+aS5BT39t8jTA/ld6X05cRUeQ17dFWuCryk8CTYj1d2vmwey4o3kplwkmDNUdMuAusrHE6oCpeUaGGAnsvuEIRbfRQurOr3DYLKNgnPSKn/ypxkt+0sDaVqaXmf2wpT1SfMsgjLxDsENWqO7PZztyy+uATkPl4RHUYCcZvNLSo3DST9mAogR/pJAvSxm4bCVZfxw1KaUKwgqL+cDnmHQP0gxzr4p58HtXu9U+uXdOi2El8YuiMsKWRSSepOH4hPrMO04ghwX7Lv2xHa6Vgq9SObgcaE6hRFQV52QS+n5jxLFoMboOoIojeZq+dDMVE+7AG2fYCRr9kQ1A5PuhoIMd2SZhTXMaU85E7t1ahr1c/rY7YsXjUoQqQnJIzgEVQtuy35xA0RNHKzMUz0ydwltyyHmhJB7VJSCHnU0gWbXTNjMKOq29hgJb1EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HKneW1SboQFZgjYRbka3RM",
      "input": {
        "note": "Gripper settled at 0.53 on the lemon — grasped. Lifting clear of the safe wall.",
        "targets": {
          "right_pitch": 0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01HKneW1SboQFZgjYRbka3RM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9321, 0.7506, -0.6975, -0.1951, -0.1432, 0.9971, 0.1967, 1.8656, 1.3201, -0.2867, 0.1383, 0.0154, 0.5266]\nstate[eef_state]: left_x=0.2723 left_y=0.0042 left_z=0.1514 left_yaw=0.1109 left_pitch=-0.2806 left_roll=0.0726 left_gripper=0.9971 right_x=0.4967 right_y=0.0778 right_z=0.1077 right_yaw=0.0596 right_pitch=-0.238 right_roll=-0.0866 right_gripper=0.5266\nstate[joint_eff]: [-0.0068, -2.1949, 6.9949, 1.453, -0.105, -0.0611, -0.0122, -0.6906, -16.2667, 12.041, 3.2601, -0.2613, 0.6471, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddef767777e5146e84319d755c3489967a045b72a4e3a2c8cd5f48ec3435024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f7bc7768db572f547a2f3913308ef8c87ac0b91f86fb8784fec8b86f3f0daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5462fc1521dd70f31a7c9e7b7850c289d0aa1eaff13292aecb4b54a603d959e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.085 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]: [-0.1238, 0.9287, 0.7506, -0.6724, -0.1951, -0.1429, 0.9971, 0.1951, 2.2047, 0.9085, 0.9321, 0.1387, 0.054, 0.9953]\nstate[eef_state]: left_x=0.2768 left_y=0.0037 left_z=0.1563 left_yaw=0.1089 left_pitch=-0.2528 left_roll=0.066 left_gripper=0.9971 right_x=0.5237 right_y=0.0823 right_z=0.0181 right_yaw=0.0363 right_pitch=0.2258 right_roll=0.0135 right_gripper=0.9953\nstate[joint_eff]: [-0.0479, -1.9214, 7.0085, 1.5702, -0.1343, -0.0122, -0.0122, -0.3897, -9.0462, 4.7385, 2.2979, 0.1783, -0.0952, 0.0708]",
      "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]: [-0.1238, 0.9287, 0.7506, -0.6899, -0.1951, -0.1432, 0.9971, 0.1986, 2.2143, 0.9096, 0.9386, 0.131, 0.0483, 0.5264]\nstate[eef_state]: left_x=0.2736 left_y=0.0041 left_z=0.1535 left_yaw=0.1102 left_pitch=-0.2698 left_roll=0.0699 left_gripper=0.9971 right_x=0.5233 right_y=0.0854 right_z=0.0151 right_yaw=0.0496 right_pitch=0.2236 right_roll=0.0105 right_gripper=0.5264\nstate[joint_eff]: [-0.0615, -1.8256, 6.7487, 1.5702, -0.1197, -0.0415, -0.0122, -0.4581, -11.4393, 4.3009, 1.7558, 0.0513, 0.0171, 1.0379]\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]: [-0.1238, 0.9321, 0.7506, -0.6975, -0.1951, -0.1432, 0.9971, 0.1967, 1.8656, 1.3201, -0.2867, 0.1383, 0.0154, 0.5266]\nstate[eef_state]: left_x=0.2723 left_y=0.0042 left_z=0.1514 left_yaw=0.1109 left_pitch=-0.2806 left_roll=0.0726 left_gripper=0.9971 right_x=0.4967 right_y=0.0778 right_z=0.1077 right_yaw=0.0596 right_pitch=-0.238 right_roll=-0.0866 right_gripper=0.5266\nstate[joint_eff]: [-0.0068, -2.1949, 6.9949, 1.453, -0.105, -0.0611, -0.0122, -0.6906, -16.2667, 12.041, 3.2601, -0.2613, 0.6471, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ddef767777e5146e84319d755c3489967a045b72a4e3a2c8cd5f48ec3435024",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9f7bc7768db572f547a2f3913308ef8c87ac0b91f86fb8784fec8b86f3f0daf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5462fc1521dd70f31a7c9e7b7850c289d0aa1eaff13292aecb4b54a603d959e1",
        "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/QcKEAgSGAI4AUIIdGhpbmtpbmcSDPs8UWrxZMRKoHlFGhoMZzHmoBd85P+CogfvIjDTD6IZfw88P+H8qUqa0uZ2Jpu7QMbPmwk3zc2M5ox0Hjul5eQuo81Tk6ysqUwE6PcqmgcEgyyK22GfzMS0CveXbsszG0rbSAbBM3lo7FIyb4EiARHxT/HvKwVSJCu8DxKqJLwe0Pb9yu+B2H0oiWuu374+aP6cTXWhUejEMSTQWPOBy6hxPMGm2wu91658GUhwdSwddC5TBGpFV52NLZ3lRkMWYrh13sfnV0bHsQNpL1C1x33UDoJ9BM99p7rZa8x6Npnl1a3YHf4JEUN12D9N/a7SO+vE7CJieqEx1Pfxxy7bulwPBJNmbrVTfkkHUR3xUl7XfHk9QZhwJ9a5Yitv929z4w1FdHW7SKg0+p1frWkxRwb4eG1GsJETxnr1iPHtZwaPea8xsyaA7wQMKScPkMP69BedLAuHc7PIwLgPv8MHmchxxdatjvE/yPLmvXAKKXE48Q/ZHyMNxCMTEy9Azfzbw493Q3AHmofuKv7U8Fi6DaHiq0RZyaS6rEHhdhMDltEpvT7t2PGgt9G0Tvho1iKCBbSlSE/KWrtndaq5OUHbhDRVuertuiOp8RQksWU6rv0I5AHahNlFGIuvypwNxGRgsxaTrptPkewJ/KVkJqGD9jtrBr+Y50Hv3JqFL80A/lXJBar4cwKzMZhKSmSMD0F4UvgrVwfLmzx2HqCimKILtnonUExe7VYYLek1uZzgNBvM7x5piM4trspk566NNvq1N/u3Keu0Fy5ImVkS+QiXKnCZ7VC29CrQAE68abzGSkrH2Hvtpu4PaMVTyhEhJuID40IJYlgRbRD9Hd/YHeVInOYFeV8gr/tuoNXAoSNgug77xt7GxEjDBHZt3Nf3hKxIPytcY1Aqp3fJY4XrQrgcdVqCrLepFl13pG7gbZLrRy5igDYRSwMNGozIjkzoMtgKqF6oB7DmB2ucSn4D1BzKDybBDb+ZCalSzxe3cS3a8o0wfWVB3CExr1OL1FSVQ+zxoTch4IqTvMhHR3h0lvJgF1uDnuY6pWSamlA5AnQCkH6agDBByn4u8PbqJ7t528oiyOoUrNO4awKOYjAel0ZK0LdSk40G6zUnZExOp9i0adsPuqcFZ4y1mfdr3QvtQvLtF0KOuPSTqIisTiYhlLFpP6XImHeS8fNbC7xHBYZBCvDUAob5d4mOA0y7tkZkp8y661dPJuswpFsGRac6a5AqsgaCEB17esPPAFYY9ZZXhpyLM+zc8Lz1p8pEsbCCjXqmtnMMv3tHvTPgcb7jr7Bty+PJglVBdu6dO+M3SLn3UVIPAIKj1cU3zEAuGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016F7j4HzcJxDDmWUG7D7aof",
      "input": {
