adhoc

completed
2026-09-22T19:17:58.846582+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
301.1 s
total steps
380
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 noteScene: large white bowl (left), blue bowl (right), plum, lemon, pear. Left wrist cam shows the plum just ahead and slightly right of the jaws; moving left arm over it and lower.
move_to
left_x0.3300left_y-0.0400left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0139, -0.0296, 0.999, -0.0227, 0.8001, 0.6186, -0.387, -0.0193, -0.0185, 0.9994] state[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0003 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5812, -1.7709, 9.5658, 1.8242, -0.0904, 0.1587, -0.1148, -0.4308, -1.7573, 9.1692, 1.8535, -0.0317, 0.0464, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.04, "left_z": 0.1}, "note": "Scene: large white bowl (left), blue bowl (right), plum, lemon, pear. Left wrist cam shows the plum just ahead and slightly right of the jaws; moving left arm over it and lower."})
tool
executing move_to over 6 steps (0.6s)
step 6
top_cam
camera top_cam step 6
left_cam
camera left_cam step 6
right_cam
camera right_cam step 6
assistant
agent notePlum is at the bottom of the left wrist view, slightly right of the jaws; shifting slightly right/forward and descending to grasp.
move_to
left_x0.3500left_y-0.0550left_z0.0100
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]: [-0.2317, 1.1133, 0.3958, 0.1013, -0.1875, -0.1448, 0.999, -0.0227, 0.8043, 0.6178, -0.3946, -0.0196, -0.0189, 0.9994] state[eef_state]: left_x=0.326 left_y=-0.0394 left_z=0.0923 left_yaw=-0.0025 left_pitch=-0.0346 left_roll=0.006 left_gripper=0.999 right_x=0.2952 right_y=0.0004 right_z=0.1804 right_yaw=0.0005 right_pitch=-0.0126 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.3897, -3.535, 6.653, 1.9072, -0.149, -0.0562, -0.022, -0.1299, -1.5932, 7.1043, 1.7705, -0.022, -0.0611, -0.0122] camera 'top_cam' (step 6): [image omitted: streamed camera frame] camera 'left_cam' (step 6): [image omitted: streamed camera frame] camera 'right_cam' (step 6): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.35, "left_y": -0.055, "left_z": 0.01}, "note": "Plum is at the bottom of the left wrist view, slightly right of the jaws; shifting slightly right/forward and descending to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
Plum between jaws at bottom. Close.
agent notePlum is centred between the left jaws at table level; closing to grasp.
move_to
left_gripper0.0000
agent noteLifting the plum to check the grasp.
move_to
left_z0.1200
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]: [-0.2737, 1.644, 0.3073, 0.6819, -0.2211, -0.1738, 0.9988, -0.0227, 0.8089, 0.6174, -0.395, -0.0196, -0.0185, 0.9994] state[eef_state]: left_x=0.3454 left_y=-0.053 left_z=0.0034 left_yaw=-0.0003 left_pitch=-0.0669 left_roll=0.0113 left_gripper=0.9988 right_x=0.2954 right_y=0.0004 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9994 state[joint_eff]: [-0.6496, -5.4632, 4.1094, 1.9853, -0.1783, -0.0122, -0.022, -0.0342, -1.5385, 7.0359, 1.7216, -0.0317, -0.0513, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
Plum between jaws at bottom. Close.
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum is centred between the left jaws at table level; closing to grasp."})
move_to({"targets": {"left_z": 0.12}, "note": "Lifting the plum to check the grasp."})
tool
executing move_to over 10 steps (1.0s)
tool
ignored: one tool call per turn
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteGripper settled at 0.52 (~5 cm), so the plum is held; lifting it to carry height.
move_to
left_z0.1700
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]: [-0.2737, 1.644, 0.3073, 0.6773, -0.2207, -0.1806, 0.5173, -0.0227, 0.8089, 0.6174, -0.395, -0.0189, -0.0185, 0.9994] state[eef_state]: left_x=0.3448 left_y=-0.0529 left_z=0.0025 left_yaw=0.0031 left_pitch=-0.0714 left_roll=0.0068 left_gripper=0.5173 right_x=0.2954 right_y=0.0002 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9994 state[joint_eff]: [-0.3897, -5.2308, 4.0684, 1.7118, -0.149, 0.0122, 1.0281, -0.1026, -1.3197, 7.0359, 1.7021, -0.0269, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17}, "note": "Gripper settled at 0.52 (~5 cm), so the plum is held; lifting it to carry height."})
tool
executing move_to over 11 steps (1.1s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent notePlum held. Blue bowl estimated near left_y≈-0.38, x≈0.45 (edge of left arm's box); carrying there at height and will check the wrist view.
