adhoc - adhoc_060ca989.json

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
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: 393.9 s
total steps: 368

operator

scenes

trials

errored

scene-0

completed

Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a

Trial 0 transcript

Run video

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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

Raw transcript

system

user

Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

step 0

assistant

agent noteI see a large white bowl on the left, the blue bowl center-right, and two fruits (a yellow lemon and a green pear) near the right arm. Moving the right gripper above the yellow lemon (estimated right_y≈0.19, x≈0.30) to inspect it in the wrist camera.

move_to

right_x0.3000right_y0.1900right_z0.1500right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0292, 0.9964, -0.0227, 0.8005, 0.6189, -0.3874, -0.0204, -0.0124, 0.9994] state[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9964 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3624, -1.7299, 9.7709, 1.8632, -0.1294, 0.1441, -0.3834, -0.1436, -1.7983, 9.1282, 1.8388, -0.0269, -0.0415, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.3, "right_y": 0.19, "right_z": 0.15, "right_gripper": 1}, "note": "I see a large white bowl on the left, the blue bowl center-right, and two fruits (a yellow lemon and a green pear) near the right arm. Moving the right gripper above the yellow lemon (estimated right_y\u22480.19, x\u22480.30) to inspect it in the wrist camera."})

tool

executing move_to over 16 steps (1.6s)

step 16

assistant

agent noteWrist view shows the lemon slightly right of the jaw column and a bit farther out, with the blue bowl beyond it. Advancing 4 cm radially, 2 cm right, and descending to 6 cm to refine the approach.

move_to

right_x0.3400right_y0.1650right_z0.0600

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0208, 0.8013, 0.6132, -0.4011, -0.0139, -0.0269, 0.9959, 0.8799, 1.3113, 0.7502, -0.276, 0.6781, 0.551, 0.9993] state[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1778 left_yaw=-0.0023 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9959 right_x=0.2934 right_y=0.1865 right_z=0.1335 right_yaw=0.0321 right_pitch=-0.0486 right_roll=-0.047 right_gripper=0.9993 state[joint_eff]: [0.0615, -1.1556, 7.0769, 1.8828, -0.0464, -0.0513, -0.0611, 0.1709, -4.9436, 8.9368, 1.5653, 0.5446, 0.1929, -0.0855] camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.34, "right_y": 0.165, "right_z": 0.06}, "note": "Wrist view shows the lemon slightly right of the jaw column and a bit farther out, with the blue bowl beyond it. Advancing 4 cm radially, 2 cm right, and descending to 6 cm to refine the approach."})

tool

executing move_to over 5 steps (0.5s)

step 21

assistant

agent noteThe lemon is now centered on the jaw column in the wrist view, just short of the fingertips. Advancing 1.5 cm and descending to table level to straddle it.

move_to

right_x0.3550right_y0.1630right_z0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0303, 0.9958, 0.6842, 1.5539, 0.5896, 0.1917, 0.5404, 0.3832, 0.9993] state[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0008 left_pitch=-0.029 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3366 right_y=0.1619 right_z=0.0543 right_yaw=0.0297 right_pitch=-0.0743 right_roll=-0.0662 right_gripper=0.9993 state[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.7802, -0.0611, -0.0122, -0.0171, -0.0479, -6.2291, 5.4496, 1.7656, 0.1441, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.355, "right_y": 0.163, "right_z": 0.0}, "note": "The lemon is now centered on the jaw column in the wrist view, just short of the fingertips. Advancing 1.5 cm and descending to table level to straddle it."})

tool

executing move_to over 4 steps (0.4s)

step 25

assistant

agent noteLemon fills the wrist view centered between the jaws at table level; closing the gripper to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4206, -0.0139, -0.0307, 0.9958, 0.6483, 1.805, 0.5705, 0.4698, 0.5137, 0.3565, 0.9992] state[eef_state]: left_x=0.2913 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0006 left_pitch=-0.0439 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3535 right_y=0.1634 right_z=0.0024 right_yaw=0.0289 right_pitch=-0.0798 right_roll=-0.0679 right_gripper=0.9992 state[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.873, -0.0708, -0.0269, -0.0073, -0.5538, -6.0923, 4.588, 1.3065, 0.1587, -0.0415, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Lemon fills the wrist view centered between the jaws at table level; closing the gripper to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 35

assistant

agent noteThe close was empty (gripper reads 0.01) and the lemon still sits just beyond the jaws, so reopening and advancing 3 cm radially before retrying.

move_to

right_gripper1.0000right_x0.3850

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9958, 0.6487, 1.8103, 0.5697, 0.4671, 0.514, 0.355, 0.01] state[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0006 left_pitch=-0.0473 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3524 right_y=0.1627 right_z=-0.0001 right_yaw=0.0294 right_pitch=-0.0869 right_roll=-0.0744 right_gripper=0.01 state[joint_eff]: [-0.0615, -1.306, 7.0222, 1.7021, -0.0611, -0.0757, -0.0073, -0.1436, -7.4735, 4.4239, 1.5556, 0.1783, -0.0171, 0.7546] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.385}, "note": "The close was empty (gripper reads 0.01) and the lemon still sits just beyond the jaws, so reopening and advancing 3 cm radially before retrying."})

tool

executing move_to over 10 steps (1.0s)

step 45

assistant

agent noteThe lemon now sits low in the wrist frame between the two visible jaw tips; closing to grasp.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4271, -0.0139, -0.0307, 0.9958, 0.5884, 1.8675, 0.6575, 0.4713, 0.4664, 0.305, 0.9955] state[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0006 left_pitch=-0.0538 left_roll=-0.0004 left_gripper=0.9958 right_x=0.3818 right_y=0.1636 right_z=0.0031 right_yaw=0.0347 right_pitch=-0.0779 right_roll=-0.0677 right_gripper=0.9955 state[joint_eff]: [-0.1983, -1.6068, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.7043, -6.3385, 6.188, 1.453, 0.2369, -0.0562, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The lemon now sits low in the wrist frame between the two visible jaw tips; closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 55

assistant

agent noteSecond close was also empty; the lemon appears slightly left of the jaw column and still beyond the fingertips, so I open, advance another 3 cm and shift 1 cm toward it.

move_to

right_gripper1.0000right_x0.4120right_y0.1720

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0139, -0.0307, 0.9958, 0.5869, 1.8702, 0.6579, 0.4667, 0.4652, 0.3023, 0.0097] state[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1684 left_yaw=-0.0006 left_pitch=-0.0591 left_roll=-0.0003 left_gripper=0.9958 right_x=0.3813 right_y=0.1627 right_z=0.0014 right_yaw=0.0352 right_pitch=-0.0842 right_roll=-0.0728 right_gripper=0.0097 state[joint_eff]: [-0.1026, -1.3607, 7.0085, 1.7167, -0.0757, -0.0513, -0.0122, -0.0205, -8.1436, 4.4923, 1.5849, 0.2418, -0.0073, 0.8376] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1, "right_x": 0.412, "right_y": 0.172}, "note": "Second close was also empty; the lemon appears slightly left of the jaw column and still beyond the fingertips, so I open, advance another 3 cm and shift 1 cm toward it."})

tool

executing move_to over 10 steps (1.0s)

step 65

assistant

agent noteThe lemon is now large and low in the wrist view, spanning between the jaw bars but a touch to the left; nudging 0.6 cm toward it and closing to grasp.

move_to

right_gripper0.0500right_y0.1780

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4332, -0.0139, -0.0307, 0.9958, 0.5644, 1.9392, 0.7715, 0.4435, 0.4393, 0.2764, 0.9955] state[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.168 left_yaw=-0.0006 left_pitch=-0.061 left_roll=-0.0002 left_gripper=0.9958 right_x=0.4089 right_y=0.1742 right_z=0.0042 right_yaw=0.048 right_pitch=-0.0757 right_roll=-0.0676 right_gripper=0.9955 state[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6825, -0.0366, -0.0611, -0.0122, -0.5812, -7.665, 5.9556, 1.4286, 0.1245, 0.0122, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0.05, "right_y": 0.178}, "note": "The lemon is now large and low in the wrist view, spanning between the jaw bars but a touch to the left; nudging 0.6 cm toward it and closing to grasp."})

tool

executing move_to over 10 steps (1.0s)

step 75

assistant

agent noteJaws closed to the commanded gap without touching anything, so the lemon is still ahead of the fingertips; advancing another 3 cm and raising to 3 cm so the jaws straddle the fruit's middle.

move_to

right_gripper1.0000right_x0.4400right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4423, -0.0139, -0.0307, 0.9958, 0.5709, 1.9423, 0.775, 0.4362, 0.4393, 0.2768, 0.0545] state[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0006 left_pitch=-0.0702 left_roll=-0.0 left_gripper=0.9958 right_x=0.4076 right_y=0.1768 right_z=0.0028 right_yaw=0.054 right_pitch=-0.0816 right_roll=-0.0707 right_gripper=0.0545 state[joint_eff]: [-0.2667, -1.0188, 6.9812, 1.7509, -0.0464, -0.0415, -0.0122, 0.1709, -8.3624, 5.2718, 1.5995, 0.2613, 0.0317, 0.1099] 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": {"right_gripper": 1, "right_x": 0.44, "right_z": 0.03}, "note": "Jaws closed to the commanded gap without touching anything, so the lemon is still ahead of the fingertips; advancing another 3 cm and raising to 3 cm so the jaws straddle the fruit's middle."})

tool

executing move_to over 10 steps (1.0s)

step 85

assistant

agent noteMy grasp attempts keep missing, so the wrist-view depth is deceiving me. Retracting the right arm up and back to get a clean, unoccluded top-camera fix on all the fruits and bowls.

move_to

right_x0.2500right_y0.0000right_z0.2800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8181, 0.6132, -0.4488, -0.0139, -0.0307, 0.9958, 0.5266, 1.9423, 0.8913, 0.2996, 0.3946, 0.2344, 0.9978] state[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1637 left_yaw=-0.0006 left_pitch=-0.0812 left_roll=0.0002 left_gripper=0.9958 right_x=0.4301 right_y=0.1756 right_z=0.0162 right_yaw=0.0672 right_pitch=-0.1153 right_roll=-0.0869 right_gripper=0.9978 state[joint_eff]: [-0.0752, -1.388, 6.9949, 1.7753, -0.022, -0.0366, -0.0122, -0.6632, -9.8803, 7.4462, 1.5604, 0.2759, 0.022, -0.0464] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.25, "right_y": 0.0, "right_z": 0.28}, "note": "My grasp attempts keep missing, so the wrist-view depth is deceiving me. Retracting the right arm up and back to get a clean, unoccluded top-camera fix on all the fruits and bowls."})

tool

executing move_to over 18 steps (1.8s)

step 103

assistant

agent noteClean top view: white bowl far left, a yellow lemon at ~(0.48, +0.22), blue bowl at ~(0.48, +0.10) and a green pear at ~(0.45, -0.02) in right-arm coordinates. Moving above the lemon at 8 cm height to line up a grasp.

move_to

right_x0.4600right_y0.2200right_z0.0800right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8249, 0.6132, -0.4679, -0.0135, -0.0307, 0.9958, -0.0425, 0.8314, 1.103, -0.9581, -0.0097, -0.1253, 0.9984] state[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1582 left_yaw=-0.0008 left_pitch=-0.1072 left_roll=0.0005 left_gripper=0.9958 right_x=0.253 right_y=-0.0055 right_z=0.2744 right_yaw=0.0324 right_pitch=-0.1204 right_roll=-0.092 right_gripper=0.9984 state[joint_eff]: [-0.3214, -1.347, 6.9675, 1.9707, -0.0464, -0.0366, -0.0122, -0.2667, -0.5402, 8.212, 1.5409, -0.1587, -0.1685, 0.0513] camera 'top_cam' (step 103): [image omitted: streamed camera frame] camera 'left_cam' (step 103): [image omitted: streamed camera frame] camera 'right_cam' (step 103): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.46, "right_y": 0.22, "right_z": 0.08, "right_gripper": 1}, "note": "Clean top view: white bowl far left, a yellow lemon at ~(0.48, +0.22), blue bowl at ~(0.48, +0.10) and a green pear at ~(0.45, -0.02) in right-arm coordinates. Moving above the lemon at 8 cm height to line up a grasp."})

tool

executing move_to over 19 steps (1.9s)

step 122

assistant

agent noteThe lemon now sits large and low in the wrist view, just short of and 1 cm right of the jaw column. Advancing ~2.5 cm, nudging right and descending to mid-fruit height to straddle it.

move_to

right_x0.4850right_y0.2070right_z0.0350

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4759, -0.0139, -0.0307, 0.9958, 0.5945, 1.9602, 1.2255, -0.1017, 0.4488, 0.2821, 0.9986] state[eef_state]: left_x=0.284 left_y=0.0 left_z=0.1552 left_yaw=-0.0005 left_pitch=-0.1205 left_roll=0.001 left_gripper=0.9958 right_x=0.4517 right_y=0.2173 right_z=0.0665 right_yaw=0.0606 right_pitch=-0.1691 right_roll=-0.1256 right_gripper=0.9986 state[joint_eff]: [-0.1983, -1.6752, 7.1179, 1.7314, -0.0171, -0.0317, -0.0122, 0.0342, -10.5368, 7.6786, 1.6581, 0.3541, 0.2711, -0.1636] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.485, "right_y": 0.207, "right_z": 0.035}, "note": "The lemon now sits large and low in the wrist view, just short of and 1 cm right of the jaw column. Advancing ~2.5 cm, nudging right and descending to mid-fruit height to straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 125

assistant

agent noteLemon is now squarely between the two jaw wedges at the bottom of the wrist view; closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9958, 0.5308, 2.0895, 1.2541, -0.0303, 0.3985, 0.2241, 0.9985] state[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1547 left_yaw=-0.0008 left_pitch=-0.1228 left_roll=0.0008 left_gripper=0.9958 right_x=0.4733 right_y=0.2025 right_z=0.0226 right_yaw=0.0654 right_pitch=-0.2172 right_roll=-0.1489 right_gripper=0.9985 state[joint_eff]: [-0.1026, -1.5521, 7.0632, 1.6142, -0.0415, -0.0464, -0.0171, -0.2667, -10.7692, 7.9111, 1.6337, 0.1587, -0.0171, -0.0171] camera 'top_cam' (step 125): [image omitted: streamed camera frame] camera 'left_cam' (step 125): [image omitted: streamed camera frame] camera 'right_cam' (step 125): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "Lemon is now squarely between the two jaw wedges at the bottom of the wrist view; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 135

assistant

agent noteGripper settled at 0.59 (~5.6 cm) — the lemon is grasped. Lifting it to 18 cm and moving left over the blue bowl at ~(0.47, +0.11).

move_to

right_z0.1800right_x0.4700right_y0.1100

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4892, -0.0139, -0.0307, 0.9958, 0.5327, 2.0895, 1.2556, -0.0341, 0.3885, 0.2195, 0.5922] state[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1517 left_yaw=-0.0004 left_pitch=-0.1377 left_roll=0.0014 left_gripper=0.9958 right_x=0.4723 right_y=0.205 right_z=0.0221 right_yaw=0.0775 right_pitch=-0.223 right_roll=-0.1463 right_gripper=0.5922 state[joint_eff]: [-0.3487, -1.5521, 6.9265, 1.7021, -0.0464, -0.0317, -0.0122, -0.3487, -11.1248, 5.7915, 1.4481, 0.2662, 0.022, 0.9158] camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.18, "right_x": 0.47, "right_y": 0.11}, "note": "Gripper settled at 0.59 (~5.6 cm) \u2014 the lemon is grasped. Lifting it to 18 cm and moving left over the blue bowl at ~(0.47, +0.11)."})

tool

executing move_to over 11 steps (1.1s)

step 146

assistant

agent noteWrist view shows the blue bowl just beyond and slightly right of the held lemon; shifting 3 cm right and 2 cm forward to centre the lemon over the bowl before releasing.

move_to

right_x0.4900right_y0.0850right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4919, -0.0139, -0.0307, 0.9958, 0.3206, 1.7767, 1.3911, -0.4728, 0.2493, 0.0551, 0.5947] state[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1404 left_roll=0.0014 left_gripper=0.9958 right_x=0.4694 right_y=0.1137 right_z=0.1514 right_yaw=0.0718 right_pitch=-0.2638 right_roll=-0.1573 right_gripper=0.5947 state[joint_eff]: [-0.1573, -1.2786, 6.9265, 1.6435, -0.0317, -0.0464, -0.0122, -0.3624, -12.0137, 8.9231, 1.4921, 0.105, -0.0562, 0.5348] approver: 5 step(s) modified (delta_clamped ×5). 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_x": 0.49, "right_y": 0.085, "right_z": 0.15}, "note": "Wrist view shows the blue bowl just beyond and slightly right of the held lemon; shifting 3 cm right and 2 cm forward to centre the lemon over the bowl before releasing."})

tool

executing move_to over 3 steps (0.3s)

step 149

assistant

agent noteThe blue bowl is directly beyond/under the held lemon in the wrist view; opening the gripper to drop the lemon into the bowl.

move_to

right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4923, -0.0139, -0.0307, 0.9958, 0.252, 1.8065, 1.4052, -0.495, 0.2043, 0.0013, 0.5978] state[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1407 left_roll=0.0014 left_gripper=0.9958 right_x=0.4753 right_y=0.089 right_z=0.1385 right_yaw=0.0694 right_pitch=-0.3127 right_roll=-0.1673 right_gripper=0.5978 state[joint_eff]: [-0.1162, -1.388, 6.9265, 1.58, -0.0806, -0.0464, -0.0122, -0.335, -9.5521, 9.1009, 1.7705, 0.0464, 0.0806, 0.3248] camera 'top_cam' (step 149): [image omitted: streamed camera frame] camera 'left_cam' (step 149): [image omitted: streamed camera frame] camera 'right_cam' (step 149): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 1}, "note": "The blue bowl is directly beyond/under the held lemon in the wrist view; opening the gripper to drop the lemon into the bowl."})

tool

executing move_to over 5 steps (0.5s)

step 154

assistant

agent noteThe lemon is now sitting in the blue bowl. There is also a dark fruit (visible in the left wrist view) on the left side of the table; moving the left arm above it at ~(0.35, -0.19) to inspect.

move_to

left_x0.3500left_y-0.1900left_z0.1500left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4942, -0.0139, -0.0307, 0.9958, 0.2337, 1.8271, 1.4052, -0.4828, 0.1856, -0.0193, 0.9958] state[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1508 left_yaw=-0.0004 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9958 right_x=0.4791 right_y=0.0842 right_z=0.1303 right_yaw=0.0785 right_pitch=-0.3253 right_roll=-0.1674 right_gripper=0.9958 state[joint_eff]: [-0.0615, -1.4427, 6.9949, 1.6435, -0.0415, -0.0415, -0.0073, -0.4308, -10.4137, 9.2376, 1.6679, 0.0513, 0.0415, -0.1294] 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": {"left_x": 0.35, "left_y": -0.19, "left_z": 0.15, "left_gripper": 1}, "note": "The lemon is now sitting in the blue bowl. There is also a dark fruit (visible in the left wrist view) on the left side of the table; moving the left arm above it at ~(0.35, -0.19) to inspect."})

tool

executing move_to over 17 steps (1.7s)

step 171

assistant

agent noteLeft wrist view: the dark fruit sits low in frame, slightly left of the jaw column, with the white bowl beyond it. Advancing 2 cm, shifting 2 cm toward it and descending to mid-fruit height.

move_to

left_x0.3600left_y-0.1650left_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7204, 1.4715, 0.9768, -0.4107, -0.4953, -0.5327, 0.9964, 0.2337, 1.8275, 1.4048, -0.4961, 0.1852, -0.0196, 0.9968] state[eef_state]: left_x=0.3412 left_y=-0.183 left_z=0.1339 left_yaw=-0.016 left_pitch=-0.1922 left_roll=0.024 left_gripper=0.9964 right_x=0.4766 right_y=0.0837 right_z=0.128 right_yaw=0.0783 right_pitch=-0.3393 right_roll=-0.1696 right_gripper=0.9968 state[joint_eff]: [-0.4308, -6.5983, 8.8957, 1.4774, -0.5739, -0.0415, -0.3883, -0.0205, -9.7162, 6.8991, 1.4481, 0.0562, -0.0562, 0.1001] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.36, "left_y": -0.165, "left_z": 0.03}, "note": "Left wrist view: the dark fruit sits low in frame, slightly left of the jaw column, with the white bowl beyond it. Advancing 2 cm, shifting 2 cm toward it and descending to mid-fruit height."})

tool

executing move_to over 7 steps (0.7s)

step 178

assistant

agent noteThe dark fruit now fills the lower half of the left wrist view between the jaws; closing to grasp it.

move_to

left_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6369, 1.6756, 0.7353, -0.0013, -0.4519, -0.4744, 0.9959, 0.2337, 1.8275, 1.4029, -0.4992, 0.1852, -0.0196, 0.997] state[eef_state]: left_x=0.3497 left_y=-0.1583 left_z=0.027 left_yaw=0.008 left_pitch=-0.2434 left_roll=0.0615 left_gripper=0.9959 right_x=0.4755 right_y=0.0834 right_z=0.1268 right_yaw=0.078 right_pitch=-0.3442 right_roll=-0.1704 right_gripper=0.997 state[joint_eff]: [0.4034, -7.241, 5.2034, 1.4969, -0.1197, 0.1245, -0.0659, -0.0479, -9.5658, 7.0906, 1.3407, 0.0611, -0.0513, 0.0073] camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_gripper": 0}, "note": "The dark fruit now fills the lower half of the left wrist view between the jaws; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 188

assistant

agent noteGrasped the dark apple (gripper 0.52). The blue bowl is out of the left arm's y-range, so I am carrying the apple to the centre-line hand-off spot at left_y=-0.39 for the right arm to pick up.

move_to

left_z0.1500left_x0.4200left_y-0.3900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.635, 1.6997, 0.7216, 0.004, -0.4522, -0.4763, 0.5212, 0.2337, 1.8275, 1.4029, -0.4995, 0.1848, -0.0196, 0.997] state[eef_state]: left_x=0.3452 left_y=-0.154 left_z=0.0148 left_yaw=0.0163 left_pitch=-0.269 left_roll=0.0807 left_gripper=0.5212 right_x=0.4754 right_y=0.0835 right_z=0.1267 right_yaw=0.0783 right_pitch=-0.3446 right_roll=-0.1702 right_gripper=0.997 state[joint_eff]: [-0.3077, -9.0872, 6.5299, 1.2234, -0.2515, -0.0024, 1.0281, -0.1573, -9.5521, 6.6667, 1.3797, 0.0171, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 188): [image omitted: streamed camera frame] camera 'left_cam' (step 188): [image omitted: streamed camera frame] camera 'right_cam' (step 188): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.15, "left_x": 0.42, "left_y": -0.39}, "note": "Grasped the dark apple (gripper 0.52). The blue bowl is out of the left arm's y-range, so I am carrying the apple to the centre-line hand-off spot at left_y=-0.39 for the right arm to pick up."})

tool

executing move_to over 21 steps (2.1s)

step 209

assistant

agent noteAt the hand-off spot between the two bowls; lowering the apple to the table and opening the jaws so the right arm can take it to the blue bowl.

move_to

left_z0.0150left_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9161, 2.4489, 2.4016, -1.0904, -0.5804, -0.7681, 0.5245, 0.2165, 1.8275, 1.4033, -0.5053, 0.1791, -0.0269, 0.997] state[eef_state]: left_x=0.4219 left_y=-0.3847 left_z=0.1314 left_yaw=0.0196 left_pitch=-0.292 left_roll=0.0839 left_gripper=0.5245 right_x=0.4757 right_y=0.0761 right_z=0.1259 right_yaw=0.0701 right_pitch=-0.3512 right_roll=-0.1709 right_gripper=0.997 state[joint_eff]: [-0.9231, -14.7761, 8.5812, 0.9792, -0.4957, -0.0415, 0.6813, 2.4684, -9.7299, 6.8991, 1.4432, 0.0757, 0.0806, -0.0073] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_z": 0.015, "left_gripper": 1}, "note": "At the hand-off spot between the two bowls; lowering the apple to the table and opening the jaws so the right arm can take it to the blue bowl."})

tool

executing move_to over 8 steps (0.8s)

step 217

assistant

agent noteApple is released on the table near the centre line; parking the left arm back home so it clears the area and the top view.

move_to

left_x0.2500left_y0.0000left_z0.2500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9169, 2.4489, 1.9919, -0.7074, -0.569, -0.7708, 0.9951, 0.2138, 1.8275, 1.4029, -0.5129, 0.178, -0.0277, 0.997] state[eef_state]: left_x=0.4166 left_y=-0.3812 left_z=0.0254 left_yaw=0.0204 left_pitch=-0.3161 left_roll=0.0981 left_gripper=0.9951 right_x=0.4743 right_y=0.0747 right_z=0.1246 right_yaw=0.0684 right_pitch=-0.3594 right_roll=-0.1717 right_gripper=0.997 state[joint_eff]: [-0.0889, -12.3009, 5.7504, 1.1258, -0.4518, 0.0269, -0.3785, 0.1026, -9.4974, 6.6393, 1.4774, 0.0366, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"left_x": 0.25, "left_y": 0.0, "left_z": 0.25}, "note": "Apple is released on the table near the centre line; parking the left arm back home so it clears the area and the top view."})

tool

executing move_to over 34 steps (3.4s)

step 251

assistant

agent noteTop view confirms the apple resting on the table between the bowls at right-arm (0.42, +0.27); moving the right gripper above it.

move_to

right_x0.4200right_y0.2650right_z0.1000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.141, 0.9798, 1.1469, -1.0897, -0.181, -0.1143, 0.9956, 0.2131, 1.8275, 1.4029, -0.5217, 0.1776, -0.0277, 0.997] state[eef_state]: left_x=0.2542 left_y=-0.0003 left_z=0.2369 left_yaw=0.077 left_pitch=-0.3321 left_roll=0.0922 left_gripper=0.9956 right_x=0.4727 right_y=0.074 right_z=0.1233 right_yaw=0.0675 right_pitch=-0.3681 right_roll=-0.1727 right_gripper=0.997 state[joint_eff]: [0.3761, -2.5231, 8.7316, 1.3993, -0.0317, 0.2125, 0.0415, -0.0342, -9.6752, 6.7897, 1.3895, 0.022, -0.0562, -0.0122] camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.42, "right_y": 0.265, "right_z": 0.1}, "note": "Top view confirms the apple resting on the table between the bowls at right-arm (0.42, +0.27); moving the right gripper above it."})

tool

executing move_to over 16 steps (1.6s)

step 267

assistant

agent noteThe apple is not visible in the right wrist view, so it is behind the fingertips; pulling back 6 cm toward the base to bring it into frame.

move_to

right_x0.3600right_y0.2700right_z0.0800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9855, 1.1442, -1.0973, -0.1711, -0.1131, 0.9957, 0.6979, 2.0121, 1.5681, -0.6434, 0.4156, 0.3679, 0.997] state[eef_state]: left_x=0.2531 left_y=-0.0016 left_z=0.2332 left_yaw=0.07 left_pitch=-0.3495 left_roll=0.0883 left_gripper=0.9957 right_x=0.417 right_y=0.2613 right_z=0.0946 right_yaw=0.1031 right_pitch=-0.3892 right_roll=-0.1819 right_gripper=0.997 state[joint_eff]: [0.0889, -1.6342, 6.3385, 1.4823, -0.2662, -0.0464, -0.0073, 0.1709, -10.1949, 8.5128, 1.0427, 0.4029, 0.0855, -0.0122] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.36, "right_y": 0.27, "right_z": 0.08}, "note": "The apple is not visible in the right wrist view, so it is behind the fingertips; pulling back 6 cm toward the base to bring it into frame."})

tool

executing move_to over 5 steps (0.5s)

step 272

assistant

agent noteThe apple is now visible at the bottom-left of the wrist view, about 2 cm left of the jaw column; shifting left and descending to apple mid-height.

move_to

right_y0.2880right_x0.3520right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9886, 1.1442, -1.0988, -0.1707, -0.1127, 0.9957, 0.8032, 1.9575, 1.3777, -0.614, 0.4412, 0.445, 0.9971] state[eef_state]: left_x=0.2532 left_y=-0.0017 left_z=0.2323 left_yaw=0.0698 left_pitch=-0.3541 left_roll=0.0892 left_gripper=0.9957 right_x=0.3586 right_y=0.2681 right_z=0.0589 right_yaw=0.1163 right_pitch=-0.4524 right_roll=-0.2253 right_gripper=0.9971 state[joint_eff]: [-0.253, -1.812, 6.4068, 1.3748, -0.1587, -0.0317, -0.0122, 0.1709, -13.2171, 6.2701, 1.1551, 0.4567, 0.0757, -0.0073] camera 'top_cam' (step 272): [image omitted: streamed camera frame] camera 'left_cam' (step 272): [image omitted: streamed camera frame] camera 'right_cam' (step 272): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.288, "right_x": 0.352, "right_z": 0.03}, "note": "The apple is now visible at the bottom-left of the wrist view, about 2 cm left of the jaw column; shifting left and descending to apple mid-height."})

tool

executing move_to over 2 steps (0.2s)

step 274

assistant

agent noteThe previous move stopped short; re-commanding a small shift left and down to bring the jaws around the apple, which sits just left of the jaw column.

move_to

right_y0.2950right_x0.3500right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1007, -0.1707, -0.1131, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971] state[eef_state]: left_x=0.2529 left_y=-0.0017 left_z=0.2318 left_yaw=0.0703 left_pitch=-0.3567 left_roll=0.0896 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971 state[joint_eff]: [-0.2667, -1.812, 6.147, 1.326, -0.1441, -0.0757, -0.0171, -0.3214, -12.6154, 5.8051, 1.1013, 0.4127, 0.1245, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": 0.295, "right_x": 0.35, "right_z": 0.03}, "note": "The previous move stopped short; re-commanding a small shift left and down to bring the jaws around the apple, which sits just left of the jaw column."})

tool

executing move_to over 3 steps (0.3s)

step 277

assistant

agent noteThe right arm has stalled (identical joint readings twice); backing up and raising it to escape the awkward pose before re-approaching the apple.