        "note": "Lemon held but the arm only rose to 0.11 at full reach; pulling back and left over the safe interior while lifting.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.19,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016F7j4HzcJxDDmWUG7D7aof",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9344, 0.7506, -0.7052, -0.1951, -0.1432, 0.9971, 0.5411, 1.7859, 1.4574, -0.7681, 0.3599, 0.2188, 0.5285]\nstate[eef_state]: left_x=0.271 left_y=0.0044 left_z=0.1497 left_yaw=0.1116 left_pitch=-0.2902 left_roll=0.075 left_gripper=0.9971 right_x=0.4031 right_y=0.1738 right_z=0.1384 right_yaw=0.0701 right_pitch=-0.4195 right_roll=-0.2227 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -2.0034, 6.7214, 1.4872, -0.1294, -0.0757, -0.0122, 0.1299, -14.0103, 11.3983, 2.2784, 0.022, 0.6032, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027d126f4301c56e04cfbd056f53dc2f9dd4e42ab2a4c329facfe477d4dd4270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:710c1ca795be44f6276f0e1720f7235456aa5940f06168c38d430a5b7ce868e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9c1aecb8bda8fcb46e81cd8edcee9f08b9bd2e0e46faaeb2644086981630f06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.126 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]: [-0.1238, 0.9287, 0.7506, -0.6899, -0.1951, -0.1432, 0.9971, 0.1986, 2.2143, 0.9096, 0.9386, 0.131, 0.0483, 0.5264]\nstate[eef_state]: left_x=0.2736 left_y=0.0041 left_z=0.1535 left_yaw=0.1102 left_pitch=-0.2698 left_roll=0.0699 left_gripper=0.9971 right_x=0.5233 right_y=0.0854 right_z=0.0151 right_yaw=0.0496 right_pitch=0.2236 right_roll=0.0105 right_gripper=0.5264\nstate[joint_eff]: [-0.0615, -1.8256, 6.7487, 1.5702, -0.1197, -0.0415, -0.0122, -0.4581, -11.4393, 4.3009, 1.7558, 0.0513, 0.0171, 1.0379]\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]: [-0.1238, 0.9321, 0.7506, -0.6975, -0.1951, -0.1432, 0.9971, 0.1967, 1.8656, 1.3201, -0.2867, 0.1383, 0.0154, 0.5266]\nstate[eef_state]: left_x=0.2723 left_y=0.0042 left_z=0.1514 left_yaw=0.1109 left_pitch=-0.2806 left_roll=0.0726 left_gripper=0.9971 right_x=0.4967 right_y=0.0778 right_z=0.1077 right_yaw=0.0596 right_pitch=-0.238 right_roll=-0.0866 right_gripper=0.5266\nstate[joint_eff]: [-0.0068, -2.1949, 6.9949, 1.453, -0.105, -0.0611, -0.0122, -0.6906, -16.2667, 12.041, 3.2601, -0.2613, 0.6471, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9344, 0.7506, -0.7052, -0.1951, -0.1432, 0.9971, 0.5411, 1.7859, 1.4574, -0.7681, 0.3599, 0.2188, 0.5285]\nstate[eef_state]: left_x=0.271 left_y=0.0044 left_z=0.1497 left_yaw=0.1116 left_pitch=-0.2902 left_roll=0.075 left_gripper=0.9971 right_x=0.4031 right_y=0.1738 right_z=0.1384 right_yaw=0.0701 right_pitch=-0.4195 right_roll=-0.2227 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -2.0034, 6.7214, 1.4872, -0.1294, -0.0757, -0.0122, 0.1299, -14.0103, 11.3983, 2.2784, 0.022, 0.6032, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:027d126f4301c56e04cfbd056f53dc2f9dd4e42ab2a4c329facfe477d4dd4270",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:710c1ca795be44f6276f0e1720f7235456aa5940f06168c38d430a5b7ce868e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 263):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c1aecb8bda8fcb46e81cd8edcee9f08b9bd2e0e46faaeb2644086981630f06e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAgKEAgSGAI4AUIIdGhpbmtpbmcSDADSkUgCDsO/j5uWZBoMcnZvVCZbMSgvj9n2IjD4D9MinRKwQB3U1OEYRgA9Cc+160gPSGj25TxMcA5U1E6Z/lkiyoEDGhdXuwkpF/4qnQeTb8mKmLb6DPGe4anDtQNbGUf/TVHpSKfYKedxFthfIw7VhjTu2gtzjVsSaAvsmubD8Ms/FxJfMAYSL9wx71a9fIWbD74hwK3DNNFa28EfV8CZizbuLC5PI/wNoNk7kojY0WCb90nimDCrn2m4iBFgNBQGc0H2oDxsX510WpfRyuvthez2EvQHyyF2rkIDXVcpTzzQiOnJxZGpHy4ExNvWtH/GUZXWIhpt+mBI8lgHks9nBYq3ZbrJcVJqk5+NH4aaGVIYR3QVvq7Z2qd1wgIJEPI9pK9bE/u5ITRXYQWqlDK2Dx3vyRltJrAZwa+x26AeqVxMUN0XKOZpf8iaUiwENBfsPl42bJgpil867BAjPKA5qRcHF2jbmffU5Vb9pm/6n9tnfcKEBiQ2S6Rf8AjxMmWYqfR7sJ1OvmpjZGpiJ7MCaq8ibWAhYQ7OO9g7pjBmVaasFAjcpxoYdeXVneDgS3AWZCyvr13c/+ogTHswHlSVO3hvaCmegvl1nhbzeXYstjc7x6i91x5iLSCbdH/8rec5zSg6CmR9czXQm9NBROkEhXqezTipbk+t8n3RXCrJhhm4WfoAc1nNT4aGQdkRWhSMYNoQV4afKdPJi486C9Yi6GLauRwr9NpU4/XbK/WcyS3rlW56YbqeINZO3Ufm43ekyYy6FSVISu/HAG0tQRRRyjuala6lAFJxPEC1/mcn6lVLtxbB9LELB4yzHSx9kO9Wo42yiZHvy3Xxt8XwdPzlN+hTLVWHvcOFGM7EohMj3Y0UoN8EtFkFWu6nS3NBXPk1h27Df2J6ToC2MvxoLCvteuR5qCRF12RuzY55o9ZA2Z9kltG0j9Ej7xMHksmTRKxlOquNzR9cryCAkxBvFNbN0sv5PpmUCO7OM5r/OF2h1KUDX79qQgQmeh+2A4ghV8BvtzAPR5RYo1k1wwbq2bT79kbtWpLMdoJtkEKpONehIpn+uOQgk1LvpjNJUTjddD28NOZtxH2veSC7B8qewJdJyToj//04zA6Z20QPMjPChv1dhCSuTwLBnsaB5JpXc9vOoTKUuqQ5Iui8O8P1NoWL5mGJX1FhwZJLXIIFInMwwzgA6jVsS51wJl32f6elwtQJubGFfI97gHjz+c1AVpznKTGgS0qQHcJ9zzHhEz+ZChEDOXP4RL0WQJiQTmOlUHA8pYF6fPwHdmj2YXSRAuuzdTiamGPCzgr03VwzYSzb0nCu8dK8bsdLNs4uGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014h8ExWmsRmmFEmRtQhFQz1",
      "input": {
        "note": "Lemon is still just right of the safe's right wall; moving another ~7 cm left to be over the interior.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.25,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014h8ExWmsRmmFEmRtQhFQz1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1242, 0.9367, 0.7506, -0.7197, -0.1947, -0.1429, 0.9971, 0.6716, 2.072, 1.9968, -1.206, 0.4107, 0.2832, 0.5285]\nstate[eef_state]: left_x=0.2683 left_y=0.0046 left_z=0.1469 left_yaw=0.1118 left_pitch=-0.3067 left_roll=0.079 left_gripper=0.9971 right_x=0.4032 right_y=0.235 right_z=0.1627 right_yaw=0.0719 right_pitch=-0.5448 right_roll=-0.339 right_gripper=0.5285\nstate[joint_eff]: [-0.0889, -2.0991, 6.8991, 1.4725, -0.0855, -0.0611, -0.0122, 0.0752, -13.1214, 10.3863, 1.8584, 0.1783, 0.6227, 0.9451]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be257960f11539d6ddd93f460f79934f695a86262ff312aeae228f4ec00dda5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e027fd1c11cb526db2f91bb3027f77e50e601968441b7a1e92b3e360a5052536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2e4ebb736c52d78945521dfe1850311f0902178826dcb18f79f69e44616f33f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 4.932 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]: [-0.1238, 0.9321, 0.7506, -0.6975, -0.1951, -0.1432, 0.9971, 0.1967, 1.8656, 1.3201, -0.2867, 0.1383, 0.0154, 0.5266]\nstate[eef_state]: left_x=0.2723 left_y=0.0042 left_z=0.1514 left_yaw=0.1109 left_pitch=-0.2806 left_roll=0.0726 left_gripper=0.9971 right_x=0.4967 right_y=0.0778 right_z=0.1077 right_yaw=0.0596 right_pitch=-0.238 right_roll=-0.0866 right_gripper=0.5266\nstate[joint_eff]: [-0.0068, -2.1949, 6.9949, 1.453, -0.105, -0.0611, -0.0122, -0.6906, -16.2667, 12.041, 3.2601, -0.2613, 0.6471, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9344, 0.7506, -0.7052, -0.1951, -0.1432, 0.9971, 0.5411, 1.7859, 1.4574, -0.7681, 0.3599, 0.2188, 