adhoc

completed
2026-09-22T22:41:41.357960+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
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
418.1 s
total steps
372
operator
0
scenes
1
trials
1
errored
0

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
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTop view shows a white bowl on the left, blue bowl centre-right, a yellow lemon and a green pear in front of the right gripper. Moving the right arm out to hover ~10 cm above the green pear to line up a grasp.
move_to
right_x0.3800right_y-0.0100right_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]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0261, 0.9993] state[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.1436, -1.7846, 9.6068, 1.7949, -0.0904, 0.1197, -0.0904, -0.3624, -1.7573, 9.3333, 1.873, -0.0708, 0.0611, -0.0904] 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": 0.38, "right_y": -0.01, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows a white bowl on the left, blue bowl centre-right, a yellow lemon and a green pear in front of the right gripper. Moving the right arm out to hover ~10 cm above the green pear to line up a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 7
top_cam
camera top_cam step 7
left_cam
camera left_cam step 7
right_cam
camera right_cam step 7
assistant
agent noteThe wrist view shows the green pear filling the bottom centre of frame, aligned with the jaw column. Descending to pear mid-height to prepare the grasp.
move_to
right_x0.3850right_y-0.0150right_z0.0450
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]: [-0.0219, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9992, -0.0563, 1.24, 0.6495, -0.0486, -0.0574, -0.0456, 0.9993] state[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1793 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3693 right_y=-0.0071 right_z=0.1283 right_yaw=0.0063 right_pitch=-0.0699 right_roll=0.0067 right_gripper=0.9993 state[joint_eff]: [0.0889, -1.5932, 7.0496, 1.8486, -0.0415, -0.0415, -0.022, -0.4171, -5.0256, 8.8821, 2.0684, -0.0366, -0.0855, -0.0952] camera 'top_cam' (step 7): [image omitted: streamed camera frame] camera 'left_cam' (step 7): [image omitted: streamed camera frame] camera 'right_cam' (step 7): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": -0.015, "right_z": 0.045}, "note": "The wrist view shows the green pear filling the bottom centre of frame, aligned with the jaw column. Descending to pear mid-height to prepare the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent notePear sits between the two jaw tips in the wrist view; closing the gripper on it.
move_to
right_gripper0.0500
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]: [-0.0219, 0.8078, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0818, 1.5532, 0.495, 0.3882, -0.0834, -0.0639, 0.9992] state[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.176 left_yaw=0.0004 left_pitch=-0.0263 left_roll=-0.0001 left_gripper=0.9992 right_x=0.381 right_y=-0.0129 right_z=0.0392 right_yaw=0.0128 right_pitch=-0.0994 right_roll=0.0103 right_gripper=0.9992 state[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8486, -0.0366, -0.0708, -0.0122, -0.4581, -5.6821, 5.2034, 1.9805, -0.0464, -0.0073, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Pear sits between the two jaw tips in the wrist view; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 23
top_cam
camera top_cam step 23
left_cam
camera left_cam step 23
right_cam
camera right_cam step 23
assistant
agent noteGripper reads 0.44 (~4 cm) so the pear is held. Lifting and moving toward the blue bowl to check alignment from above.
move_to
right_z0.2200right_x0.4400right_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]: [-0.0219, 0.8078, 0.6132, -0.4091, -0.0139, -0.0307, 0.9992, -0.0807, 1.5467, 0.5003, 0.4442, -0.0952, -0.0635, 0.4397] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1744 left_yaw=0.0004 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3914 right_y=-0.0112 right_z=0.0548 right_yaw=0.0232 right_pitch=-0.0311 right_roll=0.0109 right_gripper=0.4397 state[joint_eff]: [-0.1846, -1.347, 7.0769, 1.8242, -0.0659, -0.0317, -0.0122, -0.1436, -5.1761, 5.1214, 1.1258, 0.0513, -0.0464, 1.0281] camera 'top_cam' (step 23): [image omitted: streamed camera frame] camera 'left_cam' (step 23): [image omitted: streamed camera frame] camera 'right_cam' (step 23): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.44, "right_y": 0.11}, "note": "Gripper reads 0.44 (~4 cm) so the pear is held. Lifting and moving toward the blue bowl to check alignment from above."})
tool
executing move_to over 11 steps (1.1s)
step 34
top_cam
camera top_cam step 34
left_cam
camera left_cam step 34
right_cam
camera right_cam step 34
assistant
agent noteWrist view shows the pear held right at the near rim of the blue bowl; nudging forward a few cm so the pear is over the bowl centre before releasing.
move_to
right_x0.4650right_y0.1250right_z0.2000
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]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0135, -0.0307, 0.9992, 0.3347, 1.5166, 1.1755, -0.342, 0.2317, 0.1501, 0.4416] state[eef_state]: left_x=0.2913 left_y=-0.0004 left_z=0.1722 left_yaw=0.0001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.9992 right_x=0.432 right_y=0.1111 right_z=0.1976 right_yaw=0.0476 right_pitch=-0.0935 right_roll=-0.0186 right_gripper=0.4416 state[joint_eff]: [-0.2256, -1.1556, 7.0085, 1.79, -0.0317, -0.0171, -0.0122, -0.335, -7.6239, 9.4564, 1.8242, 0.1685, 0.1441, 0.5055] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 34): [image omitted: streamed camera frame] camera 'left_cam' (step 34): [image omitted: streamed camera frame] camera 'right_cam' (step 34): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_y": 0.125, "right_z": 0.2}, "note": "Wrist view shows the pear held right at the near rim of the blue bowl; nudging forward a few cm so the pear is over the bowl centre before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent notePear is over the blue bowl opening; opening the gripper to drop it in.
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]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2922, -0.3904, 0.231, 0.1463, 0.4444] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.05 left_roll=0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1212 right_z=0.1762 right_yaw=0.0513 right_pitch=-0.1665 right_roll=-0.0428 right_gripper=0.4444 state[joint_eff]: [-0.1436, -1.3744, 6.9949, 1.7314, -0.0562, -0.0659, -0.0122, 0.1846, -9.1692, 9.2376, 1.9121, 0.0952, 0.022, 0.2711] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pear is over the blue bowl opening; opening the gripper to drop it in."})
tool
executing move_to over 6 steps (0.6s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteReleased the pear near the bowl but I can't tell if it landed inside; retracting the right arm to get an unobstructed overhead view.
move_to
right_x0.3000right_y0.0000right_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]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2911, -0.3946, 0.231, 0.1387, 0.9956] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0005 left_gripper=0.9992 right_x=0.4543 right_y=0.1209 right_z=0.175 right_yaw=0.0552 right_pitch=-0.1717 right_roll=-0.05 right_gripper=0.9956 state[joint_eff]: [-0.1709, -1.0872, 7.1863, 1.6874, -0.0513, -0.0366, -0.0122, -0.0889, -8.4171, 6.9812, 1.5556, 0.0366, 0.0904, 0.0855] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.25}, "note": "Released the pear near the bowl but I can't tell if it landed inside; retracting the right arm to get an unobstructed overhead view."})
tool
executing move_to over 12 steps (1.2s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe pear fell just short of the blue bowl and is sitting on the table against its near rim. Hovering over the pear again to re-grasp it, this time I'll lower it into the bowl instead of dropping.
move_to
right_x0.4300right_y0.1350right_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]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, -0.02, 1.0302, 1.0866, -0.7746, 0.0006, -0.0799, 0.9963] state[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9992 right_x=0.3113 right_y=-0.0027 right_z=0.2499 right_yaw=0.0123 right_pitch=-0.1508 right_roll=-0.053 right_gripper=0.9963 state[joint_eff]: [-0.1983, -1.6342, 7.2137, 1.8046, -0.0513, -0.0659, -0.0171, -0.1709, -2.6735, 7.1453, 1.6679, -0.0904, -0.0122, 0.0611] 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_x": 0.43, "right_y": 0.135, "right_z": 0.15}, "note": "The pear fell just short of the blue bowl and is sitting on the table against its near rim. Hovering over the pear again to re-grasp it, this time I'll lower it into the bowl instead of dropping."})
tool
executing move_to over 12 steps (1.2s)
step 67
top_cam
camera top_cam step 67
left_cam
camera left_cam step 67
right_cam
camera right_cam step 67
assistant
agent noteWrist view shows the pear centred on the jaw column at the bottom edge, with the blue bowl beyond it. Descending to pear mid-height for the grasp.
move_to
right_z0.0450right_x0.4250
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]: [-0.0219, 0.8135, 0.6132, -0.4397, -0.0139, -0.0307, 0.9992, 0.4168, 1.6005, 1.0969, -0.3538, 0.2966, 0.1844, 0.9963] state[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1667 left_yaw=0.0005 left_pitch=-0.0702 left_roll=0.0009 left_gripper=0.9992 right_x=0.4107 right_y=0.1293 right_z=0.1296 right_yaw=0.0472 right_pitch=-0.2431 right_roll=-0.0931 right_gripper=0.9963 state[joint_eff]: [-0.1299, -1.347, 7.0359, 1.7705, -0.0757, -0.0317, -0.0122, 0.1299, -8.0752, 9.0325, 1.6337, 0.2564, 0.1636, -0.0122] camera 'top_cam' (step 67): [image omitted: streamed camera frame] camera 'left_cam' (step 67): [image omitted: streamed camera frame] camera 'right_cam' (step 67): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.045, "right_x": 0.425}, "note": "Wrist view shows the pear centred on the jaw column at the bottom edge, with the blue bowl beyond it. Descending to pear mid-height for the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent notePear is between the jaw tips at table level; closing to grasp.
move_to
right_gripper0.0500
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]: [-0.0219, 0.8135, 0.6132, -0.4465, -0.0139, -0.0307, 0.9992, 0.4019, 1.776, 0.9501, -0.0956, 0.2844, 0.1726, 0.9964] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0005 left_pitch=-0.077 left_roll=0.0011 left_gripper=0.9992 right_x=0.4127 right_y=0.1255 right_z=0.0403 right_yaw=0.0427 right_pitch=-0.3069 right_roll=-0.1158 right_gripper=0.9964 state[joint_eff]: [-0.1436, -1.2103, 7.159, 1.7118, -0.0415, -0.0366, -0.0171, -0.5402, -8.1299, 5.559, 1.6532, 0.1441, -0.0073, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Pear is between the jaw tips at table level; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 83
top_cam
camera top_cam step 83
left_cam
camera left_cam step 83
right_cam
camera right_cam step 83
assistant
agent notePear grasped (gripper 0.28). Lifting high and moving further forward, since last time the pear fell short of the bowl, which appears to be farther out than I estimated.
move_to
right_x0.5200right_y0.1200right_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]: [-0.0219, 0.8135, 0.6132, -0.4507, -0.0139, -0.0307, 0.9992, 0.4038, 1.7725, 0.9527, -0.0456, 0.2802, 0.168, 0.2783] state[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0812 left_roll=0.0012 left_gripper=0.9992 right_x=0.4219 right_y=0.1311 right_z=0.05 right_yaw=0.0563 right_pitch=-0.2557 right_roll=-0.0956 right_gripper=0.2783 state[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.7216, -0.0317, -0.0659, -0.0122, -0.0889, -8.2256, 5.7641, 0.9158, 0.1392, 0.0122, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 83): [image omitted: streamed camera frame] camera 'left_cam' (step 83): [image omitted: streamed camera frame] camera 'right_cam' (step 83): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.12, "right_z": 0.25}, "note": "Pear grasped (gripper 0.28). Lifting high and moving further forward, since last time the pear fell short of the bowl, which appears to be farther out than I estimated."})
tool
executing move_to over 13 steps (1.3s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteWrist view now shows the blue bowl directly beneath the jaws with the pear over its opening; lowering into the bowl before releasing.
move_to
right_z0.1300
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]: [-0.0219, 0.815, 0.6132, -0.4625, -0.0139, -0.0307, 0.9992, 0.2951, 1.9984, 2.0304, -0.8703, 0.2039, 0.0696, 0.2805] state[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1618 left_yaw=0.0005 left_pitch=-0.0946 left_roll=0.0015 left_gripper=0.9992 right_x=0.5213 right_y=0.1248 right_z=0.2395 right_yaw=0.0685 right_pitch=-0.2508 right_roll=-0.1001 right_gripper=0.2805 state[joint_eff]: [-0.2667, -1.4427, 6.9675, 1.7558, -0.0562, -0.0708, -0.0122, -0.7179, -11.0701, 8.0342, 1.1062, 0.0073, 0.1441, 0.5055] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.13}, "note": "Wrist view now shows the blue bowl directly beneath the jaws with the pear over its opening; lowering into the bowl before releasing."})
tool
executing move_to over 8 steps (0.8s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent noteIn the wrist view the bowl interior sits to the right of the pear, so shifting ~3 cm to the arm's right to centre the pear over the bowl.
move_to
right_y0.0900right_x0.5150
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]: [-0.0219, 0.8177, 0.6132, -0.4683, -0.0139, -0.0307, 0.9992, 0.2924, 1.9842, 1.5715, -0.5171, 0.2043, 0.0669, 0.2823] state[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.16 left_yaw=0.0005 left_pitch=-0.103 left_roll=0.0017 left_gripper=0.9992 right_x=0.5071 right_y=0.119 right_z=0.1158 right_yaw=0.0607 right_pitch=-0.3401 right_roll=-0.124 right_gripper=0.2823 state[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7802, -0.0659, -0.0317, -0.0122, 0.1162, -11.7538, 7.0496, 1.8339, 0.0269, -0.0171, 0.188] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.09, "right_x": 0.515}, "note": "In the wrist view the bowl interior sits to the right of the pear, so shifting ~3 cm to the arm's right to centre the pear over the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 107
top_cam
camera top_cam step 107
left_cam
camera left_cam step 107
right_cam
camera right_cam step 107
assistant
agent notePear is now centred over the blue bowl's interior; opening the gripper to release it 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]: [-0.0219, 0.8192, 0.6132, -0.4713, -0.0139, -0.0307, 0.9992, 0.2401, 1.9842, 1.5539, -0.5056, 0.1696, 0.0284, 0.2838] state[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.159 left_yaw=0.0005 left_pitch=-0.1076 left_roll=0.0018 left_gripper=0.9992 right_x=0.51 right_y=0.0979 right_z=0.1096 right_yaw=0.0604 right_pitch=-0.3541 right_roll=-0.1213 right_gripper=0.2838 state[joint_eff]: [-0.0068, -1.4154, 6.9538, 1.6825, -0.0513, -0.0317, -0.0171, -0.4034, -11.2615, 7.665, 1.5556, 0.0806, -0.0464, 0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 107): [image omitted: streamed camera frame] camera 'left_cam' (step 107): [image omitted: streamed camera frame] camera 'right_cam' (step 107): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pear is now centred over the blue bowl's interior; opening the gripper to release it into the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent notePear is in the blue bowl. Now moving the right arm over to the yellow lemon sitting near the table centre-left for the next pick.
move_to
right_x0.3100right_y0.3300right_z0.1600
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]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0139, -0.0307, 0.9992, 0.2405, 1.9842, 1.5536, -0.5205, 0.1623, 0.017, 0.9957] state[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1582 left_yaw=0.0006 left_pitch=-0.1121 left_roll=0.0019 left_gripper=0.9992 right_x=0.5068 right_y=0.0986 right_z=0.1072 right_yaw=0.0728 right_pitch=-0.3709 right_roll=-0.1252 right_gripper=0.9957 state[joint_eff]: [-0.335, -1.0735, 7.0632, 1.6728, -0.0269, -0.0317, -0.0122, -0.1846, -10.906, 6.8308, 1.4774, 0.1001, 0.1587, 0.1148] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.33, "right_z": 0.16}, "note": "Pear is in the blue bowl. Now moving the right arm over to the yellow lemon sitting near the table centre-left for the next pick."})
tool
executing move_to over 20 steps (2.0s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent noteLemon is centred on the jaw column at the bottom of the wrist view; descending to table level to grasp it.
move_to
right_z0.0350right_x0.3250
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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.9951, 1.9209, 1.7016, -0.9577, 0.5098, 0.6788, 0.9963] state[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0006 left_pitch=-0.1125 left_roll=0.0019 left_gripper=0.9992 right_x=0.3136 right_y=0.3314 right_z=0.1583 right_yaw=0.122 right_pitch=-0.3741 right_roll=-0.1127 right_gripper=0.9963 state[joint_eff]: [0.0068, -1.3333, 6.9812, 1.5995, -0.0317, -0.0317, -0.0122, 0.2393, -9.1145, 7.9932, 0.7204, 0.4127, 0.1734, 0.0513] 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": 0.035, "right_x": 0.325}, "note": "Lemon is centred on the jaw column at the bottom of the wrist view; descending to table level to grasp it."})
tool
executing move_to over 8 steps (0.8s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent noteLemon sits between the jaw tips; closing to grasp it.
move_to
right_gripper0.0500
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]: [-0.0219, 0.8249, 0.6128, -0.4911, -0.0139, -0.0307, 0.9992, 0.9726, 2.0163, 1.3842, -0.5674, 0.4984, 0.6617, 0.9963] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1335 left_roll=0.0024 left_gripper=0.9992 right_x=0.3194 right_y=0.3251 right_z=0.0441 right_yaw=0.1095 right_pitch=-0.3978 right_roll=-0.1345 right_gripper=0.9963 state[joint_eff]: [0.0068, -1.812, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122, -0.4034, -9.7026, 5.6547, 0.9988, 0.2906, -0.1245, -0.0073] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Lemon sits between the jaw tips; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteThe close came up empty (gripper 0.05) and the lemon is no longer in the wrist view — it was probably nudged aside. Opening and backing up to relocate it.
move_to
right_gripper1.0000right_z0.2000right_x0.2800right_y0.2500
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]: [-0.0219, 0.8249, 0.6128, -0.4915, -0.0139, -0.0311, 0.9992, 0.9722, 2.0441, 1.3647, -0.5694, 0.4931, 0.654, 0.0543] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0021 left_gripper=0.9992 right_x=0.314 right_y=0.3184 right_z=0.0258 right_yaw=0.1002 right_pitch=-0.4341 right_roll=-0.1767 right_gripper=0.0543 state[joint_eff]: [0.0205, -1.1966, 6.9128, 1.619, -0.0562, -0.0757, -0.0122, -0.1573, -12.7658, 7.5282, 0.8571, 0.2955, 0.0611, 0.1001] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.2, "right_x": 0.28, "right_y": 0.25}, "note": "The close came up empty (gripper 0.05) and the lemon is no longer in the wrist view \u2014 it was probably nudged aside. Opening and backing up to relocate it."})
tool
executing move_to over 12 steps (1.2s)
step 165
top_cam
camera top_cam step 165
left_cam
camera left_cam step 165
right_cam
camera right_cam step 165
assistant
agent noteThe lemon is visible in the wrist view to the left of the jaws; shifting ~7 cm to the arm's left to line up over it.
move_to
right_y0.3350right_x0.2900right_z0.1400
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]: [-0.0219, 0.8257, 0.6128, -0.4919, -0.0139, -0.0307, 0.9992, 0.9466, 1.6913, 1.5372, -1.084, 0.4744, 0.6163, 0.9959] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0006 left_pitch=-0.135 left_roll=0.0024 left_gripper=0.9992 right_x=0.283 right_y=0.261 right_z=0.1812 right_yaw=0.112 right_pitch=-0.4439 right_roll=-0.1773 right_gripper=0.9959 state[joint_eff]: [-0.0342, -1.3197, 6.9128, 1.6484, -0.0562, -0.0562, -0.0122, -0.7043, -10.0581, 7.9111, 0.7106, 0.2711, -0.022, -0.2222] camera 'top_cam' (step 165): [image omitted: streamed camera frame] camera 'left_cam' (step 165): [image omitted: streamed camera frame] camera 'right_cam' (step 165): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.335, "right_x": 0.29, "right_z": 0.14}, "note": "The lemon is visible in the wrist view to the left of the jaws; shifting ~7 cm to the arm's left to line up over it."})
tool
executing move_to over 7 steps (0.7s)
step 172
top_cam
camera top_cam step 172
left_cam
camera left_cam step 172
right_cam
camera right_cam step 172
assistant
agent noteLemon is slightly left of the jaw column; shifting ~3 cm left and descending to table level for the grasp.
move_to
right_y0.3580right_x0.2950right_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]: [-0.0219, 0.8257, 0.6128, -0.4938, -0.0139, -0.0307, 0.9992, 1.0359, 1.9415, 1.689, -1.0645, 0.4812, 0.6857, 0.9969] state[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1529 left_yaw=0.0006 left_pitch=-0.1369 left_roll=0.0024 left_gripper=0.9992 right_x=0.2837 right_y=0.3255 right_z=0.1357 right_yaw=0.1259 right_pitch=-0.4827 right_roll=-0.2095 right_gripper=0.9969 state[joint_eff]: [-0.253, -1.3744, 7.0496, 1.6337, -0.0415, -0.0513, -0.0122, 0.335, -9.6068, 7.5419, 0.7448, 0.4176, 0.1832, 0.0904] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.358, "right_x": 0.295, "right_z": 0.05}, "note": "Lemon is slightly left of the jaw column; shifting ~3 cm left and descending to table level for the grasp."})
tool
executing move_to over 6 steps (0.6s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteLemon is now between the jaw tips; closing on it.
move_to
right_gripper0.1000right_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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0451, 2.109, 1.6234, -0.8692, 0.4747, 0.6964, 0.997] state[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2919 right_y=0.3493 right_z=0.0556 right_yaw=0.116 right_pitch=-0.5094 right_roll=-0.2333 right_gripper=0.997 state[joint_eff]: [-0.3077, -1.1419, 7.0906, 1.619, -0.0171, -0.0562, -0.0122, 0.5538, -10.7282, 5.4359, 0.6471, 0.3199, 0.0122, -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": {"right_gripper": 0.1, "right_z": 0.035}, "note": "Lemon is now between the jaw tips; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 187
top_cam
camera top_cam step 187
left_cam
camera left_cam step 187
right_cam
camera right_cam step 187
assistant
agent noteYellow is visible between the closed jaws but the gripper reads only 0.10, so it may be pinching the lemon's tip; lifting 20 cm to check whether the lemon comes with it.
move_to
right_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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0443, 2.1284, 1.5818, -0.8177, 0.4698, 0.6956, 0.1047] state[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2905 right_y=0.3478 right_z=0.0373 right_yaw=0.114 right_pitch=-0.5191 right_roll=-0.2392 right_gripper=0.1047 state[joint_eff]: [-0.0615, -1.388, 6.8991, 1.58, -0.0269, -0.0611, -0.0171, -0.1709, -11.2479, 5.4085, 0.8278, 0.3004, -0.022, 0.0757] camera 'top_cam' (step 187): [image omitted: streamed camera frame] camera 'left_cam' (step 187): [image omitted: streamed camera frame] camera 'right_cam' (step 187): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25}, "note": "Yellow is visible between the closed jaws but the gripper reads only 0.10, so it may be pinching the lemon's tip; lifting 20 cm to check whether the lemon comes with it."})
tool
executing move_to over 14 steps (1.4s)
step 201
top_cam
camera top_cam step 201
left_cam
camera left_cam step 201
right_cam
camera right_cam step 201
assistant
agent noteThe lemon did not come up — the jaws closed just short of it. Reopening and moving 4 cm further out (radially) to table level so the lemon sits deeper between the jaws.
move_to
right_gripper1.0000right_z0.0400right_x0.3300right_y0.3520
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]: [-0.0219, 0.8261, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0351, 2.1551, 2.3501, -1.5459, 0.4561, 0.6876, 0.1038] state[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1526 left_yaw=0.0006 left_pitch=-0.1381 left_roll=0.0025 left_gripper=0.9992 right_x=0.2905 right_y=0.344 right_z=0.2155 right_yaw=0.1234 right_pitch=-0.5227 right_roll=-0.2219 right_gripper=0.1038 state[joint_eff]: [-0.0752, -0.8547, 6.9128, 1.5995, -0.0366, -0.0415, -0.0122, -0.4308, -13.9692, 5.135, 0.6911, 0.3199, -0.1636, -0.1148] camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.04, "right_x": 0.33, "right_y": 0.352}, "note": "The lemon did not come up \u2014 the jaws closed just short of it. Reopening and moving 4 cm further out (radially) to table level so the lemon sits deeper between the jaws."})
tool
executing move_to over 12 steps (1.2s)
step 213
top_cam
camera top_cam step 213
left_cam
camera left_cam step 213
right_cam
camera right_cam step 213
assistant
agent noteThe previous target was apparently out of reach (the arm didn't move). Trying a smaller 2 cm radial advance and descending to table level over the lemon.
move_to
right_x0.3100right_y0.3550right_z0.0400
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]: [-0.0219, 0.8257, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0306, 2.1715, 2.3749, -1.573, 0.448, 0.6701, 0.9965] state[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1527 left_yaw=0.0006 left_pitch=-0.1377 left_roll=0.0025 left_gripper=0.9992 right_x=0.2903 right_y=0.3422 right_z=0.2135 right_yaw=0.1253 right_pitch=-0.5424 right_roll=-0.2428 right_gripper=0.9965 state[joint_eff]: [-0.1709, -1.2239, 7.1043, 1.6044, -0.0366, -0.0366, -0.0122, -0.253, -10.7419, 7.4462, 0.6276, 0.315, 0.0855, -0.0904] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 213): [image omitted: streamed camera frame] camera 'left_cam' (step 213): [image omitted: streamed camera frame] camera 'right_cam' (step 213): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.355, "right_z": 0.04}, "note": "The previous target was apparently out of reach (the arm didn't move). Trying a smaller 2 cm radial advance and descending to table level over the lemon."})
tool
executing move_to over 12 steps (1.2s)
step 225
top_cam
camera top_cam step 225
left_cam
camera left_cam step 225
right_cam
camera right_cam step 225
assistant
agent noteLemon now sits squarely between the jaw tips; closing to grasp.
move_to
right_gripper0.1500
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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0092, 2.1651, 1.7138, -0.9298, 0.4358, 0.6502, 0.997] state[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3038 right_y=0.3496 right_z=0.052 right_yaw=0.1176 right_pitch=-0.5615 right_roll=-0.2549 right_gripper=0.997 state[joint_eff]: [-0.1573, -1.5795, 6.9538, 1.6435, -0.0269, -0.0562, -0.0122, -0.4991, -10.5778, 5.8735, 0.7155, 0.2515, -0.1148, 0.0415] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 225): [image omitted: streamed camera frame] camera 'left_cam' (step 225): [image omitted: streamed camera frame] camera 'right_cam' (step 225): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Lemon now sits squarely between the jaw tips; closing to grasp."})
tool
executing move_to over 9 steps (0.9s)
step 234
top_cam
camera top_cam step 234
left_cam
camera left_cam step 234
assistant
agent noteJaws closed to 0.15 with yellow visible between them; lifting to see whether the lemon comes along.
move_to
right_z0.1600
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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0077, 2.1933, 1.6966, -0.9245, 0.432, 0.6437, 0.1545] state[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3009 right_y=0.3447 right_z=0.0347 right_yaw=0.1019 right_pitch=-0.5903 right_roll=-0.2928 right_gripper=0.1545 state[joint_eff]: [-0.0615, -1.306, 6.8991, 1.5897, -0.0464, -0.0269, -0.0122, -0.0068, -14.2427, 7.1863, 0.5055, 0.2271, 0.0366, -0.0024] camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Jaws closed to 0.15 with yellow visible between them; lifting to see whether the lemon comes along."})
tool
executing move_to over 9 steps (0.9s)
step 243
assistant
agent noteLemon is securely held between the jaws. Carrying it over to the blue bowl at the far right.
move_to
right_x0.5100right_y0.1000right_z0.2400
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]: [-0.0219, 0.8288, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0084, 2.1899, 2.1468, -1.3582, 0.421, 0.6426, 0.1534] state[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.152 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.9992 right_x=0.303 right_y=0.3521 right_z=0.1486 right_yaw=0.12 right_pitch=-0.5866 right_roll=-0.2665 right_gripper=0.1534 state[joint_eff]: [-0.1436, -1.4017, 6.9402, 1.663, -0.0317, -0.0562, -0.0122, -0.4308, -11.4393, 7.2957, 0.4957, 0.3443, -0.0366, -0.1343] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.1, "right_z": 0.24}, "note": "Lemon is securely held between the jaws. Carrying it over to the blue bowl at the far right."})
tool
executing move_to over 22 steps (2.2s)
step 265
assistant
agent noteThe lemon slipped out during transport (I had only closed the jaws to 0.15, not fully). Returning to hover above the lemon to re-grasp with a full close.