move_to
left_x0.4500left_y-0.3600left_z0.1800
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]: [-0.2729, 1.1362, 0.7242, -0.2836, -0.2207, -0.1844, 0.5197, -0.0227, 0.8135, 0.6174, -0.395, -0.0193, -0.0185, 0.9994] state[eef_state]: left_x=0.3423 left_y=-0.0519 left_z=0.1531 left_yaw=0.0068 left_pitch=-0.1062 left_roll=0.0138 left_gripper=0.5197 right_x=0.2957 right_y=0.0003 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0225 right_roll=0.0005 right_gripper=0.9994 state[joint_eff]: [0.0342, -5.0667, 9.0325, 1.5653, -0.1294, -0.0073, 0.6374, -0.212, -1.7162, 7.0359, 1.6923, -0.0366, -0.0659, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.36, "left_z": 0.18}, "note": "Plum held. Blue bowl estimated near left_y\u2248-0.38, x\u22480.45 (edge of left arm's box); carrying there at height and will check the wrist view."})
tool
executing move_to over 28 steps (2.8s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteBlue bowl is visible just ahead-right of the left jaws; shifting to the right bound and slightly forward, lowering to drop the plum in.
move_to
left_x0.4700left_y-0.4000left_z0.1200
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]: [-0.8608, 2.2372, 2.0647, -0.7635, -0.6212, -0.6556, 0.521, -0.0227, 0.8173, 0.6159, -0.4168, -0.0193, -0.0189, 0.9994] state[eef_state]: left_x=0.4468 left_y=-0.3566 left_z=0.1647 left_yaw=0.0043 left_pitch=-0.1446 left_roll=0.0265 left_gripper=0.521 right_x=0.2927 right_y=0.0003 right_z=0.1715 right_yaw=0.0002 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9994 state[joint_eff]: [-0.5128, -13.1487, 9.1556, 1.326, -0.4713, 0.022, 0.6471, -0.0752, -1.5385, 7.1453, 1.917, -0.0562, -0.0708, -0.0171] camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.4, "left_z": 0.12}, "note": "Blue bowl is visible just ahead-right of the left jaws; shifting to the right bound and slightly forward, lowering to drop the plum in."})
tool
executing move_to over 4 steps (0.4s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
Bowl now under the jaws. Release.
agent noteBlue bowl is directly under the left jaws; opening to drop the plum in.
move_to
left_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]: [-0.8742, 2.5172, 2.3302, -0.8078, -0.617, -0.6815, 0.5235, -0.0227, 0.8173, 0.6159, -0.4252, -0.0193, -0.0185, 0.9994] state[eef_state]: left_x=0.4679 left_y=-0.3944 left_z=0.1003 left_yaw=0.0099 left_pitch=-0.1845 left_roll=0.0504 left_gripper=0.5235 right_x=0.2915 right_y=0.0004 right_z=0.1698 right_yaw=0.0 right_pitch=-0.058 right_roll=0.0013 right_gripper=0.9994 state[joint_eff]: [-0.7453, -15.4735, 8.9915, 1.2821, -0.4908, 0.0269, 0.2466, -0.0205, -1.1692, 6.9949, 1.7998, -0.0366, -0.0366, -0.0171] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
Bowl now under the jaws. Release.
move_to({"targets": {"left_gripper": 1.0}, "note": "Blue bowl is directly under the left jaws; opening to drop the plum in."})
tool
executing move_to over 5 steps (0.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent notePlum is now in the blue bowl (visible in right wrist cam). Parking the left arm at home to clear the way for the right arm.
move_to
left_x0.2960left_y0.0000left_z0.1800
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]: [-0.873, 2.5172, 2.3299, -0.8089, -0.6128, -0.6888, 0.9951, -0.0227, 0.8173, 0.6159, -0.4358, -0.0193, -0.0189, 0.9994] state[eef_state]: left_x=0.4678 left_y=-0.3942 left_z=0.0997 left_yaw=0.0125 left_pitch=-0.1881 left_roll=0.044 left_gripper=0.9951 right_x=0.2899 right_y=0.0004 right_z=0.1677 right_yaw=0.0003 right_pitch=-0.0686 right_roll=0.0013 right_gripper=0.9994 state[joint_eff]: [0.0889, -14.7214, 6.5846, 1.2186, -0.3199, 0.0464, -0.0659, -0.0068, -1.347, 7.0222, 1.7509, -0.0415, -0.0757, -0.0171] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.296, "left_y": 0.0, "left_z": 0.18}, "note": "Plum is now in the blue bowl (visible in right wrist cam). Parking the left arm at home to clear the way for the right arm."})
tool
executing move_to over 36 steps (3.6s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteRight wrist cam shows the pear ahead-left of the jaws; moving over it and lowering to align.