0.5285]\nstate[eef_state]: left_x=0.271 left_y=0.0044 left_z=0.1497 left_yaw=0.1116 left_pitch=-0.2902 left_roll=0.075 left_gripper=0.9971 right_x=0.4031 right_y=0.1738 right_z=0.1384 right_yaw=0.0701 right_pitch=-0.4195 right_roll=-0.2227 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -2.0034, 6.7214, 1.4872, -0.1294, -0.0757, -0.0122, 0.1299, -14.0103, 11.3983, 2.2784, 0.022, 0.6032, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1242, 0.9367, 0.7506, -0.7197, -0.1947, -0.1429, 0.9971, 0.6716, 2.072, 1.9968, -1.206, 0.4107, 0.2832, 0.5285]\nstate[eef_state]: left_x=0.2683 left_y=0.0046 left_z=0.1469 left_yaw=0.1118 left_pitch=-0.3067 left_roll=0.079 left_gripper=0.9971 right_x=0.4032 right_y=0.235 right_z=0.1627 right_yaw=0.0719 right_pitch=-0.5448 right_roll=-0.339 right_gripper=0.5285\nstate[joint_eff]: [-0.0889, -2.0991, 6.8991, 1.4725, -0.0855, -0.0611, -0.0122, 0.0752, -13.1214, 10.3863, 1.8584, 0.1783, 0.6227, 0.9451]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be257960f11539d6ddd93f460f79934f695a86262ff312aeae228f4ec00dda5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e027fd1c11cb526db2f91bb3027f77e50e601968441b7a1e92b3e360a5052536",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2e4ebb736c52d78945521dfe1850311f0902178826dcb18f79f69e44616f33f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShgkKEAgSGAI4AUIIdGhpbmtpbmcSDIgR5xwiE16mzwr56RoMUeqF50ovUr56v09nIjA4/gZO9u6TCSTrrn3G4QjHsk4zbrlCbX9Q/7sfJOJlhKag91XpD8/ND5baExdB+RoqowhRqTL2Os9F7UpaDKHufgNUrG7I0iMChsEiQKl35wBy1Sw3Q4eBsxyKgb1q6IOuYtHbf2l8wn+j1l6qJal+dPmwyC/ZIZLAk+lOQTHbV805bZglWEJ9J/SiOtTZAUr36Pgh+kPHQP9hFGZ8vl5VfQfHjb1AHm+htf1uj3a993GTMx6NyKqlobrc2tc8B1cApYDrtGsHEGKMQS1sAvQvSZ8xIRUGsmAFSSH7n1OlS+es/a8zXG73aWeNvz9zS0ixtEjCLdu5kKbbJqrPBFVi4WSHzXLD53CdEpWQqadABSJFIEw8U6QUuGXyQjVwNRb1T9DX1YOmNtp5ag+ATE9FOTCP9UAFeagogbzXipcFiwh1wXBRsUy7YDayI9xfIpZKZ7UwBu9rVUmEnAWMG15spUGAuMOknsidCgkLc0rIL5hlBrJqaDmAkCkEuZbcSrVe8S/BcqTgXsEETtJErmuXTrPr318ul15Q3LZeC0fHjeA60ZUKadxFw4jcPcWQ53v7tlOSn+UxHj7K7BCy+GIN1pyOhva9PI1com8/CtpQ16WLJokesgLN8YnebFepyPcxRqJAGkwrjOEu+yfZc5kGwLm4FuqltMwM2FSmHJN8foZOKgMWIjepbLuHpNFTisrVewmRewudZZbnYC84Hv84VS0btzbuEIAtu2O9mBw9Dl5jvvYmXgC0ZiFaLY0LY4UtYivgPo2/VcJ1uitX3m8YqzAY84uugE4H16gz188T1wpcqq+3MAyVfGPl5MvDUWon4ra4aGAha3WP9VIn6cEfghPhPoi7RTi8OxvDu+Jt06q+GmEi6lbmLxc76BHkrLi+Y5oBL7g/zX32SYYab2DwX6s7FD9d8dyymj3s5iG1j0KDSg9V1sFX1flH464vJel2FseUuWyayMMB4REGlHbXV2m4Nc8CZFmyYdqgX560kFzVMAuPY07gll6GR4b1AsfqYD+ev4iHrYgfzR8Fq/wEx9Z/dVriHoaHaiSMv/K0e3h8/16MvvPjbWdH8J/VBtfzBsvOSzn7qc6ys8h4ie4RG5gjWTIerAU7ECr94HKZoNTPdRG1K7pNYw14AmgZImqkOj81WOgcdh1a/BivIHjUHUT9vscOEPAmqQOOgn3e4pFoL1EAnLiFIHLNSD+VMmXcYFegZxfsbYdjJ9esiPBUGnMIsQWLDl9yETFSOaBPlGJQ4MkgR70hAAUGdCqnVKonaXCmkWXRyZZxNNeSuOIG8ywILYFvKKP9Ck/pfRHD1OjYxIHlGg4pcvo7OEJAKkS4JP8JuRijRv8GyCXQVopYZiChZgsGJtq8YxnJs+e8mCc7EmvdBv5bk+zShCLVvGmLjiFOva9NC7AiTYw0jL2fzOpcIZ4r1EXJ76xOTDqW+PT/sAP6/Z1CW7vxK/Azf+w0C7u+/PwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0188gnAucM1C8zZFnC8pXgXX",
      "input": {
        "note": "The wrist has tilted back (pitch -0.54); re-levelling and moving further left to be clearly over the safe interior before release.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.42,
          "right_y": 0.29,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_0188gnAucM1C8zZFnC8pXgXX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7277, -0.1951, -0.1429, 0.9971, 0.7845, 1.8812, 1.4677, -0.6106, 0.5358, 0.3828, 0.5286]\nstate[eef_state]: left_x=0.2668 left_y=0.0049 left_z=0.1453 left_yaw=0.1133 left_pitch=-0.3162 left_roll=0.0818 left_gripper=0.9971 right_x=0.3899 right_y=0.2669 right_z=0.1304 right_yaw=0.1016 right_pitch=-0.2556 right_roll=-0.2117 right_gripper=0.5286\nstate[joint_eff]: [-0.0889, -2.0991, 6.7624, 1.4188, -0.1587, -0.0073, -0.0122, 0.1026, -14.4752, 9.4427, 2.8156, 0.4664, 0.5055, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15bde7a5a7b266df9723798348616016707c456bfd5800a5b774609d5362b308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1b5685644e188c06180d281e2fb811e6f6c9bddec2699585657b1d5f282b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07bfdb411b90f42d8778a123d5f07e39188c619860720c257cbb723a200a6206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.149 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]: [-0.1238, 0.9344, 0.7506, -0.7052, -0.1951, -0.1432, 0.9971, 0.5411, 1.7859, 1.4574, -0.7681, 0.3599, 0.2188, 0.5285]\nstate[eef_state]: left_x=0.271 left_y=0.0044 left_z=0.1497 left_yaw=0.1116 left_pitch=-0.2902 left_roll=0.075 left_gripper=0.9971 right_x=0.4031 right_y=0.1738 right_z=0.1384 right_yaw=0.0701 right_pitch=-0.4195 right_roll=-0.2227 right_gripper=0.5285\nstate[joint_eff]: [-0.0752, -2.0034, 6.7214, 1.4872, -0.1294, -0.0757, -0.0122, 0.1299, -14.0103, 11.3983, 2.2784, 0.022, 0.6032, 1.0379]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1242, 0.9367, 0.7506, -0.7197, -0.1947, -0.1429, 0.9971, 0.6716, 2.072, 1.9968, -1.206, 0.4107, 0.2832, 0.5285]\nstate[eef_state]: left_x=0.2683 left_y=0.0046 left_z=0.1469 left_yaw=0.1118 left_pitch=-0.3067 left_roll=0.079 left_gripper=0.9971 right_x=0.4032 right_y=0.235 right_z=0.1627 right_yaw=0.0719 right_pitch=-0.5448 right_roll=-0.339 right_gripper=0.5285\nstate[joint_eff]: [-0.0889, -2.0991, 6.8991, 1.4725, -0.0855, -0.0611, -0.0122, 0.0752, -13.1214, 10.3863, 1.8584, 0.1783, 0.6227, 0.9451]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7277, -0.1951, -0.1429, 0.9971, 0.7845, 1.8812, 1.4677, -0.6106, 0.5358, 0.3828, 0.5286]\nstate[eef_state]: left_x=0.2668 left_y=0.0049 left_z=0.1453 left_yaw=0.1133 left_pitch=-0.3162 left_roll=0.0818 left_gripper=0.9971 right_x=0.3899 right_y=0.2669 right_z=0.1304 right_yaw=0.1016 right_pitch=-0.2556 right_roll=-0.2117 right_gripper=0.5286\nstate[joint_eff]: [-0.0889, -2.0991, 6.7624, 1.4188, -0.1587, -0.0073, -0.0122, 0.1026, -14.4752, 9.4427, 2.8156, 0.4664, 