move_to

right_z0.1800right_x0.3000right_y0.2800

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1034, -0.1707, -0.1127, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971] state[eef_state]: left_x=0.2524 left_y=-0.0016 left_z=0.2314 left_yaw=0.0702 left_pitch=-0.3593 left_roll=0.0904 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971 state[joint_eff]: [-0.2803, -1.5795, 6.1197, 1.3309, -0.149, -0.0513, -0.0171, -0.4444, -12.5333, 5.8188, 1.1111, 0.4078, 0.1294, -0.0122] camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.18, "right_x": 0.3, "right_y": 0.28}, "note": "The right arm has stalled (identical joint readings twice); backing up and raising it to escape the awkward pose before re-approaching the apple."})

tool

executing move_to over 8 steps (0.8s)

step 285

assistant

agent noteThe apple is now centred on the jaw column in the right wrist view; advancing ~2 cm and descending to apple mid-height for the grasp.

move_to

right_x0.3550right_y0.3100right_z0.0300

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9913, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.9234, 1.8732, 1.5799, -0.8326, 0.4671, 0.5434, 0.997] state[eef_state]: left_x=0.2525 left_y=-0.0016 left_z=0.2309 left_yaw=0.0704 left_pitch=-0.3616 left_roll=0.0909 left_gripper=0.9957 right_x=0.3311 right_y=0.3119 right_z=0.1451 right_yaw=0.1807 right_pitch=-0.3761 right_roll=-0.1363 right_gripper=0.997 state[joint_eff]: [-0.0889, -1.9214, 6.3111, 1.3748, -0.149, -0.0464, -0.0171, -0.2256, -13.4906, 7.1453, 0.5397, 0.2759, 0.1441, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 285): [image omitted: streamed camera frame] camera 'left_cam' (step 285): [image omitted: streamed camera frame] camera 'right_cam' (step 285): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.355, "right_y": 0.31, "right_z": 0.03}, "note": "The apple is now centred on the jaw column in the right wrist view; advancing ~2 cm and descending to apple mid-height for the grasp."})

tool

executing move_to over 8 steps (0.8s)

step 293

assistant

agent noteThe apple sits squarely between the jaw tips in the wrist view; closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.8795, 2.0056, 1.338, -0.4698, 0.4412, 0.4973, 0.9971] state[eef_state]: left_x=0.2528 left_y=-0.0016 left_z=0.2303 left_yaw=0.0707 left_pitch=-0.3645 left_roll=0.0916 left_gripper=0.9957 right_x=0.3468 right_y=0.3064 right_z=0.0385 right_yaw=0.1786 right_pitch=-0.4037 right_roll=-0.1542 right_gripper=0.9971 state[joint_eff]: [0.0615, -1.9624, 6.1333, 1.2772, -0.1343, -0.0366, -0.0122, -0.6222, -9.7299, 5.5726, 1.1502, 0.3346, -0.0024, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 293): [image omitted: streamed camera frame] camera 'left_cam' (step 293): [image omitted: streamed camera frame] camera 'right_cam' (step 293): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The apple sits squarely between the jaw tips in the wrist view; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 303

assistant

agent noteApple grasped (gripper 0.52). Lifting to 20 cm and swinging toward the blue bowl at right (0.48, +0.085).

move_to

right_z0.2000right_x0.4500right_y0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.8749, 2.0346, 1.3239, -0.4686, 0.4397, 0.4889, 0.519] state[eef_state]: left_x=0.2528 left_y=-0.0017 left_z=0.2303 left_yaw=0.0706 left_pitch=-0.3642 left_roll=0.0915 left_gripper=0.9957 right_x=0.3438 right_y=0.2999 right_z=0.0214 right_yaw=0.1679 right_pitch=-0.4374 right_roll=-0.1878 right_gripper=0.519 state[joint_eff]: [-0.0205, -1.7983, 6.1333, 1.3407, -0.149, -0.0464, -0.0122, 0.1709, -13.012, 6.9402, 0.9841, 0.1978, 0.0024, 1.0281] camera 'top_cam' (step 303): [image omitted: streamed camera frame] camera 'left_cam' (step 303): [image omitted: streamed camera frame] camera 'right_cam' (step 303): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.2, "right_x": 0.45, "right_y": 0.15}, "note": "Apple grasped (gripper 0.52). Lifting to 20 cm and swinging toward the blue bowl at right (0.48, +0.085)."})

tool

executing move_to over 13 steps (1.3s)

step 316

assistant

agent noteThe blue bowl with the lemon in it is visible to the right of the held apple; moving to the same drop pose that worked for the lemon.

move_to

right_x0.4800right_y0.0900right_z0.1900

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.4126, 1.8801, 1.7641, -0.9268, 0.2352, 0.0662, 0.519] state[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0705 left_pitch=-0.3665 left_roll=0.0917 left_gripper=0.9957 right_x=0.4479 right_y=0.155 right_z=0.1859 right_yaw=0.1526 right_pitch=-0.444 right_roll=-0.1877 right_gripper=0.519 state[joint_eff]: [-0.3214, -1.9487, 6.1607, 1.2821, -0.105, -0.0317, -0.0122, -0.294, -9.7709, 8.0889, 1.0525, 0.105, -0.0464, 0.9744] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 316): [image omitted: streamed camera frame] camera 'left_cam' (step 316): [image omitted: streamed camera frame] camera 'right_cam' (step 316): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.48, "right_y": 0.09, "right_z": 0.19}, "note": "The blue bowl with the lemon in it is visible to the right of the held apple; moving to the same drop pose that worked for the lemon."})

tool

executing move_to over 6 steps (0.6s)

step 322

assistant

agent noteBowl is centred on the jaw column just beyond the held apple; nudging 2 cm forward and opening to drop the apple into the blue bowl.

move_to

right_x0.4920right_gripper1.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.2417, 1.8957, 1.7836, -0.9543, 0.1581, -0.0723, 0.5202] state[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4647 right_y=0.0896 right_z=0.1804 right_yaw=0.1331 right_pitch=-0.4938 right_roll=-0.1982 right_gripper=0.5202 state[joint_eff]: [-0.1983, -1.7162, 6.147, 1.326, -0.1245, -0.0366, -0.0171, -0.4581, -8.3077, 9.8667, 1.5409, -0.1001, 0.0757, 0.8718] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.492, "right_gripper": 1}, "note": "Bowl is centred on the jaw column just beyond the held apple; nudging 2 cm forward and opening to drop the apple into the blue bowl."})

tool

executing move_to over 5 steps (0.5s)

step 327

assistant

agent noteBoth the lemon and the dark apple are now in the blue bowl. Moving the right arm toward the remaining green pear, estimated near right (0.45, 0.0), to line up a grasp.

move_to

right_x0.4000right_y0.0000right_z0.1500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.2314, 1.9999, 1.9053, -1.0054, 0.1432, -0.0978, 0.9955] state[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4824 right_y=0.0914 right_z=0.1705 right_yaw=0.1508 right_pitch=-0.5311 right_roll=-0.2008 right_gripper=0.9955 state[joint_eff]: [-0.1162, -1.812, 6.1333, 1.3455, -0.1148, -0.0269, -0.0122, -0.7316, -10.4684, 8.7316, 1.1746, 0.1197, 0.0757, -0.0171] camera 'top_cam' (step 327): [image omitted: streamed camera frame] camera 'left_cam' (step 327): [image omitted: streamed camera frame] camera 'right_cam' (step 327): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": 0.0, "right_z": 0.15}, "note": "Both the lemon and the dark apple are now in the blue bowl. Moving the right arm toward the remaining green pear, estimated near right (0.45, 0.0), to line up a grasp."})

tool

executing move_to over 8 steps (0.8s)

step 335

assistant

agent noteThe arm stalled again at the extended drop pose; raising it first (z to 26 cm, x back to 0.42) to unstick before moving toward the pear.

move_to

right_z0.2600right_x0.4200

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1131, 0.9957, 0.2298, 2.0071, 1.9144, -1.0145, 0.1436, -0.0982, 0.9964] state[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.071 left_pitch=-0.3664 left_roll=0.0918 left_gripper=0.9957 right_x=0.4826 right_y=0.0906 right_z=0.1694 right_yaw=0.1488 right_pitch=-0.5384 right_roll=-0.2021 right_gripper=0.9964 state[joint_eff]: [-0.294, -1.8393, 6.147, 1.3016, -0.1538, -0.0757, -0.0122, -0.5538, -10.7282, 8.6906, 1.2576, 0.1001, 0.0464, 0.0757] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_z": 0.26, "right_x": 0.42}, "note": "The arm stalled again at the extended drop pose; raising it first (z to 26 cm, x back to 0.42) to unstick before moving toward the pear."})

tool

executing move_to over 6 steps (0.6s)

step 341

assistant

agent noteThe pear is visible at the lower right of the wrist view; descending to 5 cm at right (0.40, -0.015) just above it for the grasp.

move_to

right_x0.4000right_y-0.0150right_z0.0500

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9966, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.2703, 1.9076, 2.0567, -1.2591, 0.1516, -0.0872, 0.9965] state[eef_state]: left_x=0.2531 left_y=-0.0018 left_z=0.2296 left_yaw=0.0705 left_pitch=-0.3672 left_roll=0.0919 left_gripper=0.9957 right_x=0.4392 right_y=0.0977 right_z=0.2379 right_yaw=0.1745 right_pitch=-0.5392 right_roll=-0.2049 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.8803, 6.2701, 1.2772, -0.1392, -0.0562, -0.0122, -0.4308, -11.1385, 6.9675, 1.033, 0.1392, 0.1783, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 341): [image omitted: streamed camera frame] camera 'left_cam' (step 341): [image omitted: streamed camera frame] camera 'right_cam' (step 341): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_x": 0.4, "right_y": -0.015, "right_z": 0.05}, "note": "The pear is visible at the lower right of the wrist view; descending to 5 cm at right (0.40, -0.015) just above it for the grasp."})

tool

executing move_to over 13 steps (1.3s)

step 354

assistant

agent noteThe pear is at the lower right of the wrist view, ~3 cm right of the jaw column; shifting right and descending to mid-pear height to straddle it.

move_to

right_y-0.0450right_z0.0300right_x0.3950

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9989, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, -0.0315, 1.7111, 1.0573, -0.495, 0.0242, -0.3382, 0.9965] state[eef_state]: left_x=0.2533 left_y=-0.0017 left_z=0.2291 left_yaw=0.0711 left_pitch=-0.3694 left_roll=0.0927 left_gripper=0.9957 right_x=0.3886 right_y=-0.0129 right_z=0.0471 right_yaw=0.16 right_pitch=-0.5993 right_roll=-0.1923 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.9214, 6.3795, 1.3114, -0.149, -0.0122, -0.0122, -0.3897, -8.1709, 6.3521, 1.1502, -0.0464, -0.1001, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 354): [image omitted: streamed camera frame] camera 'left_cam' (step 354): [image omitted: streamed camera frame] camera 'right_cam' (step 354): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_y": -0.045, "right_z": 0.03, "right_x": 0.395}, "note": "The pear is at the lower right of the wrist view, ~3 cm right of the jaw column; shifting right and descending to mid-pear height to straddle it."})

tool

executing move_to over 3 steps (0.3s)

step 357

assistant

agent noteThe pear now lies between the two jaw wedges at the bottom of the wrist view; closing to grasp it.

move_to

right_gripper0.0000

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9985, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, -0.1097, 1.7523, 1.0386, -0.4408, -0.0055, -0.4049, 0.9965] state[eef_state]: left_x=0.2534 left_y=-0.0017 left_z=0.2293 left_yaw=0.071 left_pitch=-0.3686 left_roll=0.0925 left_gripper=0.9957 right_x=0.39 right_y=-0.0384 right_z=0.0311 right_yaw=0.1559 right_pitch=-0.6054 right_roll=-0.1906 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.8256, 6.147, 1.3309, -0.1538, -0.0464, -0.0171, -0.253, -7.4188, 7.2547, 1.1697, -0.1148, -0.0464, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 357): [image omitted: streamed camera frame] camera 'left_cam' (step 357): [image omitted: streamed camera frame] camera 'right_cam' (step 357): [image omitted: streamed camera frame]

assistant

move_to({"targets": {"right_gripper": 0}, "note": "The pear now lies between the two jaw wedges at the bottom of the wrist view; closing to grasp it."})

tool

executing move_to over 10 steps (1.0s)

step 367

assistant

agent noteI placed two of the three fruits (a lemon and a dark apple) into the blue bowl. The apple had to be handed off across the table because the blue bowl lies outside the left arm's y-range. The third fruit (green pear) sits against the right-hand fence; my first grasp on it closed empty and I ran out of call budget before retrying or performing the pour into the white bowl.

done

hindsightKey lessons: (1) Top-cam lateral mapping is reliable: image x≈23 is left_y=0, x≈112 is the centre line, x≈201 is right_y=0, i.e. ~0.0037 m/px; use it to fix objects before any wrist-view work. Vertical (radial) scale is ~2.5 px/cm in the far half and objects near the far table edge are at x≈0.45-0.50. (2) Wrist-view depth is very misleading: an object centred mid-frame is typically 5-10 cm beyond the fingertips; an object not visible at all is behind them. Aim for the fruit to sit low in the frame, spanning the two jaw wedges, before closing - that reliably grasped. (3) Grasp round fruit at z≈0.03 (mid-height), not z=0; closing at table level missed repeatedly. (4) The right arm stalls (identical joint_pos, no motion) after reaching far/extended poses like x≈0.48,y≈0.09,z≈0.17; escape by raising z and reducing x before the next lateral move. (5) The blue bowl at right_y≈+0.09 is unreachable for the left arm (needs left_y≈-0.55, bound -0.4) and the white bowl at left_y≈-0.22 is at the right arm's y limit, so plan a table hand-off near the centre line (left_y≈-0.38 / right_y≈+0.27). (6) Budget: each grasp cost 3-5 calls; a 3-fruit pick-and-place plus a pour needs more than 40 LLM calls unless you go almost straight to grasps.

Raw transcript

user

Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1398, 0.9989, 1.1442, -1.1038, -0.1703, -0.1127, 0.9957, -0.1085, 1.7676, 1.0363, -0.4416, -0.0051, -0.4114, 0.0099] state[eef_state]: left_x=0.2534 left_y=-0.0018 left_z=0.2292 left_yaw=0.0707 left_pitch=-0.3691 left_roll=0.0923 left_gripper=0.9957 right_x=0.3878 right_y=-0.0377 right_z=0.0246 right_yaw=0.1643 right_pitch=-0.6238 right_roll=-0.1881 right_gripper=0.0099 state[joint_eff]: [-0.0889, -1.7299, 6.3521, 1.326, -0.0952, -0.0708, -0.0171, -0.2256, -9.5385, 5.5043, 1.0672, -0.0659, 0.0464, 0.8132] camera 'top_cam' (step 367): [image omitted: streamed camera frame] camera 'left_cam' (step 367): [image omitted: streamed camera frame] camera 'right_cam' (step 367): [image omitted: streamed camera frame]

assistant

done({"summary": "I placed two of the three fruits (a lemon and a dark apple) into the blue bowl. The apple had to be handed off across the table because the blue bowl lies outside the left arm's y-range. The third fruit (green pear) sits against the right-hand fence; my first grasp on it closed empty and I ran out of call budget before retrying or performing the pour into the white bowl.", "hindsight": "Key lessons: (1) Top-cam lateral mapping is reliable: image x\u224823 is left_y=0, x\u2248112 is the centre line, x\u2248201 is right_y=0, i.e. ~0.0037 m/px; use it to fix objects before any wrist-view work. Vertical (radial) scale is ~2.5 px/cm in the far half and objects near the far table edge are at x\u22480.45-0.50. (2) Wrist-view depth is very misleading: an object centred mid-frame is typically 5-10 cm beyond the fingertips; an object not visible at all is behind them. Aim for the fruit to sit low in the frame, spanning the two jaw wedges, before closing - that reliably grasped. (3) Grasp round fruit at z\u22480.03 (mid-height), not z=0; closing at table level missed repeatedly. (4) The right arm stalls (identical joint_pos, no motion) after reaching far/extended poses like x\u22480.48,y\u22480.09,z\u22480.17; escape by raising z and reducing x before the next lateral move. (5) The blue bowl at right_y\u2248+0.09 is unreachable for the left arm (needs left_y\u2248-0.55, bound -0.4) and the white bowl at left_y\u2248-0.22 is at the right arm's y limit, so plan a table hand-off near the centre line (left_y\u2248-0.38 / right_y\u2248+0.27). (6) Budget: each grasp cost 3-5 calls; a 3-fruit pick-and-place plus a pour needs more than 40 LLM calls unless you go almost straight to grasps."})

tool

done: I placed two of the three fruits (a lemon and a dark apple) into the blue bowl. The apple had to be handed off across the table because the blue bowl lies outside the left arm's y-range. The third fruit (green pear) sits against the right-hand fence; my first grasp on it closed empty and I ran out of call budget before retrying or performing the pour into the white bowl.

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 · 31.67 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0292, 0.9964, -0.0227, 0.8005, 0.6189, -0.3874, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9964 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.7299, 9.7709, 1.8632, -0.1294, 0.1441, -0.3834, -0.1436, -1.7983, 9.1282, 1.8388, -0.0269, -0.0415, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5610d696d7693bee277e6bb36442546c1eccf3e07955b233eb3c3038a8037c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff6b38bbb933492c2fa869efcea1a68b1fce44a8833c87f3053ca6e5563e4557",
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    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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    {
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        "type": "ephemeral"
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  "role": "user"
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[blob elided: media budget]