move_to
right_x0.3000right_y0.3500right_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]: [-0.0219, 0.8303, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 0.2668, 2.3531, 2.7476, -1.5845, 0.2031, -0.0982, 0.1533] state[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1516 left_yaw=0.0006 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9992 right_x=0.4903 right_y=0.1008 right_z=0.2232 right_yaw=0.109 right_pitch=-0.6127 right_roll=-0.2737 right_gripper=0.1533 state[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.6777, -0.0415, -0.0659, -0.0122, -0.4034, -10.7145, 8.0479, 1.1209, 0.0464, 0.0904, -0.022] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.35, "right_z": 0.15, "right_gripper": 1}, "note": "The lemon slipped out during transport (I had only closed the jaws to 0.15, not fully). Returning to hover above the lemon to re-grasp with a full close."})
tool
executing move_to over 21 steps (2.1s)
step 286
assistant
agent noteLemon visible just above and slightly left of the jaw gap; advancing 1.5 cm out and 1 cm left while descending to table level.
move_to
right_x0.3150right_y0.3570right_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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9943, 2.1803, 2.133, -1.3655, 0.3927, 0.5968, 0.9978] state[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3018 right_y=0.3468 right_z=0.1466 right_yaw=0.1458 right_pitch=-0.6218 right_roll=-0.2774 right_gripper=0.9978 state[joint_eff]: [-0.0205, -1.5795, 6.9812, 1.6142, -0.0464, -0.0611, -0.0122, 0.294, -11.2479, 7.8838, 0.3053, 0.486, 0.2613, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.315, "right_y": 0.357, "right_z": 0.05}, "note": "Lemon visible just above and slightly left of the jaw gap; advancing 1.5 cm out and 1 cm left while descending to table level."})
tool
executing move_to over 7 steps (0.7s)
step 293
assistant
agent noteLemon is between the jaw tips; closing fully this time so the grip force holds it during transport.
move_to
right_gripper0.0000right_z0.0400
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]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 0.9901, 2.2097, 1.8378, -1.0439, 0.3958, 0.5911, 0.9983] state[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1442 left_roll=0.0024 left_gripper=0.9992 right_x=0.3081 right_y=0.352 right_z=0.0607 right_yaw=0.1417 right_pitch=-0.6223 right_roll=-0.2854 right_gripper=0.9983 state[joint_eff]: [-0.0752, -1.2103, 6.8991, 1.6093, -0.0269, -0.0562, -0.0122, -0.212, -10.5778, 5.6821, 0.6569, 0.3248, -0.0757, 0.0415] 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, "right_z": 0.04}, "note": "Lemon is between the jaw tips; closing fully this time so the grip force holds it during transport."})
tool
executing move_to over 10 steps (1.0s)
step 303
assistant
agent noteFull close squeezed the smooth lemon out of the jaws. Reopening and repositioning slightly for another attempt, this time closing only partway without pressing down.
move_to
right_gripper1.0000right_z0.0550right_x0.3120right_y0.3450
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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9928, 2.2292, 1.7626, -0.9596, 0.3962, 0.5915, 0.0094] state[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3058 right_y=0.3506 right_z=0.0338 right_yaw=0.1382 right_pitch=-0.6288 right_roll=-0.2951 right_gripper=0.0094 state[joint_eff]: [-0.0889, -1.388, 6.9402, 1.5849, -0.0269, -0.0464, -0.0122, 0.212, -13.5863, 5.1761, 0.652, 0.3736, 0.0366, 0.6862] 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_gripper": 1, "right_z": 0.055, "right_x": 0.312, "right_y": 0.345}, "note": "Full close squeezed the smooth lemon out of the jaws. Reopening and repositioning slightly for another attempt, this time closing only partway without pressing down."})
tool
executing move_to over 10 steps (1.0s)
step 313
assistant
agent noteLemon is perfectly centred between the jaw tips; closing firmly (0.08) without any vertical motion this time.
move_to
right_gripper0.0800
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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9852, 2.2292, 1.7489, -0.9775, 0.4004, 0.5732, 0.9953] state[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3046 right_y=0.3411 right_z=0.0297 right_yaw=0.1219 right_pitch=-0.6493 right_roll=-0.3368 right_gripper=0.9953 state[joint_eff]: [-0.0068, -1.2103, 7.0769, 1.5751, -0.0513, -0.0366, -0.0122, -0.5949, -15.3504, 8.1026, 0.4322, 0.3443, 0.0952, 0.1001] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 313): [image omitted: streamed camera frame] camera 'left_cam' (step 313): [image omitted: streamed camera frame] camera 'right_cam' (step 313): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.08}, "note": "Lemon is perfectly centred between the jaw tips; closing firmly (0.08) without any vertical motion this time."})
tool
executing move_to over 10 steps (1.0s)
step 323
assistant
agent noteJaws closed on the lemon (yellow visible right at the jaw tips); lifting to check whether it comes with the gripper.
move_to
right_z0.2000
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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9939, 2.2265, 1.6939, -0.9348, 0.4187, 0.5758, 0.0844] state[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3006 right_y=0.3368 right_z=0.0185 right_yaw=0.1127 right_pitch=-0.641 right_roll=-0.3594 right_gripper=0.0844 state[joint_eff]: [-0.1299, -1.4017, 6.9402, 1.5849, -0.0562, -0.0269, -0.0122, 0.2393, -13.7641, 5.7641, 0.6178, 0.3834, 0.0317, -0.0122] camera 'top_cam' (step 323): [image omitted: streamed camera frame] camera 'left_cam' (step 323): [image omitted: streamed camera frame] camera 'right_cam' (step 323): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Jaws closed on the lemon (yellow visible right at the jaw tips); lifting to check whether it comes with the gripper."})
tool
executing move_to over 12 steps (1.2s)
step 335
assistant
agent noteThe jaws keep closing just behind the lemon (reading 0.08 = empty), so the fruit is further out than the wrist view suggests; advancing 4 cm radially at table level with the gripper open.
move_to
right_x0.3450right_y0.3450right_z0.0300right_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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 1.0019, 2.2055, 2.3253, -1.523, 0.4377, 0.5755, 0.0839] state[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3029 right_y=0.3414 right_z=0.1867 right_yaw=0.1443 right_pitch=-0.5853 right_roll=-0.3146 right_gripper=0.0839 state[joint_eff]: [0.1846, -1.347, 6.9402, 1.6288, -0.0562, -0.0611, -0.0171, -0.3761, -12.5744, 6.2838, 0.4811, 0.3932, -0.0659, -0.0611] 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_x": 0.345, "right_y": 0.345, "right_z": 0.03, "right_gripper": 1}, "note": "The jaws keep closing just behind the lemon (reading 0.08 = empty), so the fruit is further out than the wrist view suggests; advancing 4 cm radially at table level with the gripper open."})
tool
executing move_to over 11 steps (1.1s)
step 346
assistant
agent noteThe lemon now sits right at the bottom edge between the jaws, i.e. straddled by the fingertips; closing to 0.2 to grip it.
move_to
right_gripper0.2000
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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9321, 2.257, 1.8221, -0.9688, 0.4206, 0.4965, 0.9957] state[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.337 right_y=0.339 right_z=0.0395 right_yaw=0.1337 right_pitch=-0.6114 right_roll=-0.3402 right_gripper=0.9957 state[joint_eff]: [-0.1573, -1.2239, 7.1316, 1.6532, -0.0513, -0.0757, -0.0122, -0.5402, -11.6718, 5.8735, 0.6618, 0.2418, 0.0366, -0.1392] camera 'top_cam' (step 346): [image omitted: streamed camera frame] camera 'left_cam' (step 346): [image omitted: streamed camera frame] camera 'right_cam' (step 346): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.2}, "note": "The lemon now sits right at the bottom edge between the jaws, i.e. straddled by the fingertips; closing to 0.2 to grip it."})
tool
executing move_to over 8 steps (0.8s)
step 354
assistant
agent noteStill empty (0.20 = jaws met). Top view shows the lemon sits a few cm to the arm's left of the jaws; opening and shifting 3.5 cm left.
move_to
right_gripper1.0000right_y0.3750
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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9329, 2.278, 1.8069, -0.9504, 0.4149, 0.4889, 0.205] state[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.335 right_y=0.3384 right_z=0.026 right_yaw=0.1338 right_pitch=-0.6294 right_roll=-0.3548 right_gripper=0.205 state[joint_eff]: [-0.253, -1.4017, 6.8991, 1.5995, -0.0317, -0.0415, -0.0122, -0.0615, -14.6256, 5.9009, 0.5201, 0.3394, 0.0659, -0.0269] approver: 8 step(s) modified (delta_clamped ×8). 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_gripper": 1, "right_y": 0.375}, "note": "Still empty (0.20 = jaws met). Top view shows the lemon sits a few cm to the arm's left of the jaws; opening and shifting 3.5 cm left."})
tool
executing move_to over 8 steps (0.8s)
step 362
assistant
agent noteJaws now straddle the lemon's location (it is hidden under the gripper in the top view); closing to grip.
move_to
right_gripper0.1500
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]: [-0.0219, 0.8333, 0.6128, -0.4953, -0.0135, -0.0307, 0.9992, 0.9829, 2.3829, 1.9804, -1.0306, 0.4229, 0.5194, 0.9953] state[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1506 left_yaw=0.0003 left_pitch=-0.1461 left_roll=0.0024 left_gripper=0.9992 right_x=0.3303 right_y=0.3713 right_z=0.0241 right_yaw=0.1536 right_pitch=-0.6258 right_roll=-0.3573 right_gripper=0.9953 state[joint_eff]: [-0.1299, -1.4154, 6.9128, 1.58, -0.0366, -0.0464, -0.0122, 0.3487, -12.0, 7.5966, 0.4469, 0.4127, 0.1245, 0.0366] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 362): [image omitted: streamed camera frame] camera 'left_cam' (step 362): [image omitted: streamed camera frame] camera 'right_cam' (step 362): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "Jaws now straddle the lemon's location (it is hidden under the gripper in the top view); closing to grip."})
tool
executing move_to over 9 steps (0.9s)
step 371
assistant
agent noteI picked up the green pear and placed it into the blue bowl successfully. I then spent many attempts on the yellow lemon: the jaws repeatedly closed empty (settled readings 0.08–0.20) even though the wrist view showed the lemon centred at the fingertips, and once when I did hold it with a partial close (0.15) it slipped out during transport. I ran out of call budget before getting the lemon and the dark fruit (near the left arm) into the bowl, and before the pour step. Final state: pear in the blue bowl, lemon still on the table, blue bowl not yet poured.
done
hindsightConcrete lessons from this rig/trial: - Overhead px→metre mapping I derived and that worked: the two grippers at x=0.296 appear at top_cam px≈60 (left) and ≈190 (right), so right_y ≈ (190 − px)·0.005 m; image-y is much more compressed and badly non-linear — the blue bowl at py≈72 was actually at x≈0.51, far further out than a 2 px/cm guess suggests. Do not drop objects from a hover based on top-cam y; fly forward until the wrist view puts the bowl mouth under the jaws, then lower INTO the bowl (z≈0.11–0.13) before opening. My first drop at x=0.45 landed short on the table. - Wrist-camera rule of thumb that finally worked: the object must be at the very bottom EDGE of the wrist frame (row ≈ 210+), not merely "centred on the jaw column at row ~190", before it is actually between the fingertips. When in doubt advance 3–4 cm radially. - A partial gripper command is a position command, so the readback just echoes it and tells you nothing: only a command of 0 (full close) gives a meaningful settled width. But a full close ejected the smooth lemon. For small round fruit, close to ~0.05–0.1 and verify by lifting; expect slips. - Reach limit: with the right arm at y≈0.35, targets with sqrt(x²+y²) ≳ 0.47 at low z are silently refused (arm does not move at all). - Geometry trap for the second half of this task: the blue bowl (right frame y≈0.10) is only reachable by the right arm and the white bowl (left frame y≈−0.10) only by the left arm, so no single arm can pour one into the other. Plan early to first relocate the blue bowl to the table centre (right y≈0.33 = left y≈−0.32) so the LEFT arm can grasp it and pour into the white bowl; the dark fruit near the left arm likewise needs the left arm plus a relocated bowl. - Budget: each pick took 4–6 calls; plan ≤3 objects worth of work into a 40-call budget and do not re-try a failing grasp more than twice.
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]: [-0.0219, 0.8333, 0.6128, -0.4953, -0.0139, -0.0307, 0.9992, 0.9855, 2.3863, 1.9461, -1.01, 0.4259, 0.5152, 0.1545] state[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1506 left_yaw=0.0007 left_pitch=-0.1461 left_roll=0.0026 left_gripper=0.9992 right_x=0.3269 right_y=0.3677 right_z=0.0137 right_yaw=0.1477 right_pitch=-0.6359 right_roll=-0.3775 right_gripper=0.1545 state[joint_eff]: [-0.0615, -1.4154, 6.8991, 1.6093, -0.0464, -0.0269, -0.0122, 0.0889, -14.8855, 5.6547, 0.6813, 0.398, 0.0708, -0.0904] camera 'top_cam' (step 371): [image omitted: streamed camera frame] camera 'left_cam' (step 371): [image omitted: streamed camera frame] camera 'right_cam' (step 371): [image omitted: streamed camera frame]
assistant
done({"summary": "I picked up the green pear and placed it into the blue bowl successfully. I then spent many attempts on the yellow lemon: the jaws repeatedly closed empty (settled readings 0.08\u20130.20) even though the wrist view showed the lemon centred at the fingertips, and once when I did hold it with a partial close (0.15) it slipped out during transport. I ran out of call budget before getting the lemon and the dark fruit (near the left arm) into the bowl, and before the pour step. Final state: pear in the blue bowl, lemon still on the table, blue bowl not yet poured.", "hindsight": "Concrete lessons from this rig/trial:\n- Overhead px\u2192metre mapping I derived and that worked: the two grippers at x=0.296 appear at top_cam px\u224860 (left) and \u2248190 (right), so right_y \u2248 (190 \u2212 px)\u00b70.005 m; image-y is much more compressed and badly non-linear \u2014 the blue bowl at py\u224872 was actually at x\u22480.51, far further out than a 2 px/cm guess suggests. Do not drop objects from a hover based on top-cam y; fly forward until the wrist view puts the bowl mouth under the jaws, then lower INTO the bowl (z\u22480.11\u20130.13) before opening. My first drop at x=0.45 landed short on the table.\n- Wrist-camera rule of thumb that finally worked: the object must be at the very bottom EDGE of the wrist frame (row \u2248 210+), not merely \"centred on the jaw column at row ~190\", before it is actually between the fingertips. When in doubt advance 3\u20134 cm radially.\n- A partial gripper command is a position command, so the readback just echoes it and tells you nothing: only a command of 0 (full close) gives a meaningful settled width. But a full close ejected the smooth lemon. For small round fruit, close to ~0.05\u20130.1 and verify by lifting; expect slips.\n- Reach limit: with the right arm at y\u22480.35, targets with sqrt(x\u00b2+y\u00b2) \u2273 0.47 at low z are silently refused (arm does not move at all).\n- Geometry trap for the second half of this task: the blue bowl (right frame y\u22480.10) is only reachable by the right arm and the white bowl (left frame y\u2248\u22120.10) only by the left arm, so no single arm can pour one into the other. Plan early to first relocate the blue bowl to the table centre (right y\u22480.33 = left y\u2248\u22120.32) so the LEFT arm can grasp it and pour into the white bowl; the dark fruit near the left arm likewise needs the left arm plus a relocated bowl.\n- Budget: each pick took 4\u20136 calls; plan \u22643 objects worth of work into a 40-call budget and do not re-try a failing grasp more than twice."})
tool
done: I picked up the green pear and placed it into the blue bowl successfully. I then spent many attempts on the yellow lemon: the jaws repeatedly closed empty (settled readings 0.08–0.20) even though the wrist view showed the lemon centred at the fingertips, and once when I did hold it with a partial close (0.15) it slipped out during transport. I ran out of call budget before getting the lemon and the dark fruit (near the left arm) into the bowl, and before the pour step. Final state: pear in the blue bowl, lemon still on the table, blue bowl not yet poured.
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 · 36.51 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]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7846, 9.6068, 1.7949, -0.0904, 0.1197, -0.0904, -0.3624, -1.7573, 9.3333, 1.873, -0.0708, 0.0611, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e381f38b1e3b3d55dfcb4efa98c6bd497107c4fbe0a4e1aaa41e29c5ea7f3b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79783ebe137b6a9e156346fd9a10833c03e01daf7a69c00124d9f5f4658bac13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a50a5af0a0870bfc044097418f4a2b92e23f0c1d6bae845b43ddc3cc33aaefac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.314 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]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7846, 9.6068, 1.7949, -0.0904, 0.1197, -0.0904, -0.3624, -1.7573, 9.3333, 1.873, -0.0708, 0.0611, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e381f38b1e3b3d55dfcb4efa98c6bd497107c4fbe0a4e1aaa41e29c5ea7f3b07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79783ebe137b6a9e156346fd9a10833c03e01daf7a69c00124d9f5f4658bac13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a50a5af0a0870bfc044097418f4a2b92e23f0c1d6bae845b43ddc3cc33aaefac",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
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      "signature": 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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MBPhbi6GqbUPTkc9vasj8u",
      "input": {
        "note": "Top view shows a white bowl on the left, blue bowl centre-right, a yellow lemon and a green pear in front of the right gripper. Moving the right arm out to hover ~10 cm above the green pear to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.38,
          "right_y": -0.01,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01MBPhbi6GqbUPTkc9vasj8u",
      "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]: [-0.0219, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9992, -0.0563, 1.24, 0.6495, -0.0486, -0.0574, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1793 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3693 right_y=-0.0071 right_z=0.1283 right_yaw=0.0063 right_pitch=-0.0699 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -1.5932, 7.0496, 1.8486, -0.0415, -0.0415, -0.022, -0.4171, -5.0256, 8.8821, 2.0684, -0.0366, -0.0855, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a3be82bccb3b723e617d14892e2a53b9882e33eff9dd96f716cf21b9c1a9dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee66855a782c73931a8c0b2d0f8aff2b750cdacbc53e95894529bf23f2476dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0854b59d1e81145f7122f151e93bd92ae8884676507010c8cf426aec638a36a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.251 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]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7846, 9.6068, 1.7949, -0.0904, 0.1197, -0.0904, -0.3624, -1.7573, 9.3333, 1.873, -0.0708, 0.0611, -0.0904]",
      "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]: [-0.0219, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9992, -0.0563, 1.24, 0.6495, -0.0486, -0.0574, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1793 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3693 right_y=-0.0071 right_z=0.1283 right_yaw=0.0063 right_pitch=-0.0699 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -1.5932, 7.0496, 1.8486, -0.0415, -0.0415, -0.022, -0.4171, -5.0256, 8.8821, 2.0684, -0.0366, -0.0855, -0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a3be82bccb3b723e617d14892e2a53b9882e33eff9dd96f716cf21b9c1a9dba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee66855a782c73931a8c0b2d0f8aff2b750cdacbc53e95894529bf23f2476dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 7):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0854b59d1e81145f7122f151e93bd92ae8884676507010c8cf426aec638a36a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwcKjgEIEhgCKkBNbV0KvKDQ3b9+pUPgMGcg6E5Ki/J2iMI6PNydiCLstIs+ghBV37rfEy0HbBIauaIybibC3dCAVJHvk0Hg4/soMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeWIzNUGEgxDQVe6VQwnnOpoFUoaDPtyzcTvT3y7dkweECIwMOI3A9KwSerrkygSI/9kEVzMeHmGe7j35/Eb96tH2rySC/6GVc++rWPi2MgbKu3/KtUFirNPMSPLgRIm+yGwacuJwEy7/KGDKd5OjZRFTUKJRkBqIH3884cMJ+cY0sHiyVdyqpfsqT4QJFxnaxx15Xt5c8uJsJvIrtUiqaJ6L+6hFxy1e4X+i0aiKBRutiFj/je1Sh1luNy3kZFNlWbQ/fv6XrTuRsV4USfhJDFdkCu/UIzp96YT0ZEDMBJKHp1GfLdPXLyOysOSEoPbq3Jc7KQizrnDod47HofhVFEhEtrfdn3M/6EVFoE8hwq06eO39Fjk2K14lEGuuK46osWGSK4UNi1vTZtnmkRSggYwTFVzwGTjVkdB9sTiGJh02nVsT2y5VJP67IMzvXQZtr3AbBxRnF5vU3p7v5Zk3t2bQCJ3c53MfZGj4MWRCObQ/BsfGgaKqgHxRSZezjCSGX7exnaM1ZHJmtNbulsuRIbAbnASc7ALzoSuheQB8mXNwKnLs1tNPSZFDtooOb1onpp8PUEQux1vJOpvzs5Q5mHrEghVUesNuDoGdk9mtNINeyyE/BPFfkHJjVewkofoQqGmrZ/Q8eGQWJ4ZgGpRWe2h8thELjpgTZQk67BKwGxt7teEmkiSaagkWSODgiTD3ijsxSUibx75knjI/qD5F/te18v6oRdECJA0z0GvbFWFkSnaEdVKBFddHgwzh0XKYUQIB/RlRaldZXczgtKNsjmeQfYNRuRytneA4bhAgUg70Vq6+p17szDEGUH9laJ9Rin+lxWQ/ky8fLqwPkoSbcVOkuWX/EWtN1M5C+1rOpWD3FxZgAOuURRLzivrQO0RnxLxqaJ8vQ8kiiawFg5BkHQAPWaaGzEkI+BqAe3vGy0+wGATjvhAsh/73N8pwpfwSJW2s5Hg1riCM80UiSecqvi98tHB2aRitD3laqKQHWS/wmewv0Isv20bDV3axpeK1wE6qWxmmiTi7TgKbk6gJAedTw95q0BDdHhzmmHytcK9A8qk58pVX4tMp5sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mwz5ELpAo6oVoHq8PvZa9x",
      "input": {
        "note": "The wrist view shows the green pear filling the bottom centre of frame, aligned with the jaw column. Descending to pear mid-height to prepare the grasp.",
        "targets": {
          "right_x": 0.385,
          "right_y": -0.015,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Mwz5ELpAo6oVoHq8PvZa9x",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0818, 1.5532, 0.495, 0.3882, -0.0834, -0.0639, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.176 left_yaw=0.0004 left_pitch=-0.0263 left_roll=-0.0001 left_gripper=0.9992 right_x=0.381 right_y=-0.0129 right_z=0.0392 right_yaw=0.0128 right_pitch=-0.0994 right_roll=0.0103 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8486, -0.0366, -0.0708, -0.0122, -0.4581, -5.6821, 5.2034, 1.9805, -0.0464, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133bb5506247d0ef6e1bcede567332f804d9d14002795594129fec0502dd5cd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9344fa1d489cf02863c51343332a6b2db655c6d20f19b7d4d3fa5cb065a4d141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23670dab8bcf1e650e90e19f36b37b845eb3df2d878a34d0931171646df329cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 10.78 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]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0299, 0.9993, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0261, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.1436, -1.7846, 9.6068, 1.7949, -0.0904, 0.1197, -0.0904, -0.3624, -1.7573, 9.3333, 1.873, -0.0708, 0.0611, -0.0904]",