0.5055, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15bde7a5a7b266df9723798348616016707c456bfd5800a5b774609d5362b308",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed1b5685644e188c06180d281e2fb811e6f6c9bddec2699585657b1d5f282b54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07bfdb411b90f42d8778a123d5f07e39188c619860720c257cbb723a200a6206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7ggKEAgSGAI4AUIIdGhpbmtpbmcSDGQWPhhDjrM3BR6flRoM7o25KB9u3wUaxC+uIjABTeX57xgJCPzRYzn+koeqV7FUFdx6fNCpW7O+7TMe4PrvDTgU5Ak+eh6mlHf4RzYqiwivkCFckDLl/MqsrUEjBQaWWncE8yBqjD9RrKAuN6D9EJaB16p+zP9o5DgBD9aeDGcn33PCd1M79P9EE9AHx1dtgPk+XXeZES30fUy4R1VFGuob2O8k/4LRmjwzfd/FOvRTGyJODhKgW3Mk1JcFewBVK+JOBMoEZMa1cdYA9J1fR7BIWQKy2rCiAZniyhyamAEtDD8ie0RUXAkyDwkIXM35F64kplXPdNKf3n7YHvS8SDkrop6wRI3/WACpy/bQY7czI/weXHv2SXmAP2j4yk8hc5uPu+3yYCE2oWCnkI0wsv+ah92US7RnZtfHtppNtIVldqFExajH+My66oBs2mFa3wq968cwSNvAvdgeDEGRTQKNYp5tQFxFNQOlfmELSIcbqG/fp4dGme54IAAMWnhkPWlw9pAWmwIaV/ri5uD/OAVbhh7qn6mVugsiOSIHz5zPtby9NGjgOSynf3nwonYiPPbRfSu723iUGuO7n03bH3Ah1kudb5v3S/2wjkD1UY5LqK16mTHlH8XirwYtRtlsMUYJn9Fo5VZvB0D7rR2CRxQCWylHM+YD/noopZwEw+NbjBHWwF4inV5rfnITpfs7c8QNJk5F3Sc53X6tTYtXBde0IPkk93W6lOe4IMpP7IekM5LMBHK915iveArWvIwrRSA2VFNGr6zDt1ZDsM5ZgNRK3emw/jq/JTPHlcXu+SQm9wgLEgRx88WI+e4DJilYf/6xU5albLC5ctJpGAQAlIcjjQwR3/SP0uXPd+q+qIKXGPNSq1SPeWsCLwV3/IkonvZc66vubTel22BfXu6ZAu2G79Pm45BLVoA4zCUGhfX7muNNSsWX7SB3Z82B/AuI/tua/A0gpUKor8CVlZOwpq25zddWsT/5qaRbW59i1gNX5AlKiWp+YfejF6VaN/l6d78i2TBVvT1FGVtmBpX93cRMcqb+u3YoH+UbCej7/XV59rnKdrIPU2vgShaeEz1Tf6WnFDTAmTD5fzX+EYimZQH2tIxD77z08ohe6QrY3i/A9eXhlJwp8DpKEIIZkwFO52azzwOtP432mnBbO/w14Dweq1KN+a1YaEhse0tkLj+ioOwenOufiaOIVbAJy9syrGu7Fh/RN4qoaqNAeMVYUmX6hMkoM9OMGQ0TknzgxbqRVD0SLz1qArW9XpflvHg0IeJlcDgINRuTbt80dFh4UauVt2J8nm0HfXNMltgWJC6CW8zQoEzHz4B8tsppF+xhvDtrLXEgEwdCXXZUvPJbPfl7+t83vue+A5Db1a659tKVnf9AvJmeXxfkVKp8QusJDSXzq3jVMc58sxtDYGNmGbFm62U1lgyjMK9doPsNbdZI1nZVEk4p/E4o9eKA1oQoyZtg9SFazGxRnNgYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018utWzmgzbuaGJqRySJ4mTw",
      "input": {
        "note": "Overhead shows the gripper still at the safe's right-front corner with the lemon outside the wall; pushing further left and slightly forward over the interior.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.44,
          "right_y": 0.34,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018utWzmgzbuaGJqRySJ4mTw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7414, -0.1951, -0.1432, 0.9971, 0.8249, 2.0315, 1.676, -0.6476, 0.5499, 0.3851, 0.5287]\nstate[eef_state]: left_x=0.2642 left_y=0.0053 left_z=0.1432 left_yaw=0.1146 left_pitch=-0.3296 left_roll=0.0849 left_gripper=0.9971 right_x=0.409 right_y=0.3119 right_z=0.1335 right_yaw=0.1343 right_pitch=-0.2316 right_roll=-0.2059 right_gripper=0.5287\nstate[joint_eff]: [-0.0205, -1.9214, 6.6667, 1.5263, -0.1392, -0.0513, -0.0122, 0.3761, -13.1487, 11.8496, 3.0256, 0.5299, 0.4908, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a4073ccdcd408712a0364b56d2f296b83a0702b85edcf999478bcf794e2ad7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac0a8a0e376feb873cfe112f0717c37081fa94e13427c8eeb5bf64c182333cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:31af5f438000e41e4a96daf00a5fb170e9f9ce6c7237419aa12612298cbb590e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.878 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]: [-0.1242, 0.9367, 0.7506, -0.7197, -0.1947, -0.1429, 0.9971, 0.6716, 2.072, 1.9968, -1.206, 0.4107, 0.2832, 0.5285]\nstate[eef_state]: left_x=0.2683 left_y=0.0046 left_z=0.1469 left_yaw=0.1118 left_pitch=-0.3067 left_roll=0.079 left_gripper=0.9971 right_x=0.4032 right_y=0.235 right_z=0.1627 right_yaw=0.0719 right_pitch=-0.5448 right_roll=-0.339 right_gripper=0.5285\nstate[joint_eff]: [-0.0889, -2.0991, 6.8991, 1.4725, -0.0855, -0.0611, -0.0122, 0.0752, -13.1214, 10.3863, 1.8584, 0.1783, 0.6227, 0.9451]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.1238, 0.9386, 0.7506, -0.7277, -0.1951, -0.1429, 0.9971, 0.7845, 1.8812, 1.4677, -0.6106, 0.5358, 0.3828, 0.5286]\nstate[eef_state]: left_x=0.2668 left_y=0.0049 left_z=0.1453 left_yaw=0.1133 left_pitch=-0.3162 left_roll=0.0818 left_gripper=0.9971 right_x=0.3899 right_y=0.2669 right_z=0.1304 right_yaw=0.1016 right_pitch=-0.2556 right_roll=-0.2117 right_gripper=0.5286\nstate[joint_eff]: [-0.0889, -2.0991, 6.7624, 1.4188, -0.1587, -0.0073, -0.0122, 0.1026, -14.4752, 9.4427, 2.8156, 0.4664, 0.5055, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7414, -0.1951, -0.1432, 0.9971, 0.8249, 2.0315, 1.676, -0.6476, 0.5499, 0.3851, 0.5287]\nstate[eef_state]: left_x=0.2642 left_y=0.0053 left_z=0.1432 left_yaw=0.1146 left_pitch=-0.3296 left_roll=0.0849 left_gripper=0.9971 right_x=0.409 right_y=0.3119 right_z=0.1335 right_yaw=0.1343 right_pitch=-0.2316 right_roll=-0.2059 right_gripper=0.5287\nstate[joint_eff]: [-0.0205, -1.9214, 6.6667, 1.5263, -0.1392, -0.0513, -0.0122, 0.3761, -13.1487, 11.8496, 3.0256, 0.5299, 0.4908, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a4073ccdcd408712a0364b56d2f296b83a0702b85edcf999478bcf794e2ad7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ac0a8a0e376feb873cfe112f0717c37081fa94e13427c8eeb5bf64c182333cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31af5f438000e41e4a96daf00a5fb170e9f9ce6c7237419aa12612298cbb590e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HgsrHjfPaAoUgvqDcpPqsR",
      "input": {