move_to
right_x0.3300right_y0.0700right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0811, 0.9661, 0.804, -0.5903, -0.1226, -0.0845, 0.996, -0.0227, 0.8219, 0.6159, -0.4496, -0.0196, -0.0189, 0.9994] state[eef_state]: left_x=0.3017 left_y=0.0008 left_z=0.1813 left_yaw=0.0634 left_pitch=-0.1765 left_roll=0.0383 left_gripper=0.996 right_x=0.2881 right_y=0.0005 right_z=0.1638 right_yaw=0.0006 right_pitch=-0.0869 right_roll=0.0019 right_gripper=0.9994 state[joint_eff]: [0.4444, -3.0701, 6.5983, 1.5311, 0.0513, 0.1148, 0.0806, -0.0342, -1.7573, 7.1179, 1.8779, -0.0464, -0.0659, -0.0171] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.07, "right_z": 0.1}, "note": "Right wrist cam shows the pear ahead-left of the jaws; moving over it and lowering to align."})
tool
executing move_to over 6 steps (0.6s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent notePear sits slightly left and ahead of the jaw column; nudging left/forward and descending to grasp its body.
move_to
right_x0.3500right_y0.0900right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0803, 0.9703, 0.8021, -0.6037, -0.1154, -0.0788, 0.9961, 0.3187, 1.1522, 0.5163, -0.1253, 0.2058, 0.152, 0.9994] state[eef_state]: left_x=0.2994 left_y=-0.0001 left_z=0.1768 left_yaw=0.0554 left_pitch=-0.1966 left_roll=0.0402 left_gripper=0.9961 right_x=0.3155 right_y=0.0699 right_z=0.0885 right_yaw=0.0565 right_pitch=-0.1731 right_roll=-0.0256 right_gripper=0.9994 state[joint_eff]: [-0.3624, -2.6188, 6.9949, 1.6484, -0.1538, -0.0952, -0.0073, 0.1162, -4.1915, 6.0376, 1.7265, 0.1978, 0.2173, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.09, "right_z": 0.03}, "note": "Pear sits slightly left and ahead of the jaw column; nudging left/forward and descending to grasp its body."})
tool
executing move_to over 4 steps (0.4s)
step 116
top_cam
camera top_cam step 116
left_cam
camera left_cam step 116
right_cam
camera right_cam step 116
assistant
agent notePear fills the view between the right jaws; closing to grasp.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0807, 0.9733, 0.8021, -0.6075, -0.1184, -0.0788, 0.9961, 0.3519, 1.4982, 0.4973, 0.1467, 0.2249, 0.173, 0.9994] state[eef_state]: left_x=0.2989 left_y=0.0004 left_z=0.1753 left_yaw=0.0578 left_pitch=-0.2031 left_roll=0.0434 left_gripper=0.9961 right_x=0.3341 right_y=0.0845 right_z=0.0188 right_yaw=0.0563 right_pitch=-0.2583 right_roll=-0.0501 right_gripper=0.9994 state[joint_eff]: [-0.0068, -2.5094, 7.0496, 1.5556, -0.0757, -0.0415, -0.0122, 0.1299, -6.9675, 5.5179, 1.7802, 0.0562, 0.0269, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 116): [image omitted: streamed camera frame] camera 'left_cam' (step 116): [image omitted: streamed camera frame] camera 'right_cam' (step 116): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the view between the right jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 126
top_cam
camera top_cam step 126
left_cam
camera left_cam step 126
right_cam
camera right_cam step 126
assistant
agent noteEmpty close: the pear is a few cm ahead of the fingertips. Opening and lifting slightly before advancing.