      "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]: [-0.0219, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9992, -0.0563, 1.24, 0.6495, -0.0486, -0.0574, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1793 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3693 right_y=-0.0071 right_z=0.1283 right_yaw=0.0063 right_pitch=-0.0699 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -1.5932, 7.0496, 1.8486, -0.0415, -0.0415, -0.022, -0.4171, -5.0256, 8.8821, 2.0684, -0.0366, -0.0855, -0.0952]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0818, 1.5532, 0.495, 0.3882, -0.0834, -0.0639, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.176 left_yaw=0.0004 left_pitch=-0.0263 left_roll=-0.0001 left_gripper=0.9992 right_x=0.381 right_y=-0.0129 right_z=0.0392 right_yaw=0.0128 right_pitch=-0.0994 right_roll=0.0103 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8486, -0.0366, -0.0708, -0.0122, -0.4581, -5.6821, 5.2034, 1.9805, -0.0464, -0.0073, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:133bb5506247d0ef6e1bcede567332f804d9d14002795594129fec0502dd5cd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9344fa1d489cf02863c51343332a6b2db655c6d20f19b7d4d3fa5cb065a4d141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23670dab8bcf1e650e90e19f36b37b845eb3df2d878a34d0931171646df329cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS3gIKjgEIEhgCKkB8YDA6sM2A3EMUQBcbJVu+pUuvdMOZhtFkFnYiNbI2138ljLQkCxByNnoA6ZMtBZSG9V5EnMZufqxPcpqulvwCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6IzNUGEgxHPhzf2dwnV8lZE6saDCq13M/+akGupOIDJSIwnEHGNfd4Vx2xzbPYl8ORcFbL5s26N58jgHBdTCYhPeLurpC6YuoiC9BAHXgdlJgBKn1QfxiJ5dbBgDLt/8OzZAAC7glOE6hh7jqIsMgdGTP22tkDZ+lc9jw6JJ7SGvTn0qUSeJQvT5bbn+Og3aqzUGgJZjggfss082PSU572UA9bT5M2G9vnqJlFsBqZSVLzkHkJRW6IvgX7Dq191Sfxa3H64YkmPM5xH2rELi1F+xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6eqnoYkYGTCUgaWAHqg4o",
      "input": {
        "note": "Pear sits between the two jaw tips in the wrist view; closing the gripper on it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U6eqnoYkYGTCUgaWAHqg4o",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4091, -0.0139, -0.0307, 0.9992, -0.0807, 1.5467, 0.5003, 0.4442, -0.0952, -0.0635, 0.4397]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1744 left_yaw=0.0004 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3914 right_y=-0.0112 right_z=0.0548 right_yaw=0.0232 right_pitch=-0.0311 right_roll=0.0109 right_gripper=0.4397\nstate[joint_eff]: [-0.1846, -1.347, 7.0769, 1.8242, -0.0659, -0.0317, -0.0122, -0.1436, -5.1761, 5.1214, 1.1258, 0.0513, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250e25cec45d0bea4b7dbb625dd63e2169d535ee993a0827b7222ad8da667ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f71f1efdeb1433e12e7b7cddd79a57f551c5367992325e7eeb8e14c5b67b8e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:572b9553db56ff77fdbda96f33adfd82f3784b846476c1a75265fd110a2c4fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 8.178 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]: [-0.0219, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9992, -0.0563, 1.24, 0.6495, -0.0486, -0.0574, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.1793 left_yaw=0.0004 left_pitch=-0.0114 left_roll=-0.0004 left_gripper=0.9992 right_x=0.3693 right_y=-0.0071 right_z=0.1283 right_yaw=0.0063 right_pitch=-0.0699 right_roll=0.0067 right_gripper=0.9993\nstate[joint_eff]: [0.0889, -1.5932, 7.0496, 1.8486, -0.0415, -0.0415, -0.022, -0.4171, -5.0256, 8.8821, 2.0684, -0.0366, -0.0855, -0.0952]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0818, 1.5532, 0.495, 0.3882, -0.0834, -0.0639, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.176 left_yaw=0.0004 left_pitch=-0.0263 left_roll=-0.0001 left_gripper=0.9992 right_x=0.381 right_y=-0.0129 right_z=0.0392 right_yaw=0.0128 right_pitch=-0.0994 right_roll=0.0103 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8486, -0.0366, -0.0708, -0.0122, -0.4581, -5.6821, 5.2034, 1.9805, -0.0464, -0.0073, -0.022]\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]: [-0.0219, 0.8078, 0.6132, -0.4091, -0.0139, -0.0307, 0.9992, -0.0807, 1.5467, 0.5003, 0.4442, -0.0952, -0.0635, 0.4397]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1744 left_yaw=0.0004 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3914 right_y=-0.0112 right_z=0.0548 right_yaw=0.0232 right_pitch=-0.0311 right_roll=0.0109 right_gripper=0.4397\nstate[joint_eff]: [-0.1846, -1.347, 7.0769, 1.8242, -0.0659, -0.0317, -0.0122, -0.1436, -5.1761, 5.1214, 1.1258, 0.0513, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:250e25cec45d0bea4b7dbb625dd63e2169d535ee993a0827b7222ad8da667ab2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f71f1efdeb1433e12e7b7cddd79a57f551c5367992325e7eeb8e14c5b67b8e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 23):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572b9553db56ff77fdbda96f33adfd82f3784b846476c1a75265fd110a2c4fc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISmAoKjgEIEhgCKkBoeff8Ju10hzoWihe6USyL8M6Rlc4VLjrbd+UYwDA+cPnhs3LgyuPWtjZmU5X2TwySECDMgnNh8h/y27Spe9N0Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf2IzNUGEgyFXCuYmLjA9GU1RlEaDDwgeWAeB+rna9pdSSIwW8BSJBMBjm2rPM/Y6miukRX6R244iVNm9LvwPg2eMniK+R02U7c3ZqvaTUaYh0rcKrYIdD4+62791ZzKjS3ojkIN3OOET2Zeugbm8/5zGmDw7AZ6mSgJ9RbF6gwiRoB5sO2/px7JcvKytynabmbvovQvNI1qbRWnEMFxXQRFNyz8G864jhuA+vg5yYbQi8+QVrx8rGBH47oLfkG60hTF21mU8Jj1cXaMVT6PxDAX8tbh7P04E6KXGUQlBeTapSR7VSaHrKrgtWRAI2ovG/fjaHBUOFJ3gxO7eyTKCYOHCxAV8uOqEOwrEoRUn0pzUwSoabk/3m8rb6wc9W+4zQOdSdgC/L7oxP7DX5ZCdDNBAUZf55ktVyi12PTx/cGkKUtlICWoXqlqxJiihG/zFP5iE5vsy/mM6TZJd3wgqcjFLcrxuHp25/IXvZzhotT1Zpj+ggKg+StchRoFLTFeUdz6JKgqSgYKydVqmGoSNASmRe9ETtHQydqbs/+9LqBcDkZXzvvD8uzWMLNn67Vhowr3IyBz1MOsElnz0DaGNMLaeIEPsVKQLu3lvww+m7Sa6A3r8dDbXcCvaz+MEQPo2NwIhRLMHoMkRw4MqXmF/kLUy8VzId41Qor6oJtYicXTXzjMQQlCs8kZhPPOVnngOjMnjdQRRTblWm7Tq2Lf/qtlZTHpGowIl/c6Whawv4gkkGkpbT7toG5+BPrEAVnvOsHktasRcdcEKV8GCjYfASLVBGsG3v0X4XUJw3IvAwRxhNX+tNh7MQoQJmj8RCDach6DfwpMowG91MhY+c1eb8afC3ZPE5lylaPMoOXXnz8RvFHuvJVha7YVwc9kmh8lOi5FAvL9WbYap3bGHyE7zgxy7GisQ6tqdiO1pT/qsXVExRWKq1YTfbMyZYQvorhVMQfmEGau2M8yNn4V8GL+GEh1N32JOJuQgNaoeNve+kduavtkuo3MHAIVtLuCSnC1i7R60cWjlSMICk0Vg1bAnzj5vK0QlrmfYdo0TH1CP4kW8TZqUaYFqtPxZOONMEGax4K0fXAWE2B97eN/K8JC5rNYIwics7RbBDjhlgTMqDl3qvhAsGyd1+sPqQaKsLxQuOaUr62LsBYixXHU0VVQ8woIMzKLHEUVzj/v+aduhIWzyuKAOVeFKInJtq6Ttd8954GUfPY6A5sGSKHXzPmBpiyTdWA77XsTwG9Pd0SrM5x+EWo8TM7uzV0KD5F1vTsqWCKZ2mt552BoggoGLz0E1V+X2FRCgIUH7kjhqbvqfaN6HAopzgxjOHEGLfQAh11NESYR6Nuwugh5kdp81Q64T3FviBFyFqdCR8LZOlZc+t2+E0j7MXmY9/WBdqLyfrPOfwCCIEdEcNHv/VrfOY7oUMsN4bGMPJfWBXvOcp0t4jwFly3YdTQJ2QmFQEICyHtBfj0DipfrRfCX3Cy+3kkG5DFIhWuEiQqe834JZk4wbAF7Di977eSrN7nYjPL6ouWifsSkt/8qo16PqiMqcRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PVJsxbELRsiPuZM5nmjPJ7",
      "input": {
        "note": "Gripper reads 0.44 (~4 cm) so the pear is held. Lifting and moving toward the blue bowl to check alignment from above.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.11,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01PVJsxbELRsiPuZM5nmjPJ7",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0135, -0.0307, 0.9992, 0.3347, 1.5166, 1.1755, -0.342, 0.2317, 0.1501, 0.4416]\nstate[eef_state]: left_x=0.2913 left_y=-0.0004 left_z=0.1722 left_yaw=0.0001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.9992 right_x=0.432 right_y=0.1111 right_z=0.1976 right_yaw=0.0476 right_pitch=-0.0935 right_roll=-0.0186 right_gripper=0.4416\nstate[joint_eff]: [-0.2256, -1.1556, 7.0085, 1.79, -0.0317, -0.0171, -0.0122, -0.335, -7.6239, 9.4564, 1.8242, 0.1685, 0.1441, 0.5055]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c767169e61618fc1e1a4bb434104871812d549ca2a490396c7892dbfd36db04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f18b2d0ff1dddaf3267278a7fb3d954d0ccf8d6b9d7aebabfe4f3e9633daa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9319caab4b5c4ef0f8620171310b4faa4af33cf13662b6d1af2eae8d29d5f514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.293 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]: [-0.0219, 0.8078, 0.6132, -0.4015, -0.0139, -0.0307, 0.9992, -0.0818, 1.5532, 0.495, 0.3882, -0.0834, -0.0639, 0.9992]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.176 left_yaw=0.0004 left_pitch=-0.0263 left_roll=-0.0001 left_gripper=0.9992 right_x=0.381 right_y=-0.0129 right_z=0.0392 right_yaw=0.0128 right_pitch=-0.0994 right_roll=0.0103 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.4427, 7.241, 1.8486, -0.0366, -0.0708, -0.0122, -0.4581, -5.6821, 5.2034, 1.9805, -0.0464, -0.0073, -0.022]\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]: [-0.0219, 0.8078, 0.6132, -0.4091, -0.0139, -0.0307, 0.9992, -0.0807, 1.5467, 0.5003, 0.4442, -0.0952, -0.0635, 0.4397]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1744 left_yaw=0.0004 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3914 right_y=-0.0112 right_z=0.0548 right_yaw=0.0232 right_pitch=-0.0311 right_roll=0.0109 right_gripper=0.4397\nstate[joint_eff]: [-0.1846, -1.347, 7.0769, 1.8242, -0.0659, -0.0317, -0.0122, -0.1436, -5.1761, 5.1214, 1.1258, 0.0513, -0.0464, 1.0281]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0135, -0.0307, 0.9992, 0.3347, 1.5166, 1.1755, -0.342, 0.2317, 0.1501, 0.4416]\nstate[eef_state]: left_x=0.2913 left_y=-0.0004 left_z=0.1722 left_yaw=0.0001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.9992 right_x=0.432 right_y=0.1111 right_z=0.1976 right_yaw=0.0476 right_pitch=-0.0935 right_roll=-0.0186 right_gripper=0.4416\nstate[joint_eff]: [-0.2256, -1.1556, 7.0085, 1.79, -0.0317, -0.0171, -0.0122, -0.335, -7.6239, 9.4564, 1.8242, 0.1685, 0.1441, 0.5055]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8c767169e61618fc1e1a4bb434104871812d549ca2a490396c7892dbfd36db04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96f18b2d0ff1dddaf3267278a7fb3d954d0ccf8d6b9d7aebabfe4f3e9633daa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 34):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9319caab4b5c4ef0f8620171310b4faa4af33cf13662b6d1af2eae8d29d5f514",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wgKjgEIEhgCKkD4a4OO80saWfoQP8ROna6mefJJhEGlC1mo2HJQGdMI7IqYPnz4WYA1Dagvs9JIBBf9xGJFk/eVE5Y1oQEhZBXGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmJzNUGEgz4B1hS7Iew6C3A16saDLh3FjXnmyJIct8+diIw7/vUhHHE9NFFbsQUqjlfAPHnbNOMe2eOFFr6qpmt848igGiegM4Le9MmBzKnsleKKokH6vyvnpZb3LP8bMsrYg3xjh9aT/NyWISCRx9sF/c65z5SF3GiORIeP/3owYSaMc3w0eFoo6umb0VgEvQBd8CTiekfa58JwdLVuGYq7V2YY58zo+cQsTFMi4VOYN34GOxX9WWqTGv+6q7sOs8R1HkqIy1XrXaCUdkprYxFy7PYqtf82McaLBqu4nf1EjKASc31pg6wziOuMMsIzxIiwQoLQsb7byS7l/nDUqEK9bFeoFgSOvsmfQIuAEZC9xkY74bGgkOwNldHE33NsvlN8cwdNRiaJh3zTWllyu3uE25pga888+hOJ/BcsQRg7fML+/ynhuaBBirIwLt5tgBBZB5omSD5DG4p1/v25w8+G1yM27CEE05/qociarKlDA2DsBVdGhuNrB9yZUHur/0nrqjHvQYGn1/0xRreRy9ynDXJu6xF2HgxXgIKVRR3WYA9/msq4D7kSt3CdWCRnu0KVRDevrWEOrwWJIUTPj/hlFw1dTmY2JjCmInYmbjZAu1kzb7RxDGEVSTK86PUKZ7HAy6Jd35yckqfdH6ZSjEah5sqCPh2PFqo/Wo3eby7JKN9lq5gYaGGk/PWEg5u2cmSJDhRYYjQB4U6jVhMYXtXVADEXOzFBYBbqI6HH3oyPLywnwPNcdAPzYfBfdUOddLeQ+d0T7kamRoe3x2XvNQpo0KeYsqGsGIAi5hQtI16tMUCu6/szteeCKjILSR/rvkQQ0J8tpBcu5pctu2JADD25mrTpiTO5MMRHIKCrlGnxDvmVmtddKJoqCGeQVqENNXPDH0bTQMVPJPW4IB7X2Hee5gmAkQ3kiP/hXUUOPghOnCnYZqMuscwypfADWIhAjRWgfq1FfWVTiLY9+bCX3DDCWHPQxO0eKt7OqyYtO+W0GpP6gxkWi+GOn21gEJcn9SmWHvBQci5gRDEwbwFFlZVHA0ySiylBAb9mRMncciw2vTx+2loJea53XRjYyJAL3VT33KzT5AQ4t1/yfjMZ7myPxWwlxmA927DZHZ4VK96N4afXadZfJtUFu8zXbyah2mmr46AtePDAW7EQEWWcxD8O6ZYGRlLQkMtfGQZ59Co9+zpKQK9J8cTxbs829FSD7jsNY7m8dVW1PAc3zUbwEasaaLKkqEdAQtLOyufuBmgTAo67OFrIf/WsxgYIDYh3+VHkhpYlFXI8TDBOu9t+BeWpOjzdoKm310GnUTmSfkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016N3VhV7aXfnU27qbhuKu9w",
      "input": {
        "note": "Wrist view shows the pear held right at the near rim of the blue bowl; nudging forward a few cm so the pear is over the bowl centre before releasing.",
        "targets": {
          "right_x": 0.465,
          "right_y": 0.125,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016N3VhV7aXfnU27qbhuKu9w",
      "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]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2922, -0.3904, 0.231, 0.1463, 0.4444]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.05 left_roll=0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1212 right_z=0.1762 right_yaw=0.0513 right_pitch=-0.1665 right_roll=-0.0428 right_gripper=0.4444\nstate[joint_eff]: [-0.1436, -1.3744, 6.9949, 1.7314, -0.0562, -0.0659, -0.0122, 0.1846, -9.1692, 9.2376, 1.9121, 0.0952, 0.022, 0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98357024d8fc077269257de6f025e04b59fa1b6da795cc5b2409e424681a4616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdde9c75e1fc17d4e77c400721b5fe61c03fed54d2ce66b7c895f6b3b68c785f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb134f16aa4d130db11dcaee68f27a842f46b624336fbdcdda00a716340ac272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.708 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]: [-0.0219, 0.8078, 0.6132, -0.4091, -0.0139, -0.0307, 0.9992, -0.0807, 1.5467, 0.5003, 0.4442, -0.0952, -0.0635, 0.4397]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1744 left_yaw=0.0004 left_pitch=-0.0339 left_roll=0.0001 left_gripper=0.9992 right_x=0.3914 right_y=-0.0112 right_z=0.0548 right_yaw=0.0232 right_pitch=-0.0311 right_roll=0.0109 right_gripper=0.4397\nstate[joint_eff]: [-0.1846, -1.347, 7.0769, 1.8242, -0.0659, -0.0317, -0.0122, -0.1436, -5.1761, 5.1214, 1.1258, 0.0513, -0.0464, 1.0281]",
      "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]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0135, -0.0307, 0.9992, 0.3347, 1.5166, 1.1755, -0.342, 0.2317, 0.1501, 0.4416]\nstate[eef_state]: left_x=0.2913 left_y=-0.0004 left_z=0.1722 left_yaw=0.0001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.9992 right_x=0.432 right_y=0.1111 right_z=0.1976 right_yaw=0.0476 right_pitch=-0.0935 right_roll=-0.0186 right_gripper=0.4416\nstate[joint_eff]: [-0.2256, -1.1556, 7.0085, 1.79, -0.0317, -0.0171, -0.0122, -0.335, -7.6239, 9.4564, 1.8242, 0.1685, 0.1441, 0.5055]\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 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]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2922, -0.3904, 0.231, 0.1463, 0.4444]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.05 left_roll=0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1212 right_z=0.1762 right_yaw=0.0513 right_pitch=-0.1665 right_roll=-0.0428 right_gripper=0.4444\nstate[joint_eff]: [-0.1436, -1.3744, 6.9949, 1.7314, -0.0562, -0.0659, -0.0122, 0.1846, -9.1692, 9.2376, 1.9121, 0.0952, 0.022, 0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98357024d8fc077269257de6f025e04b59fa1b6da795cc5b2409e424681a4616",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdde9c75e1fc17d4e77c400721b5fe61c03fed54d2ce66b7c895f6b3b68c785f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb134f16aa4d130db11dcaee68f27a842f46b624336fbdcdda00a716340ac272",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QIKjgEIEhgCKkDP0dYLCsbe+5Gl7wmD22nvs14H4gsqXSpAZB1wVFEuh7W3jqhcbARE9xRL5msXJq5pGxyb0xBpNzpSXapM9moqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGJzNUGEgz+t4a+HiY56x5FccsaDMluDuJUpWAjTby7ZCIwak/iTkYwyhk3bYAKM8PUuVfCOY6WlH7RHNSCsesMSYpFH3+5r7zv+mMs8/gxcE+/KnToz9HZjrRp/43wsu44mS+NR3KQtM62Fvj45LFb87c3ygi4a+q1+4hbU//oHLra7VJqiD2pn6yyBjN3vxLyXpvBELtUwBOdL4+ud4Vg3DK8RJdIJHu8B5w9eQ1y6PrWNOXaRAlQwQf1Q6lO1QYXAI1d2mVAMBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FZH7zmWoD9WbjXX2GiLz1n",
      "input": {
        "note": "Pear is over the blue bowl opening; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01FZH7zmWoD9WbjXX2GiLz1n",
      "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]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2911, -0.3946, 0.231, 0.1387, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0005 left_gripper=0.9992 right_x=0.4543 right_y=0.1209 right_z=0.175 right_yaw=0.0552 right_pitch=-0.1717 right_roll=-0.05 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.0872, 7.1863, 1.6874, -0.0513, -0.0366, -0.0122, -0.0889, -8.4171, 6.9812, 1.5556, 0.0366, 0.0904, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0fb83c56d280f731b44993e002f7ed2d11cbfe7195fb2b1db69230c2791a4e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908de1b5f8c2da8d9bfb3b5c0a1354a22406d45418eae792377ca2c14bb25e2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ddca40aa2fa728d038a6ea2103256df14950ab016314cd153fff7f77a9e58bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 17.08 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]: [-0.0219, 0.8078, 0.6132, -0.4202, -0.0135, -0.0307, 0.9992, 0.3347, 1.5166, 1.1755, -0.342, 0.2317, 0.1501, 0.4416]\nstate[eef_state]: left_x=0.2913 left_y=-0.0004 left_z=0.1722 left_yaw=0.0001 left_pitch=-0.045 left_roll=0.0001 left_gripper=0.9992 right_x=0.432 right_y=0.1111 right_z=0.1976 right_yaw=0.0476 right_pitch=-0.0935 right_roll=-0.0186 right_gripper=0.4416\nstate[joint_eff]: [-0.2256, -1.1556, 7.0085, 1.79, -0.0317, -0.0171, -0.0122, -0.335, -7.6239, 9.4564, 1.8242, 0.1685, 0.1441, 0.5055]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2922, -0.3904, 0.231, 0.1463, 0.4444]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.05 left_roll=0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1212 right_z=0.1762 right_yaw=0.0513 right_pitch=-0.1665 right_roll=-0.0428 right_gripper=0.4444\nstate[joint_eff]: [-0.1436, -1.3744, 6.9949, 1.7314, -0.0562, -0.0659, -0.0122, 0.1846, -9.1692, 9.2376, 1.9121, 0.0952, 0.022, 0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2911, -0.3946, 0.231, 0.1387, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0005 left_gripper=0.9992 right_x=0.4543 right_y=0.1209 right_z=0.175 right_yaw=0.0552 right_pitch=-0.1717 right_roll=-0.05 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.0872, 7.1863, 1.6874, -0.0513, -0.0366, -0.0122, -0.0889, -8.4171, 6.9812, 1.5556, 0.0366, 0.0904, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0fb83c56d280f731b44993e002f7ed2d11cbfe7195fb2b1db69230c2791a4e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:908de1b5f8c2da8d9bfb3b5c0a1354a22406d45418eae792377ca2c14bb25e2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ddca40aa2fa728d038a6ea2103256df14950ab016314cd153fff7f77a9e58bca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIShQYKjgEIEhgCKkBCicKTmu5WIqYvejIsw91FHH/bd0VAdzpUo/wZ6kQvN5XIkvYMpNjmd5yKnVs6u9zEwZ3TB6SaASG6c2MLXnObMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaJzNUGEgyjlVmGCGZ2u8Og90QaDGDcxmvIFbVIkXMgmiIwXcWJ1pjfEoF6TPrYD5c8AB1KXgayzscWaONt6FC33rB62hDoYVaTJ1ql937w6bdhKqMEwSSk701GD37I3jPR8LO0w39NDBJPLOZYIDXUUGIvFt+9dQ2JRjqG/fEHwBiRzmil1CbZAu5cdRzY71oAnXfqo7MRzDhoZNx1f3LsQw9JrmuNACfkHxbaksLrjstiFj96E6ctFNyxdUhmt0VT/plu44GCu4iQjv9+YmthCZC5WxUljYBWsn/bNFr+g9ZtStj4fTnhRj6bc97qniXLWHRaP9gUp+us7ehim++0dAJCSRo8Bd31c7d53Ndd/pF25HhoY8XmMPCgUorYO4Ik+wzvylFhQ21MYWcEU1adV+XCXjnac2CH7kLpfPebIBz0R5c7QXmvu6yNyMPQw2qJrDdCRcHY+hQ9Vd5C/6tgolLV3ALlUmi/S0yp98QfeCmJ62rq21xGaHjJxs4yHAt9jJVyHHIvSt3HAPlh3CfmieSgCcsewCnYL0s5hOB1sAuOosY//UB1luAd0ZXgAmrRf9zuIPtKGr6RLdVJGGUAt3fQ5Ff8IYCOp9Nj6MM35X7ICOTELLP3WsHudebEiN74dYjAPZ+jkU2qd53IyWUkEijtP/n2qwgeHS6Bunw6koOCLM2Qet3j2VXXEttoUv7fwBR9RqVOkeBa+la8jfM3kJHtYoAklUbpi/0qWf+Uv6AXDr9YGifm0dw8VeEXlQkgAcxm9ncynMgl+v+229un+12fNIyHlH3uNpDIfbTdOf8yjZckGLigY1fx0kFumePBuxC2N0SuRBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G4StGsKjGK8SkHmpdUBjcE",
      "input": {
        "note": "Released the pear near the bowl but I can't tell if it landed inside; retracting the right arm to get an unobstructed overhead view.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01G4StGsKjGK8SkHmpdUBjcE",
      "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]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, -0.02, 1.0302, 1.0866, -0.7746, 0.0006, -0.0799, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9992 right_x=0.3113 right_y=-0.0027 right_z=0.2499 right_yaw=0.0123 right_pitch=-0.1508 right_roll=-0.053 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6342, 7.2137, 1.8046, -0.0513, -0.0659, -0.0171, -0.1709, -2.6735, 7.1453, 1.6679, -0.0904, -0.0122, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a104570dd20f28d6e9de4f2d1afeca337ece6cc96da0b9de7d09834e12e04c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12ff9fcc0e8cf83b052a61639981cf8397c0b829c94b316b0568f34b2f0f395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:98a06834185e3b8253ddaac9edc055036bae297805c0d7b4c2430a096a78792b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.457 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]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2922, -0.3904, 0.231, 0.1463, 0.4444]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=0.0004 left_pitch=-0.05 left_roll=0.0005 left_gripper=0.9992 right_x=0.4552 right_y=0.1212 right_z=0.1762 right_yaw=0.0513 right_pitch=-0.1665 right_roll=-0.0428 right_gripper=0.4444\nstate[joint_eff]: [-0.1436, -1.3744, 6.9949, 1.7314, -0.0562, -0.0659, -0.0122, 0.1846, -9.1692, 9.2376, 1.9121, 0.0952, 0.022, 0.2711]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2911, -0.3946, 0.231, 0.1387, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0005 left_gripper=0.9992 right_x=0.4543 right_y=0.1209 right_z=0.175 right_yaw=0.0552 right_pitch=-0.1717 right_roll=-0.05 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.0872, 7.1863, 1.6874, -0.0513, -0.0366, -0.0122, -0.0889, -8.4171, 6.9812, 1.5556, 0.0366, 0.0904, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, -0.02, 1.0302, 1.0866, -0.7746, 0.0006, -0.0799, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9992 right_x=0.3113 right_y=-0.0027 right_z=0.2499 right_yaw=0.0123 right_pitch=-0.1508 right_roll=-0.053 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6342, 7.2137, 1.8046, -0.0513, -0.0659, -0.0171, -0.1709, -2.6735, 7.1453, 1.6679, -0.0904, -0.0122, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a104570dd20f28d6e9de4f2d1afeca337ece6cc96da0b9de7d09834e12e04c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12ff9fcc0e8cf83b052a61639981cf8397c0b829c94b316b0568f34b2f0f395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98a06834185e3b8253ddaac9edc055036bae297805c0d7b4c2430a096a78792b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BCov82bXfQ6P83dbUKDQv6",
      "input": {
        "note": "The pear fell just short of the blue bowl and is sitting on the table against its near rim. Hovering over the pear again to re-grasp it, this time I'll lower it into the bowl instead of dropping.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.135,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01BCov82bXfQ6P83dbUKDQv6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4397, -0.0139, -0.0307, 0.9992, 0.4168, 1.6005, 1.0969, -0.3538, 0.2966, 0.1844, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1667 left_yaw=0.0005 left_pitch=-0.0702 left_roll=0.0009 left_gripper=0.9992 right_x=0.4107 right_y=0.1293 right_z=0.1296 right_yaw=0.0472 right_pitch=-0.2431 right_roll=-0.0931 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.347, 7.0359, 1.7705, -0.0757, -0.0317, -0.0122, 0.1299, -8.0752, 9.0325, 1.6337, 0.2564, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9837667ddd8c0d31fa9f991d4512012cc01bfb9f4495c8405339ca99a957d4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2356f9ec66a6171cbb777625c8835a29b62a34a521909e90739de047a2bde5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:956e17a79fd1c5ac81d7083e8bb19ed5589798318a59c81ea69f73887dbf9c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 2.698 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]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9992, 0.3386, 1.6608, 1.2911, -0.3946, 0.231, 0.1387, 0.9956]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0004 left_pitch=-0.0503 left_roll=0.0005 left_gripper=0.9992 right_x=0.4543 right_y=0.1209 right_z=0.175 right_yaw=0.0552 right_pitch=-0.1717 right_roll=-0.05 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.0872, 7.1863, 1.6874, -0.0513, -0.0366, -0.0122, -0.0889, -8.4171, 6.9812, 1.5556, 0.0366, 0.0904, 0.0855]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, -0.02, 1.0302, 1.0866, -0.7746, 0.0006, -0.0799, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9992 right_x=0.3113 right_y=-0.0027 right_z=0.2499 right_yaw=0.0123 right_pitch=-0.1508 right_roll=-0.053 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6342, 7.2137, 1.8046, -0.0513, -0.0659, -0.0171, -0.1709, -2.6735, 7.1453, 1.6679, -0.0904, -0.0122, 0.0611]",