        "note": "Lemon still appears just outside the safe's right wall; moving to the far-left limit of the right arm to get it over the red interior.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.4,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HgsrHjfPaAoUgvqDcpPqsR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9428, 0.7506, -0.7486, -0.1951, -0.1429, 0.9971, 0.8726, 2.6637, 2.8304, -1.3197, 0.5266, 0.4454, 0.5285]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1412 left_yaw=0.1153 left_pitch=-0.3407 left_roll=0.088 left_gripper=0.9971 right_x=0.4358 right_y=0.3868 right_z=0.1298 right_yaw=0.1341 right_pitch=-0.3509 right_roll=-0.2518 right_gripper=0.5285\nstate[joint_eff]: [-0.1026, -2.2632, 6.6803, 1.409, -0.1392, -0.0415, -0.0122, 0.5675, -17.4701, 9.4564, 0.5788, 0.6129, -0.1197, 0.5983]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:011d80e6c4e00d2bc03ca4fe73a51be9cf6e33f3f102caafc43185958ea0d6fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa518d71d62aac1c05fca27a02db9ab0262c412cbd29deb0e5662f207a4a9c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c4a91a83074c15e2ef707c4d55f39bb8abd3a01a0bedc4f0445585238dda9a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 7.785 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7277, -0.1951, -0.1429, 0.9971, 0.7845, 1.8812, 1.4677, -0.6106, 0.5358, 0.3828, 0.5286]\nstate[eef_state]: left_x=0.2668 left_y=0.0049 left_z=0.1453 left_yaw=0.1133 left_pitch=-0.3162 left_roll=0.0818 left_gripper=0.9971 right_x=0.3899 right_y=0.2669 right_z=0.1304 right_yaw=0.1016 right_pitch=-0.2556 right_roll=-0.2117 right_gripper=0.5286\nstate[joint_eff]: [-0.0889, -2.0991, 6.7624, 1.4188, -0.1587, -0.0073, -0.0122, 0.1026, -14.4752, 9.4427, 2.8156, 0.4664, 0.5055, 0.7399]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7414, -0.1951, -0.1432, 0.9971, 0.8249, 2.0315, 1.676, -0.6476, 0.5499, 0.3851, 0.5287]\nstate[eef_state]: left_x=0.2642 left_y=0.0053 left_z=0.1432 left_yaw=0.1146 left_pitch=-0.3296 left_roll=0.0849 left_gripper=0.9971 right_x=0.409 right_y=0.3119 right_z=0.1335 right_yaw=0.1343 right_pitch=-0.2316 right_roll=-0.2059 right_gripper=0.5287\nstate[joint_eff]: [-0.0205, -1.9214, 6.6667, 1.5263, -0.1392, -0.0513, -0.0122, 0.3761, -13.1487, 11.8496, 3.0256, 0.5299, 0.4908, 1.0379]\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 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9428, 0.7506, -0.7486, -0.1951, -0.1429, 0.9971, 0.8726, 2.6637, 2.8304, -1.3197, 0.5266, 0.4454, 0.5285]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1412 left_yaw=0.1153 left_pitch=-0.3407 left_roll=0.088 left_gripper=0.9971 right_x=0.4358 right_y=0.3868 right_z=0.1298 right_yaw=0.1341 right_pitch=-0.3509 right_roll=-0.2518 right_gripper=0.5285\nstate[joint_eff]: [-0.1026, -2.2632, 6.6803, 1.409, -0.1392, -0.0415, -0.0122, 0.5675, -17.4701, 9.4564, 0.5788, 0.6129, -0.1197, 0.5983]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:011d80e6c4e00d2bc03ca4fe73a51be9cf6e33f3f102caafc43185958ea0d6fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa518d71d62aac1c05fca27a02db9ab0262c412cbd29deb0e5662f207a4a9c22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c4a91a83074c15e2ef707c4d55f39bb8abd3a01a0bedc4f0445585238dda9a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3ggKEAgSGAI4AUIIdGhpbmtpbmcSDAPC4sm00utkBp2bnRoMNdRIiaBDm7024O9UIjCY95+5Cn7D63rh6iVlcYoUIbMJyR2X5oA0cRrDs77BcM/6UKzUKxK/GrRx2gC0RGAq+wc+a6T9+XsTB0VLQcQXpsNrw4ENWs8RV7Cs5f7l80N9l2k2CpMYZ8qgv65vSgXMaHYsxByc48xRoYBvT3eAxJxJdvAqvgFyHsXx02tys3JPV9TZnoGXhZuj6WDGElDliVwqgkqihMRrlAUzLqHIM7M6O/n6S50PF0aI3mETIjA1y31dbPBNsgR+3xVJsj0bRE160VCDBE9SKiAIsv+thFUakqq0lvN8ZeRa05J3Gr8ZiTryC65wjBZr1ZVkUYQu0ucLMCd3Ft+kwS/wMbhDoO7ejKnVvi+FiRMmeLuEZvqfugazINWkzrlXDpwoC1yg6zu8DmPZpgjq6pV4hOze6iDNp2QP6kaC/ixvf4qbyxbXidHX5wpaUcYCjM8RV9H9rikr0YV9PStKZz/jMQoSHY1LgNPwS1XpgHTCefCLrxKi7T+6zEhe426mBfI0HBZcc8K7zmkZ8kNDMlE5+VnMhIhR8znqbp/kyJEsEBphZdjJrSySMAfTNrVWQ/JBFL771DhUcrpB4G/XpzUIw4P9EI41bhOUPeXvcE6sFr6e4NrutIxgP3axLTo1H6ULSaChT7C3IagamNWbZ1Z9442GigUl9fEYg1tvzITsvkezRw/RrVACeQUbrXREVrHNx6/ALy1tnXbeeLQOvureSjust8GoH8dL9gskbVTG3aTZ+is8c/k//79/mRZecIKhS66xb8NDi11VgbLsleMLFz+EHQRVzd1P8T0VsyDkKTHATfUoAWwB5hobHFWYCD+PF8tzFTLp6EY44jX64jYyQWc/bfKoelyMC1OS4q+H7iJkjsiNtuOVA03HBIWL6aycQRzg4dS+X0mnRbY/iQ7Apxy0VH5XFr/F7iTkdLamui6fQS5X7yrRfkfzux244cyjaUg/YcFkkXOdundBo/MmZ+gGJlMGSxkShCkFCNVqQ2geIbKhuGSeP1ERprOxKcKzVHVQpmId4LAWo0v1TPFic2043+Uh1PhOtbJh9RN4r6n/qL77TuEd0S+roVml1gEIIOnjfuq7lUnjEYeWM3yYm0kwRyHgb220zPP8Oaq8ENOMWfdnhTt5UB+TyPzDtJ3sj9jeCq7YXwq31b3DGMDCrpW/iLeR22MI6FTHX6S2HZDYayR+EKMypFDxxuYuLs1Yqe0mpEoo9uzEAkWmX4KjBfGutbkehSkoU9OLjFvXpwFzBeDSLIiOkCRsRCH9F7E4yhM9Cb0nwAkXCxOuVD9VmCDWvi4rppzrI+YOZFX36hgoLez3Hw26VsV8/uSaMUMHNypnS4Sho+aHoomkc3RC4pN6fxs0WrLNffKIsR2xH+K0GzP53uDFKP4K8W3W0/eDvItlj2Cz5RJ7VBOG3Y0WQRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSEcGfj97Yg2V7VxipvQC8",
      "input": {
        "note": "The safe is being dragged along by the lemon catching its right wall (wrist view never changes). Lifting much higher to clear the wall.",
        "targets": {
          "right_x": 0.36,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01BSEcGfj97Yg2V7VxipvQC8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9466, 0.7506, -0.7494, -0.1951, -0.1432, 0.9971, 0.8845, 2.6839, 2.9139, -1.4803, 0.5117, 0.4759, 0.533]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1402 left_yaw=0.1159 left_pitch=-0.3451 left_roll=0.089 left_gripper=0.9971 right_x=0.4141 right_y=0.3746 right_z=0.1304 right_yaw=0.1105 right_pitch=-0.4268 right_roll=-0.2943 right_gripper=0.533\nstate[joint_eff]: [-0.0479, -2.0444, 6.653, 1.3504, -0.1685, -0.0415, -0.0122, 0.4991, -13.3812, 7.2274, 0.7057, 0.4615, -0.1343, 0.4567]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d1fd5e9f330a6d2413b35c45d32808835977db8112ac65340192ee77780b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf271ddf71bbbbd20738734c4189cb4fb3e4358f3b7a0890129d251bffa194a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b7a3f65d90a3c7eec749101f1a6bcf0a2de550d4918be044cc7d8e70f871e37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.847 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9386, 0.7506, -0.7414, -0.1951, -0.1432, 0.9971, 0.8249, 2.0315, 1.676, -0.6476, 0.5499, 0.3851, 0.5287]\nstate[eef_state]: left_x=0.2642 left_y=0.0053 left_z=0.1432 left_yaw=0.1146 left_pitch=-0.3296 left_roll=0.0849 left_gripper=0.9971 right_x=0.409 right_y=0.3119 right_z=0.1335 right_yaw=0.1343 right_pitch=-0.2316 right_roll=-0.2059 right_gripper=0.5287\nstate[joint_eff]: [-0.0205, -1.9214, 6.6667, 1.5263, -0.1392, -0.0513, -0.0122, 0.3761, -13.1487, 11.8496, 3.0256, 0.5299, 0.4908, 1.0379]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9428, 0.7506, -0.7486, -0.1951, -0.1429, 0.9971, 0.8726, 2.6637, 2.8304, -1.3197, 