move_to
right_gripper1.0000right_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]: [-0.0811, 0.9752, 0.8021, -0.6067, -0.1184, -0.0788, 0.9961, 0.3534, 1.5299, 0.495, 0.2359, 0.2237, 0.173, 0.0111] state[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1749 left_yaw=0.0575 left_pitch=-0.2042 left_roll=0.0435 left_gripper=0.9961 right_x=0.3453 right_y=0.0895 right_z=0.0222 right_yaw=0.0626 right_pitch=-0.2056 right_roll=-0.0329 right_gripper=0.0111 state[joint_eff]: [-0.1983, -2.3863, 6.9812, 1.4969, -0.1245, -0.0269, -0.0122, 0.0205, -6.3795, 5.3675, 1.746, 0.188, 0.022, 0.9646] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 126): [image omitted: streamed camera frame] camera 'left_cam' (step 126): [image omitted: streamed camera frame] camera 'right_cam' (step 126): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.05}, "note": "Empty close: the pear is a few cm ahead of the fingertips. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent notePear is centred but ahead of the fingertips; advancing ~4 cm forward to bring it between the jaws.
move_to
right_x0.3800right_y0.0900right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0811, 0.976, 0.8021, -0.6071, -0.1184, -0.0788, 0.9961, 0.3534, 1.4544, 0.5251, 0.0837, 0.2234, 0.1661, 0.9956] state[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1747 left_yaw=0.0575 left_pitch=-0.2053 left_roll=0.0437 left_gripper=0.9961 right_x=0.3358 right_y=0.086 right_z=0.0326 right_yaw=0.0636 right_pitch=-0.2505 right_roll=-0.0512 right_gripper=0.9956 state[joint_eff]: [-0.3214, -2.441, 6.8991, 1.5067, -0.0806, -0.0464, -0.0122, -0.0615, -7.0222, 7.9658, 1.453, 0.0269, 0.0757, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.09, "right_z": 0.03}, "note": "Pear is centred but ahead of the fingertips; advancing ~4 cm forward to bring it between the jaws."})
tool
executing move_to over 4 steps (0.4s)
step 140
top_cam
camera top_cam step 140
left_cam
camera left_cam step 140
right_cam
camera right_cam step 140
assistant
agent notePear now fills the space between the right jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0807, 0.9787, 0.8021, -0.609, -0.1188, -0.0788, 0.9961, 0.3164, 1.6222, 0.6445, 0.0841, 0.1993, 0.1383, 0.9965] state[eef_state]: left_x=0.299 left_y=0.0004 left_z=0.1736 left_yaw=0.0583 left_pitch=-0.2098 left_roll=0.0446 left_gripper=0.9961 right_x=0.364 right_y=0.0861 right_z=0.0166 right_yaw=0.059 right_pitch=-0.3026 right_roll=-0.0656 right_gripper=0.9965 state[joint_eff]: [-0.0615, -2.5504, 6.8308, 1.5409, -0.0952, -0.0366, -0.0122, -0.5949, -6.9402, 7.2821, 1.5897, 0.0171, -0.0659, 0.0855] camera 'top_cam' (step 140): [image omitted: streamed camera frame] camera 'left_cam' (step 140): [image omitted: streamed camera frame] camera 'right_cam' (step 140): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear now fills the space between the right jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 150
top_cam
camera top_cam step 150
left_cam
camera left_cam step 150
right_cam
camera right_cam step 150
assistant
agent noteSecond empty close — the pear is still just beyond the fingertips. Opening again.
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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3141, 1.6318, 0.6483, 0.0765, 0.1932, 0.131, 0.0102] state[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.363 right_y=0.086 right_z=0.0132 right_yaw=0.065 right_pitch=-0.317 right_roll=-0.0691 right_gripper=0.0102 state[joint_eff]: [-0.0752, -2.1675, 6.8171, 1.4823, -0.105, -0.0366, -0.0122, 0.0752, -7.3368, 5.0256, 1.4286, 0.1392, 0.0317, 0.8913] camera 'top_cam' (step 150): [image omitted: streamed camera frame] camera 'left_cam' (step 150): [image omitted: streamed camera frame] camera 'right_cam' (step 150): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Second empty close \u2014 the pear is still just beyond the fingertips. Opening again."})
tool
executing move_to over 10 steps (1.0s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent notePear centred on the jaw column but still ahead of the fingertips; advancing ~4 cm and grasping a bit higher on its body.