      "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]: [-0.0219, 0.8135, 0.6132, -0.4397, -0.0139, -0.0307, 0.9992, 0.4168, 1.6005, 1.0969, -0.3538, 0.2966, 0.1844, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1667 left_yaw=0.0005 left_pitch=-0.0702 left_roll=0.0009 left_gripper=0.9992 right_x=0.4107 right_y=0.1293 right_z=0.1296 right_yaw=0.0472 right_pitch=-0.2431 right_roll=-0.0931 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.347, 7.0359, 1.7705, -0.0757, -0.0317, -0.0122, 0.1299, -8.0752, 9.0325, 1.6337, 0.2564, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9837667ddd8c0d31fa9f991d4512012cc01bfb9f4495c8405339ca99a957d4d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2356f9ec66a6171cbb777625c8835a29b62a34a521909e90739de047a2bde5b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 67):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:956e17a79fd1c5ac81d7083e8bb19ed5589798318a59c81ea69f73887dbf9c82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wMKjgEIEhgCKkA+P1rlO4JEAHUAQn/vkoCFtfRtyS2G5Ao5+O62yI51Otn/VUgby7zpizLJiiAT2VNpns1t4Fx9RAmSJsuvL87iMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+JzNUGEgx2e8fWPVnEou0FW1IaDEtEHZjqwDCPy0E+bCIwz5ofk9IFDqRPtVhmqylyGugdb+5KJMYYN8SL4TULI4lGsbBbsXtFWshH/9sWnCosKokCzO6j3B3Kj9WzMs0nk1p6jbqgwL6e2kTw+1UrM6QW2P/tTVsLbWQFgdSEdqKtgZb98trIA+lc6iy/WTKISKyCPPpZQw5u+1oTbiO6vJIIFs6v9zHyLV6lmZkJhhDg2rHUmT2gHShXBpJk+FJzR8ZEZ2dKpUbrhhxhYojHQBVjjsTkNstqHfm8QkkATJ3E2LdYVQnuM+sEtucatF4vWhwKYtBt8DFR7bGRskDeoVBlE6xVFttO5nFVRz9vy5xgyjWq3NTgmTctAg3idxLCxj5I7WldJNHZ0tQaK37oQV3jWGCAG9z6pHIiKANRq5WzPoB1Goc/0en5wgp6P/2ljmvi38MrqS/yojd15xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01869xRC1kCdxBt89sRkLcwG",
      "input": {
        "note": "Wrist view shows the pear centred on the jaw column at the bottom edge, with the blue bowl beyond it. Descending to pear mid-height for the grasp.",
        "targets": {
          "right_x": 0.425,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01869xRC1kCdxBt89sRkLcwG",
      "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]: [-0.0219, 0.8135, 0.6132, -0.4465, -0.0139, -0.0307, 0.9992, 0.4019, 1.776, 0.9501, -0.0956, 0.2844, 0.1726, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0005 left_pitch=-0.077 left_roll=0.0011 left_gripper=0.9992 right_x=0.4127 right_y=0.1255 right_z=0.0403 right_yaw=0.0427 right_pitch=-0.3069 right_roll=-0.1158 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2103, 7.159, 1.7118, -0.0415, -0.0366, -0.0171, -0.5402, -8.1299, 5.559, 1.6532, 0.1441, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73000b6c3c32d3d628d1d7ccdc9f519bb955726e58bc38ebe7b170e656c2ed1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5d64649f4081763b81dd511225d58f947e700e06a287021a58da3fc8280769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:313f6d23af1ecd564db6777df8088d08347f6010eb46172c4661c697101207fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 22.81 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]: [-0.0219, 0.8124, 0.6132, -0.4309, -0.0139, -0.0307, 0.9992, -0.02, 1.0302, 1.0866, -0.7746, 0.0006, -0.0799, 0.9963]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1688 left_yaw=0.0005 left_pitch=-0.0603 left_roll=0.0007 left_gripper=0.9992 right_x=0.3113 right_y=-0.0027 right_z=0.2499 right_yaw=0.0123 right_pitch=-0.1508 right_roll=-0.053 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.6342, 7.2137, 1.8046, -0.0513, -0.0659, -0.0171, -0.1709, -2.6735, 7.1453, 1.6679, -0.0904, -0.0122, 0.0611]",
      "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]: [-0.0219, 0.8135, 0.6132, -0.4397, -0.0139, -0.0307, 0.9992, 0.4168, 1.6005, 1.0969, -0.3538, 0.2966, 0.1844, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1667 left_yaw=0.0005 left_pitch=-0.0702 left_roll=0.0009 left_gripper=0.9992 right_x=0.4107 right_y=0.1293 right_z=0.1296 right_yaw=0.0472 right_pitch=-0.2431 right_roll=-0.0931 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.347, 7.0359, 1.7705, -0.0757, -0.0317, -0.0122, 0.1299, -8.0752, 9.0325, 1.6337, 0.2564, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4465, -0.0139, -0.0307, 0.9992, 0.4019, 1.776, 0.9501, -0.0956, 0.2844, 0.1726, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0005 left_pitch=-0.077 left_roll=0.0011 left_gripper=0.9992 right_x=0.4127 right_y=0.1255 right_z=0.0403 right_yaw=0.0427 right_pitch=-0.3069 right_roll=-0.1158 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2103, 7.159, 1.7118, -0.0415, -0.0366, -0.0171, -0.5402, -8.1299, 5.559, 1.6532, 0.1441, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73000b6c3c32d3d628d1d7ccdc9f519bb955726e58bc38ebe7b170e656c2ed1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a5d64649f4081763b81dd511225d58f947e700e06a287021a58da3fc8280769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:313f6d23af1ecd564db6777df8088d08347f6010eb46172c4661c697101207fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngIKjgEIEhgCKkAPAQyw2oXkJjneU4/d+YXBpn9lPsdQnkBZtsEOuljOETHlgSRvFMvOYQ0vTUTMF6pQh8SiWNsYdzM2DsGQnYbUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbOJzNUGEgzn7QQtdlo25C4T2HkaDNr8MmpsRZfZs8/hvCIwsLuo0Ydfw6jY22Gh25UczFf6L2SYgAsXdRlZ+HYnztUbCHF9encXN8qE+1Uno/hWKj10vxsodM610Srt7Hva1/T1QfRs2UVUC2QEs1noOAOYC9rgWvbRGcwbbkFPvJTOXBGqFi6qRFkZlgi7lV4tGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PvdFakB7X2zv8AAAx5m5qL",
      "input": {
        "note": "Pear is between the jaw tips at table level; closing to grasp.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PvdFakB7X2zv8AAAx5m5qL",
      "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]: [-0.0219, 0.8135, 0.6132, -0.4507, -0.0139, -0.0307, 0.9992, 0.4038, 1.7725, 0.9527, -0.0456, 0.2802, 0.168, 0.2783]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0812 left_roll=0.0012 left_gripper=0.9992 right_x=0.4219 right_y=0.1311 right_z=0.05 right_yaw=0.0563 right_pitch=-0.2557 right_roll=-0.0956 right_gripper=0.2783\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.7216, -0.0317, -0.0659, -0.0122, -0.0889, -8.2256, 5.7641, 0.9158, 0.1392, 0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c354c7078c92fc68aa6dbee218b10e95ce046cb9b75db93c496a06b7a1cfda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b907b12d1bb786320b87c4992a1a220a20b410532515c3be166f743a2985e3a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06bfc451ee9e5ed26abc0a19a1f78a5372680404416ebbcbeb70ea11670b558a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 5.836 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]: [-0.0219, 0.8135, 0.6132, -0.4397, -0.0139, -0.0307, 0.9992, 0.4168, 1.6005, 1.0969, -0.3538, 0.2966, 0.1844, 0.9963]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1667 left_yaw=0.0005 left_pitch=-0.0702 left_roll=0.0009 left_gripper=0.9992 right_x=0.4107 right_y=0.1293 right_z=0.1296 right_yaw=0.0472 right_pitch=-0.2431 right_roll=-0.0931 right_gripper=0.9963\nstate[joint_eff]: [-0.1299, -1.347, 7.0359, 1.7705, -0.0757, -0.0317, -0.0122, 0.1299, -8.0752, 9.0325, 1.6337, 0.2564, 0.1636, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4465, -0.0139, -0.0307, 0.9992, 0.4019, 1.776, 0.9501, -0.0956, 0.2844, 0.1726, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0005 left_pitch=-0.077 left_roll=0.0011 left_gripper=0.9992 right_x=0.4127 right_y=0.1255 right_z=0.0403 right_yaw=0.0427 right_pitch=-0.3069 right_roll=-0.1158 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2103, 7.159, 1.7118, -0.0415, -0.0366, -0.0171, -0.5402, -8.1299, 5.559, 1.6532, 0.1441, -0.0073, -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 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]: [-0.0219, 0.8135, 0.6132, -0.4507, -0.0139, -0.0307, 0.9992, 0.4038, 1.7725, 0.9527, -0.0456, 0.2802, 0.168, 0.2783]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0812 left_roll=0.0012 left_gripper=0.9992 right_x=0.4219 right_y=0.1311 right_z=0.05 right_yaw=0.0563 right_pitch=-0.2557 right_roll=-0.0956 right_gripper=0.2783\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.7216, -0.0317, -0.0659, -0.0122, -0.0889, -8.2256, 5.7641, 0.9158, 0.1392, 0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6c354c7078c92fc68aa6dbee218b10e95ce046cb9b75db93c496a06b7a1cfda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b907b12d1bb786320b87c4992a1a220a20b410532515c3be166f743a2985e3a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 83):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06bfc451ee9e5ed26abc0a19a1f78a5372680404416ebbcbeb70ea11670b558a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0166eRPJ9uzMoZkFq8X3VUL4",
      "input": {
        "note": "Pear grasped (gripper 0.28). Lifting high and moving further forward, since last time the pear fell short of the bowl, which appears to be farther out than I estimated.",
        "targets": {
          "right_x": 0.52,
          "right_y": 0.12,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_0166eRPJ9uzMoZkFq8X3VUL4",
      "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]: [-0.0219, 0.815, 0.6132, -0.4625, -0.0139, -0.0307, 0.9992, 0.2951, 1.9984, 2.0304, -0.8703, 0.2039, 0.0696, 0.2805]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1618 left_yaw=0.0005 left_pitch=-0.0946 left_roll=0.0015 left_gripper=0.9992 right_x=0.5213 right_y=0.1248 right_z=0.2395 right_yaw=0.0685 right_pitch=-0.2508 right_roll=-0.1001 right_gripper=0.2805\nstate[joint_eff]: [-0.2667, -1.4427, 6.9675, 1.7558, -0.0562, -0.0708, -0.0122, -0.7179, -11.0701, 8.0342, 1.1062, 0.0073, 0.1441, 0.5055]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef8b06ba692337aece40bcc5f611111887442cd5bc77546ea0d2802b647df3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565a1658eb18e312af457791ab850e216a1fd0115e2d1630fd71ebfa7870dc27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd3f50c184b3a66bf95bd2fd7fa5154c6ca7c6127dbefb20ce69c3d801e668d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 5.264 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]: [-0.0219, 0.8135, 0.6132, -0.4465, -0.0139, -0.0307, 0.9992, 0.4019, 1.776, 0.9501, -0.0956, 0.2844, 0.1726, 0.9964]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1654 left_yaw=0.0005 left_pitch=-0.077 left_roll=0.0011 left_gripper=0.9992 right_x=0.4127 right_y=0.1255 right_z=0.0403 right_yaw=0.0427 right_pitch=-0.3069 right_roll=-0.1158 right_gripper=0.9964\nstate[joint_eff]: [-0.1436, -1.2103, 7.159, 1.7118, -0.0415, -0.0366, -0.0171, -0.5402, -8.1299, 5.559, 1.6532, 0.1441, -0.0073, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8135, 0.6132, -0.4507, -0.0139, -0.0307, 0.9992, 0.4038, 1.7725, 0.9527, -0.0456, 0.2802, 0.168, 0.2783]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0812 left_roll=0.0012 left_gripper=0.9992 right_x=0.4219 right_y=0.1311 right_z=0.05 right_yaw=0.0563 right_pitch=-0.2557 right_roll=-0.0956 right_gripper=0.2783\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.7216, -0.0317, -0.0659, -0.0122, -0.0889, -8.2256, 5.7641, 0.9158, 0.1392, 0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.815, 0.6132, -0.4625, -0.0139, -0.0307, 0.9992, 0.2951, 1.9984, 2.0304, -0.8703, 0.2039, 0.0696, 0.2805]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1618 left_yaw=0.0005 left_pitch=-0.0946 left_roll=0.0015 left_gripper=0.9992 right_x=0.5213 right_y=0.1248 right_z=0.2395 right_yaw=0.0685 right_pitch=-0.2508 right_roll=-0.1001 right_gripper=0.2805\nstate[joint_eff]: [-0.2667, -1.4427, 6.9675, 1.7558, -0.0562, -0.0708, -0.0122, -0.7179, -11.0701, 8.0342, 1.1062, 0.0073, 0.1441, 0.5055]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ef8b06ba692337aece40bcc5f611111887442cd5bc77546ea0d2802b647df3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:565a1658eb18e312af457791ab850e216a1fd0115e2d1630fd71ebfa7870dc27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd3f50c184b3a66bf95bd2fd7fa5154c6ca7c6127dbefb20ce69c3d801e668d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISygUKjgEIEhgCKkDGYAYLERgxIdC+r4EOYINmRtXDghTUaavAvOkJdHxAUv7upeaqE9PPVvS8Gznej3EupSDolmIZpuYCKx7yoEkRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdKJzNUGEgwW9AsAohOvkCItSBsaDAdZvtGnp6VKEgICeyIw68mP4HYknIDP4CWKu7c7gL+0PIJIi7k4RxVG4ig2yIQRPCQJnM9P25VEYo4aekj5KugDxgbzV3Je1M9Jyvld+Zvm27elc3WhSHkvfU7+r/Ee0jo59j2Ug83ubxbqvWFS8zPC16bls5nGIUduhRZXm2VsEA6ujWRBLl2uraZ0WRULS2+klzWh8Sd3vD6aPWQnDVbEVGTHG73nQiI97Q/Fv9MDxLF8YrzKtYhHEXN51LNqdsQo+p3+LFpeD+BISF3o6wZU1OJ/95orkAju00q39KpSCFaKrUKaUsjJNtwN4BqZ5anaeYnihEqafkP7GWUC1ZZ/pbcneAoo6nU13vtafLtpfsXpQxwyGiDQ18eFN4+0gjf4mPCf9sKqoSdCNcCZCxRII4T9+zoiXa53DbbPakxyQtr7XcXC6E/w3VEuKryO2WqRilu14eFHvoJDXh7v3m7RQeWbKizov7tzAElEbgO0iZJDBwBDnINpiXFa0MLYqrZU1KYiC119Ctn++Y5ncF7nPH4CtcIpEmCOHmbEvyqK9zU3+ZjLa0gWLLZ4PvkdOT3m5zC9pH9EO6iLpPhu34n+vLbV74zZJdrg/wbTfETTTOojeOVTAv+OT8oRRf9D9n9uLWQjGkfM6EDidVCXS0YwYsySLEz8QWhPs7+yzmNoh73+An5Rm4wvAwB4W72kiBUonJaNAlTcdyFBAA0lztzOSPUmr0/J7QUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0161mHpTitEJrEgTQxE56rD5",
      "input": {
        "note": "Wrist view now shows the blue bowl directly beneath the jaws with the pear over its opening; lowering into the bowl before releasing.",
        "targets": {
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0161mHpTitEJrEgTQxE56rD5",
      "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]: [-0.0219, 0.8177, 0.6132, -0.4683, -0.0139, -0.0307, 0.9992, 0.2924, 1.9842, 1.5715, -0.5171, 0.2043, 0.0669, 0.2823]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.16 left_yaw=0.0005 left_pitch=-0.103 left_roll=0.0017 left_gripper=0.9992 right_x=0.5071 right_y=0.119 right_z=0.1158 right_yaw=0.0607 right_pitch=-0.3401 right_roll=-0.124 right_gripper=0.2823\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7802, -0.0659, -0.0317, -0.0122, 0.1162, -11.7538, 7.0496, 1.8339, 0.0269, -0.0171, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a4cb923d44afb87f66e881c4b9058347705ac550ed9045c98be2fcd62d8206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be5568b78a1ccf217da58b6b60015778c19fdc0a1d3d957a41b314e45ab141c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f6c8966dc1399f3283bd5dd4702c417f3685201352d6719c1aadf9ce257fd6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 2.645 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]: [-0.0219, 0.8135, 0.6132, -0.4507, -0.0139, -0.0307, 0.9992, 0.4038, 1.7725, 0.9527, -0.0456, 0.2802, 0.168, 0.2783]\nstate[eef_state]: left_x=0.2871 left_y=-0.0003 left_z=0.1646 left_yaw=0.0005 left_pitch=-0.0812 left_roll=0.0012 left_gripper=0.9992 right_x=0.4219 right_y=0.1311 right_z=0.05 right_yaw=0.0563 right_pitch=-0.2557 right_roll=-0.0956 right_gripper=0.2783\nstate[joint_eff]: [-0.1709, -1.3333, 6.9812, 1.7216, -0.0317, -0.0659, -0.0122, -0.0889, -8.2256, 5.7641, 0.9158, 0.1392, 0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.815, 0.6132, -0.4625, -0.0139, -0.0307, 0.9992, 0.2951, 1.9984, 2.0304, -0.8703, 0.2039, 0.0696, 0.2805]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1618 left_yaw=0.0005 left_pitch=-0.0946 left_roll=0.0015 left_gripper=0.9992 right_x=0.5213 right_y=0.1248 right_z=0.2395 right_yaw=0.0685 right_pitch=-0.2508 right_roll=-0.1001 right_gripper=0.2805\nstate[joint_eff]: [-0.2667, -1.4427, 6.9675, 1.7558, -0.0562, -0.0708, -0.0122, -0.7179, -11.0701, 8.0342, 1.1062, 0.0073, 0.1441, 0.5055]\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 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]: [-0.0219, 0.8177, 0.6132, -0.4683, -0.0139, -0.0307, 0.9992, 0.2924, 1.9842, 1.5715, -0.5171, 0.2043, 0.0669, 0.2823]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.16 left_yaw=0.0005 left_pitch=-0.103 left_roll=0.0017 left_gripper=0.9992 right_x=0.5071 right_y=0.119 right_z=0.1158 right_yaw=0.0607 right_pitch=-0.3401 right_roll=-0.124 right_gripper=0.2823\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7802, -0.0659, -0.0317, -0.0122, 0.1162, -11.7538, 7.0496, 1.8339, 0.0269, -0.0171, 0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70a4cb923d44afb87f66e881c4b9058347705ac550ed9045c98be2fcd62d8206",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4be5568b78a1ccf217da58b6b60015778c19fdc0a1d3d957a41b314e45ab141c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6c8966dc1399f3283bd5dd4702c417f3685201352d6719c1aadf9ce257fd6e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgUKjgEIEhgCKkCEM1mshUnpuFxZkQuw214lfYbbfwpj07GBUWwquCz/xU3KT62LT5qLKSx9oi33lZp+IRJ5vaJdfXxT8BkSd+e3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdeJzNUGEgxYsemzCKa9VJt1VI0aDFohA8X4rwUJJmxb1yIwePPXipgRx+DD4zv+U6IY3vXl9eQNgY2DZ6PH1VFMnKp75GemD42wElHkJplx5mH4KrgD0S7N+n6odXFFQy+mswpn9i918Uys+1lPXR6nvgkqhY+sLC6TEPw58PUy8/8LDun+fcKd1m0JuMJKLNE9c9bQL4IlQMvYRjHz7kioomiLjltRFPfWpbGZ4Z+2zYdPU7Fc/+Ed02E/d/U+B7usr16iHbwBDHtQTLuuXFwJ7+JXBhnD7RMjvNOcAWlbU+KF+tCcXBuFv9J/4gKjpCrQMT52u2zsJ6RPoH/vJkxGnHOOirouNX/+yvwdWJdc8OwJsHntCuJM1l4fx4iKN/tmdcpkKhccpv2nQ0KPN4pLJ5LRlialby3fF8PX2nijIp+X6uyqzo3GxxUKXbdxt55ltp7FZbm9Ff1RdpXrQRqXW/zuiNyVNtMdYosHM/NwfyOe+1Zaq11luevqOWRJ3Q0uIKUSFRayIauVetitmFjpJ8ZgTfr9fzD6i6JE9S4I2koIZXfq4Lde/5ttmcG+52aV7Nu+9Nm9UevRAGvHrvde6cjNFbN9rjR9hBaJkXhg7P47yxMh8QqQWt69IR1ToNdhKaZ9LjGOvILUZStY/nIfdTax/ho/Cvn+mF5+nGxr56cd5Hv89RzVQSsvFf0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0127PHbRRgzp7T9CeVr5YBq5",
      "input": {
        "note": "In the wrist view the bowl interior sits to the right of the pear, so shifting ~3 cm to the arm's right to centre the pear over the bowl.",
        "targets": {
          "right_x": 0.515,
          "right_y": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0127PHbRRgzp7T9CeVr5YBq5",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4713, -0.0139, -0.0307, 0.9992, 0.2401, 1.9842, 1.5539, -0.5056, 0.1696, 0.0284, 0.2838]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.159 left_yaw=0.0005 left_pitch=-0.1076 left_roll=0.0018 left_gripper=0.9992 right_x=0.51 right_y=0.0979 right_z=0.1096 right_yaw=0.0604 right_pitch=-0.3541 right_roll=-0.1213 right_gripper=0.2838\nstate[joint_eff]: [-0.0068, -1.4154, 6.9538, 1.6825, -0.0513, -0.0317, -0.0171, -0.4034, -11.2615, 7.665, 1.5556, 0.0806, -0.0464, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e09827aa3d617fc5c61bf873c07da45695bef10c289a43bea2684cca3db92756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d47ea828fe9bbd0f68409c09f6849b7a97e5db612635877d901c5e9928ab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3394af758f0bbc52d53890b2de24aeaaa104288c83e3d1b632528cd0b9ca1f77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 9.259 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]: [-0.0219, 0.815, 0.6132, -0.4625, -0.0139, -0.0307, 0.9992, 0.2951, 1.9984, 2.0304, -0.8703, 0.2039, 0.0696, 0.2805]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1618 left_yaw=0.0005 left_pitch=-0.0946 left_roll=0.0015 left_gripper=0.9992 right_x=0.5213 right_y=0.1248 right_z=0.2395 right_yaw=0.0685 right_pitch=-0.2508 right_roll=-0.1001 right_gripper=0.2805\nstate[joint_eff]: [-0.2667, -1.4427, 6.9675, 1.7558, -0.0562, -0.0708, -0.0122, -0.7179, -11.0701, 8.0342, 1.1062, 0.0073, 0.1441, 0.5055]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0219, 0.8177, 0.6132, -0.4683, -0.0139, -0.0307, 0.9992, 0.2924, 1.9842, 1.5715, -0.5171, 0.2043, 0.0669, 0.2823]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.16 left_yaw=0.0005 left_pitch=-0.103 left_roll=0.0017 left_gripper=0.9992 right_x=0.5071 right_y=0.119 right_z=0.1158 right_yaw=0.0607 right_pitch=-0.3401 right_roll=-0.124 right_gripper=0.2823\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7802, -0.0659, -0.0317, -0.0122, 0.1162, -11.7538, 7.0496, 1.8339, 0.0269, -0.0171, 0.188]",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4713, -0.0139, -0.0307, 0.9992, 0.2401, 1.9842, 1.5539, -0.5056, 0.1696, 0.0284, 0.2838]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.159 left_yaw=0.0005 left_pitch=-0.1076 left_roll=0.0018 left_gripper=0.9992 right_x=0.51 right_y=0.0979 right_z=0.1096 right_yaw=0.0604 right_pitch=-0.3541 right_roll=-0.1213 right_gripper=0.2838\nstate[joint_eff]: [-0.0068, -1.4154, 6.9538, 1.6825, -0.0513, -0.0317, -0.0171, -0.4034, -11.2615, 7.665, 1.5556, 0.0806, -0.0464, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e09827aa3d617fc5c61bf873c07da45695bef10c289a43bea2684cca3db92756",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33d47ea828fe9bbd0f68409c09f6849b7a97e5db612635877d901c5e9928ab24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 107):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3394af758f0bbc52d53890b2de24aeaaa104288c83e3d1b632528cd0b9ca1f77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQIKjgEIEhgCKkCafvYezDjQrA+JI0iRBV/FufWre9vfCl4MNVOYO4vozwvSXwvnSrm65G6oN0A134cPGStG5zH4IGgxnsKce4UFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAduJzNUGEgxexddx6vg9lEQ8A4waDAd/EtcSB+WX3O7YUiIwPkw0z0WXfwr9E0Bszfgy9SZEo+AbTniLrrw1A68hufRG5EROVl2nfgiXNNNK9JcTKkhuodvl5tp8BAZ0Oslt135GFMgEAxK/2t4tE4s7fDwvOGO4NR2SHW1TllB70rWALUvp6zGJ8KDEpQtwxTL9MIDi/yysB3xSaQEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012eTsKDi9RaN26B3ntrT7HW",
      "input": {