0.5266, 0.4454, 0.5285]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1412 left_yaw=0.1153 left_pitch=-0.3407 left_roll=0.088 left_gripper=0.9971 right_x=0.4358 right_y=0.3868 right_z=0.1298 right_yaw=0.1341 right_pitch=-0.3509 right_roll=-0.2518 right_gripper=0.5285\nstate[joint_eff]: [-0.1026, -2.2632, 6.6803, 1.409, -0.1392, -0.0415, -0.0122, 0.5675, -17.4701, 9.4564, 0.5788, 0.6129, -0.1197, 0.5983]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9466, 0.7506, -0.7494, -0.1951, -0.1432, 0.9971, 0.8845, 2.6839, 2.9139, -1.4803, 0.5117, 0.4759, 0.533]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1402 left_yaw=0.1159 left_pitch=-0.3451 left_roll=0.089 left_gripper=0.9971 right_x=0.4141 right_y=0.3746 right_z=0.1304 right_yaw=0.1105 right_pitch=-0.4268 right_roll=-0.2943 right_gripper=0.533\nstate[joint_eff]: [-0.0479, -2.0444, 6.653, 1.3504, -0.1685, -0.0415, -0.0122, 0.4991, -13.3812, 7.2274, 0.7057, 0.4615, -0.1343, 0.4567]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36d1fd5e9f330a6d2413b35c45d32808835977db8112ac65340192ee77780b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecf271ddf71bbbbd20738734c4189cb4fb3e4358f3b7a0890129d251bffa194a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 317):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b7a3f65d90a3c7eec749101f1a6bcf0a2de550d4918be044cc7d8e70f871e37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VkjRN4jhP7saJgcRKUtiEf",
      "input": {
        "note": "Right arm won't rise above 0.13 m in this stretched pose; pulling back toward the base and re-levelling the wrist to get the IK unstuck while lifting.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.3,
          "right_y": 0.3,
          "right_yaw": 0,
          "right_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_01VkjRN4jhP7saJgcRKUtiEf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9413, 0.7506, -0.7845, -0.1978, -0.1432, 0.9971, 1.0416, 2.0655, 2.2971, -1.3579, 0.7929, 0.7116, 0.5349]\nstate[eef_state]: left_x=0.2558 left_y=0.0068 left_z=0.1366 left_yaw=0.1209 left_pitch=-0.3735 left_roll=0.0988 left_gripper=0.9971 right_x=0.3344 right_y=0.3297 right_z=0.2839 right_yaw=0.0111 right_pitch=-0.1135 right_roll=-0.2002 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4291, 6.6667, 1.5165, -0.1245, -0.0562, -0.0122, 3.2479, -22.7077, 12.5333, 3.5678, 1.4579, 0.6325, 0.9646]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6b209e396cb8e91426b74d5bf96605dd4ca2a00eb29703835e2bb790b30d30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b013cc2f7a393f640e986a16cfa2cd8f8f293e851460120fafe5113508513b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42159d1df9168824667a3ea5d34167ca65b3705eb348dd9eaccda24d342bd005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 4.569 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9428, 0.7506, -0.7486, -0.1951, -0.1429, 0.9971, 0.8726, 2.6637, 2.8304, -1.3197, 0.5266, 0.4454, 0.5285]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1412 left_yaw=0.1153 left_pitch=-0.3407 left_roll=0.088 left_gripper=0.9971 right_x=0.4358 right_y=0.3868 right_z=0.1298 right_yaw=0.1341 right_pitch=-0.3509 right_roll=-0.2518 right_gripper=0.5285\nstate[joint_eff]: [-0.1026, -2.2632, 6.6803, 1.409, -0.1392, -0.0415, -0.0122, 0.5675, -17.4701, 9.4564, 0.5788, 0.6129, -0.1197, 0.5983]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9466, 0.7506, -0.7494, -0.1951, -0.1432, 0.9971, 0.8845, 2.6839, 2.9139, -1.4803, 0.5117, 0.4759, 0.533]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1402 left_yaw=0.1159 left_pitch=-0.3451 left_roll=0.089 left_gripper=0.9971 right_x=0.4141 right_y=0.3746 right_z=0.1304 right_yaw=0.1105 right_pitch=-0.4268 right_roll=-0.2943 right_gripper=0.533\nstate[joint_eff]: [-0.0479, -2.0444, 6.653, 1.3504, -0.1685, -0.0415, -0.0122, 0.4991, -13.3812, 7.2274, 0.7057, 0.4615, -0.1343, 0.4567]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9413, 0.7506, -0.7845, -0.1978, -0.1432, 0.9971, 1.0416, 2.0655, 2.2971, -1.3579, 0.7929, 0.7116, 0.5349]\nstate[eef_state]: left_x=0.2558 left_y=0.0068 left_z=0.1366 left_yaw=0.1209 left_pitch=-0.3735 left_roll=0.0988 left_gripper=0.9971 right_x=0.3344 right_y=0.3297 right_z=0.2839 right_yaw=0.0111 right_pitch=-0.1135 right_roll=-0.2002 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4291, 6.6667, 1.5165, -0.1245, -0.0562, -0.0122, 3.2479, -22.7077, 12.5333, 3.5678, 1.4579, 0.6325, 0.9646]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b6b209e396cb8e91426b74d5bf96605dd4ca2a00eb29703835e2bb790b30d30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b013cc2f7a393f640e986a16cfa2cd8f8f293e851460120fafe5113508513b64",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 332):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42159d1df9168824667a3ea5d34167ca65b3705eb348dd9eaccda24d342bd005",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvQkKEAgSGAI4AUIIdGhpbmtpbmcSDEbHimuB5RN0T+QUlBoMGDrn4sGLhfTISiROIjBr6ALwpsn52eDC3EhXp7MhnwyBd4dzoDnE8tuNvK5fLh/J4ULeH3v5zVnwHbDBwskq2gjQnrNeNyEGA/VGn0onuVdxQpXsEIkpELWPTlbQOfKDsi2z6o0tXkVEyoWRCN+qQBrshLgJweaium9vVGQWtHfc/7yW7KzBOhmBmv0TuQX5FZumjVhV0+FDMzGZVtyt99xNLj3KdFjnHrxNZn5qeSglH2MZLIVl23zk8b42xQ3rsfhyZfxPUfbEo/VIvAsAkzCVqvafFMxy11sbYwXTS8wSfO1p9fhwtnHacIhUyUEIwD15tC+PC32/lHISDv5qR2OPj0QpxTXX3t7jXKo2g8dKm6vUWKaf1vcB08AqUPz6Io7LlV1wF0wch9TCL/iu/b6jLqDeA4VH0Bt+5zM7nactLhKzC+J8PjTK9ioEt+Hcdk14pVWEWbmPvjXL2sH0XWxUfIUnYi6p7NpiX+LEUVREUA31kO3UIQWQmjgWOjMSSLuAFgMysm5MC1F1Ys65oq9f1aAzWdIdlMKOsy64WsF2bgEp6jnYLQ8+JXNw3mVPl1zEljL2IrQYORHXjhUwG2T7egHq2a4/3PFZMvcrgW2kksqwjeXTmRApgRvpahyt6ZENwdOsMygCxAJlUNi7oBYc7VM0rvvIoqYGjQybJmYyTBd1smnXwuqo7CgRw7wuY2JwFXyJjqnS4Rv0XFTTQ/tUJf/pNauNqCPYU3BlvWIzzhsj+PbL6NklZGeMC3SZUsCHsnOnKZQ0zgD3ybWz2JuRXKV1lhskt3iGvuGbjUM7DbkFXDbgjAzp9inyJojsMI1HF+NUEcrJgsT8aVQ61yTzTH4m7ujrhcfZpv7yPWKfuV2AkJieISlhTk5Lvgp5DKjnvamXpY9UNY7NFAJo5m0X6wi6c6Smo+V2DcPgUx8udyjBJjgIAE35EzkCo/LuLT23ph6CDGZaenRXQSz7oazB73643uh3Ba0mDiWR3nJv9cPYy4RwXDAmBVhCsnHGDVlxsON+ymMHq+TwssVvknRb3hez/t3BKfe+OlQZQRn+TLL4VV3wMIez58+OyXOz4mI/IHF3f7JIq1wUEsJn+UdyvwqMaH0XFUgueTTJh4hlUa4v3XZhkfJiuWCZWQ9zqo3U/ivhZPGzQfBKc4ToimreQ8fRHs6ouu1VNb3IIQ6zz/wOf/I/3GgaxDYHM3uGorblEH8ytRoY/zFA7ibdM/Bf3cM9MH4QDGf/WyUBPel2ndVhvxvzNn9yo63qKdqFhxdnFRLA83imPXOvDRlWe4ZrTrhoanVELUEPNYOFhDquYB7kCfpJa2d/p/wHJw54TXQab3ICa7ouI1a6RMCFv4t4MAYOdlm3dbm6Y0uub3NKjWXu/SNbWVwOjyohBLjgo+jTyJSYTCkHqZNSyrJnSOCBjQ8Nty22Dom69llEeA/mE5PMpqc3V3JSwWUpArTdK/Tk5ddh839Ur8G5/3L8exOGb7fidrhKfvY0IKJT1DW1buPKaCKDySE6VgtvKfv73XMUIbEvvYf2dpcS1TvpzOu99FX5O2l+DRMxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Th5CyZL3FQKwn8tB1m9z9e",