call 1 attempt 0 · /messages · status 200 · 18.31 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0292, 0.9964, -0.0227, 0.8005, 0.6189, -0.3874, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9964 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.7299, 9.7709, 1.8632, -0.1294, 0.1441, -0.3834, -0.1436, -1.7983, 9.1282, 1.8388, -0.0269, -0.0415, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5610d696d7693bee277e6bb36442546c1eccf3e07955b233eb3c3038a8037c9c",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
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    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
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    {
      "source": {
        "data": "$blob:ff6b38bbb933492c2fa869efcea1a68b1fce44a8833c87f3053ca6e5563e4557",
        "media_type": "image/png",
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      "type": "image"
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    {
      "text": "camera 'right_cam' (step 0):",
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[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ADpRBgLtc1juhrMbSds6Ah",
      "input": {
        "note": "I see a large white bowl on the left, the blue bowl center-right, and two fruits (a yellow lemon and a green pear) near the right arm. Moving the right gripper above the yellow lemon (estimated right_y≈0.19, x≈0.30) to inspect it in the wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.19,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01ADpRBgLtc1juhrMbSds6Ah",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6132, -0.4011, -0.0139, -0.0269, 0.9959, 0.8799, 1.3113, 0.7502, -0.276, 0.6781, 0.551, 0.9993]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1778 left_yaw=-0.0023 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9959 right_x=0.2934 right_y=0.1865 right_z=0.1335 right_yaw=0.0321 right_pitch=-0.0486 right_roll=-0.047 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1556, 7.0769, 1.8828, -0.0464, -0.0513, -0.0611, 0.1709, -4.9436, 8.9368, 1.5653, 0.5446, 0.1929, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aa52cb4ad83af1cdb7104bbcf70bcb56b93eee064a5198d7612cb30a9aa4ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054e48dcdc58d6ae0460f816e8dae127c4e955e19d3cd2d9a91498c142d92052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46c704205df4a08e512ef733d83e8b62cc153c97f3570cef92e33ac2a1b91c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 2 attempt 0 · /messages · status 200 · 7.403 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0292, 0.9964, -0.0227, 0.8005, 0.6189, -0.3874, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9964 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.7299, 9.7709, 1.8632, -0.1294, 0.1441, -0.3834, -0.1436, -1.7983, 9.1282, 1.8388, -0.0269, -0.0415, -0.0855]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6132, -0.4011, -0.0139, -0.0269, 0.9959, 0.8799, 1.3113, 0.7502, -0.276, 0.6781, 0.551, 0.9993]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1778 left_yaw=-0.0023 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9959 right_x=0.2934 right_y=0.1865 right_z=0.1335 right_yaw=0.0321 right_pitch=-0.0486 right_roll=-0.047 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1556, 7.0769, 1.8828, -0.0464, -0.0513, -0.0611, 0.1709, -4.9436, 8.9368, 1.5653, 0.5446, 0.1929, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7aa52cb4ad83af1cdb7104bbcf70bcb56b93eee064a5198d7612cb30a9aa4ef7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:054e48dcdc58d6ae0460f816e8dae127c4e955e19d3cd2d9a91498c142d92052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46c704205df4a08e512ef733d83e8b62cc153c97f3570cef92e33ac2a1b91c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLpS7rGT7LitySq72ricWB",
      "input": {
        "note": "Wrist view shows the lemon slightly right of the jaw column and a bit farther out, with the blue bowl beyond it. Advancing 4 cm radially, 2 cm right, and descending to 6 cm to refine the approach.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.165,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VLpS7rGT7LitySq72ricWB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0303, 0.9958, 0.6842, 1.5539, 0.5896, 0.1917, 0.5404, 0.3832, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0008 left_pitch=-0.029 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3366 right_y=0.1619 right_z=0.0543 right_yaw=0.0297 right_pitch=-0.0743 right_roll=-0.0662 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.7802, -0.0611, -0.0122, -0.0171, -0.0479, -6.2291, 5.4496, 1.7656, 0.1441, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d999d902b0b06a47fb79883b595d969fdf546d9bb8b17ede727e1119aa400c35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cacf427bf32369534e86a4f92bba71b086c3b3371f23b51618feb6974d65c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:edf23ff8e83b088dd8126b20feef5d0bb696d56b7388cd52db624ed88d9852fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 3 attempt 0 · /messages · status 200 · 5.164 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8001, 0.6136, -0.3859, -0.0143, -0.0292, 0.9964, -0.0227, 0.8005, 0.6189, -0.3874, -0.0204, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2956 left_y=0.0002 left_z=0.1815 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9964 right_x=0.296 right_y=0.0005 right_z=0.1835 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.7299, 9.7709, 1.8632, -0.1294, 0.1441, -0.3834, -0.1436, -1.7983, 9.1282, 1.8388, -0.0269, -0.0415, -0.0855]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6132, -0.4011, -0.0139, -0.0269, 0.9959, 0.8799, 1.3113, 0.7502, -0.276, 0.6781, 0.551, 0.9993]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1778 left_yaw=-0.0023 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9959 right_x=0.2934 right_y=0.1865 right_z=0.1335 right_yaw=0.0321 right_pitch=-0.0486 right_roll=-0.047 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1556, 7.0769, 1.8828, -0.0464, -0.0513, -0.0611, 0.1709, -4.9436, 8.9368, 1.5653, 0.5446, 0.1929, -0.0855]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0303, 0.9958, 0.6842, 1.5539, 0.5896, 0.1917, 0.5404, 0.3832, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0008 left_pitch=-0.029 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3366 right_y=0.1619 right_z=0.0543 right_yaw=0.0297 right_pitch=-0.0743 right_roll=-0.0662 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.7802, -0.0611, -0.0122, -0.0171, -0.0479, -6.2291, 5.4496, 1.7656, 0.1441, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d999d902b0b06a47fb79883b595d969fdf546d9bb8b17ede727e1119aa400c35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cacf427bf32369534e86a4f92bba71b086c3b3371f23b51618feb6974d65c5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edf23ff8e83b088dd8126b20feef5d0bb696d56b7388cd52db624ed88d9852fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISywYKjgEIEhgCKkCmqhee1upqwpPrKyXy4Z0YBQa2SEyeG8JApNA8wNJ3QEeJNzyP+o9kMjGRHsUet6ptPyXVmjxw40ALhFjZH0PoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfCOzNUGEgzVBdgBM+2gsR3rmK0aDB+slTwmzbZIi95kViIwvtnINYEqaIchZjFv8GOype4wj9QKdEYg56YUtEW1Z7C2nvokdiyma2/vO6vOxH3WKukE5lk6Nl46p2fXouXa+j/c+tuY0HqqL2p0QkYQMq1g4siYQY1gq9m5odk1X7Qko7RgMqEPhZndC8KHJcrhoXLxXX1N+I+CBcbLk2VIiCRmzg8ntyyhtIYwDq5KIvmEokMC32PWTkUWuLV3xwhbVt0FJA8+bxuzf666GLHd+ad+ZUCT3DCl0Bcg1y37ZVHYc0nXXhlBMlVOP1GSrsyzNLNqZePGd8uoINMVPXCr9nquYB7fmRevqep+6gA+DDxnVR532YTGQsRXjlRSlhU6fBNuEOUwhXqF6wxHZMjSh6vGHoFnGJFCPkdEq/UgDb3QIovsECMjrIhWdI9mbdht7ykQ7Hh0Q8GV3Vq2guxEUvlue0tPiAFtmk0+Yh3t5MCGI3WIMVzjNGEmP0CnWQ/mYnVu460oPkp9a5x0uNgGAhiFEocAqyGZ0bIqdM49+ON3VVftZfMyiKnhRZlnF1dV997vt8HR8HyohjujaOjUy2lDcq+RoPY3tRPe2Yzfky3W89HadXII/WW7xsKyEB/2o2Kx37pNhgXrCboViqZI+iwLjGuX9HSQWxKrnF+REU5/avjylQO74BZhr3ncSW6SEobt2LfGI43hA/ofzBAH/ZZhNh23FEXm55XkX8bWk6lsN+92OpfgnROPmazYAuv2dHzEcmcp/PUGFnJQeBx4fypoxz7o+opU8o+XxxL/i4ivIEgobFf9KCWqRhdpQN+xGVcteZpXzx8Qm1+d/vDl/ARX1RuxfciguB8r8VSNAuknZhkVsly5qsQTep5p1GwPSS5ITVbBv3/WWkKvAY6Wx9QLS6EHABULXGNHYlsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XHSa9eUzFK2Xw1BF9eiBz7",
      "input": {
        "note": "The lemon is now centered on the jaw column in the wrist view, just short of the fingertips. Advancing 1.5 cm and descending to table level to straddle it.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.163,
          "right_z": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XHSa9eUzFK2Xw1BF9eiBz7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4206, -0.0139, -0.0307, 0.9958, 0.6483, 1.805, 0.5705, 0.4698, 0.5137, 0.3565, 0.9992]\nstate[eef_state]: left_x=0.2913 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0006 left_pitch=-0.0439 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3535 right_y=0.1634 right_z=0.0024 right_yaw=0.0289 right_pitch=-0.0798 right_roll=-0.0679 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.873, -0.0708, -0.0269, -0.0073, -0.5538, -6.0923, 4.588, 1.3065, 0.1587, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:620946d724e3012591709a4646b500bde3b95b4f2c3855532cf0e2f9cbcaeee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fd2a9e30117777e3385098546616159b01605425f46eb0707cdcba16f03ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ba93eef5e0db9938107709fa42615c46ed31175d030d09e1484efd3c1d4c6aaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 4 attempt 0 · /messages · status 200 · 5.595 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0208, 0.8013, 0.6132, -0.4011, -0.0139, -0.0269, 0.9959, 0.8799, 1.3113, 0.7502, -0.276, 0.6781, 0.551, 0.9993]\nstate[eef_state]: left_x=0.2935 left_y=-0.0001 left_z=0.1778 left_yaw=-0.0023 left_pitch=-0.0168 left_roll=0.002 left_gripper=0.9959 right_x=0.2934 right_y=0.1865 right_z=0.1335 right_yaw=0.0321 right_pitch=-0.0486 right_roll=-0.047 right_gripper=0.9993\nstate[joint_eff]: [0.0615, -1.1556, 7.0769, 1.8828, -0.0464, -0.0513, -0.0611, 0.1709, -4.9436, 8.9368, 1.5653, 0.5446, 0.1929, -0.0855]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0303, 0.9958, 0.6842, 1.5539, 0.5896, 0.1917, 0.5404, 0.3832, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0008 left_pitch=-0.029 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3366 right_y=0.1619 right_z=0.0543 right_yaw=0.0297 right_pitch=-0.0743 right_roll=-0.0662 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.7802, -0.0611, -0.0122, -0.0171, -0.0479, -6.2291, 5.4496, 1.7656, 0.1441, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4206, -0.0139, -0.0307, 0.9958, 0.6483, 1.805, 0.5705, 0.4698, 0.5137, 0.3565, 0.9992]\nstate[eef_state]: left_x=0.2913 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0006 left_pitch=-0.0439 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3535 right_y=0.1634 right_z=0.0024 right_yaw=0.0289 right_pitch=-0.0798 right_roll=-0.0679 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.873, -0.0708, -0.0269, -0.0073, -0.5538, -6.0923, 4.588, 1.3065, 0.1587, -0.0415, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:620946d724e3012591709a4646b500bde3b95b4f2c3855532cf0e2f9cbcaeee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1fd2a9e30117777e3385098546616159b01605425f46eb0707cdcba16f03ab0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba93eef5e0db9938107709fa42615c46ed31175d030d09e1484efd3c1d4c6aaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISygUKjgEIEhgCKkBYIYvJgqA36ooKbccT0lp53sWAabfHREDWM0CfEytRoOlqGN93QcQ+BY74a1NYmBaFOCUeexrCufQJ5IRbmXl9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeOzNUGEgz4soLnDfuetvPA254aDG4PgXi9Az8R764U/SIwP2iQ+DmY1f3lviAHfAbg8z/nVToBKmYrLAYLgsptUmxCFEQZeuEBuuZsH2a3jjTgKugDr0M2X1CrsK0DYwiCGabefMpe0V8BUZ21jhfyg1BvjO8wLprL+OhJC/StahL+L7wI2QEL3z3+8mIM+22gPQfbm8hhM4i00GCxl01hLpH9fF/NNrAOaF3T7w4t7zZ7RtDyVc++s2U97LkeSntvdN63+8LUaMqsNho9ik141rOVyggzg7E9qKqFQjjTNA9BIaMizTskP4v99GxlR8QPmg466ZRt3fxF2uV0T6bPlSeK6oS5Ia+y5mXNihctKvwV1U+nfnwubjma+NRt7Q/wVTB7dYvowmq7yl+2bCRJSvNvJO6bN7mNYtPVATrQYCISZq/qdm7jXWfJJEk+C9eltceDM/I49joyvMidwi/8CmSRsEgrewHF571G47T4LqrUA7EfmpaBZyCpYLNOZvXCZq/+UKpuAGlpc6gAQjVBbKn8dkq0yPI/BRUxabh+mHagh24+eZpriUr/t9ojDrbcjgyyglnXVVv/wpBL9ugRbDwWTI41fy/kCQnCSIhG7oc+F1yNYvlxUPod+u27xGpLnWVAV2jDvdIRgpxjE89aJqUXqljGgsKU9fHOclU7mykbCcCgPjqqv2ymGPRPGLgWyRBLH44sDsW95TVtYfbY9LnXcbMdi9Pbn/LPeS35Szy1yRY0ya8YgVUGR+AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0174RaAeGCUiKioi2UmtyU2F",
      "input": {
        "note": "Lemon fills the wrist view centered between the jaws at table level; closing the gripper to grasp 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_0174RaAeGCUiKioi2UmtyU2F",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9958, 0.6487, 1.8103, 0.5697, 0.4671, 0.514, 0.355, 0.01]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0006 left_pitch=-0.0473 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3524 right_y=0.1627 right_z=-0.0001 right_yaw=0.0294 right_pitch=-0.0869 right_roll=-0.0744 right_gripper=0.01\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.7021, -0.0611, -0.0757, -0.0073, -0.1436, -7.4735, 4.4239, 1.5556, 0.1783, -0.0171, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f86ac648d1970324c28dbeab4826b920d6c334b0ba99a4e857f8f1fdbb9621e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0408618e9bf7892e3a1a84cf34e63ab7e59821106c55d392caa17f51c1347c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f70036b2d6c8319a8d61bb28d04cb67844103584a65e43b57c452b74ad2c0a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 5 attempt 0 · /messages · status 200 · 4.049 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8059, 0.6132, -0.4088, -0.0139, -0.0303, 0.9958, 0.6842, 1.5539, 0.5896, 0.1917, 0.5404, 0.3832, 0.9993]\nstate[eef_state]: left_x=0.2928 left_y=-0.0002 left_z=0.175 left_yaw=-0.0008 left_pitch=-0.029 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3366 right_y=0.1619 right_z=0.0543 right_yaw=0.0297 right_pitch=-0.0743 right_roll=-0.0662 right_gripper=0.9993\nstate[joint_eff]: [-0.1983, -1.6889, 7.0359, 1.7802, -0.0611, -0.0122, -0.0171, -0.0479, -6.2291, 5.4496, 1.7656, 0.1441, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 10 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4206, -0.0139, -0.0307, 0.9958, 0.6483, 1.805, 0.5705, 0.4698, 0.5137, 0.3565, 0.9992]\nstate[eef_state]: left_x=0.2913 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0006 left_pitch=-0.0439 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3535 right_y=0.1634 right_z=0.0024 right_yaw=0.0289 right_pitch=-0.0798 right_roll=-0.0679 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.873, -0.0708, -0.0269, -0.0073, -0.5538, -6.0923, 4.588, 1.3065, 0.1587, -0.0415, -0.0171]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9958, 0.6487, 1.8103, 0.5697, 0.4671, 0.514, 0.355, 0.01]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0006 left_pitch=-0.0473 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3524 right_y=0.1627 right_z=-0.0001 right_yaw=0.0294 right_pitch=-0.0869 right_roll=-0.0744 right_gripper=0.01\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.7021, -0.0611, -0.0757, -0.0073, -0.1436, -7.4735, 4.4239, 1.5556, 0.1783, -0.0171, 0.7546]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f86ac648d1970324c28dbeab4826b920d6c334b0ba99a4e857f8f1fdbb9621e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b0408618e9bf7892e3a1a84cf34e63ab7e59821106c55d392caa17f51c1347c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f70036b2d6c8319a8d61bb28d04cb67844103584a65e43b57c452b74ad2c0a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS1AUKjgEIEhgCKkDN+JDUpOJUe3I3WlqQOMc9rcq5fqbVJm9Np5pyvCxLw/KPUJ7FkE0ku9G6fHoULYYRoNmPvjL4lPzdDh1quB5jMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2OzNUGEgySUXqA82HxuLUTLu8aDAdWl9IwQysu68w7GCIwVrXjrPV6Vb93TFxrNgiYLKDGNU12vfj74P1aAOmDPSJvLGK1LqzeKOt1ngJWXJyxKvIDPZPXLS+KW933z5pQ7drmIGsI6K6sOtEnH3A7uSNMnfASIUkLVzn8zFdR7g2pQOWtbI3R8FFnYfKVLISdTQeFyu5wG6ubHTrpO7nJ5eibwfG6FVt/08/jnfWvWNdfU42E9TjuFryfPQ1IP/IrNxakeKz5d/cSCpJ08yawL4N0BA7nh+3acLn15t/YmqjLhRGFl3saXVNiS3EZOPzpiBpoVzAM55gPMI+DVd907INqe12evnTMF7RTXavXZs59GIxVzcwZ7xc/Fc/U+TpyJQzqK29bK06H6BP0b6jbtwl08qwK6qI+U3G+tryrBvrPLWQXJaT8w1AtcFLpRy5ytEdFOpgg9VtzKYwWnmmylLSX0FuouNQMKBD07TAl4Kgqw84A8srUlcxcn2T+8N9IeIL6guCEJOfpwG+g1FcICk4lvaQ8OuWJY+gdTDHvYc2xJDqsZMCHP98R9Rg21KKDAt6wCvfxKhoeOFik4V+m0Gl2ZROKhlQBNU3O79cYXz0eC7nFaYd6jxhvevngHYGB3LIBnlEzmmFnEne5urmw00w+e2/smKzRKhbR0I82r0CHIIMxECYM0tENj1GIOSMQgsxa+aFxZdmIawHDD4V1AwJW+IUs3ZegGZzMn3sK+/UIe4aPBTG/apbxWInfdluPWqOjogzTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SEHapYbSEmb2MCMWHq1hbN",
      "input": {
        "note": "The close was empty (gripper reads 0.01) and the lemon still sits just beyond the jaws, so reopening and advancing 3 cm radially before retrying.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.385
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01SEHapYbSEmb2MCMWHq1hbN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4271, -0.0139, -0.0307, 0.9958, 0.5884, 1.8675, 0.6575, 0.4713, 0.4664, 0.305, 0.9955]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0006 left_pitch=-0.0538 left_roll=-0.0004 left_gripper=0.9958 right_x=0.3818 right_y=0.1636 right_z=0.0031 right_yaw=0.0347 right_pitch=-0.0779 right_roll=-0.0677 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6068, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.7043, -6.3385, 6.188, 1.453, 0.2369, -0.0562, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a312e305a7eae0e326ea11b3718a20e4e8bd8273ee46464ebbab3148567242a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e39405967b460f2d74ef6064802e1b98dc6a8219861bce63c2a8ed4169721e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5e0ad448598f131a332d4e0903fe2723708a2ab88f5af896e7cc38b868cd2a80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 6 attempt 0 · /messages · status 200 · 12.75 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.4206, -0.0139, -0.0307, 0.9958, 0.6483, 1.805, 0.5705, 0.4698, 0.5137, 0.3565, 0.9992]\nstate[eef_state]: left_x=0.2913 left_y=-0.0001 left_z=0.1718 left_yaw=-0.0006 left_pitch=-0.0439 left_roll=-0.0006 left_gripper=0.9958 right_x=0.3535 right_y=0.1634 right_z=0.0024 right_yaw=0.0289 right_pitch=-0.0798 right_roll=-0.0679 right_gripper=0.9992\nstate[joint_eff]: [-0.1846, -0.9915, 7.0359, 1.873, -0.0708, -0.0269, -0.0073, -0.5538, -6.0923, 4.588, 1.3065, 0.1587, -0.0415, -0.0171]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9958, 0.6487, 1.8103, 0.5697, 0.4671, 0.514, 0.355, 0.01]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0006 left_pitch=-0.0473 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3524 right_y=0.1627 right_z=-0.0001 right_yaw=0.0294 right_pitch=-0.0869 right_roll=-0.0744 right_gripper=0.01\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.7021, -0.0611, -0.0757, -0.0073, -0.1436, -7.4735, 4.4239, 1.5556, 0.1783, -0.0171, 0.7546]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4271, -0.0139, -0.0307, 0.9958, 0.5884, 1.8675, 0.6575, 0.4713, 0.4664, 0.305, 0.9955]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0006 left_pitch=-0.0538 left_roll=-0.0004 left_gripper=0.9958 right_x=0.3818 right_y=0.1636 right_z=0.0031 right_yaw=0.0347 right_pitch=-0.0779 right_roll=-0.0677 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6068, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.7043, -6.3385, 6.188, 1.453, 0.2369, -0.0562, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a312e305a7eae0e326ea11b3718a20e4e8bd8273ee46464ebbab3148567242a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e39405967b460f2d74ef6064802e1b98dc6a8219861bce63c2a8ed4169721e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e0ad448598f131a332d4e0903fe2723708a2ab88f5af896e7cc38b868cd2a80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS6gMKjgEIEhgCKkBimXkW2u2yPu9best0/24/dPdCXZdTzij+YW6vYhOayatND4a0k8DhP5lM0liy7pGuM1T+XGin7quS+0RpS/v/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYKPzNUGEgylu52LCfXBGVYg3vEaDIK/6DpDtf9oerudDCIwsVsTYnvoLu8K86jcVxCQHDkwzHrGVkwO7FEfpzjxFvpim4VXWrGNUJQFabmLlFMiKogCkIcGfhCPFemgG5MQLg6vClpr9q7EsfoNI+/HDGwpFfqjYpoUG0UhBdShKPmDq/B7MaWetZCFAvdK6RARC+l8ZOtSZvABbeuMNIxWDFB8teejchoMeqgF3BDtN4dZ+avl7rZyEQ/NjbbhO4LJ87C9O46tF48XT9AJHCjLDka2x3xBApOjduJGLkQkL/h1zhzuqqIa5S/eQFLHyoBdBBX5OUvrCNTyiHSr+BNuq/scfbWTF7j1BGY2xtwBPYq8VhVZDG8BCdTvdsllhau2iVMKUvDycynxMs6AIpmxcqwlctoQyN04MGBBnkGHpn/uwQIhFTpYXWcH3L9mzcs3wWhLnePweIP7MyjqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012aWqvLAJ8XZ44FgYA8Sdrd",
      "input": {
        "note": "The lemon now sits low in the wrist frame between the two visible jaw tips; closing to grasp.",
        "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_012aWqvLAJ8XZ44FgYA8Sdrd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0139, -0.0307, 0.9958, 0.5869, 1.8702, 0.6579, 0.4667, 0.4652, 0.3023, 0.0097]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1684 left_yaw=-0.0006 left_pitch=-0.0591 left_roll=-0.0003 left_gripper=0.9958 right_x=0.3813 right_y=0.1627 right_z=0.0014 right_yaw=0.0352 right_pitch=-0.0842 right_roll=-0.0728 right_gripper=0.0097\nstate[joint_eff]: [-0.1026, -1.3607, 7.0085, 1.7167, -0.0757, -0.0513, -0.0122, -0.0205, -8.1436, 4.4923, 1.5849, 0.2418, -0.0073, 0.8376]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6677d29f21784eb2ab6b1077d73db7f5454696684ca03dad236e4e392823084e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f688232bfb6f2941cc504904868cae8a8ae15a13304cf1c49b3b667403ded497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5589e43074399c988454e58e17cef0bf23c29a774709939f38770a17433d0f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 7 attempt 0 · /messages · status 200 · 5.246 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9958, 0.6487, 1.8103, 0.5697, 0.4671, 0.514, 0.355, 0.01]\nstate[eef_state]: left_x=0.2908 left_y=-0.0001 left_z=0.1711 left_yaw=-0.0006 left_pitch=-0.0473 left_roll=-0.0005 left_gripper=0.9958 right_x=0.3524 right_y=0.1627 right_z=-0.0001 right_yaw=0.0294 right_pitch=-0.0869 right_roll=-0.0744 right_gripper=0.01\nstate[joint_eff]: [-0.0615, -1.306, 7.0222, 1.7021, -0.0611, -0.0757, -0.0073, -0.1436, -7.4735, 4.4239, 1.5556, 0.1783, -0.0171, 0.7546]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4271, -0.0139, -0.0307, 0.9958, 0.5884, 1.8675, 0.6575, 0.4713, 0.4664, 0.305, 0.9955]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0006 left_pitch=-0.0538 left_roll=-0.0004 left_gripper=0.9958 right_x=0.3818 right_y=0.1636 right_z=0.0031 right_yaw=0.0347 right_pitch=-0.0779 right_roll=-0.0677 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6068, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.7043, -6.3385, 6.188, 1.453, 0.2369, -0.0562, -0.1685]\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 19 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0139, -0.0307, 0.9958, 0.5869, 1.8702, 0.6579, 0.4667, 0.4652, 0.3023, 0.0097]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1684 left_yaw=-0.0006 left_pitch=-0.0591 left_roll=-0.0003 left_gripper=0.9958 right_x=0.3813 right_y=0.1627 right_z=0.0014 right_yaw=0.0352 right_pitch=-0.0842 right_roll=-0.0728 right_gripper=0.0097\nstate[joint_eff]: [-0.1026, -1.3607, 7.0085, 1.7167, -0.0757, -0.0513, -0.0122, -0.0205, -8.1436, 4.4923, 1.5849, 0.2418, -0.0073, 0.8376]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6677d29f21784eb2ab6b1077d73db7f5454696684ca03dad236e4e392823084e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f688232bfb6f2941cc504904868cae8a8ae15a13304cf1c49b3b667403ded497",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5589e43074399c988454e58e17cef0bf23c29a774709939f38770a17433d0f09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018KT9aebJmd8XyKsw4mudpt",
      "input": {
        "note": "Second close was also empty; the lemon appears slightly left of the jaw column and still beyond the fingertips, so I open, advance another 3 cm and shift 1 cm toward it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.412,
          "right_y": 0.172
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018KT9aebJmd8XyKsw4mudpt",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4332, -0.0139, -0.0307, 0.9958, 0.5644, 1.9392, 0.7715, 0.4435, 0.4393, 0.2764, 0.9955]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.168 left_yaw=-0.0006 left_pitch=-0.061 left_roll=-0.0002 left_gripper=0.9958 right_x=0.4089 right_y=0.1742 right_z=0.0042 right_yaw=0.048 right_pitch=-0.0757 right_roll=-0.0676 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6825, -0.0366, -0.0611, -0.0122, -0.5812, -7.665, 5.9556, 1.4286, 0.1245, 0.0122, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6968de5057d2aa1f1f2997610f29050a615a2e3ec9875257dc3aa238802b74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2383ccc6913c9c4aba0eb60ece3d637dd7185e9cd161468a98869598de92d87e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ed907a4b7b0a75857ef5ceaf6a2a4096660053b6c48525c0c726543a4a06a1f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 8 attempt 0 · /messages · status 200 · 19.98 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4271, -0.0139, -0.0307, 0.9958, 0.5884, 1.8675, 0.6575, 0.4713, 0.4664, 0.305, 0.9955]\nstate[eef_state]: left_x=0.2905 left_y=-0.0001 left_z=0.1696 left_yaw=-0.0006 left_pitch=-0.0538 left_roll=-0.0004 left_gripper=0.9958 right_x=0.3818 right_y=0.1636 right_z=0.0031 right_yaw=0.0347 right_pitch=-0.0779 right_roll=-0.0677 right_gripper=0.9955\nstate[joint_eff]: [-0.1983, -1.6068, 6.9949, 1.7265, -0.0415, -0.0513, -0.0122, -0.7043, -6.3385, 6.188, 1.453, 0.2369, -0.0562, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0139, -0.0307, 0.9958, 0.5869, 1.8702, 0.6579, 0.4667, 0.4652, 0.3023, 0.0097]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1684 left_yaw=-0.0006 left_pitch=-0.0591 left_roll=-0.0003 left_gripper=0.9958 right_x=0.3813 right_y=0.1627 right_z=0.0014 right_yaw=0.0352 right_pitch=-0.0842 right_roll=-0.0728 right_gripper=0.0097\nstate[joint_eff]: [-0.1026, -1.3607, 7.0085, 1.7167, -0.0757, -0.0513, -0.0122, -0.0205, -8.1436, 4.4923, 1.5849, 0.2418, -0.0073, 0.8376]\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 22 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4332, -0.0139, -0.0307, 0.9958, 0.5644, 1.9392, 0.7715, 0.4435, 0.4393, 0.2764, 0.9955]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.168 left_yaw=-0.0006 left_pitch=-0.061 left_roll=-0.0002 left_gripper=0.9958 right_x=0.4089 right_y=0.1742 right_z=0.0042 right_yaw=0.048 right_pitch=-0.0757 right_roll=-0.0676 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6825, -0.0366, -0.0611, -0.0122, -0.5812, -7.665, 5.9556, 1.4286, 0.1245, 0.0122, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6968de5057d2aa1f1f2997610f29050a615a2e3ec9875257dc3aa238802b74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2383ccc6913c9c4aba0eb60ece3d637dd7185e9cd161468a98869598de92d87e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed907a4b7b0a75857ef5ceaf6a2a4096660053b6c48525c0c726543a4a06a1f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISrQUKjgEIEhgCKkDdsyKchrSmR59CvydqJgdEIvPmy5Ttx6/x/HM5yVFfRGOdLqXw2SRqsrQCoZJqjeiuweUfdPK1Cd0FgdHZWtqoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaPzNUGEgy0QP97Ta/Ero3CU3saDAJnV4mjK7ZVElqvMCIwPRMIKnDTDlSb6v34QFU9TMVwFcPtKqjU/fkfv+mEPXoZlP+kULAkNJSxpwMzGMl7KssDq1s/wfs4yLM1KAKZImd+jBlj+Qea1S7zZC0t8b7KAuHFwwuvsSwXSWsBjawaEWirEDmGTIKk6KDXDDouQiHXZH+WRST4WWWkxnvtGTVtdAJOrBoFKUVPg8pY2WZzQemv91ZY3OTBHTeYv9dUOZjBcinyfS2EK8N6wI/zQ47Oxo+iOcZ5vyweJMknGPFlpj58pSqBb8BAT0MVydUpwlomrapRIXG2SSK5C41MgrOffz+/BOl4kzo9ibksV7PtJIWynwCCtY5dHZD03QJN8h3HjmC16b/8GxHtq8Qzr+69PXKbyk38/HIM1+b+RdvqM6PsExKIUCOaJOnl862Zr4ZJppO01cvJmWS3n4HnP9VaTK3ENmm4yisrEQBbiHRGr4qmFAge4JcMRIXsvTj9fImpadlH9ImD5vGACJVMepGp21yBRDgm9AGV04f268EnJaNkdYte3Es2kTrCtL2BLBQikT7IeNfhZRS5IMoCTAcqTd9gxJ51K0Zbxt1Pvn+C0Ov99880lh2QQSY4wDMV1wKJ0sOjJBWQcP3KB1tV92DT20MJWO3p6WI8AULNuh554ZQ+m2JUnN+9iNGT4MqOGcc6NshlN0i5RPNQfIC1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RBEYLa6XVeXRdYdb8ZtsHk",
      "input": {
        "note": "The lemon is now large and low in the wrist view, spanning between the jaw bars but a touch to the left; nudging 0.6 cm toward it and closing to grasp.",
        "targets": {
          "right_gripper": 0.05,
          "right_y": 0.178
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RBEYLa6XVeXRdYdb8ZtsHk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4423, -0.0139, -0.0307, 0.9958, 0.5709, 1.9423, 0.775, 0.4362, 0.4393, 0.2768, 0.0545]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0006 left_pitch=-0.0702 left_roll=-0.0 left_gripper=0.9958 right_x=0.4076 right_y=0.1768 right_z=0.0028 right_yaw=0.054 right_pitch=-0.0816 right_roll=-0.0707 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -1.0188, 6.9812, 1.7509, -0.0464, -0.0415, -0.0122, 0.1709, -8.3624, 5.2718, 1.5995, 0.2613, 0.0317, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c7b2f3978ea3575e57690ec7920c79c3ba5a4a210229e4fbc75f948d5b88ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1844d4342afb8459e21b61ceb1d1004f073c1227a2c17f6eb29ac147bd986733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27f8aa146dd32053990ffc5bf17b0525552257f88769b7e95905be61a05a1840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 9 attempt 0 · /messages · status 200 · 14.54 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4313, -0.0139, -0.0307, 0.9958, 0.5869, 1.8702, 0.6579, 0.4667, 0.4652, 0.3023, 0.0097]\nstate[eef_state]: left_x=0.29 left_y=-0.0001 left_z=0.1684 left_yaw=-0.0006 left_pitch=-0.0591 left_roll=-0.0003 left_gripper=0.9958 right_x=0.3813 right_y=0.1627 right_z=0.0014 right_yaw=0.0352 right_pitch=-0.0842 right_roll=-0.0728 right_gripper=0.0097\nstate[joint_eff]: [-0.1026, -1.3607, 7.0085, 1.7167, -0.0757, -0.0513, -0.0122, -0.0205, -8.1436, 4.4923, 1.5849, 0.2418, -0.0073, 0.8376]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4332, -0.0139, -0.0307, 0.9958, 0.5644, 1.9392, 0.7715, 0.4435, 0.4393, 0.2764, 0.9955]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.168 left_yaw=-0.0006 left_pitch=-0.061 left_roll=-0.0002 left_gripper=0.9958 right_x=0.4089 right_y=0.1742 right_z=0.0042 right_yaw=0.048 right_pitch=-0.0757 right_roll=-0.0676 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6825, -0.0366, -0.0611, -0.0122, -0.5812, -7.665, 5.9556, 1.4286, 0.1245, 0.0122, -0.1148]\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 25 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4423, -0.0139, -0.0307, 0.9958, 0.5709, 1.9423, 0.775, 0.4362, 0.4393, 0.2768, 0.0545]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0006 left_pitch=-0.0702 left_roll=-0.0 left_gripper=0.9958 right_x=0.4076 right_y=0.1768 right_z=0.0028 right_yaw=0.054 right_pitch=-0.0816 right_roll=-0.0707 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -1.0188, 6.9812, 1.7509, -0.0464, -0.0415, -0.0122, 0.1709, -8.3624, 5.2718, 1.5995, 0.2613, 0.0317, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c7b2f3978ea3575e57690ec7920c79c3ba5a4a210229e4fbc75f948d5b88ec7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1844d4342afb8459e21b61ceb1d1004f073c1227a2c17f6eb29ac147bd986733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27f8aa146dd32053990ffc5bf17b0525552257f88769b7e95905be61a05a1840",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0122Zns4W6gqXz1KdbCT5cTa",
      "input": {
        "note": "Jaws closed to the commanded gap without touching anything, so the lemon is still ahead of the fingertips; advancing another 3 cm and raising to 3 cm so the jaws straddle the fruit's middle.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0122Zns4W6gqXz1KdbCT5cTa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8181, 0.6132, -0.4488, -0.0139, -0.0307, 0.9958, 0.5266, 1.9423, 0.8913, 0.2996, 0.3946, 0.2344, 0.9978]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1637 left_yaw=-0.0006 left_pitch=-0.0812 left_roll=0.0002 left_gripper=0.9958 right_x=0.4301 right_y=0.1756 right_z=0.0162 right_yaw=0.0672 right_pitch=-0.1153 right_roll=-0.0869 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.7753, -0.022, -0.0366, -0.0122, -0.6632, -9.8803, 7.4462, 1.5604, 0.2759, 0.022, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8272164bdd5d6880fa566904bbb314a59cc5b17d782fa2fd9542f8366bb02fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8793b4aa7547ba4a07431e2af9b210e6ed33d5aaa3e3e1cf5291675619612e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6830306b6e2af822a829edaa90742cb7e0a0772d1e8fe350457432024d2ed21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 10 attempt 0 · /messages · status 200 · 24.23 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4332, -0.0139, -0.0307, 0.9958, 0.5644, 1.9392, 0.7715, 0.4435, 0.4393, 0.2764, 0.9955]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.168 left_yaw=-0.0006 left_pitch=-0.061 left_roll=-0.0002 left_gripper=0.9958 right_x=0.4089 right_y=0.1742 right_z=0.0042 right_yaw=0.048 right_pitch=-0.0757 right_roll=-0.0676 right_gripper=0.9955\nstate[joint_eff]: [-0.1436, -1.2239, 6.9949, 1.6825, -0.0366, -0.0611, -0.0122, -0.5812, -7.665, 5.9556, 1.4286, 0.1245, 0.0122, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4423, -0.0139, -0.0307, 0.9958, 0.5709, 1.9423, 0.775, 0.4362, 0.4393, 0.2768, 0.0545]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0006 left_pitch=-0.0702 left_roll=-0.0 left_gripper=0.9958 right_x=0.4076 right_y=0.1768 right_z=0.0028 right_yaw=0.054 right_pitch=-0.0816 right_roll=-0.0707 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -1.0188, 6.9812, 1.7509, -0.0464, -0.0415, -0.0122, 0.1709, -8.3624, 5.2718, 1.5995, 0.2613, 0.0317, 0.1099]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8181, 0.6132, -0.4488, -0.0139, -0.0307, 0.9958, 0.5266, 1.9423, 0.8913, 0.2996, 0.3946, 0.2344, 0.9978]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1637 left_yaw=-0.0006 left_pitch=-0.0812 left_roll=0.0002 left_gripper=0.9958 right_x=0.4301 right_y=0.1756 right_z=0.0162 right_yaw=0.0672 right_pitch=-0.1153 right_roll=-0.0869 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.7753, -0.022, -0.0366, -0.0122, -0.6632, -9.8803, 7.4462, 1.5604, 0.2759, 0.022, -0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8272164bdd5d6880fa566904bbb314a59cc5b17d782fa2fd9542f8366bb02fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8793b4aa7547ba4a07431e2af9b210e6ed33d5aaa3e3e1cf5291675619612e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6830306b6e2af822a829edaa90742cb7e0a0772d1e8fe350457432024d2ed21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MKz5ioRiDje7eGCn2STSmQ",
      "input": {
        "note": "My grasp attempts keep missing, so the wrist-view depth is deceiving me. Retracting the right arm up and back to get a clean, unoccluded top-camera fix on all the fruits and bowls.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.0,
          "right_z": 0.28