        "note": "Pear is now centred over the blue bowl's interior; opening the gripper to release it into the bowl.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_012eTsKDi9RaN26B3ntrT7HW",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0139, -0.0307, 0.9992, 0.2405, 1.9842, 1.5536, -0.5205, 0.1623, 0.017, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1582 left_yaw=0.0006 left_pitch=-0.1121 left_roll=0.0019 left_gripper=0.9992 right_x=0.5068 right_y=0.0986 right_z=0.1072 right_yaw=0.0728 right_pitch=-0.3709 right_roll=-0.1252 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.0735, 7.0632, 1.6728, -0.0269, -0.0317, -0.0122, -0.1846, -10.906, 6.8308, 1.4774, 0.1001, 0.1587, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00e356733e2b3567d89bed6316c536b428fefc9496c46c474ca308b83ad1f475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cbf0d9c63402a130ea0f1917a41b466a60e56ee4097d1ec50bd5c22282edf94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b7f742da9684bc2f8aac1bb8564d5b75f0e4f9be02e314d6e8260264330540a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 6.699 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]: [-0.0219, 0.8177, 0.6132, -0.4683, -0.0139, -0.0307, 0.9992, 0.2924, 1.9842, 1.5715, -0.5171, 0.2043, 0.0669, 0.2823]\nstate[eef_state]: left_x=0.2847 left_y=-0.0002 left_z=0.16 left_yaw=0.0005 left_pitch=-0.103 left_roll=0.0017 left_gripper=0.9992 right_x=0.5071 right_y=0.119 right_z=0.1158 right_yaw=0.0607 right_pitch=-0.3401 right_roll=-0.124 right_gripper=0.2823\nstate[joint_eff]: [-0.0205, -1.2513, 6.9675, 1.7802, -0.0659, -0.0317, -0.0122, 0.1162, -11.7538, 7.0496, 1.8339, 0.0269, -0.0171, 0.188]",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4713, -0.0139, -0.0307, 0.9992, 0.2401, 1.9842, 1.5539, -0.5056, 0.1696, 0.0284, 0.2838]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.159 left_yaw=0.0005 left_pitch=-0.1076 left_roll=0.0018 left_gripper=0.9992 right_x=0.51 right_y=0.0979 right_z=0.1096 right_yaw=0.0604 right_pitch=-0.3541 right_roll=-0.1213 right_gripper=0.2838\nstate[joint_eff]: [-0.0068, -1.4154, 6.9538, 1.6825, -0.0513, -0.0317, -0.0171, -0.4034, -11.2615, 7.665, 1.5556, 0.0806, -0.0464, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0139, -0.0307, 0.9992, 0.2405, 1.9842, 1.5536, -0.5205, 0.1623, 0.017, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1582 left_yaw=0.0006 left_pitch=-0.1121 left_roll=0.0019 left_gripper=0.9992 right_x=0.5068 right_y=0.0986 right_z=0.1072 right_yaw=0.0728 right_pitch=-0.3709 right_roll=-0.1252 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.0735, 7.0632, 1.6728, -0.0269, -0.0317, -0.0122, -0.1846, -10.906, 6.8308, 1.4774, 0.1001, 0.1587, 0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00e356733e2b3567d89bed6316c536b428fefc9496c46c474ca308b83ad1f475",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cbf0d9c63402a130ea0f1917a41b466a60e56ee4097d1ec50bd5c22282edf94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b7f742da9684bc2f8aac1bb8564d5b75f0e4f9be02e314d6e8260264330540a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiAkKjgEIEhgCKkAjQLtnjlnN9GvLAfiJ8kSJ+CryQjSW4/bzIwSucJtGdkkgpoqowrqhIQx4ZPOoG3WpLatbhYoXaqFVkX8LqK1HMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeSJzNUGEgwkZs25/ZhpTRVa8mcaDMJhKd/STy1TdDh2lSIwqJ3yvMkt8P+EjxnhC/mKEdHc36dKLtZIfiBBKMaadYjfv9adwzt2yWyAw2kN8p9cKqYH7HRuMMzpRc4/pSskn9zmtV5dfcP65VKtlAf74SfBfQRwr34/uruYGJFK4+XEfWhTXQKHfFHNsAqfYLq49K9y1HlrRMVxdWyjLC3LHQP6mXOaoE1XVkJk2Dl1W3IRzBPaXcjHPNopWTuxoq/yKWspIJJkVZaYT750XatSZKAvKE8CGEBA5VtpqewpfVeQs4ympxCT8Q+Qq3KDhyz1ToYmgafEXEw3TTHeKd6FvqtUnnZkqzXW0RQAKShFWuhP9nspeFqRNMQns91K79RlegQ3luCaNfX/YOqRob/v1h+vfdMdS3nDZBgLz12zp/fNG0d6ooDX9tZcQWwivCBO/9gA3gilqQv5dGWGafhR+LxV627VQFZbCbWLAnYBR54dTlYqZe058H7ht3vanG9FYuOBMjFU0jM/vNoHz/3MiIPcg1Qa8vxg8S4fl0I7Qb3OwobMVSUGq2OSclRGr5vXM01tQYwiEulQ1/rSgVfQ4thS2dZJAJHlgJdAzTZ620ZJ5EFQDmp7LYX87QKQQsqfOUKhMOETkMlRtn4Mse98FeS6vePNEPCl0oD7178k0mqBAmyFjBcgZ16Z6GmhkQ179vpogb0X06g6150hXQX21R3ayfJIlDiiW648ikzjX3AzzF02t5jg1VQH1eP0NIR5mNwr37Rsxgt7RVswSUgyPgCNl6AkxWu/L0ra03Ylld3ocqtPfyNREdWEcll7Vlp9M3EvSkLscrUy7LemjG2qs2lH7Fa87Oe9Hb0z1aWf4YETMvpc1gx9h83vvZQL2WU76j2sXZ9KslMZwYmOgp3f4eAAUIe92BYmY2yK9AMwdsgYaVgQaUJGENLaFhY2ZkCKUdCK3LiZQSfNxYx3nzkWClZ12N9nQvj7v+SrtazznFxTdqx1a/auQBNelRgUkGor21g6PdDUEWAsqattpkjph1Y8dP0jlVZRvuJG86fQ9r4jI6M3pYH53GmpmFEanlBXEq4FVOSSzcInNRis4MnZlCZtcrrvaG9sdAiidAzkCDJHqoQlIGvXeHfZ4qWBV9j5x663gOSEveiZq6gWcfYOc+Vm5a+uoIVF/AKh3YvPvkliu+rkgLZy61HqHhl6lpDZKz/knz4Cf7wxVucqIUoTDvQ65c2COfjNl3K9g8bRU4liaJ1iw6UEtYQKCAbNii+4Vef98saoYG2C5FtSQJRX86V1MohSUqngIa3NORBJADA25VIsnvdbnYpF9j49upY3ix5kF7o9bFq4zxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QCwj6uXm1VZYyoUtq8VUCC",
      "input": {
        "note": "Pear is in the blue bowl. Now moving the right arm over to the yellow lemon sitting near the table centre-left for the next pick.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.33,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01QCwj6uXm1VZYyoUtq8VUCC",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.9951, 1.9209, 1.7016, -0.9577, 0.5098, 0.6788, 0.9963]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0006 left_pitch=-0.1125 left_roll=0.0019 left_gripper=0.9992 right_x=0.3136 right_y=0.3314 right_z=0.1583 right_yaw=0.122 right_pitch=-0.3741 right_roll=-0.1127 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.3333, 6.9812, 1.5995, -0.0317, -0.0317, -0.0122, 0.2393, -9.1145, 7.9932, 0.7204, 0.4127, 0.1734, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c673072fee62d500f642b0df8b737da69bd5f256d745a5c74f711a98020ce5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e463ca6bb3fb78a1e9bf6a02b3535a4bcc8e0e006c967f987dbd14934e3d9241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc79f3026967f9c31eb90fdadcb6bf893e6b57c581dafbb85a400b4d672f3f37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 2.993 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]: [-0.0219, 0.8192, 0.6132, -0.4713, -0.0139, -0.0307, 0.9992, 0.2401, 1.9842, 1.5539, -0.5056, 0.1696, 0.0284, 0.2838]\nstate[eef_state]: left_x=0.2843 left_y=-0.0002 left_z=0.159 left_yaw=0.0005 left_pitch=-0.1076 left_roll=0.0018 left_gripper=0.9992 right_x=0.51 right_y=0.0979 right_z=0.1096 right_yaw=0.0604 right_pitch=-0.3541 right_roll=-0.1213 right_gripper=0.2838\nstate[joint_eff]: [-0.0068, -1.4154, 6.9538, 1.6825, -0.0513, -0.0317, -0.0171, -0.4034, -11.2615, 7.665, 1.5556, 0.0806, -0.0464, 0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0139, -0.0307, 0.9992, 0.2405, 1.9842, 1.5536, -0.5205, 0.1623, 0.017, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1582 left_yaw=0.0006 left_pitch=-0.1121 left_roll=0.0019 left_gripper=0.9992 right_x=0.5068 right_y=0.0986 right_z=0.1072 right_yaw=0.0728 right_pitch=-0.3709 right_roll=-0.1252 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.0735, 7.0632, 1.6728, -0.0269, -0.0317, -0.0122, -0.1846, -10.906, 6.8308, 1.4774, 0.1001, 0.1587, 0.1148]",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.9951, 1.9209, 1.7016, -0.9577, 0.5098, 0.6788, 0.9963]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0006 left_pitch=-0.1125 left_roll=0.0019 left_gripper=0.9992 right_x=0.3136 right_y=0.3314 right_z=0.1583 right_yaw=0.122 right_pitch=-0.3741 right_roll=-0.1127 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.3333, 6.9812, 1.5995, -0.0317, -0.0317, -0.0122, 0.2393, -9.1145, 7.9932, 0.7204, 0.4127, 0.1734, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c673072fee62d500f642b0df8b737da69bd5f256d745a5c74f711a98020ce5ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e463ca6bb3fb78a1e9bf6a02b3535a4bcc8e0e006c967f987dbd14934e3d9241",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc79f3026967f9c31eb90fdadcb6bf893e6b57c581dafbb85a400b4d672f3f37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQcKjgEIEhgCKkBwMU2qQ8xSWYWLbejuX8Rvbuh/w+aB7z4A5oQKnDQp3G5bxmNUOjr4cHn75harABoRVlHyQ5IiY94hzaxyWHECMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe2JzNUGEgz3DDYvlghnhmj36w0aDIloXQHUb37Y/3GvVSIw32CmwEdYswwA6jutPQ29wd93G/K4WoumIDL2QX0QhUcmv0I3YLs/NBGknhEzdyVAKq8F5mQ9a4310reXSo+dkE0GmztR5c2e4ffgd9F74ak2P4/e5+B6xkNlL6Oe6ZKI/ZSTFaDAVcqN+QoA5qIxRtc0iuSydjbg8TD1syUoLCeXbymFs/BSrsnU8dbLnXVMNYio02wpNoMdwVKd1sjTQwggrJsOXsYzUYt6kvAQX0NYoQoGur2SqcDJlV9gMKfLjP3CAI/ysb0bhEZ+8wcUyjCV1eGpomwK2n18SfleDk4zGCtYSIq0SyfEVBQ1tw6huSlV7uSfhzY3T0gSE2QX3sqr0BsdxiNBxlG0IuxRvkG8Kj0AKMMtqv/88wFhSn2Zs1VCXl1wpZFMjerOKVDwK6RWwSrI//tqzq9Wv9BdpcnfzFCOFBrDfU4NlLlzXxhVC68C70jykG8CzPFF7zJSXRASnzXW/I2QUkj+qYwXy+LWDbBW0HXhEXj9JW0L5Wu39y85qz7Kpt1WkEUJ2TWqBwupvKeNWcq6v1XVesUhpmqNddy1PxJ+olwzoN0vRli7bG+S4oi5FZPer51Hl5GZxORCkDpPeknjXIRDhPmNr7XVlqCcsOpR6QQP4+QjoGKzu32JvDUOGM6afH7oXeeZ/tamKuXvpjY9x9+8Y4zPlwq1w/McDhuQ6l+J842ud9CpkLsR1Z/Hkob5rRkqof+Op0vXM0B/VAtjTLsgl/2IujhK3njnDYhPqYmkdp1BumiKjxQLsFNRyvbrOhRcrrh/yFCUUHFkSSn/w0dF5wAVMOIJKF7ImRDbGlyYmZNpvt1Rr0DM0/Pqo03r5pzAT4vIloGJPA+g+zd1cX+SNuMwfHtObU169kptkvvCoCWDkqVVW1NRx9OCzb80RUsRKVt5oUSOkml2JpKzKO+usT+X8VWKRVgbGU4l1mfaKPyykEFqYPNqOkWcdh+lpCddrhMVWWujGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0149n8jnfTKLsD2TwkeSjfL9",
      "input": {
        "note": "Lemon is centred on the jaw column at the bottom of the wrist view; descending to table level to grasp it.",
        "targets": {
          "right_x": 0.325,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0149n8jnfTKLsD2TwkeSjfL9",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4911, -0.0139, -0.0307, 0.9992, 0.9726, 2.0163, 1.3842, -0.5674, 0.4984, 0.6617, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1335 left_roll=0.0024 left_gripper=0.9992 right_x=0.3194 right_y=0.3251 right_z=0.0441 right_yaw=0.1095 right_pitch=-0.3978 right_roll=-0.1345 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.812, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122, -0.4034, -9.7026, 5.6547, 0.9988, 0.2906, -0.1245, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a33d459bfccae3fa5cbeefab55b0ed0e5e7b46abde36cd85d6c2d11d926e8cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d252e5338f742f190115c203480dd18537b1724e2a0ec1461aaa7e2d541ebc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:78bafbed84b882812b94f62aa8406d7f259651ae5ebc211dbd9d90a5e77bc1a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.799 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]: [-0.0219, 0.8192, 0.6132, -0.4759, -0.0139, -0.0307, 0.9992, 0.2405, 1.9842, 1.5536, -0.5205, 0.1623, 0.017, 0.9957]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1582 left_yaw=0.0006 left_pitch=-0.1121 left_roll=0.0019 left_gripper=0.9992 right_x=0.5068 right_y=0.0986 right_z=0.1072 right_yaw=0.0728 right_pitch=-0.3709 right_roll=-0.1252 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.0735, 7.0632, 1.6728, -0.0269, -0.0317, -0.0122, -0.1846, -10.906, 6.8308, 1.4774, 0.1001, 0.1587, 0.1148]",
      "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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.9951, 1.9209, 1.7016, -0.9577, 0.5098, 0.6788, 0.9963]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0006 left_pitch=-0.1125 left_roll=0.0019 left_gripper=0.9992 right_x=0.3136 right_y=0.3314 right_z=0.1583 right_yaw=0.122 right_pitch=-0.3741 right_roll=-0.1127 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.3333, 6.9812, 1.5995, -0.0317, -0.0317, -0.0122, 0.2393, -9.1145, 7.9932, 0.7204, 0.4127, 0.1734, 0.0513]",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4911, -0.0139, -0.0307, 0.9992, 0.9726, 2.0163, 1.3842, -0.5674, 0.4984, 0.6617, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1335 left_roll=0.0024 left_gripper=0.9992 right_x=0.3194 right_y=0.3251 right_z=0.0441 right_yaw=0.1095 right_pitch=-0.3978 right_roll=-0.1345 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.812, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122, -0.4034, -9.7026, 5.6547, 0.9988, 0.2906, -0.1245, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a33d459bfccae3fa5cbeefab55b0ed0e5e7b46abde36cd85d6c2d11d926e8cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d252e5338f742f190115c203480dd18537b1724e2a0ec1461aaa7e2d541ebc41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78bafbed84b882812b94f62aa8406d7f259651ae5ebc211dbd9d90a5e77bc1a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gIKjgEIEhgCKkDPaIwxueUvmHoYrtXs2eVSO6sogt1tXHOOcE1edm1zm6NT0WLQDc3VZybAhaqkn17NS8MyQdWqtYxYUNF0MssaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfGJzNUGEgz8xq3ee6Nww3Z0JaMaDE+07hUChLE6O7ooMyIw6M3s9LgPTAj2r0eU9LeqqT6YOU5qt7s/Z7tmK6PFb3noP4jCta1XQThFB9X58OG+Knl/y9tDDwsAor1Ei0o3vg/o/LetDMOkghCQ+nuE1B2pWns4F//Z3tq8x6C19mEX5ndi/ipJik8ABL4L9NJadNA+1NsUSDIIZpMBNxfirkHIV3cbgdRlVNnjtpcYIq1wdV7e5Qo8aEU3rFto6NsdwMZNMswlVU9VAE/sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019SAcrPEptMw8ignDdM4kr4",
      "input": {
        "note": "Lemon sits between the jaw tips; closing to grasp it.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019SAcrPEptMw8ignDdM4kr4",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4915, -0.0139, -0.0311, 0.9992, 0.9722, 2.0441, 1.3647, -0.5694, 0.4931, 0.654, 0.0543]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0021 left_gripper=0.9992 right_x=0.314 right_y=0.3184 right_z=0.0258 right_yaw=0.1002 right_pitch=-0.4341 right_roll=-0.1767 right_gripper=0.0543\nstate[joint_eff]: [0.0205, -1.1966, 6.9128, 1.619, -0.0562, -0.0757, -0.0122, -0.1573, -12.7658, 7.5282, 0.8571, 0.2955, 0.0611, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74196609a0c4f8118120da8a1afa934d7e44f6918a4f6284ef6d0751e9418ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd65bde891c86752f188df8babbe6571bb5762f0c214d7ca1851d21011ce1d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:281a3b0efba1b73ea0227fa0dfd07629b3f35be219e3e6bc2d8c6709b5da41e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 9.325 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]: [-0.0219, 0.8192, 0.6132, -0.4763, -0.0139, -0.0307, 0.9992, 0.9951, 1.9209, 1.7016, -0.9577, 0.5098, 0.6788, 0.9963]\nstate[eef_state]: left_x=0.2835 left_y=-0.0002 left_z=0.1581 left_yaw=0.0006 left_pitch=-0.1125 left_roll=0.0019 left_gripper=0.9992 right_x=0.3136 right_y=0.3314 right_z=0.1583 right_yaw=0.122 right_pitch=-0.3741 right_roll=-0.1127 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.3333, 6.9812, 1.5995, -0.0317, -0.0317, -0.0122, 0.2393, -9.1145, 7.9932, 0.7204, 0.4127, 0.1734, 0.0513]",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4911, -0.0139, -0.0307, 0.9992, 0.9726, 2.0163, 1.3842, -0.5674, 0.4984, 0.6617, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1335 left_roll=0.0024 left_gripper=0.9992 right_x=0.3194 right_y=0.3251 right_z=0.0441 right_yaw=0.1095 right_pitch=-0.3978 right_roll=-0.1345 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.812, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122, -0.4034, -9.7026, 5.6547, 0.9988, 0.2906, -0.1245, -0.0073]",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4915, -0.0139, -0.0311, 0.9992, 0.9722, 2.0441, 1.3647, -0.5694, 0.4931, 0.654, 0.0543]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0021 left_gripper=0.9992 right_x=0.314 right_y=0.3184 right_z=0.0258 right_yaw=0.1002 right_pitch=-0.4341 right_roll=-0.1767 right_gripper=0.0543\nstate[joint_eff]: [0.0205, -1.1966, 6.9128, 1.619, -0.0562, -0.0757, -0.0122, -0.1573, -12.7658, 7.5282, 0.8571, 0.2955, 0.0611, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d74196609a0c4f8118120da8a1afa934d7e44f6918a4f6284ef6d0751e9418ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd65bde891c86752f188df8babbe6571bb5762f0c214d7ca1851d21011ce1d8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281a3b0efba1b73ea0227fa0dfd07629b3f35be219e3e6bc2d8c6709b5da41e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAIS5gUKjgEIEhgCKkALLka8BNRd10p2GEyNrbf/t4MkhI5ej3fgyd2Lji6mpnzCXCbVrs6ABYz83DypjA4VMTmMW/3KBvJi6kCJBbavMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfeJzNUGEgyH0syN1bpCsyaZdMIaDBOePPVfN1p45P/X5CIwa1SqgatP1bNV+bEq0StyU2iNqc7BYZkD+VAbcghRp0BLU5s82vW+HSf1cnro6HN3KoQEG0HwWBUumVImLD7YhKumUR/yP88snTeH1zToYEkz+jff4sULLmJFR4NNkJ53hqlLpG8fe6KGilHga5uGVAbNgDLypMNRKF+pLW2sbnAx7bmQ7BrbBLJ+KEkJfkMn/AM+trsIQVUTeZxB0Jy/eGZFcss1MHwJXkOAj+t4O7Vh/H52Dij7PEG9sxN9/wTx0ZlGsBdAXQ6SRbOhsasoFWxYVDXWQ5xm3VP66XV913Wa+WyQiBNqCilVNgJl0KuDTDQa7AKRhd84+P/vgC3su3vOhAWve0RGXgITp2XOxNjFO/RGcExrcPH2Ztsi/3/YUv00aFzFh4Q9GUlIoUfqvg5dDRjZyh6iBD5rkoSXgxGdQ1MedhwX4zglh9HyGFNIAgHuNXJsaIk6NAhAnCw99Vor98IZ0TavuWjzcaoQCd9pUbToNlP74P59Oa6tj+Tb5ZrTKCZT9m36lnRxbDxKlMDrZltozgyo3xN6BTR+gtGcsBtJAm4iXX/kjJUuveKIRGmYRkgpgNAtHrgskhFV7vRdCDSAxHBJAYQjnseSiGn/donD+XlPNvH8mPQ/RGmz8BACv5my7LqiWpyQJwLbzF365RHvGsP2c0OssxzjJVH21TRgGWE9WXxsK5znu44yF097O9V+ZfE8zhNvvPYdNFtPdbQDxiLmi4mKm6DunvyotRfyHh0QGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L8NswruWFUSxWKTuSDfCiX",
      "input": {
        "note": "The close came up empty (gripper 0.05) and the lemon is no longer in the wrist view — it was probably nudged aside. Opening and backing up to relocate it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.28,
          "right_y": 0.25,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01L8NswruWFUSxWKTuSDfCiX",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4919, -0.0139, -0.0307, 0.9992, 0.9466, 1.6913, 1.5372, -1.084, 0.4744, 0.6163, 0.9959]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0006 left_pitch=-0.135 left_roll=0.0024 left_gripper=0.9992 right_x=0.283 right_y=0.261 right_z=0.1812 right_yaw=0.112 right_pitch=-0.4439 right_roll=-0.1773 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.3197, 6.9128, 1.6484, -0.0562, -0.0562, -0.0122, -0.7043, -10.0581, 7.9111, 0.7106, 0.2711, -0.022, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119a69ac81854d336064afc9d87da05c437f47df448bd00b35fa263a70034244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15cf12850cd8adf3e06a6b8e5cd3ffb3fd31268f35e63b7d44a96bcaf006781e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:718b2fd5fe5bd7dfa521d9918cd76d9303b455b93a7264b83a95ae88bbb67b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.221 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]: [-0.0219, 0.8249, 0.6128, -0.4911, -0.0139, -0.0307, 0.9992, 0.9726, 2.0163, 1.3842, -0.5674, 0.4984, 0.6617, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1536 left_yaw=0.0006 left_pitch=-0.1335 left_roll=0.0024 left_gripper=0.9992 right_x=0.3194 right_y=0.3251 right_z=0.0441 right_yaw=0.1095 right_pitch=-0.3978 right_roll=-0.1345 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.812, 7.0769, 1.7607, -0.0464, -0.0464, -0.0122, -0.4034, -9.7026, 5.6547, 0.9988, 0.2906, -0.1245, -0.0073]",
      "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]: [-0.0219, 0.8249, 0.6128, -0.4915, -0.0139, -0.0311, 0.9992, 0.9722, 2.0441, 1.3647, -0.5694, 0.4931, 0.654, 0.0543]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0021 left_gripper=0.9992 right_x=0.314 right_y=0.3184 right_z=0.0258 right_yaw=0.1002 right_pitch=-0.4341 right_roll=-0.1767 right_gripper=0.0543\nstate[joint_eff]: [0.0205, -1.1966, 6.9128, 1.619, -0.0562, -0.0757, -0.0122, -0.1573, -12.7658, 7.5282, 0.8571, 0.2955, 0.0611, 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]: [-0.0219, 0.8257, 0.6128, -0.4919, -0.0139, -0.0307, 0.9992, 0.9466, 1.6913, 1.5372, -1.084, 0.4744, 0.6163, 0.9959]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0006 left_pitch=-0.135 left_roll=0.0024 left_gripper=0.9992 right_x=0.283 right_y=0.261 right_z=0.1812 right_yaw=0.112 right_pitch=-0.4439 right_roll=-0.1773 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.3197, 6.9128, 1.6484, -0.0562, -0.0562, -0.0122, -0.7043, -10.0581, 7.9111, 0.7106, 0.2711, -0.022, -0.2222]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:119a69ac81854d336064afc9d87da05c437f47df448bd00b35fa263a70034244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15cf12850cd8adf3e06a6b8e5cd3ffb3fd31268f35e63b7d44a96bcaf006781e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 165):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:718b2fd5fe5bd7dfa521d9918cd76d9303b455b93a7264b83a95ae88bbb67b88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwAkKjgEIEhgCKkC/kCIfh3P18mTFXZazSrVJ7v/HdHqun6MKw9Fzh/8t8rN7V1CogRsYiL0rU1OKTWE6xD0S4nPHkgDsFNmjxaZ/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYKKzNUGEgzGm8JXhfwHGRrxCFQaDJ+oPino62REPPdsFiIweJLkHEMyoeh0nSpyBQTtogxksTlFxpRuyMqqLzz9xFlLMWKntMzj/MKXaEGMug//Kt4HmzgxVfdJTXsjjvI7NCf2u9M0A9y7r1SLhVG3zgtVH/pUCn1fG0RAERqmJTsXlogyg8ZQ82DWcKSTgxBxkTbSp+TXJXlDLl3XVkshLYs7YToMVWHhn5A3b5mlJj5ilm+Vet3R3PB1FG6fQCE1hvrKVuiz3+TrYc8Bb0JZbKHg5mDjPYN9EE38kypBz7TCufzffAPa7PCE9ebTVX16HCj10RFWb+N8X/H1Le3hWPc44RzmbwN95WGsa8ML9xqFRtOaXJYS+r5PIPOzvm+ufwm7BUGLiS+JvGYS1WGDJwtfDpQuUspXsP2BF0KGyvtzsfG/jqKnlrvoz3ZqDPlGoXetvVz234WPjmo/p4R5y+gQSGaD1bvtCuKeUMmO1ECYCYaOqwVPxgZHooEiKUMvRIeSa+5kyXgdzLdPF6ra2W2zwZx3tLlivsq10Td9nwbXI+A6i0v6Zsf/MLLojc8pgvOPSH3RcU7Pog/OSxAmfaTKHo/5gvQKGsoBrw7TP4VuQNqYR3gmxgLBbrpQg1eH2/IxiKZXENw/zXafmINFA8EdwsDD5cGHyS5m6cNe6d/fNm88iZx/a+pbQZZTb8P6neEjmg622u6OhEjb6tap0HrdJeGIU8IrliEG4UAb5M3sWXu6TT8AbEKg42ks/ETvbM5PFET/2HAm3Hu+B1S4m4kEebbXQR5ZdVj1epI540DTn9VPQybfGorykV0aMdFbIsONqSSRSrHfLEco4lNeAo7vt0EsMbp+kL5RU4C9ban23RiRBY/ZlKoXovKC/d1FQaVaFoBYDLKUZI+8KnHA11lKKOoC5/Ca6waF0nB6/n5HeiNOE6xc2g2l1fl2GvV5oa1D857V6dANrBdm0bCVpMi2Ohqe3QiepUerJfzRe7AYWXbZgyQ4WpNmzuHO94peZXkFmc7H1gUA4BubuWig/F68f/n+hMEAkTEn8SDS6hOetURo1yG4PO5BlJ6bb5+lTYSOjYqK1xkeg/1CRuTOXaNVGQ10gJohkVqCZbh0WF9vw2yoaYCdGiI04AhpORrxmWoFim6YOcY5mGeRIa0KTAkv6qI8omirWoFQ4UdqFwbQfegCupHobIc+4Qs55BGJ/9dGOdgKqx0XRSkiBthJsFSm6iLtuIv95t4h3Fa2yvyc6fT1iUg6jre0yeQIl0QJw2+4HvaN++7JxmuYmkFNZF0A4uMCWmQ3T/jEcfDasdKPw84gRFEPmnUj5OJKCrmTHPs6WuVzoOxwnPSl4EG5zVdtluX2wkwtOJkH1xW7V5sSPrMihmtpi9uuTZSQUVLGYzgVVqwVDvT0OPxE4a8h6WOvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HgmJmAdoiuBGbkjtM2nMZG",
      "input": {
        "note": "The lemon is visible in the wrist view to the left of the jaws; shifting ~7 cm to the arm's left to line up over it.",
        "targets": {
          "right_x": 0.29,
          "right_y": 0.335,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01HgmJmAdoiuBGbkjtM2nMZG",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4938, -0.0139, -0.0307, 0.9992, 1.0359, 1.9415, 1.689, -1.0645, 0.4812, 0.6857, 0.9969]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1529 left_yaw=0.0006 left_pitch=-0.1369 left_roll=0.0024 left_gripper=0.9992 right_x=0.2837 right_y=0.3255 right_z=0.1357 right_yaw=0.1259 right_pitch=-0.4827 right_roll=-0.2095 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.3744, 7.0496, 1.6337, -0.0415, -0.0513, -0.0122, 0.335, -9.6068, 7.5419, 0.7448, 0.4176, 0.1832, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae97b0d84e45ddec7647b3261b08c0ca896a387342537e71c0875929f496def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f92d252ca01054ae4621fe758de8d536a8b45f9a0ed1e6d4a8ea07bb4c63618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17b4b163ebb1f4c812d5154e1ddd6b242b8f1da2e5b4e7c95f7ed6f4a05ea751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 3.391 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]: [-0.0219, 0.8249, 0.6128, -0.4915, -0.0139, -0.0311, 0.9992, 0.9722, 2.0441, 1.3647, -0.5694, 0.4931, 0.654, 0.0543]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1535 left_yaw=0.0008 left_pitch=-0.1339 left_roll=0.0021 left_gripper=0.9992 right_x=0.314 right_y=0.3184 right_z=0.0258 right_yaw=0.1002 right_pitch=-0.4341 right_roll=-0.1767 right_gripper=0.0543\nstate[joint_eff]: [0.0205, -1.1966, 6.9128, 1.619, -0.0562, -0.0757, -0.0122, -0.1573, -12.7658, 7.5282, 0.8571, 0.2955, 0.0611, 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]: [-0.0219, 0.8257, 0.6128, -0.4919, -0.0139, -0.0307, 0.9992, 0.9466, 1.6913, 1.5372, -1.084, 0.4744, 0.6163, 0.9959]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0006 left_pitch=-0.135 left_roll=0.0024 left_gripper=0.9992 right_x=0.283 right_y=0.261 right_z=0.1812 right_yaw=0.112 right_pitch=-0.4439 right_roll=-0.1773 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.3197, 6.9128, 1.6484, -0.0562, -0.0562, -0.0122, -0.7043, -10.0581, 7.9111, 0.7106, 0.2711, -0.022, -0.2222]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4938, -0.0139, -0.0307, 0.9992, 1.0359, 1.9415, 1.689, -1.0645, 0.4812, 0.6857, 0.9969]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1529 left_yaw=0.0006 left_pitch=-0.1369 left_roll=0.0024 left_gripper=0.9992 right_x=0.2837 right_y=0.3255 right_z=0.1357 right_yaw=0.1259 right_pitch=-0.4827 right_roll=-0.2095 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.3744, 7.0496, 1.6337, -0.0415, -0.0513, -0.0122, 0.335, -9.6068, 7.5419, 0.7448, 0.4176, 0.1832, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ae97b0d84e45ddec7647b3261b08c0ca896a387342537e71c0875929f496def",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f92d252ca01054ae4621fe758de8d536a8b45f9a0ed1e6d4a8ea07bb4c63618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17b4b163ebb1f4c812d5154e1ddd6b242b8f1da2e5b4e7c95f7ed6f4a05ea751",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiAYKjgEIEhgCKkAjFr9zxFHZsVWryr/qPVhHppVPDRpGyIPEuwiGWvqPfRc5PtXSSb5VF1IV567li+/pG3haGzUDoBiKJmZFVaqoMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmKzNUGEgyogTOidd21alh69qsaDK+vZxXtbkXbqstCTyIwQWeJmJOP4HZtDTQyTjKZACJRs4cE3vd/6EDV3n9DALhj57tInS4prG+smJdPR78iKqYEIteWlPwgSsoP4LxLgGe7eV9PljM87sB9xCvFpqjjnkhxs6ipd9Yw7Osauf7NO92yX+6dJF2/6i1QvRmgB2b1oXiN0qys5GijHi2+pz/D+qm3d6C+AEKC5gF8EGzx5TOl2HAd+Jzg88TY+MOqfT63XqmZ93gmC0NQmdaUF7BsEzC+QHUBvo78Ziu4AUpwo4FoX4kNeGoPXqEg6tPEV9oosHvacrtujQqsJuE3Hajyo68BUV/8TL/uqNqp4QghCYzIQOJGtqb4N8qzkkMuG/W924sp51Laix4RnGCLPSP/tr51QShM/z/nyjBXLHfc2wDagL9HVlIxc7L3B1QzWzNKih152g9t1hj27412E/+Fqk8Km153DLZrjXo5pNivgvmUmAJp/YgBahOqZF5OOjRSmjL6aXno3TF4ejaLI6dpL20wo5psOMwhlzsi84kH1BUyo/r98iOuIIVWqUWyDDz29Uy58WmwJV/ThXzjC9c2kwV08GRoCVvmE70uEDfVHTbha1KkklKct0luyeQLAD3uNNIux3dJVfZVbydIoEfCTFXWDDRVQ4ciuPValpTcZHiDwbdY2hC3cwRLUSC/cGcTMfB0e+mYQwhkcfwWlKnhWz1Mu6Kjb9gRW9wvWBDthgm2mLtF5a9bWTjzKI39X9KRRx5diChTIYzT264j/jkq7ulwAGRM+Vyd3rN3uzm1rTt4B64+IsX8aphnRegoIOySBrA6yqHaGBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017zufZR9YqVrx58zoHnHeFN",