      "input": {
        "note": "The wrist view never changes: the jaws have pinched the safe's right wall together with the lemon, so the safe is lifted with it. Lowering the safe back to the table before releasing.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Th5CyZL3FQKwn8tB1m9z9e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9478, 0.7525, -0.7918, -0.1951, -0.1467, 0.9971, 1.0641, 1.8755, 2.1838, -1.0641, 0.7948, 0.7013, 0.535]\nstate[eef_state]: left_x=0.2548 left_y=0.0064 left_z=0.1348 left_yaw=0.1218 left_pitch=-0.3853 left_roll=0.0975 left_gripper=0.9971 right_x=0.3282 right_y=0.3389 right_z=0.3625 right_yaw=0.0434 right_pitch=0.0813 right_roll=0.1068 right_gripper=0.535\nstate[joint_eff]: [-0.0342, -2.2632, 6.5846, 1.3358, -0.1978, -0.0122, -0.0073, -1.3333, -0.1983, 3.5487, 2.4835, 0.2222, 0.1538, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c07b4be4368fa5ec5cfcbff360dc54ef58ad4c61a0a693ba0405cc3346e09215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340f1a553779afe16c24f9c14be62f6ac14f2092fcea8b5dba111a8a851d1d54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:322280458e76f53dc5340919de3adfd8d50ebf48c9a4b0f1ea3f203168b4ffb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 6.22 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9466, 0.7506, -0.7494, -0.1951, -0.1432, 0.9971, 0.8845, 2.6839, 2.9139, -1.4803, 0.5117, 0.4759, 0.533]\nstate[eef_state]: left_x=0.2629 left_y=0.0054 left_z=0.1402 left_yaw=0.1159 left_pitch=-0.3451 left_roll=0.089 left_gripper=0.9971 right_x=0.4141 right_y=0.3746 right_z=0.1304 right_yaw=0.1105 right_pitch=-0.4268 right_roll=-0.2943 right_gripper=0.533\nstate[joint_eff]: [-0.0479, -2.0444, 6.653, 1.3504, -0.1685, -0.0415, -0.0122, 0.4991, -13.3812, 7.2274, 0.7057, 0.4615, -0.1343, 0.4567]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9413, 0.7506, -0.7845, -0.1978, -0.1432, 0.9971, 1.0416, 2.0655, 2.2971, -1.3579, 0.7929, 0.7116, 0.5349]\nstate[eef_state]: left_x=0.2558 left_y=0.0068 left_z=0.1366 left_yaw=0.1209 left_pitch=-0.3735 left_roll=0.0988 left_gripper=0.9971 right_x=0.3344 right_y=0.3297 right_z=0.2839 right_yaw=0.0111 right_pitch=-0.1135 right_roll=-0.2002 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4291, 6.6667, 1.5165, -0.1245, -0.0562, -0.0122, 3.2479, -22.7077, 12.5333, 3.5678, 1.4579, 0.6325, 0.9646]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9478, 0.7525, -0.7918, -0.1951, -0.1467, 0.9971, 1.0641, 1.8755, 2.1838, -1.0641, 0.7948, 0.7013, 0.535]\nstate[eef_state]: left_x=0.2548 left_y=0.0064 left_z=0.1348 left_yaw=0.1218 left_pitch=-0.3853 left_roll=0.0975 left_gripper=0.9971 right_x=0.3282 right_y=0.3389 right_z=0.3625 right_yaw=0.0434 right_pitch=0.0813 right_roll=0.1068 right_gripper=0.535\nstate[joint_eff]: [-0.0342, -2.2632, 6.5846, 1.3358, -0.1978, -0.0122, -0.0073, -1.3333, -0.1983, 3.5487, 2.4835, 0.2222, 0.1538, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c07b4be4368fa5ec5cfcbff360dc54ef58ad4c61a0a693ba0405cc3346e09215",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:340f1a553779afe16c24f9c14be62f6ac14f2092fcea8b5dba111a8a851d1d54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 344):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:322280458e76f53dc5340919de3adfd8d50ebf48c9a4b0f1ea3f203168b4ffb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QcKEAgSGAI4AUIIdGhpbmtpbmcSDOFPyEgCGIhbQ3R7iBoMeSs0C7mjjK8svT12IjBICXgyx83/pOcrLoub0pzMarwoj/XCukdpbQ4oaHwJl0WBH62kvvN3A2W+qTJtHOoqggcjufHubxaq8r3IiO8Mphza/ilUIceKX0vUwAmflWsrqIUF+cbZkcbhmNgJ4BLNCqCALwDrRu8JvPd9YlSjd2PbL5+A2xjQeAnYUxZCgvtAGVTrBGVUd78r6yHkdiRE7G9E9ml9HA2ZLRYBuwgQKtzZEaDMDG/Aari7cfHmYubQySA4YArRylzedxXhhlHI7jOcatlShE7+0NdfDse0QMb9TZp+4W02tWh/Jkq0MIn6aaBAmLIRFv6/vZ3wAmwclwrD4ueQzPITbDCP0PB/SWYCkLBOSvZ3pY/fj+aDBcoqD48YvNVq6Ab6FrO/LXwVdJD5eqYEWf4/EuVAJAo/gzri5dJ/rPvADBKQR0y8h3SJrHXcbup+PBth83kirYOuFJA4iQANyDCKXul5W9qYbU7Hs2gmCnJbOo8xET5uRd2iy74Brk4uE+YwASOO6i7t75ZWiB5EdqC2dp63gLEXIZY1Y8SDnyl0WKqcDRgEKQaF+Qs6IiODTFPd5Ye60N+12g85SOBRiVejI/xEld27HyEEKnT/JOhMm3paW5SkblOzz3iT98tSa5R1RQz4p+i/AjRriSOiJyU9njLP30zcGRexpBXoYzKsKrpW33E9j5ZzBTdJQvZJkc8pcm6cJVN8EdiFP2Ck4vdasjFoS5L3AwfX3GHHZ13f0FD3LNwOG+Vs7+ZxXX9DLA6fgsFjT5S6Inv4+NmuUQyOiH0SAYfCKLCqWmR3YUDuQlmRdKWFEdS+8gNKLfgOfCMnuaHm3anjjnRCuIcSfmqpNjfsespVXIoActi1SabYCVXWc4DQRrVQ705RLXu/Yi9i71QSZIUoMuPhoMLynw5dNyjlQow5kfObksBGnZ589t3DfVRej8eV8WxEhtQxShzjYnfp1pk3GMRIZkZ/zx9YtUr34JdbPVMrpLIarKgPIUvdplR9jtuH/fL3t96dH3wRXaesunHxgtUbM0ixG3LCBE1wt1iC5H+Yng+ByJ2ps8gptSLG6w4L87Eq1hkQd4spHWgCQalzoAYsmYEJkRcf2qHTNkwlOSusywu7xKxBlo0LKExldMhDHelZjsBOjJR+ShWiIMR/WKf2eupWPPz5Rv25gs3dIsrYV2i58MvCteFlgsr53Kc/NlNSO0rktxT6av+4VTxz/+lxKWbYk+2qDzKhw7IaZgs6wFS6kZSFSBgCNPR2Ko8j/tf/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VkQUg6rXP9yLW9rEJJDzJM",
      "input": {