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01MKz5ioRiDje7eGCn2STSmQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6132, -0.4679, -0.0135, -0.0307, 0.9958, -0.0425, 0.8314, 1.103, -0.9581, -0.0097, -0.1253, 0.9984]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1582 left_yaw=-0.0008 left_pitch=-0.1072 left_roll=0.0005 left_gripper=0.9958 right_x=0.253 right_y=-0.0055 right_z=0.2744 right_yaw=0.0324 right_pitch=-0.1204 right_roll=-0.092 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.347, 6.9675, 1.9707, -0.0464, -0.0366, -0.0122, -0.2667, -0.5402, 8.212, 1.5409, -0.1587, -0.1685, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5364ba61fb97f6074dd1d1d24c7952bab8932d5f8824289f8c6794e62f4f0dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4dddb46bd64fd192e020a1ef1779909976e59ffe1cf11dc7a045d7d0c19a555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1fafcc3c881ebf67f9f277b3cbb52dedeab50f872a0cd9260962ac3184a5808f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 11 attempt 0 · /messages · status 200 · 7.304 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8135, 0.6132, -0.4423, -0.0139, -0.0307, 0.9958, 0.5709, 1.9423, 0.775, 0.4362, 0.4393, 0.2768, 0.0545]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1662 left_yaw=-0.0006 left_pitch=-0.0702 left_roll=-0.0 left_gripper=0.9958 right_x=0.4076 right_y=0.1768 right_z=0.0028 right_yaw=0.054 right_pitch=-0.0816 right_roll=-0.0707 right_gripper=0.0545\nstate[joint_eff]: [-0.2667, -1.0188, 6.9812, 1.7509, -0.0464, -0.0415, -0.0122, 0.1709, -8.3624, 5.2718, 1.5995, 0.2613, 0.0317, 0.1099]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8181, 0.6132, -0.4488, -0.0139, -0.0307, 0.9958, 0.5266, 1.9423, 0.8913, 0.2996, 0.3946, 0.2344, 0.9978]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1637 left_yaw=-0.0006 left_pitch=-0.0812 left_roll=0.0002 left_gripper=0.9958 right_x=0.4301 right_y=0.1756 right_z=0.0162 right_yaw=0.0672 right_pitch=-0.1153 right_roll=-0.0869 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.7753, -0.022, -0.0366, -0.0122, -0.6632, -9.8803, 7.4462, 1.5604, 0.2759, 0.022, -0.0464]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6132, -0.4679, -0.0135, -0.0307, 0.9958, -0.0425, 0.8314, 1.103, -0.9581, -0.0097, -0.1253, 0.9984]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1582 left_yaw=-0.0008 left_pitch=-0.1072 left_roll=0.0005 left_gripper=0.9958 right_x=0.253 right_y=-0.0055 right_z=0.2744 right_yaw=0.0324 right_pitch=-0.1204 right_roll=-0.092 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.347, 6.9675, 1.9707, -0.0464, -0.0366, -0.0122, -0.2667, -0.5402, 8.212, 1.5409, -0.1587, -0.1685, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5364ba61fb97f6074dd1d1d24c7952bab8932d5f8824289f8c6794e62f4f0dc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4dddb46bd64fd192e020a1ef1779909976e59ffe1cf11dc7a045d7d0c19a555",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 103):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fafcc3c881ebf67f9f277b3cbb52dedeab50f872a0cd9260962ac3184a5808f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/hkKjgEIEhgCKkDp4sHC13mqwuPA8PjerBUNvSZIGdYn92diOE2AeLC1KOvcgIDgSwvvZxt0BOyZcSeBmNsMBtcYam+1u/emYulaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdaPzNUGEgxB4bR4fx0KIfp/SMoaDKdR4LWdA77urT2KaiIwnaPkgb+PXvDzwttemi6Nx0Rm9L/bB7od6BiuTtO+qT75RWUTCjznbQ0XBt2Yl7usKpwYxQdOzMGBd2Q1YMxaAw322yVEwsyXIEBEjWa6h9/SCuVbIBA5N6IcTHd+qoBjILS+jE+MJJN9gm2OO75Gby/ML/WFLSjYdZCTsZ/pZUyIAKXA8/bmYmYgETZseGbUk6bhYTfcDEv3CggIhUlN4prMRlo/O7+wNq50q2X/mxE3oipMmHqGE7zC0RqA/Sy5vA1laHlCgPB6GoCr9cDc06WU3ykqviF27SH8J3vss/elR5r1mHeudtPBe08T0zkfrAsbbBNv20OIpgyTwZdf+ohW0uaK1b4ZtQ7rBTLPEAkI7sGxHvMD78VkkQqs0Fj6FsMkXr/mgRZaYegn2XpuNTltn2OJhosJ5AxoAYVE+7L2opsL0VoooGm9PGOwzFJoywf8mSOb644zlfdB7o467xRuUXncZJvgUNkWcbtEadFEd3D4Mjhqt63IKQVJJfmH6YIbs2Y1AvBNm47TbQDfFQTcpCrb8bhn6Rt/4EMTY/Za8GraxpyexN/OfwC1YL0RydozCtUv5DKvbBzpZyiv+C3W9UX944/JZi6tlFG4Ba0AciqnU6OrcDkiTO8T5UtF/eBDgSoZbb4KC0gBjR05Vt8JYUGcmy8WrZQrb+Ccw/3iisaBLyebfUPVp2/8F/5o22dhFabQhKO0DHNpgn6soK6yINsLbSi3I3ugbjmMfW6To8wcyVaZBlBTTo3Gbl5LrB1QXHLD9PIPl0SLkD/e3AI4+fnWrtrD0bJ9vMEx2+luksCrRqbYKLeqemVFT0tsRUdbcKLJVwi7lXDPDfdwcNbg75TpKZd4CxKpbsIi9ogJ3P+rHymSrCTkar2pRkNUGW3OiSWsH0mgju+LH0+PH4S0YzriSZ+QPppIHxVz75Dy+UWF+glfmEWEgTRA9+6TzZNHOFUC/j/I2rJERWq0/KCcpVNXZxL0sIuLFZoNd4VMDTbkzJ8PMrlMKVHoQuM4z4mE2tmwSk0sxjD6Y/vsbCd+sDTV5aL6or0l6ylyRcB5EeK13sD73/MVkWX7mFQAultS5hCcrmfJYRQzbZNFA7aHMFf5ujv5Q5HiepokNGqM34iLHIG4JCYS9F4Jd3mvQ6DytwrVaH6OMloIeN20OAi+KGOlv0jgoxqRhSbuSJ86Wd7rKi+rr5q1AN3bj1Cix7IWcPMkjNUy6qJ7aBecVxN8+jkGmbTy+Rp7AId4XxvwW5Hu2n4BVE3OhYsrLhmC5kDUP2MXUtXDaH/gvMcMwc6tjfX9oYzzQ2bAvDTCcTLHW8acDeI8jcWGdXxc8amT9KX08sRrqiOzSIds+sFd6lzWOtzgFt7qu8oKOHOKf2/6I6TeJZyrEwKyGeLOou88sSCFpK1J35lQuqg3XZTjRN4nZecO5TVV1RR4vvWi5dgu26OG6/e+sHOVu4NVdoG0luMnVfjdR3H5WHjUnm8pn1hcb+rdO4rCoUhKmHigJd0TwPj5nzYSankonqa71mqEBq+N1Hnb/g9376vmqje5RBAiaYqHNMdxwGByPkbZ77mOg1C40ftxH3qW0NcMq5axoFb8eZHZecDXQmHbI4A/cfcJvf/B5w8zDFV4UjhVlmocGSVEO1i7aISE1nPeCHQOm+bTH9NmQbcZAtaSAUuPpB/BpKWoVhMsHmPhroIzl1fOumPf7Ut/BKr7YU3UKnQD6DG0cmdmoFCu3tWYQ46o0DRRqlAobHkFHVWHEQQUMHwP+fhvgGxWPmzs/+lGrvi1zCaREgCWhNTLTeFrN1YP8ARPi4OWIRa5SKf7d4Pq82NyEbi4pAJ/UXJfIrbIwqQggDh/mp8cu49G/6/0DLyxkSq7C7CE3a6WbbBUZ9qmSqeqc7tjGIGqLIuhfEWb6c/a0MshonQCFhGlUagC9V7KYWVoIYJxMsdxZx5SBB5qEGtb3GXIELu7xZMnsEwCXHgdBQPRnJIOX+32fOba+qAU2qqaLM5K+aIj9uWMl1/mNYQ+V2Jwb+PM1FrUBrGXersEiqzlGVmJ+csjO34Via1vUkokHzV0T9wb3w4yOGjsdf+cmuvhdMtLI4s/WTgHy6ZEf3MtGHTGGK99vLEOuhsdLghsBDlACSpMRdRbiyavB0ju71JF80Kdzey+vQ1dUwSvXjjDzrqcw7JOJ0XOoLFoX690JGtZ9RwXz2ClsarEx53HIF2ilwXqxg9nEuqciJ9vLzm3U5VQS99B1tP0oS8uniVDD79aH/0Bg35FqIMDbDzkmdPc6FQcoVCkQJxWfTPqiIOKqDaTRkZMWIG2hLf+S2zkQatlm+CFyLi+gs9aqy+KsVGX5vOAbOw+F4XUOTzm/eoS/DR9TSKzUignkiuKfKd6nSkIsFyZbEjNUfcN2JJCt6+I3+zos7yfTr+IHf0FiV0ocQ4BtYpIXzSsklvxmMH9cmOwq4v/Sm3jRx6nVJNfABu/soXNpe6WWKWohNxEorOeqBaFDibKgQ621i3rSZv+nk9hObnCLjxWKZO+f6NW9Fio4Z6FUU9CXabr6flwu8YjowbO2iGDzgo7Q/4llgYY7y1gNx/yB0J1DZyADQyMsjlfXdnAleUGRlgdKLPhqoGuzrj44IaXyegdhJEbH/Jq3kgXZeuBGJEj8PK43hd7pCgAqIt6qQ66n8tupgc5pK9mNKN3ajlgTrZQNfjnufRM2crxazVDlv83zihtrq2Y9YKALhoawTjhYkky3WxP0E9H8WGjs+i7IhW1W6cSikdfrDTl029lK7DZVqb8odk/Q/FYnp8K4pKoDFcy1fEuNFiy8HpPrTR8fF/8IXZc63/n5zzV8XuweC0B/SZJFPL9fNmFcrKhaNB9Y6ONQurIScCdauj9lKW/QKCZZUx0RuyvkHyfKY4xZyu8RTUEhBtSKyBNmlE3qVxdRwFwkUlJ0xI0PsK5pvYummruuyjfkrjLVbSO1nu8k94UHPzadgf1/qO7hFBbkA+g2xNke3MpmhhMk5CNxO39/Wma3Wl9NqBY8RkLjKdexLsWcOzZ0IycJ2/Oxs4E9oPjgWIaAmXv0s4ELl3j+HJi2k3+GRLtpT+Y0P22xjKzntDgat7osGVVokeey9L4NCS70Ei2xDEJPPSouLBYJGXHPkIC3qA23YyDUMulq08jehimwpxBgV6wuQHB5gcQ2b8iLBEQIJo2XkvanqevrunkBIsPX/UK4c7WKlWd3Wyyw6NXZUg4h6286gG8rzLZT4sMcOFQHAGYqTho9KdXhQUO9GIP+kyAAJcIbob547KgZBRUdzPrfJxlirIqbEWP6rjsGX+uZRAx6yLkgU608ETJnnjdb26bAya598UViGqs1MD20Kt2ZNWErIyj1g7Oxz9k98rXcoNmqIBr5721WoGFFKQy4Ftr2kVykV7XCoF3ByQvVVMukWC8FE1J15+45IXNFJJ0KQzOddoVQpLp1uy5MMApHM1P16JfRodl/XKUkIPuSisW7WudAAWXA26fyygWNR6EH7L1womQEkT5mAublMI/RJenhVKwfRW9cbsFZiVU+B5Atr2cAf2wYGMl8TTXOWeeHPGTc5Y7cmvxo4q2BXjOTG6Y+6ofagVddLjl7UqfO7sGHDDQx8MGEKCP+j7QM7gB+TwsLIRVKKyzc7M4sTHw5w8256MYZOnRRAUAWHTx+CaA4z538Q1pcAjU3y+tCfhdyuz7sidqyHOJ9pK373D9Pb0ceeOjW3EKs6ILPisncBwjQzsHxNYCLVmWgN0v8rYN5huG12YHaRjxwn8uQBXO0+//eCXAvc9DeH8Q3KhDRRnPkVCKFLsVDudOJZCaQKGLlzU1U6DLS8ULlWxnfQVPu5ZqjnZ+rLcOhAvoB/UzYklnud3zaJPZIXqAjRHtCIDNNDfD3Wv/EFmVUySKgOCwh+Hp8yfJIXEuSkrinVvmnFKysKQvAzTc7T8VvO7WYsuBILXPe6189pmbsKMqyzjgBmHtz8XJ7SxDEINSZWABx9X+PJheMmfVRSIaMMw9AZED3VubeAT+L1+8EtRSjv5QO7TyhrA9qA/RN2sLrcko4p3l59iaRAdgUH4cP/lRzlMDorJ80zo/Kf4oU2BsxsgLw+bPhCCKUfwM9ZHn30ynU1jrsohd871PqLkk/Q21DIHq9EO+eMaUUhtlXIanKQmx36BItUorOYvUIGXvzHSBJ9rUeBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012Q1rV6Q7monhuGBFJdQ63V",
      "input": {
        "note": "Clean top view: white bowl far left, a yellow lemon at ~(0.48, +0.22), blue bowl at ~(0.48, +0.10) and a green pear at ~(0.45, -0.02) in right-arm coordinates. Moving above the lemon at 8 cm height to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.46,
          "right_y": 0.22,
          "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_012Q1rV6Q7monhuGBFJdQ63V",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4759, -0.0139, -0.0307, 0.9958, 0.5945, 1.9602, 1.2255, -0.1017, 0.4488, 0.2821, 0.9986]\nstate[eef_state]: left_x=0.284 left_y=0.0 left_z=0.1552 left_yaw=-0.0005 left_pitch=-0.1205 left_roll=0.001 left_gripper=0.9958 right_x=0.4517 right_y=0.2173 right_z=0.0665 right_yaw=0.0606 right_pitch=-0.1691 right_roll=-0.1256 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.6752, 7.1179, 1.7314, -0.0171, -0.0317, -0.0122, 0.0342, -10.5368, 7.6786, 1.6581, 0.3541, 0.2711, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abfd2caacde999198bebfbac1809a4cc2f246baf1135456a3c526a34b94a3f6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebe3e082285e180012794ba341165684f490bb3fe43137f968e94ec58b4e3d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8173092e00b516616533572f722273532ffcfaa6c34f8277526f93f5c9d801f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 12 attempt 0 · /messages · status 200 · 2.744 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8181, 0.6132, -0.4488, -0.0139, -0.0307, 0.9958, 0.5266, 1.9423, 0.8913, 0.2996, 0.3946, 0.2344, 0.9978]\nstate[eef_state]: left_x=0.2876 left_y=-0.0 left_z=0.1637 left_yaw=-0.0006 left_pitch=-0.0812 left_roll=0.0002 left_gripper=0.9958 right_x=0.4301 right_y=0.1756 right_z=0.0162 right_yaw=0.0672 right_pitch=-0.1153 right_roll=-0.0869 right_gripper=0.9978\nstate[joint_eff]: [-0.0752, -1.388, 6.9949, 1.7753, -0.022, -0.0366, -0.0122, -0.6632, -9.8803, 7.4462, 1.5604, 0.2759, 0.022, -0.0464]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6132, -0.4679, -0.0135, -0.0307, 0.9958, -0.0425, 0.8314, 1.103, -0.9581, -0.0097, -0.1253, 0.9984]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1582 left_yaw=-0.0008 left_pitch=-0.1072 left_roll=0.0005 left_gripper=0.9958 right_x=0.253 right_y=-0.0055 right_z=0.2744 right_yaw=0.0324 right_pitch=-0.1204 right_roll=-0.092 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.347, 6.9675, 1.9707, -0.0464, -0.0366, -0.0122, -0.2667, -0.5402, 8.212, 1.5409, -0.1587, -0.1685, 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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4759, -0.0139, -0.0307, 0.9958, 0.5945, 1.9602, 1.2255, -0.1017, 0.4488, 0.2821, 0.9986]\nstate[eef_state]: left_x=0.284 left_y=0.0 left_z=0.1552 left_yaw=-0.0005 left_pitch=-0.1205 left_roll=0.001 left_gripper=0.9958 right_x=0.4517 right_y=0.2173 right_z=0.0665 right_yaw=0.0606 right_pitch=-0.1691 right_roll=-0.1256 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.6752, 7.1179, 1.7314, -0.0171, -0.0317, -0.0122, 0.0342, -10.5368, 7.6786, 1.6581, 0.3541, 0.2711, -0.1636]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abfd2caacde999198bebfbac1809a4cc2f246baf1135456a3c526a34b94a3f6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ebe3e082285e180012794ba341165684f490bb3fe43137f968e94ec58b4e3d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8173092e00b516616533572f722273532ffcfaa6c34f8277526f93f5c9d801f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS/wYKjgEIEhgCKkBrCPHxMeqQfvgxnn4Kk12LpaT+zaqqeQm29T4zT2V1QrnaRrvrV0Ih6idECWVpUZvXbyBUTKBEjf3E+HZbtl5eMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2PzNUGEgzLfp1+Qf1Xqt0dSAMaDEI4N4QP3NZrBY3oRiIwolEhRKoqmXlJZrOQJwyw98EFxUJfNc40gdmQ3g6aIthkcuGH7ZTbkDsGbgzFCJzLKp0Fk661mJaX2purW+tmEVOPloSP6epZgMyHGjvKHplSjnelutgkIgjQ/h1zX9FvJwMe1uLxUCrCNOBGWYeeGElSE4o+OaqhvRrdo2bCi4YPE9MzFuWGHZ21WzhnmEo4wW7yvKlD9+FWGZH7GOA/DScWE4zXHvRZksCfNl1KAM7kS72s2f0cdXC9tr08y8LiaqBljXTJJgDCWhja0xeTwLv7TIzP60ZGwtcOCC+u+IYhQUb70GENS19qNmQihWuQDuMAKKoecsqeG9+eyaYSc4NYAe7CYCr24W6eV9Jfg9qdvcb93zBhr1XLYr5DNx6KdaylMXUqjEree1ovQnyXzHvTKO0BQvbYQ0qYRcTdGZhWxi2G3pYO/ZPwRaOfSrT3ZMH58YsIw2EvozN5pwN80lVo1WNQUxwylsyYVbCydMJBAt7ELRmYCr3+HY+I7VjTxQAm+11eu1L5VGK9jpKWMiXJ21ZsUUy0zQbpahdqKA4vqTI8W0Y2X4WNfL9yHCPXTJa2bQgVBWEF13U2vfQDy8N390stMSclzz2a8KKdDl0WALD3zsgJCoKk/ZiYWMgXvbCAlX+Aied4k3US0EZVXla3NYOC6OjvfIkDm1XYdGt6gHRxZhX9j0PX0A1fiRUQ721RtNsaadctC4VimH4uZCHHzU4/Suw7vRoyefCbfSbFYLRPipxJ0OdviisGj+rR56TPHMXGOHl5I2zlcoOwyfM0HEUAS/VmFcvqCeo2Npdl0EInk1NNfvB0K89EoPW4LR3egQGAoe9UUCgOwUASObp0NEG3jFt8wo+VjmMWatrvbaeKILtJdNdIzGgM1sEZ35ZxGgNYN/WGwsqmCTqTIYNvZEb3rCzWljNB9obckSLHUcYDL6HXq6vIOncnDW35GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NjJE882yWjZnk62x5VCJNA",
      "input": {
        "note": "The lemon now sits large and low in the wrist view, just short of and 1 cm right of the jaw column. Advancing ~2.5 cm, nudging right and descending to mid-fruit height to straddle it.",
        "targets": {
          "right_x": 0.485,
          "right_y": 0.207,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NjJE882yWjZnk62x5VCJNA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9958, 0.5308, 2.0895, 1.2541, -0.0303, 0.3985, 0.2241, 0.9985]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1547 left_yaw=-0.0008 left_pitch=-0.1228 left_roll=0.0008 left_gripper=0.9958 right_x=0.4733 right_y=0.2025 right_z=0.0226 right_yaw=0.0654 right_pitch=-0.2172 right_roll=-0.1489 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.5521, 7.0632, 1.6142, -0.0415, -0.0464, -0.0171, -0.2667, -10.7692, 7.9111, 1.6337, 0.1587, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c97487bb641e49b91a5277f17b351e6bd95bb0f24e3f19ecf75c07928332ff19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88dc0f72f01e5e3d52230ef4c8afe726f7a62ded8707b27e2d74b9bf55628b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69d38f190bc7461afb1bfe1db058930d7ae29ec4c45be330249693f226f0d6b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 13 attempt 0 · /messages · status 200 · 4.496 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8249, 0.6132, -0.4679, -0.0135, -0.0307, 0.9958, -0.0425, 0.8314, 1.103, -0.9581, -0.0097, -0.1253, 0.9984]\nstate[eef_state]: left_x=0.2851 left_y=-0.0001 left_z=0.1582 left_yaw=-0.0008 left_pitch=-0.1072 left_roll=0.0005 left_gripper=0.9958 right_x=0.253 right_y=-0.0055 right_z=0.2744 right_yaw=0.0324 right_pitch=-0.1204 right_roll=-0.092 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.347, 6.9675, 1.9707, -0.0464, -0.0366, -0.0122, -0.2667, -0.5402, 8.212, 1.5409, -0.1587, -0.1685, 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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4759, -0.0139, -0.0307, 0.9958, 0.5945, 1.9602, 1.2255, -0.1017, 0.4488, 0.2821, 0.9986]\nstate[eef_state]: left_x=0.284 left_y=0.0 left_z=0.1552 left_yaw=-0.0005 left_pitch=-0.1205 left_roll=0.001 left_gripper=0.9958 right_x=0.4517 right_y=0.2173 right_z=0.0665 right_yaw=0.0606 right_pitch=-0.1691 right_roll=-0.1256 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.6752, 7.1179, 1.7314, -0.0171, -0.0317, -0.0122, 0.0342, -10.5368, 7.6786, 1.6581, 0.3541, 0.2711, -0.1636]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9958, 0.5308, 2.0895, 1.2541, -0.0303, 0.3985, 0.2241, 0.9985]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1547 left_yaw=-0.0008 left_pitch=-0.1228 left_roll=0.0008 left_gripper=0.9958 right_x=0.4733 right_y=0.2025 right_z=0.0226 right_yaw=0.0654 right_pitch=-0.2172 right_roll=-0.1489 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.5521, 7.0632, 1.6142, -0.0415, -0.0464, -0.0171, -0.2667, -10.7692, 7.9111, 1.6337, 0.1587, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c97487bb641e49b91a5277f17b351e6bd95bb0f24e3f19ecf75c07928332ff19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:88dc0f72f01e5e3d52230ef4c8afe726f7a62ded8707b27e2d74b9bf55628b5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 125):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d38f190bc7461afb1bfe1db058930d7ae29ec4c45be330249693f226f0d6b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISxAIKjgEIEhgCKkAsugqYm8o/bgXi0zNw6s4+PXAVhK0fmgHslxXyUWFfhZkEg43Vmguew5JLfDILMPQpPjgq5DAIlImGJrvYOiodMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfKPzNUGEgyvkH4Gb+TPUaQX8cAaDCv/ye4gRqZaC1cZ7SIwFL8luCpcB+DyElkCq5kT711gNowYB/59GfhrNjUNaDoWwBolHils6Rc6vnaxkL9UKmPCAPuTbmYcbuV7tNxHBjXChSoj4h3AxOcOrH1PR/P3NIIdZ9VR8E+Sgf4s98QNKWF7w3IM+VkSbO6EyclLa1Un9bdUDdZhTptqDIZE3w2MkSDF07q1aKcDPAojFFVFGTHRb40YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GJfQ6KBfiZTEiEPY9Byxnb",
      "input": {
        "note": "Lemon is now squarely between the two jaw wedges at the bottom of the wrist view; closing to grasp 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_01GJfQ6KBfiZTEiEPY9Byxnb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4892, -0.0139, -0.0307, 0.9958, 0.5327, 2.0895, 1.2556, -0.0341, 0.3885, 0.2195, 0.5922]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1517 left_yaw=-0.0004 left_pitch=-0.1377 left_roll=0.0014 left_gripper=0.9958 right_x=0.4723 right_y=0.205 right_z=0.0221 right_yaw=0.0775 right_pitch=-0.223 right_roll=-0.1463 right_gripper=0.5922\nstate[joint_eff]: [-0.3487, -1.5521, 6.9265, 1.7021, -0.0464, -0.0317, -0.0122, -0.3487, -11.1248, 5.7915, 1.4481, 0.2662, 0.022, 0.9158]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548cf3397df4711ba8e2a69277d0b1eaf7ce81fc02833edf6f611d3bfb596542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3b98d4be59d036118a11a1a5d9f63faecbfbd1ba818cd4bdc529cb9a04a6c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d2cae9cfd436effba8485c1f4f0ba44d4d2463ce4516ad14f5d0d8848ef2424c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 14 attempt 0 · /messages · status 200 · 6.818 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8303, 0.6132, -0.4759, -0.0139, -0.0307, 0.9958, 0.5945, 1.9602, 1.2255, -0.1017, 0.4488, 0.2821, 0.9986]\nstate[eef_state]: left_x=0.284 left_y=0.0 left_z=0.1552 left_yaw=-0.0005 left_pitch=-0.1205 left_roll=0.001 left_gripper=0.9958 right_x=0.4517 right_y=0.2173 right_z=0.0665 right_yaw=0.0606 right_pitch=-0.1691 right_roll=-0.1256 right_gripper=0.9986\nstate[joint_eff]: [-0.1983, -1.6752, 7.1179, 1.7314, -0.0171, -0.0317, -0.0122, 0.0342, -10.5368, 7.6786, 1.6581, 0.3541, 0.2711, -0.1636]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9958, 0.5308, 2.0895, 1.2541, -0.0303, 0.3985, 0.2241, 0.9985]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1547 left_yaw=-0.0008 left_pitch=-0.1228 left_roll=0.0008 left_gripper=0.9958 right_x=0.4733 right_y=0.2025 right_z=0.0226 right_yaw=0.0654 right_pitch=-0.2172 right_roll=-0.1489 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.5521, 7.0632, 1.6142, -0.0415, -0.0464, -0.0171, -0.2667, -10.7692, 7.9111, 1.6337, 0.1587, -0.0171, -0.0171]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4892, -0.0139, -0.0307, 0.9958, 0.5327, 2.0895, 1.2556, -0.0341, 0.3885, 0.2195, 0.5922]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1517 left_yaw=-0.0004 left_pitch=-0.1377 left_roll=0.0014 left_gripper=0.9958 right_x=0.4723 right_y=0.205 right_z=0.0221 right_yaw=0.0775 right_pitch=-0.223 right_roll=-0.1463 right_gripper=0.5922\nstate[joint_eff]: [-0.3487, -1.5521, 6.9265, 1.7021, -0.0464, -0.0317, -0.0122, -0.3487, -11.1248, 5.7915, 1.4481, 0.2662, 0.022, 0.9158]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:548cf3397df4711ba8e2a69277d0b1eaf7ce81fc02833edf6f611d3bfb596542",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f3b98d4be59d036118a11a1a5d9f63faecbfbd1ba818cd4bdc529cb9a04a6c7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d2cae9cfd436effba8485c1f4f0ba44d4d2463ce4516ad14f5d0d8848ef2424c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+QMKjgEIEhgCKkCmGihd1Sle5aKZHmA2zeEcbklAGrQ88zmXiO6UWCOu/5cJXkbFt/XSeFl64w0TLrA7HyL7zdtQdFArKy9WBHGwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfePzNUGEgy47DZWnFazbb/RCeMaDHeHOxroCbVAYDd7SSIwiw3TjT5vZgPzyQBxSCtGPRaq9gsyQR57OqobddjsdYQyKvp6BQ44XEMfCvHegaMcKpcCKGksh3WTFeLC85mx7JQRHSM2XiWrjFyW5o8HXZVHUWbUgP8m8cKvdrphX5LzeiL1i8B/FBEAIPWaLkKp11JLJ3WLS5himEqwbftrpRDKa8Q7UcC/r/clPT847q5yVaj6H3UqPh0vdku8h9mS8CFOcF2T4zURySxL+lkrvL72ah1LGziC6zCrjrf7L7w1muxJd1p8loI4HJdXqeirzrwnDNRviN6Hl+ADOUYLs88WXvCo+hPLLKz0dgnMiftCVSUhKZsodYZQYgemDPmT7orZHcpKYfImUnePTLXM958QZvhWKtjvdmZZ/dO+cHSq9OC6Cg03CBSvpxk2rJZeEL1hC7BTI9yWk3O2boNy2XsdmGS/Wy7Di1Y5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W1m9fcusWAFGQ5geSWAL3z",
      "input": {
        "note": "Gripper settled at 0.59 (~5.6 cm) — the lemon is grasped. Lifting it to 18 cm and moving left over the blue bowl at ~(0.47, +0.11).",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.11,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01W1m9fcusWAFGQ5geSWAL3z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4919, -0.0139, -0.0307, 0.9958, 0.3206, 1.7767, 1.3911, -0.4728, 0.2493, 0.0551, 0.5947]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1404 left_roll=0.0014 left_gripper=0.9958 right_x=0.4694 right_y=0.1137 right_z=0.1514 right_yaw=0.0718 right_pitch=-0.2638 right_roll=-0.1573 right_gripper=0.5947\nstate[joint_eff]: [-0.1573, -1.2786, 6.9265, 1.6435, -0.0317, -0.0464, -0.0122, -0.3624, -12.0137, 8.9231, 1.4921, 0.105, -0.0562, 0.5348]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0970968c109a3fe41f3b25990ebe59e380f842136860812b997d23a4c6c2efc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb95b7b7aec951c4509c20a3c858e5b659fa69f1253d8195e0ac8762196ad0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fea03f9989c48b065d9020aa5ccbcf5112cfff61534e326cc674e27767a0812b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 15 attempt 0 · /messages · status 200 · 6.039 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8322, 0.6132, -0.4763, -0.0135, -0.0307, 0.9958, 0.5308, 2.0895, 1.2541, -0.0303, 0.3985, 0.2241, 0.9985]\nstate[eef_state]: left_x=0.2841 left_y=-0.0 left_z=0.1547 left_yaw=-0.0008 left_pitch=-0.1228 left_roll=0.0008 left_gripper=0.9958 right_x=0.4733 right_y=0.2025 right_z=0.0226 right_yaw=0.0654 right_pitch=-0.2172 right_roll=-0.1489 right_gripper=0.9985\nstate[joint_eff]: [-0.1026, -1.5521, 7.0632, 1.6142, -0.0415, -0.0464, -0.0171, -0.2667, -10.7692, 7.9111, 1.6337, 0.1587, -0.0171, -0.0171]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4892, -0.0139, -0.0307, 0.9958, 0.5327, 2.0895, 1.2556, -0.0341, 0.3885, 0.2195, 0.5922]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1517 left_yaw=-0.0004 left_pitch=-0.1377 left_roll=0.0014 left_gripper=0.9958 right_x=0.4723 right_y=0.205 right_z=0.0221 right_yaw=0.0775 right_pitch=-0.223 right_roll=-0.1463 right_gripper=0.5922\nstate[joint_eff]: [-0.3487, -1.5521, 6.9265, 1.7021, -0.0464, -0.0317, -0.0122, -0.3487, -11.1248, 5.7915, 1.4481, 0.2662, 0.022, 0.9158]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4919, -0.0139, -0.0307, 0.9958, 0.3206, 1.7767, 1.3911, -0.4728, 0.2493, 0.0551, 0.5947]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1404 left_roll=0.0014 left_gripper=0.9958 right_x=0.4694 right_y=0.1137 right_z=0.1514 right_yaw=0.0718 right_pitch=-0.2638 right_roll=-0.1573 right_gripper=0.5947\nstate[joint_eff]: [-0.1573, -1.2786, 6.9265, 1.6435, -0.0317, -0.0464, -0.0122, -0.3624, -12.0137, 8.9231, 1.4921, 0.105, -0.0562, 0.5348]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0970968c109a3fe41f3b25990ebe59e380f842136860812b997d23a4c6c2efc3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1fb95b7b7aec951c4509c20a3c858e5b659fa69f1253d8195e0ac8762196ad0b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fea03f9989c48b065d9020aa5ccbcf5112cfff61534e326cc674e27767a0812b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwwYKjgEIEhgCKkARB7BtAwlIL6yV7nZ9h+5nO52WqXzRozY6UcuJIHrZBpveL0vLNROdXzJUrWX2G0Qk9WZMmdERWlRNTFZmGNPTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYGQzNUGEgwIhXsVVEv+48uV3TAaDINttRJDu9tGvs6EgyIw8mZAvjzropA1JB8xR+YjHOr00kzn9PcXRheKH2SvcMJxDJYhdf04Y5ohJO7KLzscKuEEiFhEYUo22DskgBXwyoVGjDy//G55/Y5MTZXiA64J4f//Tm+vcoDIbKUzAQZmlpNpfQBNkreuI3aSuruVrNcrMV2ggUzBzLxGGEAhjU2bQWaFccY8VC2HvFCaqSaM/+V7fJQlC3UV4eE4udtL9EG3dHDpbtv+mfFsmkc32Jg46uRp4T/YuRLS/EUAj8kwgzT5TDgN9R+1n4k8Tf762MPFGJ9YxdQp0scXqZs0n7J3ZZs/3/rwvYlhjPQKAgcZcXu6R4FUdcYqKk0X7E49Q/xU/1Jf2rH9wG1QovYjZ6re7MpHEcRudJBkhfhdxhPYW46JE9ydrwwcIJ08m/jQE40aRI0N+mUjZDH6F8S+6j3a51uzHsDe8BFczGlAN3hefO18SylAie99KReK4Nhbr0JhVUyzn7Rgqut7qx9dP8+WXn3i6Hgo14VAZT92Xa84epDGPhYhJGoHMDprjiWPHG2Xe3qxuZ79ZJJ01EmsRsXo2R6NAcBBT4Fk8qKaOo6odpIfnI+XbhKs8Bknq2FtNB7cu/FhU/qXcQDz944qXmx/1WDqINmwYaQ/5BSNZziNCr13vLF7qlKRsRKrJ/0Pr564jpueqUIgBEXEf2zSaMd4+zAVNwS7sqpy36QY6K2+pFd33dpyhcrN+lUKI//ItY4OVrAKnS+9SUSvOB/bhEI3ToV0YhDGSC0fLjOzB5NcRewhKyjMId2wCmH4dKQxkO5TJAk+ogsLSVIi47fkVqzig8E9Jm9l2PGzmi34KySqep+MNGLm2OpGFORczuAltqJUzEMSlh0hiM7TgooQbPdynhALGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Bc9mXRzEPZP2HJUgrSGFTS",
      "input": {
        "note": "Wrist view shows the blue bowl just beyond and slightly right of the held lemon; shifting 3 cm right and 2 cm forward to centre the lemon over the bowl before releasing.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.085,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Bc9mXRzEPZP2HJUgrSGFTS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4923, -0.0139, -0.0307, 0.9958, 0.252, 1.8065, 1.4052, -0.495, 0.2043, 0.0013, 0.5978]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1407 left_roll=0.0014 left_gripper=0.9958 right_x=0.4753 right_y=0.089 right_z=0.1385 right_yaw=0.0694 right_pitch=-0.3127 right_roll=-0.1673 right_gripper=0.5978\nstate[joint_eff]: [-0.1162, -1.388, 6.9265, 1.58, -0.0806, -0.0464, -0.0122, -0.335, -9.5521, 9.1009, 1.7705, 0.0464, 0.0806, 0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12dacf6a2a142dbd90182ed6e82814c9b00b063797d098f428cc2ec8fe10d9f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b0e8f43f3548cbfd32af3a46627dd1b6afcac657104f3a292f0a077079cbef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd88640cbc21f4aa5653b4eccdba3659203e378bd26d98ac869bb32507fa762c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 16 attempt 0 · /messages · status 200 · 12.16 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4892, -0.0139, -0.0307, 0.9958, 0.5327, 2.0895, 1.2556, -0.0341, 0.3885, 0.2195, 0.5922]\nstate[eef_state]: left_x=0.2821 left_y=0.0001 left_z=0.1517 left_yaw=-0.0004 left_pitch=-0.1377 left_roll=0.0014 left_gripper=0.9958 right_x=0.4723 right_y=0.205 right_z=0.0221 right_yaw=0.0775 right_pitch=-0.223 right_roll=-0.1463 right_gripper=0.5922\nstate[joint_eff]: [-0.3487, -1.5521, 6.9265, 1.7021, -0.0464, -0.0317, -0.0122, -0.3487, -11.1248, 5.7915, 1.4481, 0.2662, 0.022, 0.9158]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4919, -0.0139, -0.0307, 0.9958, 0.3206, 1.7767, 1.3911, -0.4728, 0.2493, 0.0551, 0.5947]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1404 left_roll=0.0014 left_gripper=0.9958 right_x=0.4694 right_y=0.1137 right_z=0.1514 right_yaw=0.0718 right_pitch=-0.2638 right_roll=-0.1573 right_gripper=0.5947\nstate[joint_eff]: [-0.1573, -1.2786, 6.9265, 1.6435, -0.0317, -0.0464, -0.0122, -0.3624, -12.0137, 8.9231, 1.4921, 0.105, -0.0562, 0.5348]\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 46 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4923, -0.0139, -0.0307, 0.9958, 0.252, 1.8065, 1.4052, -0.495, 0.2043, 0.0013, 0.5978]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1407 left_roll=0.0014 left_gripper=0.9958 right_x=0.4753 right_y=0.089 right_z=0.1385 right_yaw=0.0694 right_pitch=-0.3127 right_roll=-0.1673 right_gripper=0.5978\nstate[joint_eff]: [-0.1162, -1.388, 6.9265, 1.58, -0.0806, -0.0464, -0.0122, -0.335, -9.5521, 9.1009, 1.7705, 0.0464, 0.0806, 0.3248]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12dacf6a2a142dbd90182ed6e82814c9b00b063797d098f428cc2ec8fe10d9f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b0e8f43f3548cbfd32af3a46627dd1b6afcac657104f3a292f0a077079cbef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 149):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd88640cbc21f4aa5653b4eccdba3659203e378bd26d98ac869bb32507fa762c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISywQKjgEIEhgCKkCOkjvHOSYkiyNtYERFseI1B64Ylx/tST1W3hGIIN6a8RkQ1AgLqpglMmx+N47bIjnELqMAU+c6XjOEK2Y8IzeUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYiQzNUGEgzNqTX8mKbjt0BgwRIaDOQZ/AA4tkVP3J1aayIw2aWgpbMFZr3LBThBx9WfmYAp0RN5eKNenFbJNS3k1pvuzDqlAnMZGIbxKXvYCtpMKukCSQXn5Ya+w89T49xFP0iPKoLSQOmyNWtdVxvcBXzYmklv82hIAemqtHaAmMv9WixOQgPX47bub+8WVwALt6CQHFBEXynTlywOfyO7Tsm2DoEU0h3dAgk/vyVpEAqIFnx2s5YVJUmPyaUUZbnL0kQ4Q+VCA4EJpkpVT97v97S/iQts95aLZe9/433kGoHvoSs9xOSLVh50Et7afpPoggkqbivX9e06UHE1TThexx/xb6KV3IUbosqIGToBTULLtWYKF2UFnLEtX9AbLc4TnacpC4qQ0UXnv2eMhPM+XQ8/Q0I49Dcq709LkUIvmcH6JEDygFvQ/msVqbjTbUOCv8psjO4ycDiV4fhG+cDvOP5YZXYQD6B6j48mvopa4JBVO5aNsRj1SySAlAJbMfN0rutgB7Mqt+xgUC6+2sj8b5tQVv23/6hQHhOcyWLlvpti2cXMTJ5KzW2/n5ChjbY2/18+PfFqgs9OvutezxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012iSsfLmSDSrZxa2ggNKErN",
      "input": {
        "note": "The blue bowl is directly beyond/under the held lemon in the wrist view; opening the gripper to drop the lemon into the bowl.",
        "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_012iSsfLmSDSrZxa2ggNKErN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4942, -0.0139, -0.0307, 0.9958, 0.2337, 1.8271, 1.4052, -0.4828, 0.1856, -0.0193, 0.9958]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1508 left_yaw=-0.0004 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9958 right_x=0.4791 right_y=0.0842 right_z=0.1303 right_yaw=0.0785 right_pitch=-0.3253 right_roll=-0.1674 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.4427, 6.9949, 1.6435, -0.0415, -0.0415, -0.0073, -0.4308, -10.4137, 9.2376, 1.6679, 0.0513, 0.0415, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d444bbbf2c08ce321c0063214e4938914261c32827fe7590b06460befcb3dc62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3299709f0ffd29c065369a2f10f8485682f5ee47da89b443047e6ebabbf3df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e78dc8efd8f6047a0f497335816fbc63620bd18402194803f9d2784235869a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 17 attempt 0 · /messages · status 200 · 8.074 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4919, -0.0139, -0.0307, 0.9958, 0.3206, 1.7767, 1.3911, -0.4728, 0.2493, 0.0551, 0.5947]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1404 left_roll=0.0014 left_gripper=0.9958 right_x=0.4694 right_y=0.1137 right_z=0.1514 right_yaw=0.0718 right_pitch=-0.2638 right_roll=-0.1573 right_gripper=0.5947\nstate[joint_eff]: [-0.1573, -1.2786, 6.9265, 1.6435, -0.0317, -0.0464, -0.0122, -0.3624, -12.0137, 8.9231, 1.4921, 0.105, -0.0562, 0.5348]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4923, -0.0139, -0.0307, 0.9958, 0.252, 1.8065, 1.4052, -0.495, 0.2043, 0.0013, 0.5978]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1407 left_roll=0.0014 left_gripper=0.9958 right_x=0.4753 right_y=0.089 right_z=0.1385 right_yaw=0.0694 right_pitch=-0.3127 right_roll=-0.1673 right_gripper=0.5978\nstate[joint_eff]: [-0.1162, -1.388, 6.9265, 1.58, -0.0806, -0.0464, -0.0122, -0.335, -9.5521, 9.1009, 1.7705, 0.0464, 0.0806, 0.3248]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4942, -0.0139, -0.0307, 0.9958, 0.2337, 1.8271, 1.4052, -0.4828, 0.1856, -0.0193, 0.9958]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1508 left_yaw=-0.0004 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9958 right_x=0.4791 right_y=0.0842 right_z=0.1303 right_yaw=0.0785 right_pitch=-0.3253 right_roll=-0.1674 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.4427, 6.9949, 1.6435, -0.0415, -0.0415, -0.0073, -0.4308, -10.4137, 9.2376, 1.6679, 0.0513, 0.0415, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d444bbbf2c08ce321c0063214e4938914261c32827fe7590b06460befcb3dc62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3299709f0ffd29c065369a2f10f8485682f5ee47da89b443047e6ebabbf3df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 154):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e78dc8efd8f6047a0f497335816fbc63620bd18402194803f9d2784235869a9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019SikhBRx4dM6qpVhsC8scL",
      "input": {
        "note": "The lemon is now sitting in the blue bowl. There is also a dark fruit (visible in the left wrist view) on the left side of the table; moving the left arm above it at ~(0.35, -0.19) to inspect.",
        "targets": {
          "left_gripper": 1,
          "left_x": 0.35,
          "left_y": -0.19,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_019SikhBRx4dM6qpVhsC8scL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7204, 1.4715, 0.9768, -0.4107, -0.4953, -0.5327, 0.9964, 0.2337, 1.8275, 1.4048, -0.4961, 0.1852, -0.0196, 0.9968]\nstate[eef_state]: left_x=0.3412 left_y=-0.183 left_z=0.1339 left_yaw=-0.016 left_pitch=-0.1922 left_roll=0.024 left_gripper=0.9964 right_x=0.4766 right_y=0.0837 right_z=0.128 right_yaw=0.0783 right_pitch=-0.3393 right_roll=-0.1696 right_gripper=0.9968\nstate[joint_eff]: [-0.4308, -6.5983, 8.8957, 1.4774, -0.5739, -0.0415, -0.3883, -0.0205, -9.7162, 6.8991, 1.4481, 0.0562, -0.0562, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c643d5a9cfd8f91b2cbf56d070259bd53f063846eeb395104763c58ba0b7416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39bb46f1696d6294f80ffcd0c0872c2d055fe0138cf1cecbc54820cb25f91a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b01c7172fec7980c0b0af975c09d017171d0b7e6bfb1f8a6c2bf07be5e53777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 18 attempt 0 · /messages · status 200 · 3.823 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4923, -0.0139, -0.0307, 0.9958, 0.252, 1.8065, 1.4052, -0.495, 0.2043, 0.0013, 0.5978]\nstate[eef_state]: left_x=0.2816 left_y=0.0001 left_z=0.1512 left_yaw=-0.0004 left_pitch=-0.1407 left_roll=0.0014 left_gripper=0.9958 right_x=0.4753 right_y=0.089 right_z=0.1385 right_yaw=0.0694 right_pitch=-0.3127 right_roll=-0.1673 right_gripper=0.5978\nstate[joint_eff]: [-0.1162, -1.388, 6.9265, 1.58, -0.0806, -0.0464, -0.0122, -0.335, -9.5521, 9.1009, 1.7705, 0.0464, 0.0806, 0.3248]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4942, -0.0139, -0.0307, 0.9958, 0.2337, 1.8271, 1.4052, -0.4828, 0.1856, -0.0193, 0.9958]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1508 left_yaw=-0.0004 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9958 right_x=0.4791 right_y=0.0842 right_z=0.1303 right_yaw=0.0785 right_pitch=-0.3253 right_roll=-0.1674 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.4427, 6.9949, 1.6435, -0.0415, -0.0415, -0.0073, -0.4308, -10.4137, 9.2376, 1.6679, 0.0513, 0.0415, -0.1294]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7204, 1.4715, 0.9768, -0.4107, -0.4953, -0.5327, 0.9964, 0.2337, 1.8275, 1.4048, -0.4961, 0.1852, -0.0196, 0.9968]\nstate[eef_state]: left_x=0.3412 left_y=-0.183 left_z=0.1339 left_yaw=-0.016 left_pitch=-0.1922 left_roll=0.024 left_gripper=0.9964 right_x=0.4766 right_y=0.0837 right_z=0.128 right_yaw=0.0783 right_pitch=-0.3393 right_roll=-0.1696 right_gripper=0.9968\nstate[joint_eff]: [-0.4308, -6.5983, 8.8957, 1.4774, -0.5739, -0.0415, -0.3883, -0.0205, -9.7162, 6.8991, 1.4481, 0.0562, -0.0562, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c643d5a9cfd8f91b2cbf56d070259bd53f063846eeb395104763c58ba0b7416",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39bb46f1696d6294f80ffcd0c0872c2d055fe0138cf1cecbc54820cb25f91a03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b01c7172fec7980c0b0af975c09d017171d0b7e6bfb1f8a6c2bf07be5e53777",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISjggKjgEIEhgCKkCKnfax2Cp1av9RXknpSlHw8GuB6ajCGKSeNqQ8iQHoDOe6xHg+taQuA/ITVuvSFXyRgMYLy2OPnZ/ZnyIMy88KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ6QzNUGEgwg8QmFnHRhbw5Vi/YaDH76nhkRwXWSgPq6QSIwbPIJXN23k3czX8q8gX7ilYL8F0Ebpw73whJWbShAobJFDtQ1N0f6h7rvnatmJZXPKqwG+PQTCyF2G+kU6g6W1an7zZ90qJm+JlcFZm4omSMRfo04yQMZUp9PJrlnbd09UvbEm32g9rnjJT/DW31zMrlEXxd8GVFeL2uOEjeze5WNl9Jo5zy/6S5g996CrN87sCvkSg4cv6kG1zdZdluZyglcF3U+LKguMzqSeteoAqKITuM2frkxMN0mYXIegPwiIr+jkyWPfnKUNk3UllwOktkcZ3GfBvGnY2t3X4VH+qOyqxJUMrlkGCyG4XTANLTzF6zq20MhpxSrlADwoPoCaziVeA0sKUb4c7z/TgXC62m8jHkaiKAySCWpMiLclp6oMqLIqE/9VrgcKLsv41ZHHFOmLrYWVIpptPqtycgq9l/ypXcOHrYYWnISRHdgO47c/SevB3A+mdf8tL1AysaDRg3EXKVLrx3hqwzERl5bsqmmsG9j3kp9nxzXzhWEnGKbE7w9MhsSNn9BZQyVWDf70gF5J1Qnpvwdz+U61vYjYjUnoWSOssFsplp5txkt5/gHA6uRqhOyPtd84qH3YBdZr9W4rzw5LVe5pKHPoJbV+wiPDnY0/ReR+vQVlQ0fTh4k/gpmtYyApBOOPNfUyCLO4A29x/nnAKSpirWk37m+DW+Jdf68woBygw8o67XUG2oNCahoQE6Izy6fBk0NCPUegO6p225+5R4OlaNQzsJZJNALpuzeDDg3UhEBpop+X0IgL+PBSytXGWTfQe+8xtatRHDTncySYzyNiJi0ZvrrJw8KkldKyIO9US1B8xcol/ChbER0okyyJ1ZpobWl3aw0AcUrmokUgiPnBcUUkq/18+mv7TJXRh6LN1wIF3Wya3AEmi891mwn89rvZstnMtpirqE0ONofDJkxIDAnFhbywhlzCoEzEcOYtijqfWQVSqvnj2DM8NLtDR0eMbSxBJkMtLFKQ5jDeCS87BZv/3Afolp5pHPIINK2tgc/+bGF+FY1rx0/sUm7lwwCFHoAB8kiR9wOV0JE1va9CFtpODN9lVuWN2CPkgwtEl4hFC5hIktBzgOHyg5i6gcINtweOTrhgkyNNJTsHyPtIPocdk7EO28OKCIA71AFkB4zLff2H+UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013EF5ruuBJNMd983WTn9bG1",
      "input": {
        "note": "Left wrist view: the dark fruit sits low in frame, slightly left of the jaw column, with the white bowl beyond it. Advancing 2 cm, shifting 2 cm toward it and descending to mid-fruit height.",