      "input": {
        "note": "Lemon is slightly left of the jaw column; shifting ~3 cm left and descending to table level for the grasp.",
        "targets": {
          "right_x": 0.295,
          "right_y": 0.358,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017zufZR9YqVrx58zoHnHeFN",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0451, 2.109, 1.6234, -0.8692, 0.4747, 0.6964, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2919 right_y=0.3493 right_z=0.0556 right_yaw=0.116 right_pitch=-0.5094 right_roll=-0.2333 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.1419, 7.0906, 1.619, -0.0171, -0.0562, -0.0122, 0.5538, -10.7282, 5.4359, 0.6471, 0.3199, 0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d479d83bbae4e452d92398109234c6a476e620d9300acf8601117bc4457f456d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ac56f9f790d7e6d9d6c31f9d1fc224590c2d5a8fdddf93474a0afd517079fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:49dd3d3ec19857a06dbfb7f0a1ed4468c9a5d6a612e94e6710f97dcca47b2676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 4.636 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]: [-0.0219, 0.8257, 0.6128, -0.4919, -0.0139, -0.0307, 0.9992, 0.9466, 1.6913, 1.5372, -1.084, 0.4744, 0.6163, 0.9959]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1532 left_yaw=0.0006 left_pitch=-0.135 left_roll=0.0024 left_gripper=0.9992 right_x=0.283 right_y=0.261 right_z=0.1812 right_yaw=0.112 right_pitch=-0.4439 right_roll=-0.1773 right_gripper=0.9959\nstate[joint_eff]: [-0.0342, -1.3197, 6.9128, 1.6484, -0.0562, -0.0562, -0.0122, -0.7043, -10.0581, 7.9111, 0.7106, 0.2711, -0.022, -0.2222]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4938, -0.0139, -0.0307, 0.9992, 1.0359, 1.9415, 1.689, -1.0645, 0.4812, 0.6857, 0.9969]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1529 left_yaw=0.0006 left_pitch=-0.1369 left_roll=0.0024 left_gripper=0.9992 right_x=0.2837 right_y=0.3255 right_z=0.1357 right_yaw=0.1259 right_pitch=-0.4827 right_roll=-0.2095 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.3744, 7.0496, 1.6337, -0.0415, -0.0513, -0.0122, 0.335, -9.6068, 7.5419, 0.7448, 0.4176, 0.1832, 0.0904]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0451, 2.109, 1.6234, -0.8692, 0.4747, 0.6964, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2919 right_y=0.3493 right_z=0.0556 right_yaw=0.116 right_pitch=-0.5094 right_roll=-0.2333 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.1419, 7.0906, 1.619, -0.0171, -0.0562, -0.0122, 0.5538, -10.7282, 5.4359, 0.6471, 0.3199, 0.0122, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d479d83bbae4e452d92398109234c6a476e620d9300acf8601117bc4457f456d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17ac56f9f790d7e6d9d6c31f9d1fc224590c2d5a8fdddf93474a0afd517079fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49dd3d3ec19857a06dbfb7f0a1ed4468c9a5d6a612e94e6710f97dcca47b2676",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAIKjgEIEhgCKkD7RQ1nOJSfCpWMnCeawTpawgwGjJZ2lUO525ZwPTqdBKIWj+1meAI9Acs3TV03ke4BEKs+vi1iKZaxXZtNpMocMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2KzNUGEgzfeowKG6CvmyyPfLoaDDNBu0bTxtf1Gga2OyIwPpvv/mN7OteIIV9+Id4ram0MgTlLAQt9mYxHf0iut2rHH+o+CuxpBNO+zgEQ5v86KmsNjeExLiJJ0adJ8Y0Bg/xApaE51rrU7XdrkCV2S6JQRXi6FthVBG77oamNubJAk8qxD+PKEmp4BJ6Np1V40BQonCTAAApI7dNo84zCcCJ7FLoWVpvWUgbuGAwfXXCGFPZBf62gmw+2ym0GwRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K5yKqAJDBJLvSN7GgDS288",
      "input": {
        "note": "Lemon is now between the jaw tips; closing on it.",
        "targets": {
          "right_gripper": 0.1,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01K5yKqAJDBJLvSN7GgDS288",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0443, 2.1284, 1.5818, -0.8177, 0.4698, 0.6956, 0.1047]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2905 right_y=0.3478 right_z=0.0373 right_yaw=0.114 right_pitch=-0.5191 right_roll=-0.2392 right_gripper=0.1047\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.58, -0.0269, -0.0611, -0.0171, -0.1709, -11.2479, 5.4085, 0.8278, 0.3004, -0.022, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24187f2d00d00c1a63f42e89a0ca1023ab7ad81ff531e3859c5f05fec35d66bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6dfe98f5b1a06e12fd5a25a2252dd58d6ced5b668e00351b49ab336922a4b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af276c9ff9e41be0f81d185b69536213040adb93adf596cf17f57f7c466dd893",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 12.49 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]: [-0.0219, 0.8257, 0.6128, -0.4938, -0.0139, -0.0307, 0.9992, 1.0359, 1.9415, 1.689, -1.0645, 0.4812, 0.6857, 0.9969]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.1529 left_yaw=0.0006 left_pitch=-0.1369 left_roll=0.0024 left_gripper=0.9992 right_x=0.2837 right_y=0.3255 right_z=0.1357 right_yaw=0.1259 right_pitch=-0.4827 right_roll=-0.2095 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.3744, 7.0496, 1.6337, -0.0415, -0.0513, -0.0122, 0.335, -9.6068, 7.5419, 0.7448, 0.4176, 0.1832, 0.0904]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0451, 2.109, 1.6234, -0.8692, 0.4747, 0.6964, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2919 right_y=0.3493 right_z=0.0556 right_yaw=0.116 right_pitch=-0.5094 right_roll=-0.2333 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.1419, 7.0906, 1.619, -0.0171, -0.0562, -0.0122, 0.5538, -10.7282, 5.4359, 0.6471, 0.3199, 0.0122, -0.0073]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0443, 2.1284, 1.5818, -0.8177, 0.4698, 0.6956, 0.1047]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2905 right_y=0.3478 right_z=0.0373 right_yaw=0.114 right_pitch=-0.5191 right_roll=-0.2392 right_gripper=0.1047\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.58, -0.0269, -0.0611, -0.0171, -0.1709, -11.2479, 5.4085, 0.8278, 0.3004, -0.022, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24187f2d00d00c1a63f42e89a0ca1023ab7ad81ff531e3859c5f05fec35d66bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e6dfe98f5b1a06e12fd5a25a2252dd58d6ced5b668e00351b49ab336922a4b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 187):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af276c9ff9e41be0f81d185b69536213040adb93adf596cf17f57f7c466dd893",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISngQKjgEIEhgCKkCi9/bQXQC5quUBlhe0jq6FWxIBsAW5Jod2J9emg7jKZiVbzFz3FU3XKIRZQkKd04YCYdZmGpxdn5mFPYylDb7IMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZKKzNUGEgyARwyYnlhSIjI88xQaDHlxC7zGUV0JBTCLIiIwXi1DQexHqcF1ASBnFYgOb+NFto7/rV0S+uKTASAMajs1Z3Q72TvdP3phcpdoxg5nKrwCp9U5ClZE4kRfJ2rpts/005Rzz4PgeALl6iEJ/U5QlIdNMkVz3Jjudj7UP4iuCtLdhXJ3XQxtmLcM+Gv50HAEI7vTFT1CTD48cBzM5uSOTFIUd3cf+clzk3+8NnjXv09+ZYNt1NnXjXkyMKr6IW6xZlbBn+idAdf04rSNhDh/1kJY/YtKOulk1QjRCFidH0vkczYWUX5Cug+1oGOKR867skr44t3nwhhvpnGnkcKS6xXYIl4YphLGXyx2IqMXjyMD8Ck7YUxDdhRs7bCicWBrg6Ozk+5La3zUmvBLXepezOdvO35PgzXTydMLlCltgRPFok0QOuw5pC6APyrKTx0f4WNegHMvYc1xJGsjO/xUroEVBNmPXMjZFCqNfjDck119gvTVVniiPiiuDYlwWNWFxp+2/rzKxxaABZyIpBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017DrNXhk3daFnDmjr2YgjUj",
      "input": {
        "note": "Yellow is visible between the closed jaws but the gripper reads only 0.10, so it may be pinching the lemon's tip; lifting 20 cm to check whether the lemon comes with it.",
        "targets": {
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_017DrNXhk3daFnDmjr2YgjUj",
      "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]: [-0.0219, 0.8261, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0351, 2.1551, 2.3501, -1.5459, 0.4561, 0.6876, 0.1038]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1526 left_yaw=0.0006 left_pitch=-0.1381 left_roll=0.0025 left_gripper=0.9992 right_x=0.2905 right_y=0.344 right_z=0.2155 right_yaw=0.1234 right_pitch=-0.5227 right_roll=-0.2219 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -0.8547, 6.9128, 1.5995, -0.0366, -0.0415, -0.0122, -0.4308, -13.9692, 5.135, 0.6911, 0.3199, -0.1636, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094549d1c321d9cc6d30f580d84180c4df8ee3c0f2cb94f584e08e8e224f8f36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8fd300b564c55c1b989efaa8641fcc5ffbb70129742f16ea661923d64d8207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34c889c3a5269448ebf9c0365bb19ed1607f59848978e31a5d1950690f2ce359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 12.53 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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0451, 2.109, 1.6234, -0.8692, 0.4747, 0.6964, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2919 right_y=0.3493 right_z=0.0556 right_yaw=0.116 right_pitch=-0.5094 right_roll=-0.2333 right_gripper=0.997\nstate[joint_eff]: [-0.3077, -1.1419, 7.0906, 1.619, -0.0171, -0.0562, -0.0122, 0.5538, -10.7282, 5.4359, 0.6471, 0.3199, 0.0122, -0.0073]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0443, 2.1284, 1.5818, -0.8177, 0.4698, 0.6956, 0.1047]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2905 right_y=0.3478 right_z=0.0373 right_yaw=0.114 right_pitch=-0.5191 right_roll=-0.2392 right_gripper=0.1047\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.58, -0.0269, -0.0611, -0.0171, -0.1709, -11.2479, 5.4085, 0.8278, 0.3004, -0.022, 0.0757]",
      "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]: [-0.0219, 0.8261, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0351, 2.1551, 2.3501, -1.5459, 0.4561, 0.6876, 0.1038]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1526 left_yaw=0.0006 left_pitch=-0.1381 left_roll=0.0025 left_gripper=0.9992 right_x=0.2905 right_y=0.344 right_z=0.2155 right_yaw=0.1234 right_pitch=-0.5227 right_roll=-0.2219 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -0.8547, 6.9128, 1.5995, -0.0366, -0.0415, -0.0122, -0.4308, -13.9692, 5.135, 0.6911, 0.3199, -0.1636, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:094549d1c321d9cc6d30f580d84180c4df8ee3c0f2cb94f584e08e8e224f8f36",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae8fd300b564c55c1b989efaa8641fcc5ffbb70129742f16ea661923d64d8207",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34c889c3a5269448ebf9c0365bb19ed1607f59848978e31a5d1950690f2ce359",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQKwzTTfAVTkUbpRpoLVEE",
      "input": {
        "note": "The lemon did not come up — the jaws closed just short of it. Reopening and moving 4 cm further out (radially) to table level so the lemon sits deeper between the jaws.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.352,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01YQKwzTTfAVTkUbpRpoLVEE",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0306, 2.1715, 2.3749, -1.573, 0.448, 0.6701, 0.9965]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1527 left_yaw=0.0006 left_pitch=-0.1377 left_roll=0.0025 left_gripper=0.9992 right_x=0.2903 right_y=0.3422 right_z=0.2135 right_yaw=0.1253 right_pitch=-0.5424 right_roll=-0.2428 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.2239, 7.1043, 1.6044, -0.0366, -0.0366, -0.0122, -0.253, -10.7419, 7.4462, 0.6276, 0.315, 0.0855, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b01fb5d92f72692b9cb91c87c1d1257afce56cea45f69ab2f88e4b9d37ce4e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94508a9b9eede88c196e0fa35d7a0442086f21f925a0d0efc72b7e928970efcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:721b72a5ea3d9867713042ed0f58b6d6dca8030c5b952f0a58ecf2b6bb8f0f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 4.056 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]: [-0.0219, 0.8257, 0.6128, -0.4942, -0.0135, -0.0307, 0.9992, 1.0443, 2.1284, 1.5818, -0.8177, 0.4698, 0.6956, 0.1047]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1528 left_yaw=0.0003 left_pitch=-0.1373 left_roll=0.0022 left_gripper=0.9992 right_x=0.2905 right_y=0.3478 right_z=0.0373 right_yaw=0.114 right_pitch=-0.5191 right_roll=-0.2392 right_gripper=0.1047\nstate[joint_eff]: [-0.0615, -1.388, 6.8991, 1.58, -0.0269, -0.0611, -0.0171, -0.1709, -11.2479, 5.4085, 0.8278, 0.3004, -0.022, 0.0757]",
      "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]: [-0.0219, 0.8261, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0351, 2.1551, 2.3501, -1.5459, 0.4561, 0.6876, 0.1038]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1526 left_yaw=0.0006 left_pitch=-0.1381 left_roll=0.0025 left_gripper=0.9992 right_x=0.2905 right_y=0.344 right_z=0.2155 right_yaw=0.1234 right_pitch=-0.5227 right_roll=-0.2219 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -0.8547, 6.9128, 1.5995, -0.0366, -0.0415, -0.0122, -0.4308, -13.9692, 5.135, 0.6911, 0.3199, -0.1636, -0.1148]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0306, 2.1715, 2.3749, -1.573, 0.448, 0.6701, 0.9965]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1527 left_yaw=0.0006 left_pitch=-0.1377 left_roll=0.0025 left_gripper=0.9992 right_x=0.2903 right_y=0.3422 right_z=0.2135 right_yaw=0.1253 right_pitch=-0.5424 right_roll=-0.2428 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.2239, 7.1043, 1.6044, -0.0366, -0.0366, -0.0122, -0.253, -10.7419, 7.4462, 0.6276, 0.315, 0.0855, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b01fb5d92f72692b9cb91c87c1d1257afce56cea45f69ab2f88e4b9d37ce4e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94508a9b9eede88c196e0fa35d7a0442086f21f925a0d0efc72b7e928970efcc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:721b72a5ea3d9867713042ed0f58b6d6dca8030c5b952f0a58ecf2b6bb8f0f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YPGpkBo7BeshkR2kwS4Kcu",
      "input": {
        "note": "The previous target was apparently out of reach (the arm didn't move). Trying a smaller 2 cm radial advance and descending to table level over the lemon.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.355,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01YPGpkBo7BeshkR2kwS4Kcu",
      "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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0092, 2.1651, 1.7138, -0.9298, 0.4358, 0.6502, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3038 right_y=0.3496 right_z=0.052 right_yaw=0.1176 right_pitch=-0.5615 right_roll=-0.2549 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5795, 6.9538, 1.6435, -0.0269, -0.0562, -0.0122, -0.4991, -10.5778, 5.8735, 0.7155, 0.2515, -0.1148, 0.0415]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:931fa39759476aad07293399f374be2e1c320974fc01636fa4b9983cbe76e63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770557504159d1167090e4e548a4598e28daeabdf396420b87906bc65e7787b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b12d5c82d240dab0b51a8784ff834f0cfec825e83eb5bb858bd4a6cad491002f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 4.414 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]: [-0.0219, 0.8261, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0351, 2.1551, 2.3501, -1.5459, 0.4561, 0.6876, 0.1038]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1526 left_yaw=0.0006 left_pitch=-0.1381 left_roll=0.0025 left_gripper=0.9992 right_x=0.2905 right_y=0.344 right_z=0.2155 right_yaw=0.1234 right_pitch=-0.5227 right_roll=-0.2219 right_gripper=0.1038\nstate[joint_eff]: [-0.0752, -0.8547, 6.9128, 1.5995, -0.0366, -0.0415, -0.0122, -0.4308, -13.9692, 5.135, 0.6911, 0.3199, -0.1636, -0.1148]",
      "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]: [-0.0219, 0.8257, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0306, 2.1715, 2.3749, -1.573, 0.448, 0.6701, 0.9965]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1527 left_yaw=0.0006 left_pitch=-0.1377 left_roll=0.0025 left_gripper=0.9992 right_x=0.2903 right_y=0.3422 right_z=0.2135 right_yaw=0.1253 right_pitch=-0.5424 right_roll=-0.2428 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.2239, 7.1043, 1.6044, -0.0366, -0.0366, -0.0122, -0.253, -10.7419, 7.4462, 0.6276, 0.315, 0.0855, -0.0904]\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 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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0092, 2.1651, 1.7138, -0.9298, 0.4358, 0.6502, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3038 right_y=0.3496 right_z=0.052 right_yaw=0.1176 right_pitch=-0.5615 right_roll=-0.2549 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5795, 6.9538, 1.6435, -0.0269, -0.0562, -0.0122, -0.4991, -10.5778, 5.8735, 0.7155, 0.2515, -0.1148, 0.0415]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:931fa39759476aad07293399f374be2e1c320974fc01636fa4b9983cbe76e63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770557504159d1167090e4e548a4598e28daeabdf396420b87906bc65e7787b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 225):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12d5c82d240dab0b51a8784ff834f0cfec825e83eb5bb858bd4a6cad491002f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0AMKjgEIEhgCKkCcnkl8YpXz8/ao5OD89TaXS/IbYG3y2i1mRywkj9OTd/nK6cV7CupQtC/JUzwuPWT7c7cjjdXmpoKK0lWXYgEGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbOKzNUGEgwayY+jAxKfzlSQ8aAaDNCGH/xCnokE1OwIRyIwUbNh+zSgpoJrRQ3YyXymtydA9U72ckaX0u8j/ed//KkDjBDpq3RDogaW9OpPW7gvKu4Brq97U14efNMUg/eR/CwkekDLmJcOEI7g7/IajQbsRo+VNYlxsLZk7dk3R5/4TGwaaDX5r5n0dF+AiphIahXnvbGzcSF3RPGYsXDyV1Zkd4SOGhjh8dZJqX0CS12AkgrHxldrOnV0IVQ59+C0uxuhWsvb/PAKrWe6Xz8UIp6qilP2389YUpf2G0d3tata5YwDMPy2MmgG26LUkVxt9olb5HmjwIgLVecEQcteloJGi5bkWh9Xc6hfxgwt2HXFezTVT9dLhgvoidz3nusgtOuO3ZSHinYZqfxen/l409t/EJ8BoVpg4srJgyw3PD96BRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R4nLM4Dm1FtiBeBDK4mg1M",
      "input": {
        "note": "Lemon now sits squarely between the jaw tips; closing to grasp.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01R4nLM4Dm1FtiBeBDK4mg1M",
      "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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0077, 2.1933, 1.6966, -0.9245, 0.432, 0.6437, 0.1545]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3009 right_y=0.3447 right_z=0.0347 right_yaw=0.1019 right_pitch=-0.5903 right_roll=-0.2928 right_gripper=0.1545\nstate[joint_eff]: [-0.0615, -1.306, 6.8991, 1.5897, -0.0464, -0.0269, -0.0122, -0.0068, -14.2427, 7.1863, 0.5055, 0.2271, 0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf37e58c5731d7f8ba37ecb6198263a2de84a149a56bacb124a8a809421d1245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8918985d92e3447cc105a5810b4d6fd0deb45d6c852d6bc8178c9b5cf1a5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c9af7b095921b1bae4d3f96f54dec81d33577206630d1f3eb67296bbdea91eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.917 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]: [-0.0219, 0.8257, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 1.0306, 2.1715, 2.3749, -1.573, 0.448, 0.6701, 0.9965]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1527 left_yaw=0.0006 left_pitch=-0.1377 left_roll=0.0025 left_gripper=0.9992 right_x=0.2903 right_y=0.3422 right_z=0.2135 right_yaw=0.1253 right_pitch=-0.5424 right_roll=-0.2428 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.2239, 7.1043, 1.6044, -0.0366, -0.0366, -0.0122, -0.253, -10.7419, 7.4462, 0.6276, 0.315, 0.0855, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0092, 2.1651, 1.7138, -0.9298, 0.4358, 0.6502, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3038 right_y=0.3496 right_z=0.052 right_yaw=0.1176 right_pitch=-0.5615 right_roll=-0.2549 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5795, 6.9538, 1.6435, -0.0269, -0.0562, -0.0122, -0.4991, -10.5778, 5.8735, 0.7155, 0.2515, -0.1148, 0.0415]\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 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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0077, 2.1933, 1.6966, -0.9245, 0.432, 0.6437, 0.1545]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3009 right_y=0.3447 right_z=0.0347 right_yaw=0.1019 right_pitch=-0.5903 right_roll=-0.2928 right_gripper=0.1545\nstate[joint_eff]: [-0.0615, -1.306, 6.8991, 1.5897, -0.0464, -0.0269, -0.0122, -0.0068, -14.2427, 7.1863, 0.5055, 0.2271, 0.0366, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf37e58c5731d7f8ba37ecb6198263a2de84a149a56bacb124a8a809421d1245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea8918985d92e3447cc105a5810b4d6fd0deb45d6c852d6bc8178c9b5cf1a5a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9af7b095921b1bae4d3f96f54dec81d33577206630d1f3eb67296bbdea91eca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgQKjgEIEhgCKkBYV++ruT0qzKPSnzH2T0d5bDk9pHQdu1mh8Chr3+Q2zQJRamwBnqYqQ1x7wXoyxvfNp93q7JHSZ0Lg77bsijfFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbiKzNUGEgzUwGd0hZVAjKxTQj4aDEshi1M3b1+hb4jj8CIwsDM3GLHVpTOYrWuvtddD7eWTmRYL3zPmQpUmXg+3t2ocjoRuRLilIUlx5YNztNLqKqwC10GtZ6Kpb31ToTs1l7QNHTLLkLGTZRtTMHFlzsDq05doMOGo6hUt0OOvYAy3NNvWPcKoZ94xlB5eWBQLjTBuZve2FJ3li1PGDV1JKYAMU++sslC3+m1mrdtwnrfRb9ILrwtX+bKsRANIY6rxoBRusytdr8oBdjQWIdiMuLOlfR9Ii9WHQe7AavsRTRuO/8+aFeuG//CQeyxsGnpIxPHvTrbeTLfvFXWpIIbf+Qq/HV8vUEPMKqexrwyc15ZMzUIyW00ffq1JDzof9hRtdDLqMvnRUicyJIcSGtYkKtjc9o3J93/GPXZ7Q7QhCO1YZJBMO+vtA4yQkw4wq8V4ww058eNYxgKysMM36koEDzGF3L48A5lCxwEAGS5XMRukej/sASsxaHmduHkBNnqAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017t7eqoDmMb8pMKvMPjqWHj",
      "input": {
        "note": "Jaws closed to 0.15 with yellow visible between them; lifting to see whether the lemon comes along.",
        "targets": {
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017t7eqoDmMb8pMKvMPjqWHj",
      "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]: [-0.0219, 0.8288, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0084, 2.1899, 2.1468, -1.3582, 0.421, 0.6426, 0.1534]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.152 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.9992 right_x=0.303 right_y=0.3521 right_z=0.1486 right_yaw=0.12 right_pitch=-0.5866 right_roll=-0.2665 right_gripper=0.1534\nstate[joint_eff]: [-0.1436, -1.4017, 6.9402, 1.663, -0.0317, -0.0562, -0.0122, -0.4308, -11.4393, 7.2957, 0.4957, 0.3443, -0.0366, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc89d96904422d3f2949c756de637e607b62eaa85cc80cfabb7a60199082c0c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde82a92719b611df0104eddb528e3a79033927d1f19dd2e65252b23493dcd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04f7e89c57c4705aeca1a83fbdca9b2909ebd4e5992adefa4d7de2831d7f8356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 44.84 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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0092, 2.1651, 1.7138, -0.9298, 0.4358, 0.6502, 0.997]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3038 right_y=0.3496 right_z=0.052 right_yaw=0.1176 right_pitch=-0.5615 right_roll=-0.2549 right_gripper=0.997\nstate[joint_eff]: [-0.1573, -1.5795, 6.9538, 1.6435, -0.0269, -0.0562, -0.0122, -0.4991, -10.5778, 5.8735, 0.7155, 0.2515, -0.1148, 0.0415]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0077, 2.1933, 1.6966, -0.9245, 0.432, 0.6437, 0.1545]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3009 right_y=0.3447 right_z=0.0347 right_yaw=0.1019 right_pitch=-0.5903 right_roll=-0.2928 right_gripper=0.1545\nstate[joint_eff]: [-0.0615, -1.306, 6.8991, 1.5897, -0.0464, -0.0269, -0.0122, -0.0068, -14.2427, 7.1863, 0.5055, 0.2271, 0.0366, -0.0024]",