        "note": "Arm rose to 0.36 instead of descending, with the safe hanging from the jaws and a plush spilling. Commanding it back down and forward to set the safe on the table.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.4,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01VkQUg6rXP9yLW9rEJJDzJM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9493, 0.7319, -0.8158, -0.1951, -0.1509, 0.9972, 0.9188, 2.0254, 1.3518, -0.1448, 0.6682, 0.5751, 0.5351]\nstate[eef_state]: left_x=0.2459 left_y=0.0075 left_z=0.1235 left_yaw=0.1292 left_pitch=-0.4298 left_roll=0.1074 left_gripper=0.9972 right_x=0.3921 right_y=0.3392 right_z=0.091 right_yaw=0.0574 right_pitch=-0.0239 right_roll=0.0019 right_gripper=0.5351\nstate[joint_eff]: [-0.2803, -1.9897, 8.3487, 1.3993, -0.1587, -0.0024, -0.0122, -0.9368, -7.6923, 5.8325, 1.3016, 0.3736, -0.1685, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91aeae5d6c5d70d4d415e9fcc353eb7d09459afbf61b96a1c128d98a51a3983f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd546218c12ef2e2470d4aeb42c2fb4aadad1b9997abebd276de9509047f219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9b66d3fe6f13aa22c096fa6203d4435cdefd6420f381312fdd39ad157811d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 14.04 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9413, 0.7506, -0.7845, -0.1978, -0.1432, 0.9971, 1.0416, 2.0655, 2.2971, -1.3579, 0.7929, 0.7116, 0.5349]\nstate[eef_state]: left_x=0.2558 left_y=0.0068 left_z=0.1366 left_yaw=0.1209 left_pitch=-0.3735 left_roll=0.0988 left_gripper=0.9971 right_x=0.3344 right_y=0.3297 right_z=0.2839 right_yaw=0.0111 right_pitch=-0.1135 right_roll=-0.2002 right_gripper=0.5349\nstate[joint_eff]: [-0.0615, -1.4291, 6.6667, 1.5165, -0.1245, -0.0562, -0.0122, 3.2479, -22.7077, 12.5333, 3.5678, 1.4579, 0.6325, 0.9646]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9478, 0.7525, -0.7918, -0.1951, -0.1467, 0.9971, 1.0641, 1.8755, 2.1838, -1.0641, 0.7948, 0.7013, 0.535]\nstate[eef_state]: left_x=0.2548 left_y=0.0064 left_z=0.1348 left_yaw=0.1218 left_pitch=-0.3853 left_roll=0.0975 left_gripper=0.9971 right_x=0.3282 right_y=0.3389 right_z=0.3625 right_yaw=0.0434 right_pitch=0.0813 right_roll=0.1068 right_gripper=0.535\nstate[joint_eff]: [-0.0342, -2.2632, 6.5846, 1.3358, -0.1978, -0.0122, -0.0073, -1.3333, -0.1983, 3.5487, 2.4835, 0.2222, 0.1538, 0.5885]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9493, 0.7319, -0.8158, -0.1951, -0.1509, 0.9972, 0.9188, 2.0254, 1.3518, -0.1448, 0.6682, 0.5751, 0.5351]\nstate[eef_state]: left_x=0.2459 left_y=0.0075 left_z=0.1235 left_yaw=0.1292 left_pitch=-0.4298 left_roll=0.1074 left_gripper=0.9972 right_x=0.3921 right_y=0.3392 right_z=0.091 right_yaw=0.0574 right_pitch=-0.0239 right_roll=0.0019 right_gripper=0.5351\nstate[joint_eff]: [-0.2803, -1.9897, 8.3487, 1.3993, -0.1587, -0.0024, -0.0122, -0.9368, -7.6923, 5.8325, 1.3016, 0.3736, -0.1685, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91aeae5d6c5d70d4d415e9fcc353eb7d09459afbf61b96a1c128d98a51a3983f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7dd546218c12ef2e2470d4aeb42c2fb4aadad1b9997abebd276de9509047f219",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 363):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9b66d3fe6f13aa22c096fa6203d4435cdefd6420f381312fdd39ad157811d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5woKEAgSGAI4AUIIdGhpbmtpbmcSDJ7TaNKBz3CaR9dcOxoMPqkpMEYmT1auisXtIjDB1TbVX3OFh2SDmYnppAey0AUODlcBMvcHK1eBeBNn1dSX2sMV/ec6cZg8aswk+dQqhAqv59HSkIzHIutOdq2nrk2kTwX/eTV8F0R3TPHuxggUE/JM0xgwRvFYpHOQjldTiUam75PwAuAo3zLY9qPNITlOxTdjhEl2sX/p1HGV8MzTaB5ejUQQUUzrlji+7iUGtpdBO5XEDFUjWSWlVD/c+qMuMrfJGUX9dQq7A0H5AXx48JQwMCqo/oOnYbUfIXhlvDzmPvpysm+X1Osb2ngJgwaA+ZBMFzs5ExnnZU9N+SyZbsYLGRTBVXkX1XamEs4TLJLOnQrgG8jBZzaqxzKrks8dKY6gN31jMWfs7q43RRpwJ/c6wK3y2k2IPP2m6F0/AjmIx8qv8gBsMpNSHqbs7F5h43jZbWIgjBJ/z9thLEAUU5qYba4ahdMieQAJvBygshFVyJLW/Q7YvjiBka2HgyH+TbqvBka8LF4SjK6P72teU4fhEVtaZ13m7VLC3K5FIxowrsaVHVufdeGBuj6FdOls1KkKh2i25Z4utfk6HRo7rR/YoaYCSLjlS8scBtw19R840prrof5vSxWIER2wXc+TgWC+SLLaqsEml/5nEE7qcs4/WsmXD7LlP4FVJRWgrbNvNX3wST//lg9kwrtGySoSyxfHNZp4v+ueG0ioGXjk5kELSpYFGUi4NryrpK5aKqMgUGgK/UZ4x9PvKT0wlAKCbm/Z7BQcBmkxlfPixrUpAWRmMkXM913iCnBugKPwgO9bc5ffCV483YLSL13lCGKFSw30zfwYsH4DSZxqGQoZEyiZYti0tbJ2FTYycwWzTl4mzxvnSikaH/a54Pao/yZghnaiV5BoIjUxL8rfTNZxlb94NMCs/MqvHs3WygLzBD4wH7wBjVgV30Bh+kcv7LkfSCQ00lkSOBFvq8c99trSRQ+CiO72nD1y/wxhv2JXdqWrE5ZXSrmqXoXCwzdHj5di1+IM974oBSm/I85ofZWNKhmc1viNJ171YaM6k7K+sjjUcUSCQEe914OqZFAhhJaKEryttOatUTR7T+/PXrLxM5RKGHtDVYrcW1fvd2xGu5PPsczXm0nEwwuTevKMcz5BWO3oYdERecddMZheevLL79KR/UwcqWBRefYLRFgBkw6JJD7b0O0l9u4mJv/SDIjcnUlnDRQWleNEw+dpnxhvZkhcUMUIFl39+4i/SqdOixuSqyvXiaS2jqZP3JJ/Mhjh6IoggNnq9uy6hFjXenF8pfz6F0UeS61C+uuftygaXcFodxCKtWjKbtKXu9aAXsaKlTqkgVSRZ2dJJMl8zO6Z5yQEq15rJgxFvX4ZbmD5VLbTf8ZrpBYD53AL1u8J5ZB/SOO8sY/BpAjwsMWsRXyu72QwZgAvFFGFsZSBAHrLFiOHY4GlRITDzykg8WCzkdJa9+ueyN+pAyOFPmGAMH0E+0Cu30uP1tokNSSt7/EqEAfwl80MNvrELi6SYQ3yFftRfT2Dz1x3DnDUHPvFHudDuojsj2ADpiFvTi6mr2wpsdhCwe+8WJp6Arg+2RVN42Z+D8LT+JTR5wwFSO80BO27ZSo+ff3rRm+d/KkNrFLJHqHZ5Lz6uGaVnAOrj1KrE3EJ+4owuG+KEdTA2QUeP/wAKE6U9igFhRVxZP9HjHv7jTH2MosES/YszEMxbF4dqiwqMumcNjJNnY/xyGiY42xQkPDxHPgiwFOUHWHRh4nrmqYQ2Lo6C5/LmeorZCIcHV4KlAeAtMr0hNpskFhxK7Pft79kx2MYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E4YS3mJenqj3CNM6C98wf3",
      "input": {
        "note": "Safe is back on the table and the right wrist view now looks down into the red interior; opening to release the lemon into it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01E4YS3mJenqj3CNM6C98wf3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the objects into the safe, then close the safe.\nstate[joint_pos]: [-0.1238, 0.9493, 0.7319, -0.82, -0.1951, -0.1509, 0.9971, 0.9188, 2.0296, 1.3518, -0.1398, 0.6598, 0.5758, 0.9947]\nstate[eef_state]: left_x=0.245 left_y=0.0076 left_z=0.1229 left_yaw=0.1296 left_pitch=-0.4338 left_roll=0.1085 left_gripper=0.9971 right_x=0.392 right_y=0.3409 right_z=0.089 right_yaw=0.0628 right_pitch=-0.028 right_roll=0.0071 right_gripper=0.9947\nstate[joint_eff]: [0.0752, -1.5932, 6.6393, 1.2088, -0.1343, -0.0464, -0.0171, -0.3487, -11.3983, 6.2838, 1.326, 0.2906, -0.0269, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06cb891c37c30aec0494c6cfe2534bf3342851f6d27020b65cf3411f3ecf2ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 368):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c63ba56a1d69c01b09e4520e72cb04f765d4e739b14d86422ee37d88fefdc863",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 368):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d753a7bd2005595447fac2bc001bf6454d2726748e2fd45539f72a0cf33c297e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]