        "targets": {
          "left_x": 0.36,
          "left_y": -0.165,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_013EF5ruuBJNMd983WTn9bG1",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6369, 1.6756, 0.7353, -0.0013, -0.4519, -0.4744, 0.9959, 0.2337, 1.8275, 1.4029, -0.4992, 0.1852, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3497 left_y=-0.1583 left_z=0.027 left_yaw=0.008 left_pitch=-0.2434 left_roll=0.0615 left_gripper=0.9959 right_x=0.4755 right_y=0.0834 right_z=0.1268 right_yaw=0.078 right_pitch=-0.3442 right_roll=-0.1704 right_gripper=0.997\nstate[joint_eff]: [0.4034, -7.241, 5.2034, 1.4969, -0.1197, 0.1245, -0.0659, -0.0479, -9.5658, 7.0906, 1.3407, 0.0611, -0.0513, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a94e12d6741c1671d33777e2352791e9409613f2760870a7b95d237c35b2a612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87291ecea9d8854c98998982707dcb25df331359708a2e0fb8cd686414d5f440",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc1170b25324ac0f6afb83367abfdb652d372007bb08dfec70f164d13ecb7d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 19 attempt 0 · /messages · status 200 · 8.763 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8341, 0.6132, -0.4942, -0.0139, -0.0307, 0.9958, 0.2337, 1.8271, 1.4052, -0.4828, 0.1856, -0.0193, 0.9958]\nstate[eef_state]: left_x=0.2813 left_y=0.0001 left_z=0.1508 left_yaw=-0.0004 left_pitch=-0.1427 left_roll=0.0015 left_gripper=0.9958 right_x=0.4791 right_y=0.0842 right_z=0.1303 right_yaw=0.0785 right_pitch=-0.3253 right_roll=-0.1674 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.4427, 6.9949, 1.6435, -0.0415, -0.0415, -0.0073, -0.4308, -10.4137, 9.2376, 1.6679, 0.0513, 0.0415, -0.1294]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7204, 1.4715, 0.9768, -0.4107, -0.4953, -0.5327, 0.9964, 0.2337, 1.8275, 1.4048, -0.4961, 0.1852, -0.0196, 0.9968]\nstate[eef_state]: left_x=0.3412 left_y=-0.183 left_z=0.1339 left_yaw=-0.016 left_pitch=-0.1922 left_roll=0.024 left_gripper=0.9964 right_x=0.4766 right_y=0.0837 right_z=0.128 right_yaw=0.0783 right_pitch=-0.3393 right_roll=-0.1696 right_gripper=0.9968\nstate[joint_eff]: [-0.4308, -6.5983, 8.8957, 1.4774, -0.5739, -0.0415, -0.3883, -0.0205, -9.7162, 6.8991, 1.4481, 0.0562, -0.0562, 0.1001]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6369, 1.6756, 0.7353, -0.0013, -0.4519, -0.4744, 0.9959, 0.2337, 1.8275, 1.4029, -0.4992, 0.1852, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3497 left_y=-0.1583 left_z=0.027 left_yaw=0.008 left_pitch=-0.2434 left_roll=0.0615 left_gripper=0.9959 right_x=0.4755 right_y=0.0834 right_z=0.1268 right_yaw=0.078 right_pitch=-0.3442 right_roll=-0.1704 right_gripper=0.997\nstate[joint_eff]: [0.4034, -7.241, 5.2034, 1.4969, -0.1197, 0.1245, -0.0659, -0.0479, -9.5658, 7.0906, 1.3407, 0.0611, -0.0513, 0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a94e12d6741c1671d33777e2352791e9409613f2760870a7b95d237c35b2a612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87291ecea9d8854c98998982707dcb25df331359708a2e0fb8cd686414d5f440",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc1170b25324ac0f6afb83367abfdb652d372007bb08dfec70f164d13ecb7d15",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIShgMKjgEIEhgCKkABaoDUHHhgvfzHz4gw9Y5Cuh6wTQIJb2vn2+86HwI/v5w9o3s038CDZf9dZiz6+mDaIe9s7SjcOGOTDWR9B3OeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaOQzNUGEgxfCLx0gtU2vzTbxP4aDAHcwP9qZooPMPVJUyIwtpofvccNtPOe1f28q0186+80DTdatzVQ0GMZRb3z8YB2ZiWqSVdjLow7xvfbQIRGKqQBdMSuyQ3+jRHaX3PiQ3adQeB/XkfgdlffEYxWTPh9hktsGzcka3gm+Ejkc8kApah6//sqHJsBdfT4wwDZsW1d4fPrqLys+8IaGBcuGo+rtGHjZ2g8ob+MNpqdNvAZeA9N8wQQEw5xjFuO0Na/mFOe5twJvlrjf6WMiVOhWZ6a67fptGzu1+JmBnchHfeyQgqnZUzCGCYSsEz74X/caMb9+EBVsWYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019Jy6D6Pe3oX2NZjSax7VDF",
      "input": {
        "note": "The dark fruit now fills the lower half of the left wrist view between the jaws; closing to grasp it.",
        "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_019Jy6D6Pe3oX2NZjSax7VDF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.635, 1.6997, 0.7216, 0.004, -0.4522, -0.4763, 0.5212, 0.2337, 1.8275, 1.4029, -0.4995, 0.1848, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3452 left_y=-0.154 left_z=0.0148 left_yaw=0.0163 left_pitch=-0.269 left_roll=0.0807 left_gripper=0.5212 right_x=0.4754 right_y=0.0835 right_z=0.1267 right_yaw=0.0783 right_pitch=-0.3446 right_roll=-0.1702 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -9.0872, 6.5299, 1.2234, -0.2515, -0.0024, 1.0281, -0.1573, -9.5521, 6.6667, 1.3797, 0.0171, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c174beb13035102abf835942d629a241de6e7461042aa9fda0da7c07416bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a53643e3da86b0e69d597c5ff31f952b3ff7a1ae017376f537438eaa8e98b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fec174287e31bcb5d240541138200229e630c886e9a6c614e3ee68f57aa722ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 20 attempt 0 · /messages · status 200 · 7.602 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7204, 1.4715, 0.9768, -0.4107, -0.4953, -0.5327, 0.9964, 0.2337, 1.8275, 1.4048, -0.4961, 0.1852, -0.0196, 0.9968]\nstate[eef_state]: left_x=0.3412 left_y=-0.183 left_z=0.1339 left_yaw=-0.016 left_pitch=-0.1922 left_roll=0.024 left_gripper=0.9964 right_x=0.4766 right_y=0.0837 right_z=0.128 right_yaw=0.0783 right_pitch=-0.3393 right_roll=-0.1696 right_gripper=0.9968\nstate[joint_eff]: [-0.4308, -6.5983, 8.8957, 1.4774, -0.5739, -0.0415, -0.3883, -0.0205, -9.7162, 6.8991, 1.4481, 0.0562, -0.0562, 0.1001]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6369, 1.6756, 0.7353, -0.0013, -0.4519, -0.4744, 0.9959, 0.2337, 1.8275, 1.4029, -0.4992, 0.1852, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3497 left_y=-0.1583 left_z=0.027 left_yaw=0.008 left_pitch=-0.2434 left_roll=0.0615 left_gripper=0.9959 right_x=0.4755 right_y=0.0834 right_z=0.1268 right_yaw=0.078 right_pitch=-0.3442 right_roll=-0.1704 right_gripper=0.997\nstate[joint_eff]: [0.4034, -7.241, 5.2034, 1.4969, -0.1197, 0.1245, -0.0659, -0.0479, -9.5658, 7.0906, 1.3407, 0.0611, -0.0513, 0.0073]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.635, 1.6997, 0.7216, 0.004, -0.4522, -0.4763, 0.5212, 0.2337, 1.8275, 1.4029, -0.4995, 0.1848, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3452 left_y=-0.154 left_z=0.0148 left_yaw=0.0163 left_pitch=-0.269 left_roll=0.0807 left_gripper=0.5212 right_x=0.4754 right_y=0.0835 right_z=0.1267 right_yaw=0.0783 right_pitch=-0.3446 right_roll=-0.1702 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -9.0872, 6.5299, 1.2234, -0.2515, -0.0024, 1.0281, -0.1573, -9.5521, 6.6667, 1.3797, 0.0171, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06c174beb13035102abf835942d629a241de6e7461042aa9fda0da7c07416bc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a53643e3da86b0e69d597c5ff31f952b3ff7a1ae017376f537438eaa8e98b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 188):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fec174287e31bcb5d240541138200229e630c886e9a6c614e3ee68f57aa722ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISgwkKjgEIEhgCKkBIzMczDWrK8uuvQ3RSuLv39VCZP/VlW2bX2mrDtBdnjbi3TwwTlHAYwLB/mz9EH2EVIXn9rrBv0U+suLoaoQsuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAayQzNUGEgzM5SPJblDFp8vH0K4aDAxvhId/1yQAvqV9JSIwoifsIYWcpkBHlagYse8FvXXYC93JWuMom8f+tyZpUy8YCrYiBVW8UOp2hETBWrREKqEHeZqJq2mVZTTJ/wtbXgDaA+iVh0jN+f7HAjQDNQx/5bqKZH+gi2GmzEzEXcAvkb1PXiNcTKg9fZ5Ms91+870ioQLddeTigOIWNvMJCq6obT+TlUrfS1D+WDxz5waOJL53735Mr8LCRYY0jnPs0opIMJ0Tir2x/FbK6+xZOWATNMrsgMKyAYeh4fwW2srzvlWNeaFBVA8bqSyV+9Tbt2qH1Ht3BO1PP0L5JeLjbF5tjx0P/o4LjrZXx9Fs60VfXiOuNW7OhCoyZUdgT/Uh7yHrzrxAEA7RV8VuJDa71AN09otfIppHV3Bc9e7+Ow1RXvN0+Q6R42C+B6dpTCyRGapeG0aonL8pwz3y7Mxs9GA5GGHkBkuIvG2u6zCGsM8EZIXBEcWn26Pfx8a3dmtLNW9e7gc4856DDimOlQ1Ko21tlm4aIZJDW9VN4ti4L+r8NqpUrzLZco/emBQzHN7M3W74iomm7O4Vy/II6dCHbPZt7mDghrpGBKOyvFEEraDWYhDMGQfM4zOnkf6WVDoqmJTwUCdXKiSRZKfbQBl9XveCpNZjwvyS3IHatCDGEle4PXqB68xnZpHPszVotzUVbvs9G6WWWGOHyaE960DI56MZLBqYKhxWyAW8IXKQDtj/p/NFXnbFxp+7JJ5Zqg0sTYmEfB+souIosg9cUmZcfPlyeAFa1skv78NxGqoke0v3jfQHyIs+z+QrfpoQQsUFqBjO34LcKZPddvB+C0TUt2UYtqgjNCZgpIvBaR5+KHaHppvzkx/Srlf0L4v+roAyRqQ9cfHtIV8lYJLCvL516M2LnK+456bGZUls2oFyQT5I6dtBPER3w+XGChFbg2fRqUugVc5U6AIF3ydJVpONmBZH7LVTTdwcuCQKQyNss+hKQoBe1dWdtGY0bKgXrNcLOsXc9YynKChrA+531NI0Htlv+0Tksp3BduF1PoiPkpjv+JdE2aKTT/YLnPXJlrt4KoRQFSq6oYmky/Lc0HHWYb10zLsZejO9leEp4pJaUxdTBWwQWgQQxAuH7y524WDeFdsxtKDvJMHk2nWepROXX+iSshhTPy+c54OWNmM9SNrN1ZrrYRKi6IjOsfxEeFIHaNZn1mgyfaamiyi6QgnWwZEBE+RgQM4aZ+XjXTR4kEy3hrnVplO2smDj9df6zMz75ZNfO0gqjsCWLp7Xo6ICPc088Gk+sxAbkT+xVNKM8gB2NKCKiZfsSN/298HPdBEFwLa7klQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XDUsGhU3J65igRTYsgR37y",
      "input": {
        "note": "Grasped the dark apple (gripper 0.52). The blue bowl is out of the left arm's y-range, so I am carrying the apple to the centre-line hand-off spot at left_y=-0.39 for the right arm to pick up.",
        "targets": {
          "left_x": 0.42,
          "left_y": -0.39,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01XDUsGhU3J65igRTYsgR37y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9161, 2.4489, 2.4016, -1.0904, -0.5804, -0.7681, 0.5245, 0.2165, 1.8275, 1.4033, -0.5053, 0.1791, -0.0269, 0.997]\nstate[eef_state]: left_x=0.4219 left_y=-0.3847 left_z=0.1314 left_yaw=0.0196 left_pitch=-0.292 left_roll=0.0839 left_gripper=0.5245 right_x=0.4757 right_y=0.0761 right_z=0.1259 right_yaw=0.0701 right_pitch=-0.3512 right_roll=-0.1709 right_gripper=0.997\nstate[joint_eff]: [-0.9231, -14.7761, 8.5812, 0.9792, -0.4957, -0.0415, 0.6813, 2.4684, -9.7299, 6.8991, 1.4432, 0.0757, 0.0806, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6435af1de104ca33fe62bd10da5cbae0e84f74dc5657f7246b40eb16bf4658d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcec899e689408bc33813426a2a26e33fe5099086546638773290e36ed98c49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f145410f87ff041ece1026ffdad36b0255cb2322a7952c8c9966b908c2ca37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 21 attempt 0 · /messages · status 200 · 4.617 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6369, 1.6756, 0.7353, -0.0013, -0.4519, -0.4744, 0.9959, 0.2337, 1.8275, 1.4029, -0.4992, 0.1852, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3497 left_y=-0.1583 left_z=0.027 left_yaw=0.008 left_pitch=-0.2434 left_roll=0.0615 left_gripper=0.9959 right_x=0.4755 right_y=0.0834 right_z=0.1268 right_yaw=0.078 right_pitch=-0.3442 right_roll=-0.1704 right_gripper=0.997\nstate[joint_eff]: [0.4034, -7.241, 5.2034, 1.4969, -0.1197, 0.1245, -0.0659, -0.0479, -9.5658, 7.0906, 1.3407, 0.0611, -0.0513, 0.0073]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.635, 1.6997, 0.7216, 0.004, -0.4522, -0.4763, 0.5212, 0.2337, 1.8275, 1.4029, -0.4995, 0.1848, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3452 left_y=-0.154 left_z=0.0148 left_yaw=0.0163 left_pitch=-0.269 left_roll=0.0807 left_gripper=0.5212 right_x=0.4754 right_y=0.0835 right_z=0.1267 right_yaw=0.0783 right_pitch=-0.3446 right_roll=-0.1702 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -9.0872, 6.5299, 1.2234, -0.2515, -0.0024, 1.0281, -0.1573, -9.5521, 6.6667, 1.3797, 0.0171, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9161, 2.4489, 2.4016, -1.0904, -0.5804, -0.7681, 0.5245, 0.2165, 1.8275, 1.4033, -0.5053, 0.1791, -0.0269, 0.997]\nstate[eef_state]: left_x=0.4219 left_y=-0.3847 left_z=0.1314 left_yaw=0.0196 left_pitch=-0.292 left_roll=0.0839 left_gripper=0.5245 right_x=0.4757 right_y=0.0761 right_z=0.1259 right_yaw=0.0701 right_pitch=-0.3512 right_roll=-0.1709 right_gripper=0.997\nstate[joint_eff]: [-0.9231, -14.7761, 8.5812, 0.9792, -0.4957, -0.0415, 0.6813, 2.4684, -9.7299, 6.8991, 1.4432, 0.0757, 0.0806, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6435af1de104ca33fe62bd10da5cbae0e84f74dc5657f7246b40eb16bf4658d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afcec899e689408bc33813426a2a26e33fe5099086546638773290e36ed98c49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f145410f87ff041ece1026ffdad36b0255cb2322a7952c8c9966b908c2ca37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISnwoKjgEIEhgCKkCURO63RZSpqZAEhs4oCZyYJqztLt3VM56gEt70x9Fn0smslJyGTmvq8xD8mC7rUMPmFyrdDCEj1YkbIHtLrjBfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbaQzNUGEgxrxR4Opix+CPdbAccaDEMoFt7+Pvh/TwjDVSIwfXGVoAANN/eJNzzINR8Fm/2VlNjNka1Ry6XR15v1iTfj7Hyw7BA3qvUmGg+LDHOxKr0I7z2vUcG4wa6/CN/GYMd87UbfEoH+dnNey7JxboMDTlDDRAM1i3GM01wde+E+bihC+NiTB3T8adGLa89lh3IWfWEpoY71m4lpLhEnfFCYSX/PmsObipc5H1hiOr6FZoFJB7oUZPrH9I7xUJD4OyUgGdP6nWxfpiLksbRKieQvu2uC6PfLFthSgayhvtysHSH11nv+TDNACRjf0ixLWPkvRM4yb7XoZm6duvibvQWBfWNKIkM+E1YtVqrOSbY/kyhZt8Y9SfYJ0qQBJUUBakmTUBjZDxViv8Jhf9Fd0XrZgbEsXFzJlelvg5V1926EjezsE8J9GZHJSzRVH4Sd/UcyL1OyElyPR3dbCgmx1IdNaRT52Na8vXw2lzSDACaL95qY4ljn4Gy6878D9+ZgZyHZIAEKMmE+ppjA8mky6BQ5NYSW9/pxmragyClcj99T+PNay14K+tF5UyZH3TpIUgzk+f2vu7vmeAGFI1I0GVbbDUZXRmOvO1yyRhvWyuCIIZde26all/+7XxcF5wigebtrrAM9RDyDS/HRdMvNNMSGshGJGNOPuGDjPCVdW99bzpruW034GoYVYN82PvAOmWDi9EzjOGy6Lga3nzfuo5UjD3n9odJRxgjCOUWaTsyhuIofDmlpeFFK9ZZWRMOH9B2o7DxF1vfALKYqzCrZctzAi/lqVZ3rLj6K27EyI5L5mNtVVu8Bx7fiifG6fVK9gH76R2ajvVXAkTv2RZERWx69ugl3Vm29alVwmYw/lfo0VJvpd4ZtyRmKzbbDH8mYRsbE8iI6VvEvof5Sucp6evE41FI7mfv1e8B0w7oXujR47I9+esYUtVTumBJkiNx6CaCDCzTH4swE0yZAWx4uS8/1EH09/cSllik2kPrA5S62ugBSc5Dg3zSVNvx8V7l3rtJ79K99SkL/k4sglfcn2NntXRgTbDHWdndhu7aE3phD88g+gI+aAFY9SmLdDYhtbQS53600qAuyoh5Go7QHyX97sa11R48pm1ALKlShnMuYlzOlmJbxMurSJUWIgTEPtOFpH/0k/Thcf4lOoQq7MjFZdGaIvzY9oSSWH1zWBOEJd5vwuc+BpwDodm/TcJ0lRIBG7GrCQXZ+bqByTqXiazrtB2jALxme3Rz2S6s2rjpocAEgHmamWhmP6ci7Y6DsR3FuNFrsyu7O+nokd0qDXZGi1pjNStR/2Uwzb9xHwmqTGXnu2mHFqm6pAfj3fDoIb0KV7RkDgvwiCoVDepTYPan7JfTpHVirw8+inSaYPW8hMhbf5/8Yj4ppsEUkiDNUF+Bxp3VL8Z4uziQUdPbNWf515m54f5dKuKj020BoMe4ViNGIT+LfVfNvOmeQtZUBnsM7SQylZj0iHle8eBa32QMPym3WThGEFp9OISh4N5n7T2k8JsH1KIOqB++Hu0lqykve+l3Vk8bgLaa8Y4BVcQ0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011G61M83BrYX12ZvyHuxkUE",
      "input": {
        "note": "At the hand-off spot between the two bowls; lowering the apple to the table and opening the jaws so the right arm can take it to the blue bowl.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011G61M83BrYX12ZvyHuxkUE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.4489, 1.9919, -0.7074, -0.569, -0.7708, 0.9951, 0.2138, 1.8275, 1.4029, -0.5129, 0.178, -0.0277, 0.997]\nstate[eef_state]: left_x=0.4166 left_y=-0.3812 left_z=0.0254 left_yaw=0.0204 left_pitch=-0.3161 left_roll=0.0981 left_gripper=0.9951 right_x=0.4743 right_y=0.0747 right_z=0.1246 right_yaw=0.0684 right_pitch=-0.3594 right_roll=-0.1717 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -12.3009, 5.7504, 1.1258, -0.4518, 0.0269, -0.3785, 0.1026, -9.4974, 6.6393, 1.4774, 0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dced3a7a24047382f0f65e42d7ba460c7aced06cc5c471a8cfbd38a3d76dde9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c931ff7cb58e5808d9b46f0da759deb855ba2004afe72631a44a813540813e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9db38fb59655c8b8db2c8c24be889ed9fab8946ea61522515804a939de805e62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 22 attempt 0 · /messages · status 200 · 7.864 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.635, 1.6997, 0.7216, 0.004, -0.4522, -0.4763, 0.5212, 0.2337, 1.8275, 1.4029, -0.4995, 0.1848, -0.0196, 0.997]\nstate[eef_state]: left_x=0.3452 left_y=-0.154 left_z=0.0148 left_yaw=0.0163 left_pitch=-0.269 left_roll=0.0807 left_gripper=0.5212 right_x=0.4754 right_y=0.0835 right_z=0.1267 right_yaw=0.0783 right_pitch=-0.3446 right_roll=-0.1702 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -9.0872, 6.5299, 1.2234, -0.2515, -0.0024, 1.0281, -0.1573, -9.5521, 6.6667, 1.3797, 0.0171, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 61 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9161, 2.4489, 2.4016, -1.0904, -0.5804, -0.7681, 0.5245, 0.2165, 1.8275, 1.4033, -0.5053, 0.1791, -0.0269, 0.997]\nstate[eef_state]: left_x=0.4219 left_y=-0.3847 left_z=0.1314 left_yaw=0.0196 left_pitch=-0.292 left_roll=0.0839 left_gripper=0.5245 right_x=0.4757 right_y=0.0761 right_z=0.1259 right_yaw=0.0701 right_pitch=-0.3512 right_roll=-0.1709 right_gripper=0.997\nstate[joint_eff]: [-0.9231, -14.7761, 8.5812, 0.9792, -0.4957, -0.0415, 0.6813, 2.4684, -9.7299, 6.8991, 1.4432, 0.0757, 0.0806, -0.0073]\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 64 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.4489, 1.9919, -0.7074, -0.569, -0.7708, 0.9951, 0.2138, 1.8275, 1.4029, -0.5129, 0.178, -0.0277, 0.997]\nstate[eef_state]: left_x=0.4166 left_y=-0.3812 left_z=0.0254 left_yaw=0.0204 left_pitch=-0.3161 left_roll=0.0981 left_gripper=0.9951 right_x=0.4743 right_y=0.0747 right_z=0.1246 right_yaw=0.0684 right_pitch=-0.3594 right_roll=-0.1717 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -12.3009, 5.7504, 1.1258, -0.4518, 0.0269, -0.3785, 0.1026, -9.4974, 6.6393, 1.4774, 0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dced3a7a24047382f0f65e42d7ba460c7aced06cc5c471a8cfbd38a3d76dde9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c931ff7cb58e5808d9b46f0da759deb855ba2004afe72631a44a813540813e65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9db38fb59655c8b8db2c8c24be889ed9fab8946ea61522515804a939de805e62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwQQKjgEIEhgCKkDDgtXgNYgQwWSIIraJh0+1FIq9QfbMfGiiEj+XBvTebuWdHv2PpYrqvYNapCgm7p3yXkdUkqMggwWysZIl4qcEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbuQzNUGEgxgols5GbZG2bSknAgaDNq/uSpJzUTOOdLA8iIwUsHfZvDq9QCIulRJc+voodlcsnxQbDdnV1Fh+j7Qa3nRuenEpMnXM1hvP+UQi74tKt8CDfs2IA0Wbjedi7JIscYBY0qjLk1VDaKZ3qfdoGRmz7QkkK9SRatsSKYMfwBuVzemyIv+fj3J+By4f3e22ToTDoKZKCyfFYhtU4Kt92jZD7Tpq6WndG5UwlWap8HoOBZxHvUPsLSPoRV0SsJglzP45DUXVLAUokQMTqzW7aIC5TIDdJC6uHEVFE+BBPnwIVzeBHSNu9zT8dhie2PVq5PWIDFOVaB21E0uH8GDIYDo77WTrfXU588S3D2zkYu3LWNFswyBabA3TE5W0ctP/LWMf/Q0s0UB9XLanv0+xjuboyZ6wO6QVrM3266OVZe6uMfL3EujbQ5mTOC0dlarbRfBeah/HMxhWCsCFHazufo9WGPxIpCAFB2E8TAf4h96RNtt1GcUowEmertfU456RikWSpRSea7KsKOm9GD0i5RPtKC25pgq9zYm2fE65VoUWyQQZLLb9fYi1lJlb88ZSTCTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ae9VSM5vAvm3y9fcm13EH7",
      "input": {
        "note": "Apple is released on the table near the centre line; parking the left arm back home so it clears the area and the top view.",
        "targets": {
          "left_x": 0.25,
          "left_y": 0.0,
          "left_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 34 steps (3.4s)",
      "tool_use_id": "toolu_01Ae9VSM5vAvm3y9fcm13EH7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.141, 0.9798, 1.1469, -1.0897, -0.181, -0.1143, 0.9956, 0.2131, 1.8275, 1.4029, -0.5217, 0.1776, -0.0277, 0.997]\nstate[eef_state]: left_x=0.2542 left_y=-0.0003 left_z=0.2369 left_yaw=0.077 left_pitch=-0.3321 left_roll=0.0922 left_gripper=0.9956 right_x=0.4727 right_y=0.074 right_z=0.1233 right_yaw=0.0675 right_pitch=-0.3681 right_roll=-0.1727 right_gripper=0.997\nstate[joint_eff]: [0.3761, -2.5231, 8.7316, 1.3993, -0.0317, 0.2125, 0.0415, -0.0342, -9.6752, 6.7897, 1.3895, 0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28134d1efed9e826edd1f19d98699dc4d39fa9d1d1af77980f0ab1428137388a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315e483fb4028fe4fd203b886637efbac33a65e0549cede3b2f900cdca9be3ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:445e53c3e43bbf809ca8224b7289d072bac7fc1270c1ed707466540cab62558e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 23 attempt 0 · /messages · status 200 · 6.901 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9161, 2.4489, 2.4016, -1.0904, -0.5804, -0.7681, 0.5245, 0.2165, 1.8275, 1.4033, -0.5053, 0.1791, -0.0269, 0.997]\nstate[eef_state]: left_x=0.4219 left_y=-0.3847 left_z=0.1314 left_yaw=0.0196 left_pitch=-0.292 left_roll=0.0839 left_gripper=0.5245 right_x=0.4757 right_y=0.0761 right_z=0.1259 right_yaw=0.0701 right_pitch=-0.3512 right_roll=-0.1709 right_gripper=0.997\nstate[joint_eff]: [-0.9231, -14.7761, 8.5812, 0.9792, -0.4957, -0.0415, 0.6813, 2.4684, -9.7299, 6.8991, 1.4432, 0.0757, 0.0806, -0.0073]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.4489, 1.9919, -0.7074, -0.569, -0.7708, 0.9951, 0.2138, 1.8275, 1.4029, -0.5129, 0.178, -0.0277, 0.997]\nstate[eef_state]: left_x=0.4166 left_y=-0.3812 left_z=0.0254 left_yaw=0.0204 left_pitch=-0.3161 left_roll=0.0981 left_gripper=0.9951 right_x=0.4743 right_y=0.0747 right_z=0.1246 right_yaw=0.0684 right_pitch=-0.3594 right_roll=-0.1717 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -12.3009, 5.7504, 1.1258, -0.4518, 0.0269, -0.3785, 0.1026, -9.4974, 6.6393, 1.4774, 0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.141, 0.9798, 1.1469, -1.0897, -0.181, -0.1143, 0.9956, 0.2131, 1.8275, 1.4029, -0.5217, 0.1776, -0.0277, 0.997]\nstate[eef_state]: left_x=0.2542 left_y=-0.0003 left_z=0.2369 left_yaw=0.077 left_pitch=-0.3321 left_roll=0.0922 left_gripper=0.9956 right_x=0.4727 right_y=0.074 right_z=0.1233 right_yaw=0.0675 right_pitch=-0.3681 right_roll=-0.1727 right_gripper=0.997\nstate[joint_eff]: [0.3761, -2.5231, 8.7316, 1.3993, -0.0317, 0.2125, 0.0415, -0.0342, -9.6752, 6.7897, 1.3895, 0.022, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28134d1efed9e826edd1f19d98699dc4d39fa9d1d1af77980f0ab1428137388a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:315e483fb4028fe4fd203b886637efbac33a65e0549cede3b2f900cdca9be3ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:445e53c3e43bbf809ca8224b7289d072bac7fc1270c1ed707466540cab62558e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS3QcKjgEIEhgCKkBCH7IxnpfDWegnypWLafCmh9gKCA/3pVlz2m5YTr0XeJvV5rFhe9A9qD3b7Qqh7eYCuww3LlWsYcttA/1YX4ZqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcaQzNUGEgxtIwipTM6VA+qO4fcaDOUojMFDU333Xg18YiIw4zOZDwTs38fBIxd3isplco7PRyyo2XMVUV4QMaxN9CQIadgbiGuH9Dbp+da1gyvdKvsFQFlZCJKt8dBuiNZVF++vtBl8SO4llHf/9/UtjMt4nw+2j6lAk5k+TbjfGK2MhpOtzrL8exxaCLVvaYVVyT5CaRKomckEmwLmxFPTdet/lryQyxPAuQjrW9tlvYJcwekoy8BxdpvyOXqupZ9pNOo/jLwBMgTiGWow2r5Vl6DzCI0835vxL+2Dm406ahX3/jKipLfmYViL3Ff2MdIY1R4Z0a2w7tf4wSs1jcPBF1FCQoAJEUxOvGuP+yRxDBAZq01n3g9O+zziVMd8YXhxbPTCz8qHrewqnSJT28GhxNvNsy5LQPN5AIyRSwN9EWBE8fnlZLD+f4/xm3QWqdjb6CQcxcZvSsSkHIS13cLMYV19zGyPzxLttRyOVtdumxzQaFomf4o34gFcpxOoR/F2ZzZhAGzP9GmghV2qqkPoWdtMlPe/+YySnozuA59/AJRqsS4tSq+UGIXS5a47/sdpBPEZTljtBGZrHsZs22YHba0YROgaaECSfwN99ItDNg9G6gGVZphON1kx97fwcTLLijAlXZVpPMsrUSsv3Nmw0VhVzhpydO00FwZ5uN12mfYkrvki4bHX33oMIn3feBchxEP6f/v9JrMXhwOO3wSwglOJDRn2yzJOykmzaOqGduTHwQf9ZUZqrm3Y5lIcpO106R9G2qhWHeSrHSYzCBs+0VYTxmGs579QS0SzMc1Vt8pabxU/Mh5lh7eTA/f/657DKNlU8Pq2Pb0VJ7z5Ij71R2AkoiVEs8YxnTORKOayubwNUl2AYgVtT6hzVPMVf0dXFFwAO723EmOaIiHSKPyJjJ5t5DSjSIYyi+6WyBrTQfKMaZEVMW3iJI2cYrke8TMGbsWgm+iHT62E8ZuWaSboBuZdZhyEbWQBdOu7qhncdsW6jN/6Tf7rVobfydMSxTRacVLN7JgyM+GG83cShYhTy1gIsY0VXVio+BbiVonQzL1Gc8ucBH8mThtMYqSqZunz5uM0abMwrtVRYZMW1e/B7rkPDgAXmzgwAIcIlZOC6RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TXHyos9iei14EpTGUg356b",
      "input": {
        "note": "Top view confirms the apple resting on the table between the bowls at right-arm (0.42, +0.27); moving the right gripper above it.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.265,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_01TXHyos9iei14EpTGUg356b",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9855, 1.1442, -1.0973, -0.1711, -0.1131, 0.9957, 0.6979, 2.0121, 1.5681, -0.6434, 0.4156, 0.3679, 0.997]\nstate[eef_state]: left_x=0.2531 left_y=-0.0016 left_z=0.2332 left_yaw=0.07 left_pitch=-0.3495 left_roll=0.0883 left_gripper=0.9957 right_x=0.417 right_y=0.2613 right_z=0.0946 right_yaw=0.1031 right_pitch=-0.3892 right_roll=-0.1819 right_gripper=0.997\nstate[joint_eff]: [0.0889, -1.6342, 6.3385, 1.4823, -0.2662, -0.0464, -0.0073, 0.1709, -10.1949, 8.5128, 1.0427, 0.4029, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11edc4d9b3c6bdec57854ca12166f724ac196faf83f6316b65b9655b19cb1512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af0a1cd78fc7e1a2e8bfe69d5784ebec28040d9cb9d5746de52f4c8279a675de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58605c677273619c623b9daf1d50d8022fab98ac9c7f7f0d9f400d758aa1a8f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 24 attempt 0 · /messages · status 200 · 5.198 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9169, 2.4489, 1.9919, -0.7074, -0.569, -0.7708, 0.9951, 0.2138, 1.8275, 1.4029, -0.5129, 0.178, -0.0277, 0.997]\nstate[eef_state]: left_x=0.4166 left_y=-0.3812 left_z=0.0254 left_yaw=0.0204 left_pitch=-0.3161 left_roll=0.0981 left_gripper=0.9951 right_x=0.4743 right_y=0.0747 right_z=0.1246 right_yaw=0.0684 right_pitch=-0.3594 right_roll=-0.1717 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -12.3009, 5.7504, 1.1258, -0.4518, 0.0269, -0.3785, 0.1026, -9.4974, 6.6393, 1.4774, 0.0366, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 67 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.141, 0.9798, 1.1469, -1.0897, -0.181, -0.1143, 0.9956, 0.2131, 1.8275, 1.4029, -0.5217, 0.1776, -0.0277, 0.997]\nstate[eef_state]: left_x=0.2542 left_y=-0.0003 left_z=0.2369 left_yaw=0.077 left_pitch=-0.3321 left_roll=0.0922 left_gripper=0.9956 right_x=0.4727 right_y=0.074 right_z=0.1233 right_yaw=0.0675 right_pitch=-0.3681 right_roll=-0.1727 right_gripper=0.997\nstate[joint_eff]: [0.3761, -2.5231, 8.7316, 1.3993, -0.0317, 0.2125, 0.0415, -0.0342, -9.6752, 6.7897, 1.3895, 0.022, -0.0562, -0.0122]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9855, 1.1442, -1.0973, -0.1711, -0.1131, 0.9957, 0.6979, 2.0121, 1.5681, -0.6434, 0.4156, 0.3679, 0.997]\nstate[eef_state]: left_x=0.2531 left_y=-0.0016 left_z=0.2332 left_yaw=0.07 left_pitch=-0.3495 left_roll=0.0883 left_gripper=0.9957 right_x=0.417 right_y=0.2613 right_z=0.0946 right_yaw=0.1031 right_pitch=-0.3892 right_roll=-0.1819 right_gripper=0.997\nstate[joint_eff]: [0.0889, -1.6342, 6.3385, 1.4823, -0.2662, -0.0464, -0.0073, 0.1709, -10.1949, 8.5128, 1.0427, 0.4029, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11edc4d9b3c6bdec57854ca12166f724ac196faf83f6316b65b9655b19cb1512",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af0a1cd78fc7e1a2e8bfe69d5784ebec28040d9cb9d5746de52f4c8279a675de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 267):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58605c677273619c623b9daf1d50d8022fab98ac9c7f7f0d9f400d758aa1a8f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS+QYKjgEIEhgCKkC1QYB2WzCHEB21HLGfRPlPjYv9x0g+UqawaLKrGNnm/17duBxsxgepTgnFBNfbweCgxTiONL89bpOupK9A6yZ4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+QzNUGEgwBmk0+kryXh67R+KMaDA6v4lqAYJ5W6RHssyIw3s5Qi9pqkFNQLRg1QxSGImcU2b+JNJ4Oudl7ag+/iAzV6r+SsOIo70zd14FfbQ5qKpcF7clgrX1er2/aYm6zPB1qAZf/d2lGrvVSk2023cavuq4BJ8BDeLDZDntyJlTUHk0IYQ5igl9qaQ8k6sGnsfJm9YBqsG9JgVLkdJu539XNuf3a683VxTxzNxaqjaqoKpbGXFJvzCg8rb5Tjf7ZOkZ5oNdD2GDQUEv3x0HCR4Xjx8ZnUZvf9AfG/uWU9rBKUWogsKbTncSB3oKZWcV5AkQ9JFe1FoE6TLxaoJ54Wkaz5Y338xA/26wfyPzO65F6uuSAA9JKhAxU51/ERJsbKMjQMX0pw4DIHVPeXl/3plxbGxr8anRLCsl7il0n3EXDS6gMv8slDfqWZsmYYVKlZNpqN5/S2mPYUuiPv71CSK777QFUyHomFUpgol72KNH3NTQXmVz9mFUSdYhlhM6QIsIF7n0rng29yjxjyN+PARsA9GFLM7AftGQ4ia+2AgFVessrccdVuZEeawJgVmzPZ1kKl99k+ahwHypJpYREhNlz8zJDwvemFjwe9PPCGo3HBzv+BRpyRvpQFe4axnrW8rvyZqBAD3TuB8DF7S0Ep7d6jqpRAzLvQnfa6BWML13DHgvEmcAFsDjasi7kKDro1VhSfmRiNvnAk7+avPXh1x5WTwZdSyARmNexuq7KnTOB3J3BdaSwxZOGQlDkpidxlXFIHGwVSvwq/GLc5icp2mJXdbh6D6yYGDxOShOimOJdA/gMqX4j9Q+FQfWB1n80efDYLMs954nlobCMhno7FWZ549jnuIocBWCsi4mt0U6G0SYnrDZZDmYojv8/VV0AzjRHPsb05qYWcfZw4cafwST3YX8lm7Xc/fF8KL30jPYQ8VXcGXNqCHKDW6NvsXHoVzkE+Bs5Vqrj+jxIly20ahEobjYgsOSJCr0MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TE9WPpFbAFwJ2ZxRHmVsRV",
      "input": {
        "note": "The apple is not visible in the right wrist view, so it is behind the fingertips; pulling back 6 cm toward the base to bring it into frame.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.27,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01TE9WPpFbAFwJ2ZxRHmVsRV",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9886, 1.1442, -1.0988, -0.1707, -0.1127, 0.9957, 0.8032, 1.9575, 1.3777, -0.614, 0.4412, 0.445, 0.9971]\nstate[eef_state]: left_x=0.2532 left_y=-0.0017 left_z=0.2323 left_yaw=0.0698 left_pitch=-0.3541 left_roll=0.0892 left_gripper=0.9957 right_x=0.3586 right_y=0.2681 right_z=0.0589 right_yaw=0.1163 right_pitch=-0.4524 right_roll=-0.2253 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -1.812, 6.4068, 1.3748, -0.1587, -0.0317, -0.0122, 0.1709, -13.2171, 6.2701, 1.1551, 0.4567, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77e2a6996f6a35838b3ca932b67f286d4726388b8100a07f5347d9a82a597a90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:935279d4d40d0c3c5c778412ebe8eee31bd6bb7f1761c20c5d9a1621531c6dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0adbc701cdc6c535226f0aad0bf27e8b3ac8e0772886e47cd2637516492d86a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 25 attempt 0 · /messages · status 200 · 5.154 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.141, 0.9798, 1.1469, -1.0897, -0.181, -0.1143, 0.9956, 0.2131, 1.8275, 1.4029, -0.5217, 0.1776, -0.0277, 0.997]\nstate[eef_state]: left_x=0.2542 left_y=-0.0003 left_z=0.2369 left_yaw=0.077 left_pitch=-0.3321 left_roll=0.0922 left_gripper=0.9956 right_x=0.4727 right_y=0.074 right_z=0.1233 right_yaw=0.0675 right_pitch=-0.3681 right_roll=-0.1727 right_gripper=0.997\nstate[joint_eff]: [0.3761, -2.5231, 8.7316, 1.3993, -0.0317, 0.2125, 0.0415, -0.0342, -9.6752, 6.7897, 1.3895, 0.022, -0.0562, -0.0122]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9855, 1.1442, -1.0973, -0.1711, -0.1131, 0.9957, 0.6979, 2.0121, 1.5681, -0.6434, 0.4156, 0.3679, 0.997]\nstate[eef_state]: left_x=0.2531 left_y=-0.0016 left_z=0.2332 left_yaw=0.07 left_pitch=-0.3495 left_roll=0.0883 left_gripper=0.9957 right_x=0.417 right_y=0.2613 right_z=0.0946 right_yaw=0.1031 right_pitch=-0.3892 right_roll=-0.1819 right_gripper=0.997\nstate[joint_eff]: [0.0889, -1.6342, 6.3385, 1.4823, -0.2662, -0.0464, -0.0073, 0.1709, -10.1949, 8.5128, 1.0427, 0.4029, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9886, 1.1442, -1.0988, -0.1707, -0.1127, 0.9957, 0.8032, 1.9575, 1.3777, -0.614, 0.4412, 0.445, 0.9971]\nstate[eef_state]: left_x=0.2532 left_y=-0.0017 left_z=0.2323 left_yaw=0.0698 left_pitch=-0.3541 left_roll=0.0892 left_gripper=0.9957 right_x=0.3586 right_y=0.2681 right_z=0.0589 right_yaw=0.1163 right_pitch=-0.4524 right_roll=-0.2253 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -1.812, 6.4068, 1.3748, -0.1587, -0.0317, -0.0122, 0.1709, -13.2171, 6.2701, 1.1551, 0.4567, 0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77e2a6996f6a35838b3ca932b67f286d4726388b8100a07f5347d9a82a597a90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:935279d4d40d0c3c5c778412ebe8eee31bd6bb7f1761c20c5d9a1621531c6dd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 272):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0adbc701cdc6c535226f0aad0bf27e8b3ac8e0772886e47cd2637516492d86a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS5gQKjgEIEhgCKkAtfIbZ0ZzlPEYYdOXT+JB4enC3X5dYRUyECcmTuoDOVLBleL/L2o1SgjxlYDdFDdysJfRlYiYhpW1UzOi/qWvkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWQzNUGEgy5/zC3hSZUQ/CMra8aDFrYidVx/+zw76xu5yIwcP5gDoiDNakUSUbohR7RNwepmBrahBXylZ7kCXPgeRxiGCaymTsg7dqDPEd54sB7KoQDDKhFio272GoYWasM0ru/HCzeqZUJsdZ3V5trLuTqD8HCv1DjVI99Sb1eA0dk5GF88uRC9qXn0q098DGJ6pXubWnhRP6X2VvkS2dnakmMvkSANiyr/0CJwoX5D1sl+4LuH9mOKz5dH+hf5x8lTNscv08ta4+MsVDp+SNfI7yCG2uQitkVzDsaLofPc3e1ZxOQdb6tR93RK4BF3P/njsRNqwYTZNZJ4RNH+dqWdZlky86MU57GEL3/11lwjGybM4IyZ6y8maxsXJcn18MXLH09EnMNnSSMZJ6PpOgzLJuBJiIDsFqe2APg2WqDZMbt4gjyB0ISdxoZFuSpWA2TRHekhM4I3QA/d+4JQxscifDWqSc87vkL3x9892oHsB5AosLOMU+A4HszwsKOyp9T9fZrCApZJm/P7qVdcXJSPH5PZR/yV2C2a1xPMh+QTgdx4yyOPosXpj7CLAri0/bhQCXyIXf/OwHfozNkD2Nd7k4o3D3ZaG3NhA8ejWrpXvf8iTmFAPf03RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQXEx9sBXz2vFcWZfq4eCK",
      "input": {
        "note": "The apple is now visible at the bottom-left of the wrist view, about 2 cm left of the jaw column; shifting left and descending to apple mid-height.",
        "targets": {
          "right_x": 0.352,
          "right_y": 0.288,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01YQXEx9sBXz2vFcWZfq4eCK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1007, -0.1707, -0.1131, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2529 left_y=-0.0017 left_z=0.2318 left_yaw=0.0703 left_pitch=-0.3567 left_roll=0.0896 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -1.812, 6.147, 1.326, -0.1441, -0.0757, -0.0171, -0.3214, -12.6154, 5.8051, 1.1013, 0.4127, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b854cfce98a86d03d9d45e9790d2bc558ef3679bbc010f9a7cd1389489137126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f4454094b2b100b7388dee05624c6d6e9f48226c8adbfb78dfba6c4f5263a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad06683c67cf92f77e26f7b5c373707aa100f71bd0de8239a88e08d572b5ffa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 26 attempt 0 · /messages · status 200 · 5.022 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9855, 1.1442, -1.0973, -0.1711, -0.1131, 0.9957, 0.6979, 2.0121, 1.5681, -0.6434, 0.4156, 0.3679, 0.997]\nstate[eef_state]: left_x=0.2531 left_y=-0.0016 left_z=0.2332 left_yaw=0.07 left_pitch=-0.3495 left_roll=0.0883 left_gripper=0.9957 right_x=0.417 right_y=0.2613 right_z=0.0946 right_yaw=0.1031 right_pitch=-0.3892 right_roll=-0.1819 right_gripper=0.997\nstate[joint_eff]: [0.0889, -1.6342, 6.3385, 1.4823, -0.2662, -0.0464, -0.0073, 0.1709, -10.1949, 8.5128, 1.0427, 0.4029, 0.0855, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 73 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9886, 1.1442, -1.0988, -0.1707, -0.1127, 0.9957, 0.8032, 1.9575, 1.3777, -0.614, 0.4412, 0.445, 0.9971]\nstate[eef_state]: left_x=0.2532 left_y=-0.0017 left_z=0.2323 left_yaw=0.0698 left_pitch=-0.3541 left_roll=0.0892 left_gripper=0.9957 right_x=0.3586 right_y=0.2681 right_z=0.0589 right_yaw=0.1163 right_pitch=-0.4524 right_roll=-0.2253 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -1.812, 6.4068, 1.3748, -0.1587, -0.0317, -0.0122, 0.1709, -13.2171, 6.2701, 1.1551, 0.4567, 0.0757, -0.0073]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1007, -0.1707, -0.1131, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2529 left_y=-0.0017 left_z=0.2318 left_yaw=0.0703 left_pitch=-0.3567 left_roll=0.0896 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -1.812, 6.147, 1.326, -0.1441, -0.0757, -0.0171, -0.3214, -12.6154, 5.8051, 1.1013, 0.4127, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b854cfce98a86d03d9d45e9790d2bc558ef3679bbc010f9a7cd1389489137126",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f4454094b2b100b7388dee05624c6d6e9f48226c8adbfb78dfba6c4f5263a25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad06683c67cf92f77e26f7b5c373707aa100f71bd0de8239a88e08d572b5ffa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISiAQKjgEIEhgCKkDcv2lKRpiXPSuQGlV0ugsOBQTPGRmk62A0dlEgAeykM5kTGN6TsS/1vdY4cG1YkzaHc3zdMj0JqMIJyYYQu/XDMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmQzNUGEgyzIEPFdc73DGHyR5caDK5CUD/fmV1JiJ9doCIwCyRsS+YLoQ9VEEWbnM/6pkpdFD13YWUav63PhJ/4Q1czR5P0OMiQNc9+EdmHNy7YKqYCHcNb9bfM2mI19P5u/k9FP3M7LBj9ptHM0TImgp1HOCqCrjsygz5N7SZNByRbPHJxO8JKmgBgQVIr4wH8V5CBskIkaQAwZbR1eFZbKANSpQuFiJQGEo9uYASK/BqkxSZtllkaPKPomFfbBX57u6tfWXVq5K5R1QDW9oXKUMYmmF6LU9Bk6FSZzup8FuFqJTReqSrkjTzjfDTC8MVzE4C2qHJjW0Ay/cJB3XuZfmMQUadDkTB+pdOD5MxxBqdh2YCns0FXGsAX09BhXoR0OyvIx4Z/j7D2mz/jKsVkdVI0J8sPW3QsyprpKy4osE/wNozHBXO9BPs72SooLZ6blIyep0mQEoPBRG4b4hxQsDrGuPBcwuQsi89095vHxTFb43yVLs9T8bEWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ue5tVAaRAHuFxUrFZPtJom",
      "input": {