      "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]: [-0.0219, 0.8288, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0084, 2.1899, 2.1468, -1.3582, 0.421, 0.6426, 0.1534]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.152 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.9992 right_x=0.303 right_y=0.3521 right_z=0.1486 right_yaw=0.12 right_pitch=-0.5866 right_roll=-0.2665 right_gripper=0.1534\nstate[joint_eff]: [-0.1436, -1.4017, 6.9402, 1.663, -0.0317, -0.0562, -0.0122, -0.4308, -11.4393, 7.2957, 0.4957, 0.3443, -0.0366, -0.1343]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc89d96904422d3f2949c756de637e607b62eaa85cc80cfabb7a60199082c0c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde82a92719b611df0104eddb528e3a79033927d1f19dd2e65252b23493dcd92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f7e89c57c4705aeca1a83fbdca9b2909ebd4e5992adefa4d7de2831d7f8356",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlQUKjgEIEhgCKkBSkPm3QS4Lc5Uwf2bxKWbe5fZB6R9AaQ/87BFkcf0o6JRVtM7p/HXHwnsJ3acmHkWO3M3H90prwHP50LVlJabTMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+KzNUGEgxmK77HYkkvenOg8ssaDMIuCfpPdggZBPvi9yIwn46rv06+CHPiVfocahE23l/oTDx7DccSUxaB3PepvPPLNlF+6XZ03qBIDUkYYp0fKrMDCavwImOVsmQxO3knEqtTlZig74Sv64zSz2x6LdBu69cQt6r3qI4WqsDq9uX90ZlVhcf1HInNqX/0Nf2Pc5/RheWwWxOgfZXijxkaY216bFMfyomuv+RUa+kvWMvd3T0xUzmmujcPqEboC5IEE6rgFf5FSakUekz62VtojHgkI7zwwwl9ummrvLasW0f+EK3Vt71mjCWRFQHddv4zbzUWZiV44tGDKhEBa0VSmuj4rU+EO6XTHmpv2pgRcd9ucmQt3SgAQilTOJY/6+ZexvGn5Si6Rf1+m8eQsirrDo5bv4Av7+hhtyVODQ2poxJVCxZAe+5uTIlpMwT1PodYL7JNwLDsZDwVioaymupKe/rCRu+iz+J9aaD1/j2+JWAxyitPxw8Bem130xEb/z6n6sNOyLzhlttt+9AczM/z8xmjF6/Z8qWeK1KVSDE6GUs8zivsNmyCiHcK2ddeJwQiGuoOHcy+lDWcwShhPT4hbXkGcFedrAAC0T6/2ZES/VJQpU7iE0yQSmHWPYaRn8wCi30qa8zbNoXM7UzgcJIIcoJ6rhOEDztp6YQBTkKclouub0EAWmmsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194f1u87FrrkW4L7iExsymB",
      "input": {
        "note": "Lemon is securely held between the jaws. Carrying it over to the blue bowl at the far right.",
        "targets": {
          "right_x": 0.51,
          "right_y": 0.1,
          "right_z": 0.24
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_0194f1u87FrrkW4L7iExsymB",
      "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]: [-0.0219, 0.8303, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 0.2668, 2.3531, 2.7476, -1.5845, 0.2031, -0.0982, 0.1533]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1516 left_yaw=0.0006 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9992 right_x=0.4903 right_y=0.1008 right_z=0.2232 right_yaw=0.109 right_pitch=-0.6127 right_roll=-0.2737 right_gripper=0.1533\nstate[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.6777, -0.0415, -0.0659, -0.0122, -0.4034, -10.7145, 8.0479, 1.1209, 0.0464, 0.0904, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d2144ce3a5325012d4f3f08bd14ddcdeed1a203588c3cbbadd9c25217766d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374eab15e67d0ac4c9e61fa4895a1ad767fa319057a1f6070008e3b4cc8b0192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d52a1d8613a7d5a61127ae6b43e83a7e79ac7cf462c222db447340e98960a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 5.162 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]: [-0.0219, 0.8284, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0077, 2.1933, 1.6966, -0.9245, 0.432, 0.6437, 0.1545]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.1521 left_yaw=0.0003 left_pitch=-0.1404 left_roll=0.0023 left_gripper=0.9992 right_x=0.3009 right_y=0.3447 right_z=0.0347 right_yaw=0.1019 right_pitch=-0.5903 right_roll=-0.2928 right_gripper=0.1545\nstate[joint_eff]: [-0.0615, -1.306, 6.8991, 1.5897, -0.0464, -0.0269, -0.0122, -0.0068, -14.2427, 7.1863, 0.5055, 0.2271, 0.0366, -0.0024]",
      "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]: [-0.0219, 0.8288, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0084, 2.1899, 2.1468, -1.3582, 0.421, 0.6426, 0.1534]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.152 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.9992 right_x=0.303 right_y=0.3521 right_z=0.1486 right_yaw=0.12 right_pitch=-0.5866 right_roll=-0.2665 right_gripper=0.1534\nstate[joint_eff]: [-0.1436, -1.4017, 6.9402, 1.663, -0.0317, -0.0562, -0.0122, -0.4308, -11.4393, 7.2957, 0.4957, 0.3443, -0.0366, -0.1343]",
      "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]: [-0.0219, 0.8303, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 0.2668, 2.3531, 2.7476, -1.5845, 0.2031, -0.0982, 0.1533]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1516 left_yaw=0.0006 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9992 right_x=0.4903 right_y=0.1008 right_z=0.2232 right_yaw=0.109 right_pitch=-0.6127 right_roll=-0.2737 right_gripper=0.1533\nstate[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.6777, -0.0415, -0.0659, -0.0122, -0.4034, -10.7145, 8.0479, 1.1209, 0.0464, 0.0904, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d2144ce3a5325012d4f3f08bd14ddcdeed1a203588c3cbbadd9c25217766d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374eab15e67d0ac4c9e61fa4895a1ad767fa319057a1f6070008e3b4cc8b0192",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d52a1d8613a7d5a61127ae6b43e83a7e79ac7cf462c222db447340e98960a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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PK1vAVhdlxkJzc0gIQzNPXnfY2SmrTMsxif02VGHE2jgQ9oRHllRXHUtUgOA9mq4EFtX3iuoDIFyReH8qZkbnSU7UwQ1KGDNQh/uBDNLpMW+RvH5qf0OP2HLKrzdGfmcf2poVg4S4AtXXA4x35KrAFMf0aBf6KDymSeuZSxKFl+zpZSzSSI7VLSW49OiHZpN4ZdTceAtUuV1xFhUPkSQ9Sh+ftu6NYqqCblADWas61djH8TB9YVRPpQTwM/5+8KpMbUR9QcQN8uWcIw4VeTLIIF2dJ3iLwEFQzJxdy8Jkw4ygD0tPQMZrCGpnNWCh2sWCRcqga3P10JH/cM2RylpdXlmgTPppwzJjb9GdVitbAsULkmRHjLO1zK/ABTYQMrFnTUogb/IpDeaEbKWY7J7F5M5Tv4uwNzyBYtpuqo34xbdHBtFyhCr/zzpQ9OyfYyPSMq8a8ZiNkIxNcwOC3VZdfyAVfQzKVHy0aBR+FGVI2vuAJixOeyUvhaCJCFyvRrq8p7LmH6Wsxv9s4y9dv93a4PPY769riPh/Aqx/J+R84pfUoKAViyBgIyYzf1o1xZfNvTaeLDd2V+9YF6+VVTp2jsSatvE3zM898hSlBPM1gC63Y4/Nli+2fZ0a9yPlC8kIwYIGsH486S7N+GxsUlpYGRcJul+LKpoHWn18LFb/i1dY20fjSjXO0/FE8MTKaqo5Hgz2MCcE05U17MPaTvDdX6AUKYZk/ma2Todaj0crbmcPZ1MQ3GKx+U4tvgTtGbQ+x7d1eanQDeLMyaOd0cu3qV8gPmgedE2O1QWkm8eoK86oRyvxQ4fdGY14Xl0ZYI/D5gHEcdLEALmHuCMHx6ms8lS1WqMBo+uIw8J2iN5T1hgQJxtYC+CwHJiAmU3wqgpMnde8byS6yEHxUBl0JMNKAm9Sz+cZNwWwkjkyVTSsy7ga/nQDe1CjAMEkro5WJUvW+YDDzsxd8oR19OghJ47+gy8h0SJWpwn7djhXM4CopY4DWhwW0tbz+COlgu+Uik8APyv6V+9t81BY4t786yEPLa95TH1WvgKZYazEx6GvFqdG7quBnmzw3gsHJLZBVCFxl09i58lPR3wGg6+BV7OCuuqqR2X7CN1GgEnPp2kZ9X2lPiIHt/rYmt/quTwbF0R9UGDj+hXkwwj5219D5bimAHnfGuHkL+7nztAYC4ZBePFfOZVbwzYJhQK6XpUWfD8Q4W5KoRv6ufq8byRe+0ugaT1nwF/RqfqRt+/9k/9FI+db1rMeGxOmAWxTsMfrQSiT8RJbVAbBbR2xceBO640LTDesAjRxH8y57V8l2prM/0Kbg9jyT1V9DuexklRedEhbRfwo6kpJl1YX/ZLyXUxMIfkzVK9+boPSKVSs6M6PgLw5fq2TRtiZE1kWr95ZrPolbIv0l94IQJJEstGKXQGSddvi5P64Oe/EQOiNvsJ5BCziiTvvYupBt8LKt2PMqK90+vDhz9h+nesnDcWRPRWbJKfxi5YCMX0mQgJz9kYQGK5pIEXLmyfSjgGEy9D1HLveJbBqaTFAwOi8iWxr3hT+4wXTZrrox250FJvIIzvS6RlRGvI4nDRzm5/60Wbnv1RtMLbhAE/gsNLr2cihWlBhAngUfZf5smWHN4a11bD1nhZcP3MzFsnPPZt8LYjpmjo7pRQ/pzWkpCVzlS+HUMrWhZ2jnJUNXIVjqUtBlfy1HRX2BT2OyO8i7T8TOGuyvQITZJ2js81W+2leV+FoWeO51bZIoXGt5TzHCWlhGuIzKe8NAEiXbx8X0ohKgHPtO8oGok5eY/51W0Yr8Ev0HQKmfCRDhq0Zbvlp3eYRteXp8gZsRXvBr9gWIagvm2SDIAWA7yyNDAWyyBfyrKCc1xhik1+U2Ra4nFt9XYuhwFsLCEsg0GinamcgcQByFzw7ybJ4H31rC9PsUyfTF56ZZD2w24SGRDtKpHly1qtRvr4UkNiudoBjUu+RXEfcRuHyXQ11AbJFSW1r+fIeB5u5IUeIBW/wnGO7Xlu9uiTqTaO8W804n5MFyrADMHMx9tB44V6cNmQ+Bm00MgQ8gHdBZDt+QExDkJvKl7sZHgAlGEvDVRJAio/gXMgX6Cb0MUBFcf2lTtYI4DaS3RQ5kVPfmuBhz/nqg56yXhUY54X6nQbXUqPFU2go9blr3ojoRM19LXigHlylaPZ8Gv05z5jpj0enwhzPZ/8+bLPZZyzYa/yjvYTX4UhXZyFLoqMCbYTTmR/DPfR1Dp9CKR4PuWXTAFKwsD6NTJWpl4PV0MHDkbgrWxVw/mYYIJ0AezcxKNGHi02F9shnVjYVca2IttQLg58+bTnBAIyF9BjiE5MTVCIdZDYBP8K9s+Dt0MRfyratJ5T+qA9CHAQqQVOrk4FvJVAr/nPZgT8gNvxFFgJgfkcdvAUEyZ/gMjTRXAB6mrjA+9RhoIah5NnTxRiyDzwxwclHHIZTyy52gTV6ZwNzBEuTz1IkX3WNH0Rof8Sri0YFlRbDtzw67LIB62mm8nFHrhtjSjgM04l+2Eivqb3ydpq8ak4tJK3Pr7+C4THUTIkchG0IUAxY1R6kIcLeerlzn1m4A5ex3XAv9YnNwv+PLqTmRgR1Tj6c9Maefv4igC0ElVMdJP9s5+hqrT7rTL7L1zXYBrYbt8q9CV7nd2mfFD44N1xS/IGSp7QIJBKiDA2mkyD8NyVFdl2BWRfM3sgwHL+RISINXqYWSSaAlggEH3ZtOxCTfG0qBHRzfZjBmV/rumqsb98Hnh7FMfijsL9bYUKsIynCy0XcJAn0zHQZrb/YSQyTE1Raz3kumH/6TdF6n4ce/LOO4nhUO3VVjYCQWmoBUtphK+w/TVWkUp+lkAiiCeYz3nQ0GGpYpK6c+Cn8+A8GtfLO95He0WVx/SkjTDaEM40pG6+P8MD7vQX0884WwJ3kAbDDDYNpBgVXdnepWZkui04SMmrIOJT8OPWqKMCVb7REISD3I2azdXUvJaqv77bPBtOUdYOquvOWarIRVKHF3a3xJJv75rjZN3MgMxRKS5UK5K0qhGOq56azI/ZISATwXLJDFAsJFlY39ydSs4zLyh5P0iZ4MROcGuE53EKKYvV/KnQRKPFvlaTlbNVfrjFYvVgS/O/HAcYk1ILrfaZ65hQ3xebY8t+53nqVcnN7ZtaLdUooMVh2pSTa/Sso8MXtKwxj1amN4pBmQ1D3EBax3hiX8mv9nB+R6hfB1SeaLHJphQWiqdgn2+8iyyA4NV0pqWe0K+r6kiTWyJWbYtviGQpiW7HB1/iE+hwcNNym6xBDhYDdH5ZcdI4AkGCVm6mtWqcy8wUOj4EMJqfmTP+OROWSXOMUev4EULN3b6cYt8FSvIp0c02mVAvRfIn0wcsOwgJkS79cnVUyFDOZBLrEncijHxN4ZU4TEAwVF4DoHnS11XKBSRuJI/+qaH3Yx8xwW63je8y68m2iAO3Bh6V28E0YJyJcvf3tL4z2iqPkFjgdjDIv1DO6QdLl8XG//SjwyeAXNlWLC4hYnjQSgMHqgGhhWLpN3JARVq1LZ9pn5+N7E22UTkZPgicvQT+QMQgFgxxnb/OOAqpi9XCVhG9DwzzId/5EV4Zca9pkW+Ak38MMcVoCeAgvpB3jAsXoXdPcF9+V6m5JJ74TEGoOtcpXrzO87xPGxw/bOP7l1a0Z1Z2+ksKnm5a+rk6Az6FpCxbRZlxW8IyhBnNcmJ6UUBeXOf288+ro8pn6TVU03l+RsFs58NRYvMYQv6gPkQKRi5ccpilLLPG8IoBuXrV/4qrN8Ql0t5XZAzBIjwAjJFUZOMl5SLOZ8UXY6lhy0ZWmGSkLVGT+qcWqay7iQdnWEoiZKwWXpVM1kHqgG6v8XTRnFaBbJr/lYpA14wsb3E7Yh/zBcqcku3L7ifDu/GBSKwMTXcndz7v0ijbL0NHrhLdjqSB/Rbh3a2dNc0Lr6TDOYuBR14CLEgzYzOJ13phrHylmontaWlGt16S4ZkiQMHlt9vgNKLceOK6Dh+Kum1Yw5ZN3HGOYfNtD2szZlpxGdUeufw/PqOd4nIu/LK7i3mH4tuUsyKP6DnUoyYP0S4lwRdJu90u5LTWi2WPNXmtiQEERJRRU8A81+F9yd+LT47AuAQ6S2U+iHxVbAMrHWKmfssPGVZPOptEhAODU/F+fGjRB+Sfs3A7QKo/3JHXGjoMP3UTUzoNgAerqHy4oGGa+yUfWA/C985bF3PG2xJlYQpwUnb2qY6P4VzRYOixWj/ED1kFa+9xaoPjv44Q2gTVyFBilJGW0a4E51ut7S4n4G36LXWwm3CwCbG6HpLGJkd3FTf/gXVh3FRvyB3MN+36gCvsmI7TOpE5AnqApcCZvDsuu2EmwmCtNI39oOC6TDiHzP6G4NgpVWYKxu8WgI0fiXL6kWtlsa3HyvyYtzO5Y5Ny1uiH5V++K2W7bzs7GGaEhWb5Blh99D2LjTsSfgIPUul89aqrfdbHN9pFs03ldRfgHF5EAQcmunqCZxdS6UXD9U2KToQ1KRmI2Qt2li9NfIUI5tJIhYCqA7sXhWf8DutWCMMVoqD80sJFWbRt46J1vedlR0mH5pZk/ZOzhyt/p1cfim4KsxIg/CNhFcBDKCopIbhvog7ELylamJ7Ynzj3yCYy68LOTX95aHnmX1TnaL+BV3QeFLY+SNVf9rofEnb5XDtDfYHUlQC5/TSnL7MrAdI4KoZSGVIs/QUp7YtmeeAuiy47j6adCJbEe1vR0yoMiiAEQ3toeZG8yzHDauNJuUV9P158NNXiEBuAYdug0rtEiKxc9jdAJWs4ebaxwYuzXfD6j9OPVV/wJfky4nmI78ePOqVLpGvrMA3ZUxvP+Ood6iH0MJdBvezYoKgTpFXP6uz+y8foe34wTZUv66Uv0ykenrligMlpLBH8X5v6wbxZyJG6WLx0V8gg2+GSVCi0exM0ylj6xFBGTaLMBWprsXIZxANHbRr2jL20fQFt70kw4B4W/LCi+P32U058eSfHtOm2VIpL4Tq72cxsHTOLgKXGrPGwSAPamYrQ3ZINuxyR9KszM6pN5ABjgzfhwWCR5EYFoPTAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019NH5vZ1hiYFTc6KyrxTegj",
      "input": {
        "note": "The lemon slipped out during transport (I had only closed the jaws to 0.15, not fully). Returning to hover above the lemon to re-grasp with a full close.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.3,
          "right_y": 0.35,
          "right_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_019NH5vZ1hiYFTc6KyrxTegj",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9943, 2.1803, 2.133, -1.3655, 0.3927, 0.5968, 0.9978]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3018 right_y=0.3468 right_z=0.1466 right_yaw=0.1458 right_pitch=-0.6218 right_roll=-0.2774 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -1.5795, 6.9812, 1.6142, -0.0464, -0.0611, -0.0122, 0.294, -11.2479, 7.8838, 0.3053, 0.486, 0.2613, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee4e113ce7a10a3250ddbe8c6e4781339c598023761583188356193d904659c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c958811f902ce38ed14880fd4c5a613ef1d6b6e09f968097548232b57a483e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8cf172eac30fab6b2cedc79d87467ea2f605db711a7253e865586c32e1e59b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 2.656 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]: [-0.0219, 0.8288, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 1.0084, 2.1899, 2.1468, -1.3582, 0.421, 0.6426, 0.1534]\nstate[eef_state]: left_x=0.2809 left_y=-0.0002 left_z=0.152 left_yaw=0.0003 left_pitch=-0.1407 left_roll=0.0023 left_gripper=0.9992 right_x=0.303 right_y=0.3521 right_z=0.1486 right_yaw=0.12 right_pitch=-0.5866 right_roll=-0.2665 right_gripper=0.1534\nstate[joint_eff]: [-0.1436, -1.4017, 6.9402, 1.663, -0.0317, -0.0562, -0.0122, -0.4308, -11.4393, 7.2957, 0.4957, 0.3443, -0.0366, -0.1343]",
      "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]: [-0.0219, 0.8303, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 0.2668, 2.3531, 2.7476, -1.5845, 0.2031, -0.0982, 0.1533]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1516 left_yaw=0.0006 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9992 right_x=0.4903 right_y=0.1008 right_z=0.2232 right_yaw=0.109 right_pitch=-0.6127 right_roll=-0.2737 right_gripper=0.1533\nstate[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.6777, -0.0415, -0.0659, -0.0122, -0.4034, -10.7145, 8.0479, 1.1209, 0.0464, 0.0904, -0.022]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9943, 2.1803, 2.133, -1.3655, 0.3927, 0.5968, 0.9978]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3018 right_y=0.3468 right_z=0.1466 right_yaw=0.1458 right_pitch=-0.6218 right_roll=-0.2774 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -1.5795, 6.9812, 1.6142, -0.0464, -0.0611, -0.0122, 0.294, -11.2479, 7.8838, 0.3053, 0.486, 0.2613, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bee4e113ce7a10a3250ddbe8c6e4781339c598023761583188356193d904659c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c958811f902ce38ed14880fd4c5a613ef1d6b6e09f968097548232b57a483e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8cf172eac30fab6b2cedc79d87467ea2f605db711a7253e865586c32e1e59b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggQKjgEIEhgCKkDwr13ISefVL14c4jUCzQn3mOatoJgVpRJI9ks8bYaSvctmdXu5G1UQ2nu1hlJ+bd79ZO6IID4IdrtZ5QHgyFLRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfSKzNUGEgw5VZI8+qvQ24oGKdcaDP3qlGzLot+DR6fzQiIwIP1yCXFB3WaeF6FsMEmQ84aaIGSwPyHLIC2c2VsNzGfeNpYWqFSDAYiY3PAHo+eIKqACsbgDG1SJ8kwJ+id0A6vPprsEa6j2tRUR9YAkl6hiAe4GlGywye2DlZ4JTvHX4cRDzuxtqBH/JrZbr+qQdkTmX7tEIkaDL8+RjvsGsmKyyaX9fKL29tzXccgLxcgGXLH3Tb11vjPs/ycWAdsKOuWRhZq3ZRfEAl2ksNCcjs2xdSvmrCm3O/3x2q7ZEwN4q+cFaUFRKhk9sDOXZFRlshklu32HsgtadDARnEaydMaXD/Vnx2dTm9ckf4abajNwk+9l+uqanY+Up0IYkBsSJE3J2TgORSE0cuQNHbOgPTEWhk/HKXRKI/Z/Z1/qnGSdWD9CG14JAfxsm2Xd1i7EUDOfAGIeBs6K4vVScTtyDb1FfAIh0e7Ji2kFIzjJN3E0V6zEGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VCyYYnZBdSUA72ji4ksaaz",
      "input": {
        "note": "Lemon visible just above and slightly left of the jaw gap; advancing 1.5 cm out and 1 cm left while descending to table level.",
        "targets": {
          "right_x": 0.315,
          "right_y": 0.357,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01VCyYYnZBdSUA72ji4ksaaz",
      "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]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 0.9901, 2.2097, 1.8378, -1.0439, 0.3958, 0.5911, 0.9983]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1442 left_roll=0.0024 left_gripper=0.9992 right_x=0.3081 right_y=0.352 right_z=0.0607 right_yaw=0.1417 right_pitch=-0.6223 right_roll=-0.2854 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.2103, 6.8991, 1.6093, -0.0269, -0.0562, -0.0122, -0.212, -10.5778, 5.6821, 0.6569, 0.3248, -0.0757, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f208cb082e268cc529b2ede321f4fa1bd415daad4849039b1f7b1a432528beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6659211e4bc013b806b94a5be79c3771911e55bc00f74eb0b5166421b51ea19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a46751dc2ea05ad55b768ce48437b8fa3d5f26a478f01e0a40fd048a3005389b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 7.596 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]: [-0.0219, 0.8303, 0.6128, -0.4946, -0.0139, -0.0307, 0.9992, 0.2668, 2.3531, 2.7476, -1.5845, 0.2031, -0.0982, 0.1533]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1516 left_yaw=0.0006 left_pitch=-0.1423 left_roll=0.0026 left_gripper=0.9992 right_x=0.4903 right_y=0.1008 right_z=0.2232 right_yaw=0.109 right_pitch=-0.6127 right_roll=-0.2737 right_gripper=0.1533\nstate[joint_eff]: [-0.0615, -1.3333, 6.9128, 1.6777, -0.0415, -0.0659, -0.0122, -0.4034, -10.7145, 8.0479, 1.1209, 0.0464, 0.0904, -0.022]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9943, 2.1803, 2.133, -1.3655, 0.3927, 0.5968, 0.9978]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3018 right_y=0.3468 right_z=0.1466 right_yaw=0.1458 right_pitch=-0.6218 right_roll=-0.2774 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -1.5795, 6.9812, 1.6142, -0.0464, -0.0611, -0.0122, 0.294, -11.2479, 7.8838, 0.3053, 0.486, 0.2613, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 0.9901, 2.2097, 1.8378, -1.0439, 0.3958, 0.5911, 0.9983]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1442 left_roll=0.0024 left_gripper=0.9992 right_x=0.3081 right_y=0.352 right_z=0.0607 right_yaw=0.1417 right_pitch=-0.6223 right_roll=-0.2854 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.2103, 6.8991, 1.6093, -0.0269, -0.0562, -0.0122, -0.212, -10.5778, 5.6821, 0.6569, 0.3248, -0.0757, 0.0415]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f208cb082e268cc529b2ede321f4fa1bd415daad4849039b1f7b1a432528beb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6659211e4bc013b806b94a5be79c3771911e55bc00f74eb0b5166421b51ea19",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 293):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a46751dc2ea05ad55b768ce48437b8fa3d5f26a478f01e0a40fd048a3005389b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BSxaVzg7pSZY7HKmbqTojJ",
      "input": {
        "note": "Lemon is between the jaw tips; closing fully this time so the grip force holds it during transport.",
        "targets": {
          "right_gripper": 0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BSxaVzg7pSZY7HKmbqTojJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9928, 2.2292, 1.7626, -0.9596, 0.3962, 0.5915, 0.0094]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3058 right_y=0.3506 right_z=0.0338 right_yaw=0.1382 right_pitch=-0.6288 right_roll=-0.2951 right_gripper=0.0094\nstate[joint_eff]: [-0.0889, -1.388, 6.9402, 1.5849, -0.0269, -0.0464, -0.0122, 0.212, -13.5863, 5.1761, 0.652, 0.3736, 0.0366, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5ba93b34d40084b76dddbbb255157647d778f94f68fd4fba966a5ec1dd270a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e0d4f64f3036ca49db5e1eec90d858ec646010285306dd81884efabf50d3d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:86702f186e019de0aaa612e121aa28db7ea04a83bf9a33ae1269c4b7d6c4f975",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.068 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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9943, 2.1803, 2.133, -1.3655, 0.3927, 0.5968, 0.9978]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3018 right_y=0.3468 right_z=0.1466 right_yaw=0.1458 right_pitch=-0.6218 right_roll=-0.2774 right_gripper=0.9978\nstate[joint_eff]: [-0.0205, -1.5795, 6.9812, 1.6142, -0.0464, -0.0611, -0.0122, 0.294, -11.2479, 7.8838, 0.3053, 0.486, 0.2613, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 0.9901, 2.2097, 1.8378, -1.0439, 0.3958, 0.5911, 0.9983]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1442 left_roll=0.0024 left_gripper=0.9992 right_x=0.3081 right_y=0.352 right_z=0.0607 right_yaw=0.1417 right_pitch=-0.6223 right_roll=-0.2854 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.2103, 6.8991, 1.6093, -0.0269, -0.0562, -0.0122, -0.212, -10.5778, 5.6821, 0.6569, 0.3248, -0.0757, 0.0415]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9928, 2.2292, 1.7626, -0.9596, 0.3962, 0.5915, 0.0094]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3058 right_y=0.3506 right_z=0.0338 right_yaw=0.1382 right_pitch=-0.6288 right_roll=-0.2951 right_gripper=0.0094\nstate[joint_eff]: [-0.0889, -1.388, 6.9402, 1.5849, -0.0269, -0.0464, -0.0122, 0.212, -13.5863, 5.1761, 0.652, 0.3736, 0.0366, 0.6862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc5ba93b34d40084b76dddbbb255157647d778f94f68fd4fba966a5ec1dd270a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e0d4f64f3036ca49db5e1eec90d858ec646010285306dd81884efabf50d3d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 303):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86702f186e019de0aaa612e121aa28db7ea04a83bf9a33ae1269c4b7d6c4f975",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgwcKjgEIEhgCKkALFE8JCAix1j9cxlicsNCj9C0OmFU7sSBMeLPCKMvNZzLITv76/9Lh2cG5kxz8K4ThBwZGb7cA09Gupe+XDynuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCLzNUGEgydu38qs5w+7RhAcRIaDOVCJV8BEZD3ivrjfiIwCfc3vkAAzxT0lxAkGvWTme2q+jcNo/Arrn8e/eQXACHHdLV3w2b8Q5n9pA6f1VhCKqEFfzsHHQXCS7Ww7nM11FYtNO88tsAQQK6SWckldfmgHq6wHk+WDF6m5NI4Dvyi82tRmJ6v1Qf9GEQzVdxm0UZU1y2q+AnyDdbDqHRKmAJLbDl1by1ScC+bOETl5mKJNjahwIvRE9ZzEABbSxJjG47G6PQ845ReQB/m9bgGiz8yRf3QI9UPADSlI58OS01mzUxXNHur0fxIZTyoCuY5vT65zZAxZhE9SCW0V0PZ0Fh32M/885CChGPemulsg2x8eeA3P3gErjRc+0L2OGQfVrJJW4O6tEo/mb3QEr1tE561M/H7Ntm2lkj1IO3iHUWh9KPmQ30CV9fydvGaLk8/0idZDuC7RXjvj3XSHyvo/G6R0V/Rr9nY774r09ZOQO7qPsHOeljq5tYQSEEqHq7bbbvQElL6kCNHO6bCcsdisg2U0PNZkTxdk2l0UDBoFB5N+3w0aHLDU3hlIZNNoJ47uM3LpAZ4kGks1/O7fz+io5f8pKvyaGkPaNecHtqCb2whWrnyfAVKC4pyAcWTD7eZUnBrcjMlZSEb2JcpvGCaPoUIKz3FjvHVn27Ezs+Q8ra7p0eAkeaSU9E1NVNYE23qTHH9ZcTC0laIkxSNo6cSayHjctPh+m638/NLHzcEAV/WFkvIZF+1exkm811J/FM4WGPerEsuNxg7QgUZcb/TvkcosgB7E7xTE/3Mh7TlfEO5QCfw39pl4KPkj7M/yIZandWMy8FaTgytohf7lojI+LkLoEBT/WNE8Ngx11DsEGojJbI5ciP0eZ46qR3AlAJQXHsaeDZjMl4r0aOu8x8s3HhgmUXyvh9A8lpf+04G/IvxJrrQm8vB3vbV9NnL/X7iNX3BKRaXq7DD8DOwJ2RuWqk5KcAemI1eWxzbem+QJ//AQzG+gRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QeGHFpMUhNkcQvTZPnC2RL",
      "input": {
        "note": "Full close squeezed the smooth lemon out of the jaws. Reopening and repositioning slightly for another attempt, this time closing only partway without pressing down.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.312,