move_to
right_x0.4050right_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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3138, 1.6318, 0.6483, 0.0757, 0.186, 0.123, 0.9953] state[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.3626 right_y=0.0871 right_z=0.0129 right_yaw=0.0754 right_pitch=-0.3194 right_roll=-0.0688 right_gripper=0.9953 state[joint_eff]: [-0.1026, -2.3043, 7.1179, 1.4921, -0.1099, -0.0464, -0.0122, -0.0889, -6.6393, 5.3538, 1.3553, 0.1001, 0.0806, 0.0366] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_z": 0.04}, "note": "Pear centred on the jaw column but still ahead of the fingertips; advancing ~4 cm and grasping a bit higher on its body."})
tool
executing move_to over 4 steps (0.4s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent notePear now extends down between the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0807, 0.9836, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.2771, 1.6844, 0.8196, -0.0387, 0.1627, 0.0929, 0.9964] state[eef_state]: left_x=0.2991 left_y=0.0004 left_z=0.172 left_yaw=0.0582 left_pitch=-0.2159 left_roll=0.0452 left_gripper=0.9961 right_x=0.3972 right_y=0.087 right_z=0.0349 right_yaw=0.0764 right_pitch=-0.3204 right_roll=-0.069 right_gripper=0.9964 state[joint_eff]: [-0.212, -2.6735, 7.0496, 1.5067, -0.0611, -0.0562, -0.0122, -0.5949, -6.0923, 7.2957, 1.3407, 0.0562, -0.0464, 0.1001] camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear now extends down between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 174
top_cam
camera top_cam step 174
left_cam
camera left_cam step 174
right_cam
camera right_cam step 174
assistant
agent noteGripper settled at 0.63 (~6 cm) — pear held. Lifting it clear of the blue bowl rim.
move_to
right_z0.1800
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]: [-0.0811, 0.9836, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.6974, 0.8253, -0.0521, 0.1593, 0.0856, 0.6333] state[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1721 left_yaw=0.0576 left_pitch=-0.2155 left_roll=0.0454 left_gripper=0.9961 right_x=0.3956 right_y=0.0865 right_z=0.0299 right_yaw=0.0806 right_pitch=-0.3414 right_roll=-0.0752 right_gripper=0.6333 state[joint_eff]: [-0.0342, -2.3043, 7.1043, 1.5653, -0.0855, -0.0073, -0.0122, -0.1983, -8.6632, 5.2991, 1.4823, 0.0562, -0.0024, 1.0379] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.63 (~6 cm) \u2014 pear held. Lifting it clear of the blue bowl rim."})
tool
executing move_to over 10 steps (1.0s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent notePear held; the blue bowl (with plum) is up-left in the right wrist view. Carrying the pear over the bowl.
move_to
right_x0.4500right_y0.1900right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0811, 0.984, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.5513, 1.2209, -0.6464, 0.1555, 0.078, 0.6353] state[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.172 left_yaw=0.0576 left_pitch=-0.2159 left_roll=0.0455 left_gripper=0.9961 right_x=0.3942 right_y=0.0868 right_z=0.1507 right_yaw=0.0845 right_pitch=-0.394 right_roll=-0.0877 right_gripper=0.6353 state[joint_eff]: [-0.1983, -2.4, 6.9128, 1.4921, -0.0659, -0.0171, -0.0122, -0.3624, -10.0718, 9.0188, 1.5165, 0.1148, 0.0611, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.19, "right_z": 0.19}, "note": "Pear held; the blue bowl (with plum) is up-left in the right wrist view. Carrying the pear over the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 193
top_cam
camera top_cam step 193
left_cam
camera left_cam step 193
right_cam
camera right_cam step 193
assistant
agent noteTop view shows the right gripper directly over the blue bowl; lowering a bit before releasing the pear.
move_to
right_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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4831, 1.911, 1.7622, -0.8993, 0.2424, 0.2188, 0.639] state[eef_state]: left_x=0.2993 left_y=0.0002 left_z=0.1715 left_yaw=0.0579 left_pitch=-0.2174 left_roll=0.0454 left_gripper=0.9961 right_x=0.443 right_y=0.1885 right_z=0.1747 right_yaw=0.1236 right_pitch=-0.4355 right_roll=-0.1011 right_gripper=0.639 state[joint_eff]: [-0.0889, -2.2496, 6.8308, 1.4921, -0.0757, -0.022, -0.0122, 0.1983, -10.6051, 8.5538, 1.0476, 0.3297, 0.188, 0.9304] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14}, "note": "Top view shows the right gripper directly over the blue bowl; lowering a bit before releasing the pear."})
tool
executing move_to over 3 steps (0.3s)
step 196
top_cam
camera top_cam step 196
left_cam
camera left_cam step 196
right_cam
camera right_cam step 196
assistant
agent noteBlue bowl rim peeks out just beyond the pear in the wrist view, so the bowl is a little further forward; advancing 3 cm before release.