        "note": "The previous move stopped short; re-commanding a small shift left and down to bring the jaws around the apple, which sits just left of the jaw column.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.295,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ue5tVAaRAHuFxUrFZPtJom",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1034, -0.1707, -0.1127, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2524 left_y=-0.0016 left_z=0.2314 left_yaw=0.0702 left_pitch=-0.3593 left_roll=0.0904 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2803, -1.5795, 6.1197, 1.3309, -0.149, -0.0513, -0.0171, -0.4444, -12.5333, 5.8188, 1.1111, 0.4078, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd91c8ac83c7c69b1e51e76363e1899c2c0974c742c66fec7122dfb39bbf0fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfaf0b232648d39f8d747c391e96e84a6e7192093bb341dbc6198240d46b14c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1044a320bd06ac0267dbfdc10d7b31f5240ff7ed01877cfe8da78f9f624cae22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 27 attempt 0 · /messages · status 200 · 5.13 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9886, 1.1442, -1.0988, -0.1707, -0.1127, 0.9957, 0.8032, 1.9575, 1.3777, -0.614, 0.4412, 0.445, 0.9971]\nstate[eef_state]: left_x=0.2532 left_y=-0.0017 left_z=0.2323 left_yaw=0.0698 left_pitch=-0.3541 left_roll=0.0892 left_gripper=0.9957 right_x=0.3586 right_y=0.2681 right_z=0.0589 right_yaw=0.1163 right_pitch=-0.4524 right_roll=-0.2253 right_gripper=0.9971\nstate[joint_eff]: [-0.253, -1.812, 6.4068, 1.3748, -0.1587, -0.0317, -0.0122, 0.1709, -13.2171, 6.2701, 1.1551, 0.4567, 0.0757, -0.0073]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1007, -0.1707, -0.1131, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2529 left_y=-0.0017 left_z=0.2318 left_yaw=0.0703 left_pitch=-0.3567 left_roll=0.0896 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -1.812, 6.147, 1.326, -0.1441, -0.0757, -0.0171, -0.3214, -12.6154, 5.8051, 1.1013, 0.4127, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1034, -0.1707, -0.1127, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2524 left_y=-0.0016 left_z=0.2314 left_yaw=0.0702 left_pitch=-0.3593 left_roll=0.0904 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2803, -1.5795, 6.1197, 1.3309, -0.149, -0.0513, -0.0171, -0.4444, -12.5333, 5.8188, 1.1111, 0.4078, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd91c8ac83c7c69b1e51e76363e1899c2c0974c742c66fec7122dfb39bbf0fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfaf0b232648d39f8d747c391e96e84a6e7192093bb341dbc6198240d46b14c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1044a320bd06ac0267dbfdc10d7b31f5240ff7ed01877cfe8da78f9f624cae22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlAQKjgEIEhgCKkAnVWmLW+7lG3xp3kS0j9n0bSE7TMiHKbjPkVGCZmO7VI8t1foABFQjW+XFgkK9Fw4HgwCsaQtJbYm99vmYGXf1Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd+QzNUGEgwEjtoYMzeWnaix5sEaDISDdAJfmFnvRGqYnCIwdOpS8VW9L4JQKHy5RdRO5BWgaA3HWY0snoLp9cbj5E1f88PXea//TgYSvaCgZGlXKrICVIQn57CZTXg4Eczy3pFAIqDJH+0CUm8jmXvnBIqrbTuK/r+RO0DnPI8vfH70yTOvMAZV8cHyLSgAeh4F78LWxBdrHzvOdZ4uAMgYlD3KpJ/wqDVcLLzBArtN7bct6QmF37vKtRlTeFROTJmfpXFU2wiXBklqLGgdbEIXc2icecquKBWCv6w/6FyKOAhx7JcW2G363a7+zqb/7gXvXKZzAg1zsUYXeA3kaE8ypzoP1eB7lr402e2xVVlOZSexXjCMt8AbECsHSy7PBgrDbLZqMKdP4LaMYxjJBxs7ZHS2wzOyLJp5/HFpZJwBDw4lzKPkK3p1ApnPgzy2Iv6JOjZzzOWCvZcLjgmOXu7rnR5NeQv3+Ebh0fTdYjMfCei8hhiNypECsLpUxnVuMmi5uNN8dgs6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017KakzUKuVtbfLzPNCqjs31",
      "input": {
        "note": "The right arm has stalled (identical joint readings twice); backing up and raising it to escape the awkward pose before re-approaching the apple.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.28,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017KakzUKuVtbfLzPNCqjs31",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9913, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.9234, 1.8732, 1.5799, -0.8326, 0.4671, 0.5434, 0.997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0016 left_z=0.2309 left_yaw=0.0704 left_pitch=-0.3616 left_roll=0.0909 left_gripper=0.9957 right_x=0.3311 right_y=0.3119 right_z=0.1451 right_yaw=0.1807 right_pitch=-0.3761 right_roll=-0.1363 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -1.9214, 6.3111, 1.3748, -0.149, -0.0464, -0.0171, -0.2256, -13.4906, 7.1453, 0.5397, 0.2759, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f48df87b8570794a4fed9dccfd72e5e52a4859e0c2197a648310192c189e362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e92c5c9bad4fa28ed4e5e53a23e31f3380deaef32226b6c5673367433e3c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13a002f8271f98b18d293edea970f27982e338d83f97cbf0ab2abf8d7aa8d98c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 28 attempt 0 · /messages · status 200 · 2.252 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1007, -0.1707, -0.1131, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2529 left_y=-0.0017 left_z=0.2318 left_yaw=0.0703 left_pitch=-0.3567 left_roll=0.0896 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2667, -1.812, 6.147, 1.326, -0.1441, -0.0757, -0.0171, -0.3214, -12.6154, 5.8051, 1.1013, 0.4127, 0.1245, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 79 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1034, -0.1707, -0.1127, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2524 left_y=-0.0016 left_z=0.2314 left_yaw=0.0702 left_pitch=-0.3593 left_roll=0.0904 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2803, -1.5795, 6.1197, 1.3309, -0.149, -0.0513, -0.0171, -0.4444, -12.5333, 5.8188, 1.1111, 0.4078, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9913, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.9234, 1.8732, 1.5799, -0.8326, 0.4671, 0.5434, 0.997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0016 left_z=0.2309 left_yaw=0.0704 left_pitch=-0.3616 left_roll=0.0909 left_gripper=0.9957 right_x=0.3311 right_y=0.3119 right_z=0.1451 right_yaw=0.1807 right_pitch=-0.3761 right_roll=-0.1363 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -1.9214, 6.3111, 1.3748, -0.149, -0.0464, -0.0171, -0.2256, -13.4906, 7.1453, 0.5397, 0.2759, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f48df87b8570794a4fed9dccfd72e5e52a4859e0c2197a648310192c189e362",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9e92c5c9bad4fa28ed4e5e53a23e31f3380deaef32226b6c5673367433e3c0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 285):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a002f8271f98b18d293edea970f27982e338d83f97cbf0ab2abf8d7aa8d98c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9wQKjgEIEhgCKkBP4DIsL5p2FEFb/ifxBpyeSICWVVM53ItEEOxTuooevmoTvB76VGlwqfS6cC4gzbGTYsLin4zay+EUvpib1HthMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeWQzNUGEgwilOLgTSW+yHi9UOYaDM+VBOhRR+SCF84NTSIwaqe1cy6aG66mQHMeWlnFGfmck8IZKmIb/XhWK8pbG2OVLlOOL/ebAUh8wEI2vptEKpUDYDYN2r7HhvDgwOMDYcgEU9+72v4yeym14lQXLbmLQ4TV9piOJY46M8M4QdNTKCMcWPEAcj8CD8dPlACQrcuQJbAC8qaw7M4eA3/IBWvcA8vtpom79RjtkZlZUMP8SpoKZUue+OWN7yWltpxiXBtF554Llhz3CN624v08vuk8MYxn/PA3+D54302WKOyN7so21Lw6TfxN5zhfq/uM+6fbQgwlfCsdxQpcTW+vESxrJtyGzY78380PyMHEdDVCsP1qSx7H3GA77qAs5pgGAAAR2DErz+hbQiWytzeF7Rk06kEZksZKjjiRAgMxMi92q3e3OaBl70PlJhTk0cg5prlx6FImH0ueYvAIR2kBOw21t+pxaHzixPKuEFVMqNkBRPwiO8VwUjng9Dqnw4pWxKmkhtlsQ11srgHLMp+ytGFGRI3l5bi5+hXokgSv1JuIYNI3AJd97R3NfqKDC3jDrCGMopFF/KwrhQ1lQ9DuUWuzS/IxRpqrMzq5IPUw8IkR5d6K+tGOo7QvTR3bvMcNjkaIRHhqb1PEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HTBihhNSbXrioGH6pmECEK",
      "input": {
        "note": "The apple is now centred on the jaw column in the right wrist view; advancing ~2 cm and descending to apple mid-height for the grasp.",
        "targets": {
          "right_x": 0.355,
          "right_y": 0.31,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01HTBihhNSbXrioGH6pmECEK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.8795, 2.0056, 1.338, -0.4698, 0.4412, 0.4973, 0.9971]\nstate[eef_state]: left_x=0.2528 left_y=-0.0016 left_z=0.2303 left_yaw=0.0707 left_pitch=-0.3645 left_roll=0.0916 left_gripper=0.9957 right_x=0.3468 right_y=0.3064 right_z=0.0385 right_yaw=0.1786 right_pitch=-0.4037 right_roll=-0.1542 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -1.9624, 6.1333, 1.2772, -0.1343, -0.0366, -0.0122, -0.6222, -9.7299, 5.5726, 1.1502, 0.3346, -0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0db6aba9af4d339bdd9936e7c356330cb97ed45fa566635f3092be8c9ff7844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd37c6c192ce680cbc16c169f470278dd8e43464f71529ac7c6246b8069fae4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d22f3ecad4f0e1c5769628e2057c032e3512d8413ce89266c4c223f94fc2c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 29 attempt 0 · /messages · status 200 · 4.098 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9894, 1.1442, -1.1034, -0.1707, -0.1127, 0.9957, 0.8143, 1.9369, 1.3682, -0.6098, 0.445, 0.4637, 0.9971]\nstate[eef_state]: left_x=0.2524 left_y=-0.0016 left_z=0.2314 left_yaw=0.0702 left_pitch=-0.3593 left_roll=0.0904 left_gripper=0.9957 right_x=0.3553 right_y=0.2709 right_z=0.0651 right_yaw=0.1183 right_pitch=-0.4362 right_roll=-0.2064 right_gripper=0.9971\nstate[joint_eff]: [-0.2803, -1.5795, 6.1197, 1.3309, -0.149, -0.0513, -0.0171, -0.4444, -12.5333, 5.8188, 1.1111, 0.4078, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 82 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9913, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.9234, 1.8732, 1.5799, -0.8326, 0.4671, 0.5434, 0.997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0016 left_z=0.2309 left_yaw=0.0704 left_pitch=-0.3616 left_roll=0.0909 left_gripper=0.9957 right_x=0.3311 right_y=0.3119 right_z=0.1451 right_yaw=0.1807 right_pitch=-0.3761 right_roll=-0.1363 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -1.9214, 6.3111, 1.3748, -0.149, -0.0464, -0.0171, -0.2256, -13.4906, 7.1453, 0.5397, 0.2759, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.8795, 2.0056, 1.338, -0.4698, 0.4412, 0.4973, 0.9971]\nstate[eef_state]: left_x=0.2528 left_y=-0.0016 left_z=0.2303 left_yaw=0.0707 left_pitch=-0.3645 left_roll=0.0916 left_gripper=0.9957 right_x=0.3468 right_y=0.3064 right_z=0.0385 right_yaw=0.1786 right_pitch=-0.4037 right_roll=-0.1542 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -1.9624, 6.1333, 1.2772, -0.1343, -0.0366, -0.0122, -0.6222, -9.7299, 5.5726, 1.1502, 0.3346, -0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0db6aba9af4d339bdd9936e7c356330cb97ed45fa566635f3092be8c9ff7844",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd37c6c192ce680cbc16c169f470278dd8e43464f71529ac7c6246b8069fae4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d22f3ecad4f0e1c5769628e2057c032e3512d8413ce89266c4c223f94fc2c46",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FroYpFDSc5UpS158XiLT7E",
      "input": {
        "note": "The apple sits squarely between the jaw tips in the wrist view; closing to grasp 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_01FroYpFDSc5UpS158XiLT7E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.8749, 2.0346, 1.3239, -0.4686, 0.4397, 0.4889, 0.519]\nstate[eef_state]: left_x=0.2528 left_y=-0.0017 left_z=0.2303 left_yaw=0.0706 left_pitch=-0.3642 left_roll=0.0915 left_gripper=0.9957 right_x=0.3438 right_y=0.2999 right_z=0.0214 right_yaw=0.1679 right_pitch=-0.4374 right_roll=-0.1878 right_gripper=0.519\nstate[joint_eff]: [-0.0205, -1.7983, 6.1333, 1.3407, -0.149, -0.0464, -0.0122, 0.1709, -13.012, 6.9402, 0.9841, 0.1978, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7607698b79c14652dcde22b5b33562110d2ffaa03b317276597c9a5b845a1f3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9b19a0f553c2cbfd374a5a48a393b86f3e9bfd2ae642bf1803257814463cc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e2cc1d85476944ef4754b7c8ecd3e607ab73fcff4c8a131f9576fc3e63dbeaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 30 attempt 0 · /messages · status 200 · 5.027 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9913, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.9234, 1.8732, 1.5799, -0.8326, 0.4671, 0.5434, 0.997]\nstate[eef_state]: left_x=0.2525 left_y=-0.0016 left_z=0.2309 left_yaw=0.0704 left_pitch=-0.3616 left_roll=0.0909 left_gripper=0.9957 right_x=0.3311 right_y=0.3119 right_z=0.1451 right_yaw=0.1807 right_pitch=-0.3761 right_roll=-0.1363 right_gripper=0.997\nstate[joint_eff]: [-0.0889, -1.9214, 6.3111, 1.3748, -0.149, -0.0464, -0.0171, -0.2256, -13.4906, 7.1453, 0.5397, 0.2759, 0.1441, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 85 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.8795, 2.0056, 1.338, -0.4698, 0.4412, 0.4973, 0.9971]\nstate[eef_state]: left_x=0.2528 left_y=-0.0016 left_z=0.2303 left_yaw=0.0707 left_pitch=-0.3645 left_roll=0.0916 left_gripper=0.9957 right_x=0.3468 right_y=0.3064 right_z=0.0385 right_yaw=0.1786 right_pitch=-0.4037 right_roll=-0.1542 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -1.9624, 6.1333, 1.2772, -0.1343, -0.0366, -0.0122, -0.6222, -9.7299, 5.5726, 1.1502, 0.3346, -0.0024, -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 88 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.8749, 2.0346, 1.3239, -0.4686, 0.4397, 0.4889, 0.519]\nstate[eef_state]: left_x=0.2528 left_y=-0.0017 left_z=0.2303 left_yaw=0.0706 left_pitch=-0.3642 left_roll=0.0915 left_gripper=0.9957 right_x=0.3438 right_y=0.2999 right_z=0.0214 right_yaw=0.1679 right_pitch=-0.4374 right_roll=-0.1878 right_gripper=0.519\nstate[joint_eff]: [-0.0205, -1.7983, 6.1333, 1.3407, -0.149, -0.0464, -0.0122, 0.1709, -13.012, 6.9402, 0.9841, 0.1978, 0.0024, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7607698b79c14652dcde22b5b33562110d2ffaa03b317276597c9a5b845a1f3c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9b19a0f553c2cbfd374a5a48a393b86f3e9bfd2ae642bf1803257814463cc3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e2cc1d85476944ef4754b7c8ecd3e607ab73fcff4c8a131f9576fc3e63dbeaf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISzAMKjgEIEhgCKkBI1upTOIRxi59Bwth7htPjR1X4K6Xm3E/iB29eL980zn9VdZvwQdXSBaeC65ker620TkBU3HT9kDuAFxh7oAPVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2QzNUGEgxSdeLJ7OhLshUWWzkaDByLqR791brrNubXjSIwLJz0LwtLMlcFUDUfdwOk+I13Kmcc5aSF2iY7HE1hHUhsecqbZqZ9zP7RxMSp4p9pKuoBpfBryePePnUbivJgh9RZIoKUJFM/IiYu2rrA1wr3IN4WG4elebTytTp/57ouU80fEfgBXTYf1ImoOCN2reXo67BFK1S7C2ODmCbnbQUzZ3zdvAUUNUajpTOEfU6bJpWDY9aQtpC2ivhnWIposUIIVKZzGPaRSuJh8Rk9VF1BWgfUrbHhKK4YOusiIgRyDOGr2LAGe1nrUl0Z4Ccs0Xy04HaAY758rz8YG1qmFbB+7Vne6v20AsD/FDVlGP1EbKGy+YOEgbCg2h+DvFFQOcC2t2LispkrrfJw54HrQuGGwtPxk5FIzAqmhnDUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011tkea68bySy25rnAWLVQzD",
      "input": {
        "note": "Apple grasped (gripper 0.52). Lifting to 20 cm and swinging toward the blue bowl at right (0.48, +0.085).",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.15,
          "right_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_011tkea68bySy25rnAWLVQzD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.4126, 1.8801, 1.7641, -0.9268, 0.2352, 0.0662, 0.519]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0705 left_pitch=-0.3665 left_roll=0.0917 left_gripper=0.9957 right_x=0.4479 right_y=0.155 right_z=0.1859 right_yaw=0.1526 right_pitch=-0.444 right_roll=-0.1877 right_gripper=0.519\nstate[joint_eff]: [-0.3214, -1.9487, 6.1607, 1.2821, -0.105, -0.0317, -0.0122, -0.294, -9.7709, 8.0889, 1.0525, 0.105, -0.0464, 0.9744]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1136957bbba2bdca579fcb20c67885f60981cfa628a17432477611f331f59c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8969ffee06023eeeb4f7c0ce7d131a3edfc268dcf6136884b52db9a1a7d0493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0eadada1a464e811529242c83d06ab3c8d43d61322902670a9c968625f343774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 31 attempt 0 · /messages · status 200 · 4.607 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.8795, 2.0056, 1.338, -0.4698, 0.4412, 0.4973, 0.9971]\nstate[eef_state]: left_x=0.2528 left_y=-0.0016 left_z=0.2303 left_yaw=0.0707 left_pitch=-0.3645 left_roll=0.0916 left_gripper=0.9957 right_x=0.3468 right_y=0.3064 right_z=0.0385 right_yaw=0.1786 right_pitch=-0.4037 right_roll=-0.1542 right_gripper=0.9971\nstate[joint_eff]: [0.0615, -1.9624, 6.1333, 1.2772, -0.1343, -0.0366, -0.0122, -0.6222, -9.7299, 5.5726, 1.1502, 0.3346, -0.0024, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.8749, 2.0346, 1.3239, -0.4686, 0.4397, 0.4889, 0.519]\nstate[eef_state]: left_x=0.2528 left_y=-0.0017 left_z=0.2303 left_yaw=0.0706 left_pitch=-0.3642 left_roll=0.0915 left_gripper=0.9957 right_x=0.3438 right_y=0.2999 right_z=0.0214 right_yaw=0.1679 right_pitch=-0.4374 right_roll=-0.1878 right_gripper=0.519\nstate[joint_eff]: [-0.0205, -1.7983, 6.1333, 1.3407, -0.149, -0.0464, -0.0122, 0.1709, -13.012, 6.9402, 0.9841, 0.1978, 0.0024, 1.0281]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.4126, 1.8801, 1.7641, -0.9268, 0.2352, 0.0662, 0.519]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0705 left_pitch=-0.3665 left_roll=0.0917 left_gripper=0.9957 right_x=0.4479 right_y=0.155 right_z=0.1859 right_yaw=0.1526 right_pitch=-0.444 right_roll=-0.1877 right_gripper=0.519\nstate[joint_eff]: [-0.3214, -1.9487, 6.1607, 1.2821, -0.105, -0.0317, -0.0122, -0.294, -9.7709, 8.0889, 1.0525, 0.105, -0.0464, 0.9744]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1136957bbba2bdca579fcb20c67885f60981cfa628a17432477611f331f59c58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8969ffee06023eeeb4f7c0ce7d131a3edfc268dcf6136884b52db9a1a7d0493",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 316):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0eadada1a464e811529242c83d06ab3c8d43d61322902670a9c968625f343774",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS3AQKjgEIEhgCKkD1VyAtMipiKYOXLntyA76hW3dbx4qB0IIGAiQhoH22UTeHm+vLF67rBv1G1J5xu/SAbk5ViGmckubVfQdabnzcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOQzNUGEgz2xJI0+tB/qpsz0VMaDHH8HPrL3pzgtiPJeyIwVVFW/nyPPIH17+EiZ0/4csRA84gjMQ+IM4LtL97OqrH3YUS80r/g8vhB0R34qlytKvoCizZMqsvscx4TNpEKi3NNbWn9k7lP2uMFqBCRmh+931Bd7rLSWHl6K++k/K/38EtufCTnHKTIQtca50691EWFFhQspeBRYNwyCMroDwSpI5x8t6AAT6R6wBszW/cihE3s+KEZBr0ltU9GzKaLws9uL90u0yWL0yzCV6N0jZUAM7WrnY3YtISWso9ZeV4ouqB1q8+W95W8S7x13Szg4eTHuL6dKCXh8nVHvQg6EmEOE9hQO8WYLrhoS8abaVcB0o5W9mfIb44aAdXAPuk9j6m5VAXa8IcVz27UQuHjldfyiAt4KpMzwcw72L5sTfKBEhqYodhL+JL2ynhdty2tdjDNXIhfItpAUm6gcBkY+udeGCJBHPBuLopWpx0/PQ3PTPogAxaHlQpCjir9SW3cxSHm+HprSZ43lkRLEsrQ1eD5C9yo3am9bSxgYKqCN/jpoja42Ng29+2KMO49tR/JFDoIE0BJo1Hv/6JAeokGHf8sbwqMSWcWxWf9QwxWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011FrjdGT4xKbBHj2SvRZE1t",
      "input": {
        "note": "The blue bowl with the lemon in it is visible to the right of the held apple; moving to the same drop pose that worked for the lemon.",
        "targets": {
          "right_x": 0.48,
          "right_y": 0.09,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_011FrjdGT4xKbBHj2SvRZE1t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.2417, 1.8957, 1.7836, -0.9543, 0.1581, -0.0723, 0.5202]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4647 right_y=0.0896 right_z=0.1804 right_yaw=0.1331 right_pitch=-0.4938 right_roll=-0.1982 right_gripper=0.5202\nstate[joint_eff]: [-0.1983, -1.7162, 6.147, 1.326, -0.1245, -0.0366, -0.0171, -0.4581, -8.3077, 9.8667, 1.5409, -0.1001, 0.0757, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7619da32b1fb4397435b0829adcb600fba34d9001ad6a4c4cd4a6ab602a2c61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6906bfe20ae334309b30e75b3edc63d7c8b669166784bafacbc7769924bf9057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:021c472c51e80cd076d4a305b79b6e0bcbcb05e22e334108c84b54fd847c4662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 32 attempt 0 · /messages · status 200 · 5.446 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9939, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.8749, 2.0346, 1.3239, -0.4686, 0.4397, 0.4889, 0.519]\nstate[eef_state]: left_x=0.2528 left_y=-0.0017 left_z=0.2303 left_yaw=0.0706 left_pitch=-0.3642 left_roll=0.0915 left_gripper=0.9957 right_x=0.3438 right_y=0.2999 right_z=0.0214 right_yaw=0.1679 right_pitch=-0.4374 right_roll=-0.1878 right_gripper=0.519\nstate[joint_eff]: [-0.0205, -1.7983, 6.1333, 1.3407, -0.149, -0.0464, -0.0122, 0.1709, -13.012, 6.9402, 0.9841, 0.1978, 0.0024, 1.0281]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.4126, 1.8801, 1.7641, -0.9268, 0.2352, 0.0662, 0.519]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0705 left_pitch=-0.3665 left_roll=0.0917 left_gripper=0.9957 right_x=0.4479 right_y=0.155 right_z=0.1859 right_yaw=0.1526 right_pitch=-0.444 right_roll=-0.1877 right_gripper=0.519\nstate[joint_eff]: [-0.3214, -1.9487, 6.1607, 1.2821, -0.105, -0.0317, -0.0122, -0.294, -9.7709, 8.0889, 1.0525, 0.105, -0.0464, 0.9744]\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 94 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.2417, 1.8957, 1.7836, -0.9543, 0.1581, -0.0723, 0.5202]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4647 right_y=0.0896 right_z=0.1804 right_yaw=0.1331 right_pitch=-0.4938 right_roll=-0.1982 right_gripper=0.5202\nstate[joint_eff]: [-0.1983, -1.7162, 6.147, 1.326, -0.1245, -0.0366, -0.0171, -0.4581, -8.3077, 9.8667, 1.5409, -0.1001, 0.0757, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7619da32b1fb4397435b0829adcb600fba34d9001ad6a4c4cd4a6ab602a2c61b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6906bfe20ae334309b30e75b3edc63d7c8b669166784bafacbc7769924bf9057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:021c472c51e80cd076d4a305b79b6e0bcbcb05e22e334108c84b54fd847c4662",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAIS9AQKjgEIEhgCKkAqUttXMKglMmz6LX5TH0ppCWc5pa5XtfmzSqv4oV94JFUasIoYeVB2hQ7iC6noYlCw+oFNcIiY2Cx51yDYMy+4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfiQzNUGEgyDJZv6IjAgI66w2YQaDN3/oUO2wU6057LhlyIwpvymdZ9x2SqQB6VcuIbKt+Ormcdy0fnGS+AvyFyeLAEoiDqPhV/3ekEqTw/pdMtOKpIDWoDSnh3gZdIk/nJ46KotHnUt317q0biapYtYh4uuwenneKGYxCkAAb5VHMR0P2Q2H76bZ1uZt+sqMveQGhtl27ryoDP65c+PTwDitLjNFHSTqEGKAuLd4RmKQCKWEhVRqS8BJLLCBs8jvpX2V8CAp2jVlLAVHu74ngTKNIy5g2G9KSGZ3XWVhbcZf1EppQDRetkdyNgl8tq8ccnfumKtne3VO8nXDCFwxoea4srYOwDUTvs48q0W+mvfAH6d4bMEzGGMQQt3tVm5o5npeFZh6fc6AxBHOjNY5u2mwZg9ud6Sf5dzZNepBeudS0C/uZGAuIrn6CGqlc7OXNL3d0KcfE+XAKK3vliqIPKFlLylqlG7jq3zVuBk6HvSEoi65AF4449yTWegVGqAuTLsTWHiMURYnv+0j130fneD3LXLdfYLkNgooxvnKvJE8ci5TC0GxF25UzGtn4Lr8tf79lP6PZDroygZqLUhbSO23ktZSInE/78vBj87EjFvYCC9DzyD2SARKCJAFnYiUTQKYcxWtL07GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011KA7DahCqX9CCHemsMtbzg",
      "input": {
        "note": "Bowl is centred on the jaw column just beyond the held apple; nudging 2 cm forward and opening to drop the apple into the blue bowl.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.492
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011KA7DahCqX9CCHemsMtbzg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.2314, 1.9999, 1.9053, -1.0054, 0.1432, -0.0978, 0.9955]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4824 right_y=0.0914 right_z=0.1705 right_yaw=0.1508 right_pitch=-0.5311 right_roll=-0.2008 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.812, 6.1333, 1.3455, -0.1148, -0.0269, -0.0122, -0.7316, -10.4684, 8.7316, 1.1746, 0.1197, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddca5f3c601b37a8edb7a4709222670fc03e0a738fb678694f627601ed3969ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bcf98fd04452a2fb5e5803311a385c8d8c3796da504e0a4af9553d9c80dadf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5dd982ba40679ab5c2548eac83d9c474e2482df9fd86eed1bfa5586a949e807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 33 attempt 0 · /messages · status 200 · 3.887 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.4126, 1.8801, 1.7641, -0.9268, 0.2352, 0.0662, 0.519]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0705 left_pitch=-0.3665 left_roll=0.0917 left_gripper=0.9957 right_x=0.4479 right_y=0.155 right_z=0.1859 right_yaw=0.1526 right_pitch=-0.444 right_roll=-0.1877 right_gripper=0.519\nstate[joint_eff]: [-0.3214, -1.9487, 6.1607, 1.2821, -0.105, -0.0317, -0.0122, -0.294, -9.7709, 8.0889, 1.0525, 0.105, -0.0464, 0.9744]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.2417, 1.8957, 1.7836, -0.9543, 0.1581, -0.0723, 0.5202]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4647 right_y=0.0896 right_z=0.1804 right_yaw=0.1331 right_pitch=-0.4938 right_roll=-0.1982 right_gripper=0.5202\nstate[joint_eff]: [-0.1983, -1.7162, 6.147, 1.326, -0.1245, -0.0366, -0.0171, -0.4581, -8.3077, 9.8667, 1.5409, -0.1001, 0.0757, 0.8718]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.2314, 1.9999, 1.9053, -1.0054, 0.1432, -0.0978, 0.9955]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4824 right_y=0.0914 right_z=0.1705 right_yaw=0.1508 right_pitch=-0.5311 right_roll=-0.2008 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.812, 6.1333, 1.3455, -0.1148, -0.0269, -0.0122, -0.7316, -10.4684, 8.7316, 1.1746, 0.1197, 0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddca5f3c601b37a8edb7a4709222670fc03e0a738fb678694f627601ed3969ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4bcf98fd04452a2fb5e5803311a385c8d8c3796da504e0a4af9553d9c80dadf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 327):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5dd982ba40679ab5c2548eac83d9c474e2482df9fd86eed1bfa5586a949e807",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISogUKjgEIEhgCKkBAgWb1Xj0FZRyWC/UipXN8jU+6MkaMUBvGgechzs0rbnLxPXpJtypNJKvjqZTWQx3x+zpcu6TTf/Akki66ymLdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf6QzNUGEgxI2KKx3nJLkssiYRUaDOLtZG3Xf4gqwmopgyIwDb5qZH8I1N3uPmqbg12/LSAjEW4qiIxoVhNmPCVe5IEI+RNa7ih2H/7JPN6XX+DUKsADGuXekHS9j5qZqecBM3h/405Jgv6NVLfvVSulsQGIuqqmEujTUfQ8xLC08ILhyDKTiMSRYLHPVLqx9Q4YJM1gASzpMYuVfb7QIvGKqjIjiyOPKq8BamIPvizwvfLKsLEh3uJkAkA3D2JxpJ1As/1CHcRqIs+siTG1RQKNsnJGmQD8snmTC/GTgND5Q/PhZX/Qv+nMvO3HU61AKYv4FICUhEQD7UIpXH6Kw0mvhhRKRB3pPIkezTYTUDBZ+wTTTWMV3MvOTuPEIjx9yyV7Tvz8YtHW0tgc/bL5DGWmnB7Mh0ja5DtVNcpnLyrBSaPmxHUwKGwfLVMdohdtCnE+bVbeiPi6t9Y/GEww13eNT4naWMToXMEmC4GgimAYbu6cVHKMz4OnfaWV49ByZ9EDLIyQcKPsd/SdmOjYaBrVeIIuF1VFMm3+eZtVRGihc8sSpTNyYN79t2WqrValueWgTIPP11zFFFOKvYO9mfX0n8zvHjIGrNrwznKdxfuXiNHzZfRDjmPNISoa0UuhroHLDhvGu44wreXxo8522A+/hEJ2J6dETNUhM/6oU+jK5Umc/ir/ieiGGxbDRiPjnVDDaRf+dRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PzGF4bdf8m2jrhFK4SmNBv",
      "input": {
        "note": "Both the lemon and the dark apple are now in the blue bowl. Moving the right arm toward the remaining green pear, estimated near right (0.45, 0.0), to line up a grasp.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PzGF4bdf8m2jrhFK4SmNBv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1131, 0.9957, 0.2298, 2.0071, 1.9144, -1.0145, 0.1436, -0.0982, 0.9964]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.071 left_pitch=-0.3664 left_roll=0.0918 left_gripper=0.9957 right_x=0.4826 right_y=0.0906 right_z=0.1694 right_yaw=0.1488 right_pitch=-0.5384 right_roll=-0.2021 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.8393, 6.147, 1.3016, -0.1538, -0.0757, -0.0122, -0.5538, -10.7282, 8.6906, 1.2576, 0.1001, 0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f00c24d877d4e6bed93e2442371b44ec1be09083c498341f3cdfc3b7cba16115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec18b9693268bca3fbb6aa115a85122d8474eaf1e841ef34de1c99f3bbc8f94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8c82a75b0e30c192dfeb94f0fb5f4828363e9715e8d32e21b4eafb08b6b9d86a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 34 attempt 0 · /messages · status 200 · 8.375 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, 0.2417, 1.8957, 1.7836, -0.9543, 0.1581, -0.0723, 0.5202]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4647 right_y=0.0896 right_z=0.1804 right_yaw=0.1331 right_pitch=-0.4938 right_roll=-0.1982 right_gripper=0.5202\nstate[joint_eff]: [-0.1983, -1.7162, 6.147, 1.326, -0.1245, -0.0366, -0.0171, -0.4581, -8.3077, 9.8667, 1.5409, -0.1001, 0.0757, 0.8718]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.2314, 1.9999, 1.9053, -1.0054, 0.1432, -0.0978, 0.9955]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4824 right_y=0.0914 right_z=0.1705 right_yaw=0.1508 right_pitch=-0.5311 right_roll=-0.2008 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.812, 6.1333, 1.3455, -0.1148, -0.0269, -0.0122, -0.7316, -10.4684, 8.7316, 1.1746, 0.1197, 0.0757, -0.0171]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1131, 0.9957, 0.2298, 2.0071, 1.9144, -1.0145, 0.1436, -0.0982, 0.9964]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.071 left_pitch=-0.3664 left_roll=0.0918 left_gripper=0.9957 right_x=0.4826 right_y=0.0906 right_z=0.1694 right_yaw=0.1488 right_pitch=-0.5384 right_roll=-0.2021 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.8393, 6.147, 1.3016, -0.1538, -0.0757, -0.0122, -0.5538, -10.7282, 8.6906, 1.2576, 0.1001, 0.0464, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f00c24d877d4e6bed93e2442371b44ec1be09083c498341f3cdfc3b7cba16115",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ec18b9693268bca3fbb6aa115a85122d8474eaf1e841ef34de1c99f3bbc8f94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c82a75b0e30c192dfeb94f0fb5f4828363e9715e8d32e21b4eafb08b6b9d86a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISowMKjgEIEhgCKkChSslMuLFacty9zjrPuC9wYsl/lY1Tugct4Jcajs6A8/LXYGp72K4shN6wmj/z8HMj+ir3esZeWNpJdxFT69WEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYORzNUGEgzdaPTQ/I9ehNt1mMQaDEzb2O+Orgnv8ytjGyIwizzHb6tPUQT0/LDWyvyfDFg/yh+kZvjnYE2cMSSeq5JynxjEUEU6Q4ZFddVXu1VdKsEBsIyLXuISmnnX+R7oEEsMZ/3jz7y5tgYge5WJvl9m7uWku7XHAGEf3hWuWgPj6j7Nz0tCBkxE1obR2M5LAMI2Ox3egbHc5ZFlfw/yTE5KUL9EDV5LHtGGCXDq7ayzaP4GPn7hEL62tL1q8JQQt/+jpgiq3HFZTtpM+2C9Zv1VdZRIlo9hMz8iKhY8159Rh6DCVk1+8S3OJHo5/zRVYjRvTXMipAe/KkeWS97ZVkjVjPK/L9UoHXNvlOLg4e2Y732t8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013sVLrMMDfd3CBAmc8EQ4oh",
      "input": {
        "note": "The arm stalled again at the extended drop pose; raising it first (z to 26 cm, x back to 0.42) to unstick before moving toward the pear.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.26
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013sVLrMMDfd3CBAmc8EQ4oh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9966, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.2703, 1.9076, 2.0567, -1.2591, 0.1516, -0.0872, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0018 left_z=0.2296 left_yaw=0.0705 left_pitch=-0.3672 left_roll=0.0919 left_gripper=0.9957 right_x=0.4392 right_y=0.0977 right_z=0.2379 right_yaw=0.1745 right_pitch=-0.5392 right_roll=-0.2049 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.8803, 6.2701, 1.2772, -0.1392, -0.0562, -0.0122, -0.4308, -11.1385, 6.9675, 1.033, 0.1392, 0.1783, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b312d8dbedafa79d9d1f7874e29c4929524871cb84dcf461ec351e63e387d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a890ab5d06ce3f5c344c6ec2fa391f1d307dd356456d90087436bb463814492d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6040f0f4959ebc088830b3c8341e716ca0ddb43487b930c023da70b5ab0ae20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 35 attempt 0 · /messages · status 200 · 4.801 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9958, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, 0.2314, 1.9999, 1.9053, -1.0054, 0.1432, -0.0978, 0.9955]\nstate[eef_state]: left_x=0.253 left_y=-0.0017 left_z=0.2298 left_yaw=0.0708 left_pitch=-0.3664 left_roll=0.092 left_gripper=0.9957 right_x=0.4824 right_y=0.0914 right_z=0.1705 right_yaw=0.1508 right_pitch=-0.5311 right_roll=-0.2008 right_gripper=0.9955\nstate[joint_eff]: [-0.1162, -1.812, 6.1333, 1.3455, -0.1148, -0.0269, -0.0122, -0.7316, -10.4684, 8.7316, 1.1746, 0.1197, 0.0757, -0.0171]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1131, 0.9957, 0.2298, 2.0071, 1.9144, -1.0145, 0.1436, -0.0982, 0.9964]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.071 left_pitch=-0.3664 left_roll=0.0918 left_gripper=0.9957 right_x=0.4826 right_y=0.0906 right_z=0.1694 right_yaw=0.1488 right_pitch=-0.5384 right_roll=-0.2021 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.8393, 6.147, 1.3016, -0.1538, -0.0757, -0.0122, -0.5538, -10.7282, 8.6906, 1.2576, 0.1001, 0.0464, 0.0757]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9966, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.2703, 1.9076, 2.0567, -1.2591, 0.1516, -0.0872, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0018 left_z=0.2296 left_yaw=0.0705 left_pitch=-0.3672 left_roll=0.0919 left_gripper=0.9957 right_x=0.4392 right_y=0.0977 right_z=0.2379 right_yaw=0.1745 right_pitch=-0.5392 right_roll=-0.2049 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.8803, 6.2701, 1.2772, -0.1392, -0.0562, -0.0122, -0.4308, -11.1385, 6.9675, 1.033, 0.1392, 0.1783, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97b312d8dbedafa79d9d1f7874e29c4929524871cb84dcf461ec351e63e387d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a890ab5d06ce3f5c344c6ec2fa391f1d307dd356456d90087436bb463814492d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 341):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6040f0f4959ebc088830b3c8341e716ca0ddb43487b930c023da70b5ab0ae20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISlwgKjgEIEhgCKkBD/BVmy1T9Fro6cPbBUagYtrff6fEPTc3Ah+1Gnm1ZfSB/fqsjEBITVS+Wk8JK5V9Vimw2L21q8elf0IA6/OeFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYuRzNUGEgxIh/fdjqEnQJZ10tAaDEodd4gRydNpwjVzgSIwIPzXm51urE3uaAmP2U6ZR5CBv8tOuTawmKQ/IlRVcglLekNyvAxpZ2YZS/jaVyXQKrUGpge4rInTX1sq/71LZNbqNGNTnLHjNFvkit3URc0yTx2vu0p75mQ3yZHfEkBeCAFOjfQZ0JYqZovQ/k6kysa0QtN6wb+gWgUQGGiKNfoy5U1vOXyGq2kwq4StJiUAeBH8Q2e0cLj4CxGyXKQdKVb5JTZYVpOApkk7chG0cjep3AXKrmAgo/NX3udTjLISBHnaMngD7UrGxrV4OnLEvJOSEq/u8ypT3lY3n+aKYuuTgl6uoTGguf4eXVjIaGJ8TgSuVIQkRlRXB/Ef2Mce+BD1upPjY6jdyE9SQlkFM20QuwZL90ysmQxljrla5NkfkfF+XpR2E5UZT3KUgOQnYsmojzxtgnBvFIL8hnjEsv2bDb25W5LZkb/Q0k0yBc5FRnmMBlbRYyjGLEOgn8fQwCICfPm92+vPrnCGT/Ll+c6gjk64AHwtVNO4AUfUrbwCx1Mv6nzgf13hBhCs9PqurI4UDxcE8vqOlRA6c034JpOsaoQqaQOQVsmB7k8QcZNMiv8McZW6cm82VtK8MFoacD3ABLXLqAGJkoY/+TH+dmVnFdQgQ38nlzFtPoXFlyMQnXfKrYcdeV0kJSZmfQv1JbVgHhj3kCTF8zdCidnycbj9UcZjTu/CQgiBQxjt+zmX0Ka7WxzkaSNgDwaHqin/T9KMjStU7eVOnuQldpteIiZ/gzInUyEtRTskaf3QhkB2dPdWGqE4Y7ZHRyDImXjkPDafMP1wK3Wi8J67rMIOtvk2PbzSEQUXms97oNJILgq7KNfOi5RT5tVh3gL3VyiBtFrlyXjADR2S3cb785sKHjnT60SakqAqp8JUrLkwAyoiFQWrBY0LBD/QDTcEvxZSDWFMLg/svF7DrjpGNwTZSEhREfc9HPnsG80VukSox7BZnleGrW/zaX5xPErE3kmmXUv3Nu5MxIEH3DkVSu0tBEW6Mzj5K5ngji3wYaFnl8wRmDJD93IwSwTFP1gzg1L5btbS5UzwrpaCB1+7xzYDF9N4QXImdUxKyzarsoiShQBRQ9EQgxaU6Nnpz7Q9FRPnWm2EPo+xy4Zgv96kBhtl9yxQzwGVC+g3rd/351z8Eb5CAZ2waObWRGUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Hrk96spmGTVY2C8KoB6rSn",
      "input": {
        "note": "The pear is visible at the lower right of the wrist view; descending to 5 cm at right (0.40, -0.015) just above it for the grasp.",
        "targets": {
          "right_x": 0.4,
          "right_y": -0.015,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01Hrk96spmGTVY2C8KoB6rSn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9989, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, -0.0315, 1.7111, 1.0573, -0.495, 0.0242, -0.3382, 0.9965]\nstate[eef_state]: left_x=0.2533 left_y=-0.0017 left_z=0.2291 left_yaw=0.0711 left_pitch=-0.3694 left_roll=0.0927 left_gripper=0.9957 right_x=0.3886 right_y=-0.0129 right_z=0.0471 right_yaw=0.16 right_pitch=-0.5993 right_roll=-0.1923 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.9214, 6.3795, 1.3114, -0.149, -0.0122, -0.0122, -0.3897, -8.1709, 6.3521, 1.1502, -0.0464, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa505dce138cc55f2c218831ab2325e1fda65ae30f1023ffbb737a4077276c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd4c1d4b1b944e2817c7c80da1def88113ffa9ead7faa8dcaa5d5b82fc5eee28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:659ccee752105b6e3fecec8f68c45dfc68de9c619e2aeb645ff338233ce1d30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 36 attempt 0 · /messages · status 200 · 3.674 s