          "right_y": 0.345,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QeGHFpMUhNkcQvTZPnC2RL",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9852, 2.2292, 1.7489, -0.9775, 0.4004, 0.5732, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3046 right_y=0.3411 right_z=0.0297 right_yaw=0.1219 right_pitch=-0.6493 right_roll=-0.3368 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.2103, 7.0769, 1.5751, -0.0513, -0.0366, -0.0122, -0.5949, -15.3504, 8.1026, 0.4322, 0.3443, 0.0952, 0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa9dbdf7a8f8b82af49225543de5686e831d0551957d9d19aab1c3a3e9f9d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb7a9d1c6abb2499e9870057c415b1eb90fbbf87a03f59da115b7b202353b764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb4733ca1f3f1045e14e57c17c654da4c7c052463135b2915842359c5a9c992f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 6.402 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]: [-0.0219, 0.8322, 0.6128, -0.4946, -0.0135, -0.0307, 0.9992, 0.9901, 2.2097, 1.8378, -1.0439, 0.3958, 0.5911, 0.9983]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1511 left_yaw=0.0003 left_pitch=-0.1442 left_roll=0.0024 left_gripper=0.9992 right_x=0.3081 right_y=0.352 right_z=0.0607 right_yaw=0.1417 right_pitch=-0.6223 right_roll=-0.2854 right_gripper=0.9983\nstate[joint_eff]: [-0.0752, -1.2103, 6.8991, 1.6093, -0.0269, -0.0562, -0.0122, -0.212, -10.5778, 5.6821, 0.6569, 0.3248, -0.0757, 0.0415]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9928, 2.2292, 1.7626, -0.9596, 0.3962, 0.5915, 0.0094]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3058 right_y=0.3506 right_z=0.0338 right_yaw=0.1382 right_pitch=-0.6288 right_roll=-0.2951 right_gripper=0.0094\nstate[joint_eff]: [-0.0889, -1.388, 6.9402, 1.5849, -0.0269, -0.0464, -0.0122, 0.212, -13.5863, 5.1761, 0.652, 0.3736, 0.0366, 0.6862]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9852, 2.2292, 1.7489, -0.9775, 0.4004, 0.5732, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3046 right_y=0.3411 right_z=0.0297 right_yaw=0.1219 right_pitch=-0.6493 right_roll=-0.3368 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.2103, 7.0769, 1.5751, -0.0513, -0.0366, -0.0122, -0.5949, -15.3504, 8.1026, 0.4322, 0.3443, 0.0952, 0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa9dbdf7a8f8b82af49225543de5686e831d0551957d9d19aab1c3a3e9f9d21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb7a9d1c6abb2499e9870057c415b1eb90fbbf87a03f59da115b7b202353b764",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 313):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb4733ca1f3f1045e14e57c17c654da4c7c052463135b2915842359c5a9c992f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqQYKjgEIEhgCKkCJtDzS8SF0RqASjZpNuP28G6JkaEYQiam1aSIEcVOBRVEWnr3hc+sCQsRXmKhdZn0QImKoL287PBdY15gEztPKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYiLzNUGEgyStRQkFRBQHukE3wsaDM9Kctk48f6KpIeMNSIwfNFSvkoP7P5ZrW3T5woCsLvDwEzhaVpt7dZ/5E8JP9wf8CE53cZgCSFJvXhJDt/uKscEYCVrWM5qK/S9/ruAN1Tg/CBnILAw1JdA8xyBuWPtmiuIvCHveuBvldhCfeWz/zOefSKN1Ec4UUySNWR4AFdrl022/ZeJIfUlg1WXSeqxp5VRuc0FeCcD+gEQLDd7Z1LebzqWtxK8GCryAiUWdrYQgKNtYlVcY+rKJQn272IzYglq/RtbSguM2tdRR8Aa6U4o/HwZbsbR9fjqS9LvvcwC+Zp1t8XmI84/c5pmdOaGdvTlwplodto+0rDXi7I3zVJ+drotEuJgF3nNFbZM9PmaGWgVIJB1weG86LArsRZtaKQ9STIHEIUWTyAw7zgqdc6zgkbMhLvzN+XCtODg0M1jHvkhSdb1WIbvm2Hdt9TEgP9r//3rIP/2Jfe3Aou41YQ5dtJyHGrm0oIV/mL1ZlFWYHemE5PxpGvGPL05cimXMd7omFGI2LbFkj01yO0lHp7L2SCSyrMHikqzFHE1zCM8DveE0nPSg0F0W+NPzq31bbT3Qs6vMpcGMR97nWrHQ5STs5CfVZngX1i2SyGCZGNawlkPwHjgRzQ7SC9/Yn9Kdbe2YBAT4gLeIhj51cJxYjW1rN/jlMfbGvF0LJwqSA99agUyOADqphP3jE4Z9/lF6/gafxLf7OOrYIIQx+Mrnlu9ZXT3xVb7xVndWSveWmtsBhGFwj+jk3oNsXqHlriPiw0xdCx+5absi09wNRo+0VZSFBZT83myxB9jZK8gVyv/2StgZcYA5/3xwALpTwmjUjnUH3dtkFD+20Wilsk4F/IwYbzv7Ay4CxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GRsnKk3mymNmQWPybMyYnZ",
      "input": {
        "note": "Lemon is perfectly centred between the jaw tips; closing firmly (0.08) without any vertical motion this time.",
        "targets": {
          "right_gripper": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GRsnKk3mymNmQWPybMyYnZ",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9939, 2.2265, 1.6939, -0.9348, 0.4187, 0.5758, 0.0844]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3006 right_y=0.3368 right_z=0.0185 right_yaw=0.1127 right_pitch=-0.641 right_roll=-0.3594 right_gripper=0.0844\nstate[joint_eff]: [-0.1299, -1.4017, 6.9402, 1.5849, -0.0562, -0.0269, -0.0122, 0.2393, -13.7641, 5.7641, 0.6178, 0.3834, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:600e3088188369491bacf81a8bee55b0bfe2a7bbe77319940aac706f50a1dce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce771764cfb9bb1499bc0905400fdf3470857bdaa2eb00edb349cc6a53fa0967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:650d11738375f10a93d00e4d66f7ff13e0ff05d98a8f72446c2d560b5eb963d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 15.59 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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9928, 2.2292, 1.7626, -0.9596, 0.3962, 0.5915, 0.0094]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.151 left_yaw=0.0003 left_pitch=-0.1446 left_roll=0.0024 left_gripper=0.9992 right_x=0.3058 right_y=0.3506 right_z=0.0338 right_yaw=0.1382 right_pitch=-0.6288 right_roll=-0.2951 right_gripper=0.0094\nstate[joint_eff]: [-0.0889, -1.388, 6.9402, 1.5849, -0.0269, -0.0464, -0.0122, 0.212, -13.5863, 5.1761, 0.652, 0.3736, 0.0366, 0.6862]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9852, 2.2292, 1.7489, -0.9775, 0.4004, 0.5732, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3046 right_y=0.3411 right_z=0.0297 right_yaw=0.1219 right_pitch=-0.6493 right_roll=-0.3368 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.2103, 7.0769, 1.5751, -0.0513, -0.0366, -0.0122, -0.5949, -15.3504, 8.1026, 0.4322, 0.3443, 0.0952, 0.1001]\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 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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9939, 2.2265, 1.6939, -0.9348, 0.4187, 0.5758, 0.0844]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3006 right_y=0.3368 right_z=0.0185 right_yaw=0.1127 right_pitch=-0.641 right_roll=-0.3594 right_gripper=0.0844\nstate[joint_eff]: [-0.1299, -1.4017, 6.9402, 1.5849, -0.0562, -0.0269, -0.0122, 0.2393, -13.7641, 5.7641, 0.6178, 0.3834, 0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:600e3088188369491bacf81a8bee55b0bfe2a7bbe77319940aac706f50a1dce4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce771764cfb9bb1499bc0905400fdf3470857bdaa2eb00edb349cc6a53fa0967",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 323):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:650d11738375f10a93d00e4d66f7ff13e0ff05d98a8f72446c2d560b5eb963d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkgcKjgEIEhgCKkDXSK740CvJFRkH2lB9g1WY+22dz77AocgrF/6NyJOKC10zYKo7PSEPT1VLEQXK8lqsr60aRP801PYxVYNnZhSZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+LzNUGEgzagewFcLkKX/MvQ7UaDKG6D3l4axBh2dPNBSIwHQGnWnCmgX6oCPhvHcAVVNcDoddFIpTzMTJIpqiTLZkntMbIxi2W33FMtU2LJPgkKrAFZ7kLc+lOpGiYw9ZqJ4z3ucNA/JPcNI9ZkJas9rBt4MUTwZbjrczV8bkXociYeNXQZQFS9HwF6SrW+DKW0IMA9DVN+IWBo7nmwq+iVENk4mbbEcOCWqWwaAt3XF1wkAoS6WJCgGn7DPIXC8nBcq54CXcJVyRcH5Ts1nkr+mGhtW15SdfYI0V1kcGhQmew6kRBfYCc6uw3lINeGMd1JUX9o2QSqT9ckV8jMRbv2ycT/Zs8wX32kdBkbbXESjZS6YQ1rF5eJlvYhimISgfNum6Y0TsoqqcxjkDBeKL5IslFtjIAX3FcBi2u5Db+Og5DSJ9dVLIyYXFhD70qMlxCM0O9MK8gVZamCQjRGqp62ow1iyjCioNs/KSx1PEdCx/K2rJq0XN6febJg29Dmf8xo61QPUwIl73eKKS6Rv535MIcpI0NPMDLmgK4zIHQBmLsIVGI3rTpZ9KE9mBh+DJvnYyI8KGe/OIYg8cBMHjGVeIHzKrdVnNuLvtC93X4AoefMRWaVw1k0u2N3CWznRhpNMbXV2zs+wOfuwmuwQonlfYJJaSqIxbX2biWQrRWuNNwhFvHixxD4AxzCOitUd8xJw5FFGIjxq2bOhZXMnpiJj8O4w6LEuhtA4ehTvfvy68XTbErINvjJyxg6VbSWZgT1gVoDsCCSUdTBYMi2v7OwlFTHUA5bI8xqQZa/2VIkYx5R4518kGVFp39Rrbljjl+gPBuwCBOMYf0s/TppTcrlhr+t+jfrhhpk1/w+Iygx7F9+et9ef3jtW93nVVsmnl2UJTmfoTfVpypORocgkb32d2Yb0KgZKToFSUO7OCF0OR/CE7ivI+h+3urr7GhmQyyxzg5+pabac8GUSQMGE0dcu7QRAMyR1fB1N99LTJqIKuAPcTq5ZiSRIXZh21st8gGJGrf2hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0194uARZDHK86MocQj8LNjQp",
      "input": {
        "note": "Jaws closed on the lemon (yellow visible right at the jaw tips); lifting to check whether it comes with the gripper.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0194uARZDHK86MocQj8LNjQp",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 1.0019, 2.2055, 2.3253, -1.523, 0.4377, 0.5755, 0.0839]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3029 right_y=0.3414 right_z=0.1867 right_yaw=0.1443 right_pitch=-0.5853 right_roll=-0.3146 right_gripper=0.0839\nstate[joint_eff]: [0.1846, -1.347, 6.9402, 1.6288, -0.0562, -0.0611, -0.0171, -0.3761, -12.5744, 6.2838, 0.4811, 0.3932, -0.0659, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4bb7fdf7270893db190cea886e6ebd22d7af4ed294ac760a899928fe5f179fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a160dd0896e96aa2f3f0ee7af8a5919aeb2b9c60c4a224bede4be7627864a831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75c11246c89e1253da31cd9c69db4dd32e0babc1d0f6090e687b2b01c72f76e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 5.363 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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9852, 2.2292, 1.7489, -0.9775, 0.4004, 0.5732, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3046 right_y=0.3411 right_z=0.0297 right_yaw=0.1219 right_pitch=-0.6493 right_roll=-0.3368 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.2103, 7.0769, 1.5751, -0.0513, -0.0366, -0.0122, -0.5949, -15.3504, 8.1026, 0.4322, 0.3443, 0.0952, 0.1001]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9939, 2.2265, 1.6939, -0.9348, 0.4187, 0.5758, 0.0844]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3006 right_y=0.3368 right_z=0.0185 right_yaw=0.1127 right_pitch=-0.641 right_roll=-0.3594 right_gripper=0.0844\nstate[joint_eff]: [-0.1299, -1.4017, 6.9402, 1.5849, -0.0562, -0.0269, -0.0122, 0.2393, -13.7641, 5.7641, 0.6178, 0.3834, 0.0317, -0.0122]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 1.0019, 2.2055, 2.3253, -1.523, 0.4377, 0.5755, 0.0839]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3029 right_y=0.3414 right_z=0.1867 right_yaw=0.1443 right_pitch=-0.5853 right_roll=-0.3146 right_gripper=0.0839\nstate[joint_eff]: [0.1846, -1.347, 6.9402, 1.6288, -0.0562, -0.0611, -0.0171, -0.3761, -12.5744, 6.2838, 0.4811, 0.3932, -0.0659, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4bb7fdf7270893db190cea886e6ebd22d7af4ed294ac760a899928fe5f179fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a160dd0896e96aa2f3f0ee7af8a5919aeb2b9c60c4a224bede4be7627864a831",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 335):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75c11246c89e1253da31cd9c69db4dd32e0babc1d0f6090e687b2b01c72f76e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CzaKMHX6p5XqwPiPVmCQNw",
      "input": {
        "note": "The jaws keep closing just behind the lemon (reading 0.08 = empty), so the fruit is further out than the wrist view suggests; advancing 4 cm radially at table level with the gripper open.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.345,
          "right_y": 0.345,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01CzaKMHX6p5XqwPiPVmCQNw",
      "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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9321, 2.257, 1.8221, -0.9688, 0.4206, 0.4965, 0.9957]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.337 right_y=0.339 right_z=0.0395 right_yaw=0.1337 right_pitch=-0.6114 right_roll=-0.3402 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.2239, 7.1316, 1.6532, -0.0513, -0.0757, -0.0122, -0.5402, -11.6718, 5.8735, 0.6618, 0.2418, 0.0366, -0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3167ada124554626e5da0271f7ec102d62c902cf9757af72c65968c8926f6446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f346daa13f86d9dbda678ba9695d054581e660dbb4b5fb524124ebe48576eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adf27179def03a49991d65775a73ffa62b5d926a736ba3072348e43a636e28f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 9.251 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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 0.9939, 2.2265, 1.6939, -0.9348, 0.4187, 0.5758, 0.0844]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3006 right_y=0.3368 right_z=0.0185 right_yaw=0.1127 right_pitch=-0.641 right_roll=-0.3594 right_gripper=0.0844\nstate[joint_eff]: [-0.1299, -1.4017, 6.9402, 1.5849, -0.0562, -0.0269, -0.0122, 0.2393, -13.7641, 5.7641, 0.6178, 0.3834, 0.0317, -0.0122]",
      "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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 1.0019, 2.2055, 2.3253, -1.523, 0.4377, 0.5755, 0.0839]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3029 right_y=0.3414 right_z=0.1867 right_yaw=0.1443 right_pitch=-0.5853 right_roll=-0.3146 right_gripper=0.0839\nstate[joint_eff]: [0.1846, -1.347, 6.9402, 1.6288, -0.0562, -0.0611, -0.0171, -0.3761, -12.5744, 6.2838, 0.4811, 0.3932, -0.0659, -0.0611]",
      "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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9321, 2.257, 1.8221, -0.9688, 0.4206, 0.4965, 0.9957]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.337 right_y=0.339 right_z=0.0395 right_yaw=0.1337 right_pitch=-0.6114 right_roll=-0.3402 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.2239, 7.1316, 1.6532, -0.0513, -0.0757, -0.0122, -0.5402, -11.6718, 5.8735, 0.6618, 0.2418, 0.0366, -0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3167ada124554626e5da0271f7ec102d62c902cf9757af72c65968c8926f6446",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f346daa13f86d9dbda678ba9695d054581e660dbb4b5fb524124ebe48576eb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 346):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adf27179def03a49991d65775a73ffa62b5d926a736ba3072348e43a636e28f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5gQKjgEIEhgCKkCvtMflA0asQlJ3kyGtchE2fodqPUCaZ3JNaAbroJgUSnuhyP2jbX8FYfFksrhqmDaStldg2N6xq2ZftxcGZMVyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaaLzNUGEgzZJJPuaQOIv0ZLgekaDFuI2H9nqwNUZN/cTCIw0AhN/B/X0SL43DrOHN1hMbokYb6n2uNf7evuyURy2XPM6RB6kkr4vniFA3AmbsoKKoQD5JDZT41fhsxKFWEoFT/dY7mnM1Vk1TdSXJCB64eojRt4nm9FZAicmLeQ/+bzMdX6BDXYqb0h38HZBzCZjkfo58x2p+QKPVWImYhVgprvrm+TV269AdcQRL/+CjPVqtT1Anu3431fGFuhgnQnSY65e60jSrsCyXGzm1AlSavLUIER0FldXle8dt4JHhg9zt80AB+sViMmg/7wMDdSryAJmQNgsxeZjelD3qNLuxZo0t94e68F5L33TY3kv7qJ1Jh7+PscTb2uaI/T/P9M7MqqYWgGyDF8cOE95I5Jap1rnW2h55GPLwvZ5P3P7CcVyVgQLut+X4Od/sMMCdVPwKLnwqm6j+kkqIYsva+sUwRZvmQHdzI0CNhtrr2ewC7HaB1+/7a5t6p/fe5pOniU+g0sfwQalGlr/+Jk9YAW6A0DPJ0dema0A7aakIruhXaWTbqbtU4qh1cZDXjzPtCdjKK1nqdTwQ53t9BZa0T2bVCa9M+xdbtchAjArz3e2FEOZ0cvAidDRxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MKXNCvcSUBMsAV6dCDtYw2",
      "input": {
        "note": "The lemon now sits right at the bottom edge between the jaws, i.e. straddled by the fingertips; closing to 0.2 to grip it.",
        "targets": {
          "right_gripper": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01MKXNCvcSUBMsAV6dCDtYw2",
      "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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9329, 2.278, 1.8069, -0.9504, 0.4149, 0.4889, 0.205]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.335 right_y=0.3384 right_z=0.026 right_yaw=0.1338 right_pitch=-0.6294 right_roll=-0.3548 right_gripper=0.205\nstate[joint_eff]: [-0.253, -1.4017, 6.8991, 1.5995, -0.0317, -0.0415, -0.0122, -0.0615, -14.6256, 5.9009, 0.5201, 0.3394, 0.0659, -0.0269]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77a99e33bd7b6a186779afd490dd74833abfb626a7f2ff90c2cb711c6e20543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026bf4f724f5340fabd167a01ead9545b17fce49083cea6ccab9ee9bc035cecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:adb19c4014bc2533b38ed762db064d5374c4fc772b4f4b209b19f46b76a08147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 5.901 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]: [-0.0219, 0.8322, 0.6128, -0.495, -0.0139, -0.0307, 0.9992, 1.0019, 2.2055, 2.3253, -1.523, 0.4377, 0.5755, 0.0839]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.151 left_yaw=0.0006 left_pitch=-0.1445 left_roll=0.0026 left_gripper=0.9992 right_x=0.3029 right_y=0.3414 right_z=0.1867 right_yaw=0.1443 right_pitch=-0.5853 right_roll=-0.3146 right_gripper=0.0839\nstate[joint_eff]: [0.1846, -1.347, 6.9402, 1.6288, -0.0562, -0.0611, -0.0171, -0.3761, -12.5744, 6.2838, 0.4811, 0.3932, -0.0659, -0.0611]",
      "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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9321, 2.257, 1.8221, -0.9688, 0.4206, 0.4965, 0.9957]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.337 right_y=0.339 right_z=0.0395 right_yaw=0.1337 right_pitch=-0.6114 right_roll=-0.3402 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.2239, 7.1316, 1.6532, -0.0513, -0.0757, -0.0122, -0.5402, -11.6718, 5.8735, 0.6618, 0.2418, 0.0366, -0.1392]",
      "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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9329, 2.278, 1.8069, -0.9504, 0.4149, 0.4889, 0.205]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.335 right_y=0.3384 right_z=0.026 right_yaw=0.1338 right_pitch=-0.6294 right_roll=-0.3548 right_gripper=0.205\nstate[joint_eff]: [-0.253, -1.4017, 6.8991, 1.5995, -0.0317, -0.0415, -0.0122, -0.0615, -14.6256, 5.9009, 0.5201, 0.3394, 0.0659, -0.0269]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b77a99e33bd7b6a186779afd490dd74833abfb626a7f2ff90c2cb711c6e20543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:026bf4f724f5340fabd167a01ead9545b17fce49083cea6ccab9ee9bc035cecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 354):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adb19c4014bc2533b38ed762db064d5374c4fc772b4f4b209b19f46b76a08147",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAkKjgEIEhgCKkAEwxh1NY9kLliJCb8oj9dQEMPayxpww9Md5+KKkEP7dd1VBqMHIUcRP6QIB0dnGrjfsAGChFeMguWZ9id+9FMQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa+LzNUGEgyCgLib0+g1hFF4H6saDJ6+nOTvR8/Z94Vy6CIwICGF91/rbjTaOK9/lydqSvGtpE2/4dmeiDWQZorRl+fKWeiLAq1/pURqBBptbaKtKrIHpv5QkrpdtRGBPH0gVVPfLk2XaVKyCKHZN7hhfeWXLyxKjh9nmj6/cQrqahHHqCnFd4vvu2FxueEWJxIHxpI5lraAUaYElLxMjXl+li+1Q+fnZZe/mkvGMwkRBZSjafxLVL0B9lOP5LlnehkTy3xaPSkDvm7SQ4GCv+/M2Qia2tpYEB4j4JF/tgnbCGBp3ZuiUJLuaE/WlBbrkRUZNgqYuB02EVN/Lwd4bkgBASB29FgR/goUD6KZck9vx7/9kGqb4/+4UpaOAX9hI8COvc9kQnfqkx2jGr8xCXlUCgulR6wqAwU3044/MHY3gxVl6yTRjfm4uxsCSCLDoISHLgVAhmovWWSYo1I3FG74BDWuqw9jVvJyivRaZqbCnY/6mNsK827CnMr3l9YW8BeCCk0dZRni2a1u7Hbnp41s1tRIukGR248ojawKM27OkYZ/+X9BlBJ7mZuulnMsXuGUS9eV+vwt94BI3Cre2tUxF0VdTrwROq6CdF8UJ/jOHz+qzLT1QzXRh62BSNFfo/alWUWQ7hoEHHhVcn/tXQgG8d65LRc87/yrJ1V15hn4VmbJ75lrvRXsO7si0fAgA96TSiYlUGfZNQrwM8D6rf8yW430vyUpsM5KkIGqwmR4/QDkGPCWg380YrxRcaZnzl/M3K9fK8oRfBZbN9qfobBN4vGqYOqWw3JxvBMRSqBXZIVrZguWMODvhaW8cehT8kse1hp1oFa/6x9uBbC9n5z4GAk42mPQy1E4D0w2hrliwuH9WHGG+IoloEfluIulcyJ3md6VvekwQK4HDGDxvx0G0Yd2C4TynyOy3W/zEajj8WA0hST+EQbLjPCoiBLi3nw9vsNgFPWdciwqd8GK9tT5ySO+gyseKKZtCazcxFnsM9tKPLDHKoEC9wpfTy3NjSNRi9e4PnMYJY+Qdl3a8svcNjObrR4xnmBP4InkUlBahrEzRsGJjIq+NfKfADpzUMREyYZzHZnAS6XxXzfkgSyzLCplRVsmsfttQbXnU7AQG+mfd9czMBpIPTtXOTedDziUxfWGsUPJHW9aUKCCciKfTHklDB14Wa/M32p6bCClUi2edHxCpdUNpcxCjJ4VO9pmC52qVwf+8qvOB27HmpzixmxMCzklEPFlBkHsu9FxpuKOtbVDfJ6RiJSIFE1eDnu11o3awkt3Yfi7SvlsLhG7Yaoelceg2GI+m602K78uPFXCfVwr0+8+7+Zq8eieP5zTAl4YHaGkYVzyPsMdfV/8YCKCojYCCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01P8ANMvwtZRkAiDShqd5PHb",
      "input": {
        "note": "Still empty (0.20 = jaws met). Top view shows the lemon sits a few cm to the arm's left of the jaws; opening and shifting 3.5 cm left.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.375
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01P8ANMvwtZRkAiDShqd5PHb",
      "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]: [-0.0219, 0.8333, 0.6128, -0.4953, -0.0135, -0.0307, 0.9992, 0.9829, 2.3829, 1.9804, -1.0306, 0.4229, 0.5194, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1506 left_yaw=0.0003 left_pitch=-0.1461 left_roll=0.0024 left_gripper=0.9992 right_x=0.3303 right_y=0.3713 right_z=0.0241 right_yaw=0.1536 right_pitch=-0.6258 right_roll=-0.3573 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.4154, 6.9128, 1.58, -0.0366, -0.0464, -0.0122, 0.3487, -12.0, 7.5966, 0.4469, 0.4127, 0.1245, 0.0366]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab073b69f2c09df5be2c98b801695560fa756d76dc1132e9c240c7721e22fe0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056b8ba7bfa88310b6034c8655ad66db3e1222a55feb697c0fcb0a275e251c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0a73fbe487874396d07739c38b7c06d9b0d8442ada18ccdbe41a3f8653c5f97c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 19.48 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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9321, 2.257, 1.8221, -0.9688, 0.4206, 0.4965, 0.9957]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.337 right_y=0.339 right_z=0.0395 right_yaw=0.1337 right_pitch=-0.6114 right_roll=-0.3402 right_gripper=0.9957\nstate[joint_eff]: [-0.1573, -1.2239, 7.1316, 1.6532, -0.0513, -0.0757, -0.0122, -0.5402, -11.6718, 5.8735, 0.6618, 0.2418, 0.0366, -0.1392]",
      "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]: [-0.0219, 0.8333, 0.6128, -0.495, -0.0135, -0.0307, 0.9992, 0.9329, 2.278, 1.8069, -0.9504, 0.4149, 0.4889, 0.205]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1507 left_yaw=0.0003 left_pitch=-0.1457 left_roll=0.0024 left_gripper=0.9992 right_x=0.335 right_y=0.3384 right_z=0.026 right_yaw=0.1338 right_pitch=-0.6294 right_roll=-0.3548 right_gripper=0.205\nstate[joint_eff]: [-0.253, -1.4017, 6.8991, 1.5995, -0.0317, -0.0415, -0.0122, -0.0615, -14.6256, 5.9009, 0.5201, 0.3394, 0.0659, -0.0269]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "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]: [-0.0219, 0.8333, 0.6128, -0.4953, -0.0135, -0.0307, 0.9992, 0.9829, 2.3829, 1.9804, -1.0306, 0.4229, 0.5194, 0.9953]\nstate[eef_state]: left_x=0.281 left_y=-0.0002 left_z=0.1506 left_yaw=0.0003 left_pitch=-0.1461 left_roll=0.0024 left_gripper=0.9992 right_x=0.3303 right_y=0.3713 right_z=0.0241 right_yaw=0.1536 right_pitch=-0.6258 right_roll=-0.3573 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.4154, 6.9128, 1.58, -0.0366, -0.0464, -0.0122, 0.3487, -12.0, 7.5966, 0.4469, 0.4127, 0.1245, 0.0366]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab073b69f2c09df5be2c98b801695560fa756d76dc1132e9c240c7721e22fe0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:056b8ba7bfa88310b6034c8655ad66db3e1222a55feb697c0fcb0a275e251c44",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a73fbe487874396d07739c38b7c06d9b0d8442ada18ccdbe41a3f8653c5f97c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISiAYKjgEIEhgCKkBTAHHlHBNI9h4U9eE38H0FgLimynq01qhBwAdP1itw68PXVeBWlqC29zRXiEsgFtndkT3YQVlEN0iThnW30BCjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbeLzNUGEgwCylwp6A0noicq7nUaDLawrQQuUX6y/neNrSIwWwL+UziJijZitSn9hQOAt6pItXcYSpu3rMkDQ5P6WOr//wO2uLq1935kB4lka1eBKqYEnk2dbLLAZc+/ZYXgkB6SMS2riiYptTb2u8vx2+/2Cj1CmF22dVEUnV3Ws5dQEhiw7cWmxZyIYlnZjz8ALH5y6QfyL77/ByQnTS9Vqa/POwW91+/OQ3ul9UexEpeVjKxn3jQqsvdFOyWhrCnd31PwA8OAIkUMR9TGOomSWOvY8/pSAWQmxMDV7/zjY27ErK885tLC+TUVuiHpXBSio4S1am75yR30aFfzmjAVYSE0qcyWqnRv6f9SOh/ohNtvZpG91mrar32V84k+OOhO1gflhrXXkFKQi/iIkDU2idLvdWLBoi7taArgqDHHOt27Vza5R2j1NmVgWhjeLCTHRL+kjV7qZyzHVNRqVtHctXxSJ3NvhsZN1W5TU2LS/6lkRAH/WC0HYW1CFHfWU354VTDKkqcp0gRsTL/HrqcE0HhjXQgZJOnsA9AfHnOeHYm/Z8bcWha2e2nj4b6V3ij06wKgnSubv3p81I0V57pqI/mZ7Zb1g47UP5E9BSxb1MAAm6kvR7n4GMpT5QFqnhkTTiYoXxgAfrhuYZNClAB9EOG6Uo/frTLmnmjN78TDiu+tmEPH6jFgc5Zh9eGo1nIfMvdx4DFL53og3XpDkNKkXzJQb+x7cNeQyl/WLsSrtqvlfmNZnojO882/FlKoFFzmwtGw+apbvYZNBQRo6i6SBZD8AH3nmMSxahNwpBRWlMZpMrqDFEWaBMYPGOMpJZDGT7tEyZJJ3yX6/xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HzUpm16TvkXYVCkAMhspoH",
      "input": {
        "note": "Jaws now straddle the lemon's location (it is hidden under the gripper in the top view); closing to grip.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01HzUpm16TvkXYVCkAMhspoH",
      "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]: [-0.0219, 0.8333, 0.6128, -0.4953, -0.0139, -0.0307, 0.9992, 0.9855, 2.3863, 1.9461, -1.01, 0.4259, 0.5152, 0.1545]\nstate[eef_state]: left_x=0.281 left_y=-0.0001 left_z=0.1506 left_yaw=0.0007 left_pitch=-0.1461 left_roll=0.0026 left_gripper=0.9992 right_x=0.3269 right_y=0.3677 right_z=0.0137 right_yaw=0.1477 right_pitch=-0.6359 right_roll=-0.3775 right_gripper=0.1545\nstate[joint_eff]: [-0.0615, -1.4154, 6.8991, 1.6093, -0.0464, -0.0269, -0.0122, 0.0889, -14.8855, 5.6547, 0.6813, 0.398, 0.0708, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a85432cd78d2006d7c390bd5bcaa913f6dadd01493af52b11610bb63912f530",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 371):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a793c957a6ae0e377ae908c2b43af7f445765c4ee5e8ee3942aaa6383d7fd42f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 371):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43df3e21484c7786ace1d2b61ea7d4acbfc9e660ab58547a98c46f30fff0d535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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