model: claude-opus-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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9962, 1.1442, -1.1038, -0.1707, -0.1131, 0.9957, 0.2298, 2.0071, 1.9144, -1.0145, 0.1436, -0.0982, 0.9964]\nstate[eef_state]: left_x=0.2531 left_y=-0.0017 left_z=0.2298 left_yaw=0.071 left_pitch=-0.3664 left_roll=0.0918 left_gripper=0.9957 right_x=0.4826 right_y=0.0906 right_z=0.1694 right_yaw=0.1488 right_pitch=-0.5384 right_roll=-0.2021 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.8393, 6.147, 1.3016, -0.1538, -0.0757, -0.0122, -0.5538, -10.7282, 8.6906, 1.2576, 0.1001, 0.0464, 0.0757]",
      "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 fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9966, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.2703, 1.9076, 2.0567, -1.2591, 0.1516, -0.0872, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0018 left_z=0.2296 left_yaw=0.0705 left_pitch=-0.3672 left_roll=0.0919 left_gripper=0.9957 right_x=0.4392 right_y=0.0977 right_z=0.2379 right_yaw=0.1745 right_pitch=-0.5392 right_roll=-0.2049 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.8803, 6.2701, 1.2772, -0.1392, -0.0562, -0.0122, -0.4308, -11.1385, 6.9675, 1.033, 0.1392, 0.1783, -0.0073]\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 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9989, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, -0.0315, 1.7111, 1.0573, -0.495, 0.0242, -0.3382, 0.9965]\nstate[eef_state]: left_x=0.2533 left_y=-0.0017 left_z=0.2291 left_yaw=0.0711 left_pitch=-0.3694 left_roll=0.0927 left_gripper=0.9957 right_x=0.3886 right_y=-0.0129 right_z=0.0471 right_yaw=0.16 right_pitch=-0.5993 right_roll=-0.1923 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.9214, 6.3795, 1.3114, -0.149, -0.0122, -0.0122, -0.3897, -8.1709, 6.3521, 1.1502, -0.0464, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2aa505dce138cc55f2c218831ab2325e1fda65ae30f1023ffbb737a4077276c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd4c1d4b1b944e2817c7c80da1def88113ffa9ead7faa8dcaa5d5b82fc5eee28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:659ccee752105b6e3fecec8f68c45dfc68de9c619e2aeb645ff338233ce1d30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISoAQKjgEIEhgCKkCNMxczcTykYuzzp0AOxbPY1GZq6tTgpttI+9QlHa9Sme2DsPOMcq7lv16tya9caLDvGE7BTcVzMmKz/aatR9wbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKRzNUGEgzDzpR2rClxpTuXFAEaDBBEItjPTEHQdWApKyIwjLM1D6quxDd4BaTgqK8XnkeXWZ36kQcZVTynvOHLOj0Ic4gZkTGI8KQWntfKYXVbKr4C/U2coFgGCs77OI1cC44qZPxgNCEGvN5kxRq910wEYRF17Q7p4OrtjHY2ZtDwvF6fmM5SbCKQyKzp1ezXrWjX93O4OU4NqGCruLFPzPR+ERpkPOXL9Qh4fQ+sp2x92ro75QpknlDDrrtQ4MNj0DCbrjkeqyhrQPewjlxNOcXAHS8q2/qByQRasksu2BIxwCX0zvUA9yCbhU/VsYZXOJqjnFZHGeyqqJGzhg5fQtBWAKevuyq1zBsW8SL/IiMuWjXn/o/GSO5IpRjXWXrR/OC4tUknWiEREwaoQk1RnwQjF+jyxLalR34d3HlfUtZOdBycxEzifwPmD+mPN0Ta9P0ONcujPl/9I7gjyATgHdlqpYEpFqAQ7NrrIpkoz/iDOf0WWfxMn0Bqzv6AvpFu+C1QCkM4e/ChgZKAlzvJKwwqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CCaoEkpGchGDSmCHDft12Y",
      "input": {
        "note": "The pear is at the lower right of the wrist view, ~3 cm right of the jaw column; shifting right and descending to mid-pear height to straddle it.",
        "targets": {
          "right_x": 0.395,
          "right_y": -0.045,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}

{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01CCaoEkpGchGDSmCHDft12Y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9985, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, -0.1097, 1.7523, 1.0386, -0.4408, -0.0055, -0.4049, 0.9965]\nstate[eef_state]: left_x=0.2534 left_y=-0.0017 left_z=0.2293 left_yaw=0.071 left_pitch=-0.3686 left_roll=0.0925 left_gripper=0.9957 right_x=0.39 right_y=-0.0384 right_z=0.0311 right_yaw=0.1559 right_pitch=-0.6054 right_roll=-0.1906 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.8256, 6.147, 1.3309, -0.1538, -0.0464, -0.0171, -0.253, -7.4188, 7.2547, 1.1697, -0.1148, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2b7d7b1febce0064776f4db36fcfc4ca66234b0078f3cf9ccaf6b1ab6e4c63f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf0086c0dbd1c2156097c4f99418af0f5e429837f417ed2cb814372c4baa7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dac36b90915dda68efabbd20bb8a12817624c163bd2b005540434146b8ce1500",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

call 37 attempt 0 · /messages · status 200 · 26.32 s

model: claude-opus-5
effort: medium
temperature: n/a
tool count: 3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9966, 1.1442, -1.1042, -0.1703, -0.1127, 0.9957, 0.2703, 1.9076, 2.0567, -1.2591, 0.1516, -0.0872, 0.9965]\nstate[eef_state]: left_x=0.2531 left_y=-0.0018 left_z=0.2296 left_yaw=0.0705 left_pitch=-0.3672 left_roll=0.0919 left_gripper=0.9957 right_x=0.4392 right_y=0.0977 right_z=0.2379 right_yaw=0.1745 right_pitch=-0.5392 right_roll=-0.2049 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.8803, 6.2701, 1.2772, -0.1392, -0.0562, -0.0122, -0.4308, -11.1385, 6.9675, 1.033, 0.1392, 0.1783, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 106 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9989, 1.1442, -1.1042, -0.1707, -0.1127, 0.9957, -0.0315, 1.7111, 1.0573, -0.495, 0.0242, -0.3382, 0.9965]\nstate[eef_state]: left_x=0.2533 left_y=-0.0017 left_z=0.2291 left_yaw=0.0711 left_pitch=-0.3694 left_roll=0.0927 left_gripper=0.9957 right_x=0.3886 right_y=-0.0129 right_z=0.0471 right_yaw=0.16 right_pitch=-0.5993 right_roll=-0.1923 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.9214, 6.3795, 1.3114, -0.149, -0.0122, -0.0122, -0.3897, -8.1709, 6.3521, 1.1502, -0.0464, -0.1001, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}

message 109 current as-sent form

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9985, 1.1442, -1.1038, -0.1707, -0.1127, 0.9957, -0.1097, 1.7523, 1.0386, -0.4408, -0.0055, -0.4049, 0.9965]\nstate[eef_state]: left_x=0.2534 left_y=-0.0017 left_z=0.2293 left_yaw=0.071 left_pitch=-0.3686 left_roll=0.0925 left_gripper=0.9957 right_x=0.39 right_y=-0.0384 right_z=0.0311 right_yaw=0.1559 right_pitch=-0.6054 right_roll=-0.1906 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.8256, 6.147, 1.3309, -0.1538, -0.0464, -0.0171, -0.253, -7.4188, 7.2547, 1.1697, -0.1148, -0.0464, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2b7d7b1febce0064776f4db36fcfc4ca66234b0078f3cf9ccaf6b1ab6e4c63f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcf0086c0dbd1c2156097c4f99418af0f5e429837f417ed2cb814372c4baa7a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 357):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dac36b90915dda68efabbd20bb8a12817624c163bd2b005540434146b8ce1500",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]

{
  "content": [
    {
      "signature": "CAISwgMKjgEIEhgCKkAeNvAmnMwK9GQZWTaMCeN1TCsi0WmJUHqM23lM+P+GjKlL/sbkgP7Y1fAXmRrhHEJJfVYiITrW1VtES68YWOnnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaRzNUGEgy5dkFBoGdzYdUOMjcaDBOw8uHObjzCwMP6lCIw3rINgRS2w/l83TwAawzmxD2xkATVh6y1pbxvJqCDeZbeSlgmq6JJi21PdXO8e5I5KuABNgmUGvSZIIBbpchvG5fymViIW6hZU3Osr1JEK6oJ0q3k0hDwXtjg+pPwlP+x9EaiNJ1DtBASTLWcW38R3rKRF1mBNVUhKbBT8oybQ8o6BP7HOA6poQ5w/sCr6n/lBQvLzfAm3/PiNPMQhGqV+oa8HTFdTzni/u5UZNPXLIpcpsfE7HkDApzZK7z2hP1mn/VGUcjgaAYAF2NyywjSk8dHpiJ7KOoFrf88bEKjfrbGRH6VpU/FEZDGa67MXg+V8xVE0876Trl+Hlu/acgeAikbX9unVw8FtwoqIEdyk7Fyww4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YYb9rKr9ZnDqUFbpor849J",
      "input": {
        "note": "The pear now lies between the two jaw wedges at the bottom of the wrist view; closing to grasp 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_01YYb9rKr9ZnDqUFbpor849J",
      "type": "tool_result"
    }
  ],
  "role": "user"
}

{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1398, 0.9989, 1.1442, -1.1038, -0.1703, -0.1127, 0.9957, -0.1085, 1.7676, 1.0363, -0.4416, -0.0051, -0.4114, 0.0099]\nstate[eef_state]: left_x=0.2534 left_y=-0.0018 left_z=0.2292 left_yaw=0.0707 left_pitch=-0.3691 left_roll=0.0923 left_gripper=0.9957 right_x=0.3878 right_y=-0.0377 right_z=0.0246 right_yaw=0.1643 right_pitch=-0.6238 right_roll=-0.1881 right_gripper=0.0099\nstate[joint_eff]: [-0.0889, -1.7299, 6.3521, 1.326, -0.0952, -0.0708, -0.0171, -0.2256, -9.5385, 5.5043, 1.0672, -0.0659, 0.0464, 0.8132]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cf91ff588cb0ae31f3b518ce6fbd69576d7a693c8ec2290f7552b6d6f83c5be",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 367):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1eff0690cc81c033dfd9dd2d274b1a3b6b26831fb643ecbfbb1c69a1241454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 367):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:283ad538fe3466171f2678ff047d6c4d261453e22e601bf3c2007c44bf00a137",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}

[blob elided: media budget]