move_to
right_x0.4650right_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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4866, 1.9163, 1.6329, -0.8326, 0.2451, 0.2241, 0.639] state[eef_state]: left_x=0.2993 left_y=0.0003 left_z=0.1716 left_yaw=0.0582 left_pitch=-0.2174 left_roll=0.0457 left_gripper=0.9961 right_x=0.4316 right_y=0.1839 right_z=0.1327 right_yaw=0.1091 right_pitch=-0.4977 right_roll=-0.1278 right_gripper=0.639 state[joint_eff]: [-0.1846, -2.441, 6.8308, 1.5067, -0.105, -0.0708, -0.0122, -0.5812, -10.7556, 8.0342, 1.7216, 0.0611, -0.105, 0.9939] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.465, "right_z": 0.14}, "note": "Blue bowl rim peeks out just beyond the pear in the wrist view, so the bowl is a little further forward; advancing 3 cm before release."})
tool
executing move_to over 3 steps (0.3s)
step 199
top_cam
camera top_cam step 199
left_cam
camera left_cam step 199
right_cam
camera right_cam step 199
assistant
agent notePear is over the blue bowl; releasing it.
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]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4622, 2.027, 1.7817, -0.8902, 0.2237, 0.1925, 0.6393] state[eef_state]: left_x=0.2995 left_y=0.0003 left_z=0.1705 left_yaw=0.0583 left_pitch=-0.2212 left_roll=0.0462 left_gripper=0.9961 right_x=0.4551 right_y=0.1869 right_z=0.1281 right_yaw=0.1195 right_pitch=-0.5249 right_roll=-0.1322 right_gripper=0.6393 state[joint_eff]: [-0.2803, -2.4957, 7.0632, 1.5018, -0.0806, -0.0269, -0.0122, -0.6906, -11.4393, 8.3214, 0.9304, 0.1538, -0.0073, 0.9158] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Pear is over the blue bowl; releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 203
top_cam
camera top_cam step 203
left_cam
camera left_cam step 203
right_cam
camera right_cam step 203
assistant
agent notePear and plum are in the blue bowl. Moving the right arm over the lemon (on the table in front of the bowl), rotating the jaws 90° to close across its short axis.
move_to
right_x0.3400right_y0.2500right_z0.1500right_yaw1.5700
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]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4595, 2.043, 1.7874, -0.9096, 0.2237, 0.1837, 0.996] state[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.1705 left_yaw=0.058 left_pitch=-0.2212 left_roll=0.046 left_gripper=0.9961 right_x=0.453 right_y=0.1844 right_z=0.1207 right_yaw=0.1163 right_pitch=-0.5536 right_roll=-0.1485 right_gripper=0.996 state[joint_eff]: [-0.0205, -2.4684, 6.8444, 1.4823, -0.1001, -0.0464, -0.0122, 0.1709, -12.3966, 6.1197, 1.1746, 0.1245, 0.0464, -0.188] camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.25, "right_z": 0.15, "right_yaw": 1.57}, "note": "Pear and plum are in the blue bowl. Moving the right arm over the lemon (on the table in front of the bowl), rotating the jaws 90\u00b0 to close across its short axis."})
tool
executing move_to over 10 steps (1.0s)
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 noteLemon appears toward +y and slightly toward the base of the rotated wrist view (top view agrees). Moving over it and lowering.
move_to
right_x0.3100right_y0.3100right_z0.0800right_pitch0.0000
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]: [-0.0811, 0.9913, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4686, 1.8614, 1.626, -1.0073, -0.2871, -0.9825, 0.9966] state[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.17 left_yaw=0.058 left_pitch=-0.2231 left_roll=0.0462 left_gripper=0.9961 right_x=0.3549 right_y=0.2398 right_z=0.1396 right_yaw=1.3905 right_pitch=-0.5804 right_roll=-0.1403 right_gripper=0.9966 state[joint_eff]: [-0.0752, -2.2222, 7.0769, 1.5116, -0.105, -0.0757, -0.0171, 0.7043, -8.759, 8.8137, 0.6569, -0.315, -0.0611, 0.0464] 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": 0.31, "right_z": 0.08, "right_pitch": 0.0}, "note": "Lemon appears toward +y and slightly toward the base of the rotated wrist view (top view agrees). Moving over it and lowering."})
tool
executing move_to over 20 steps (2.0s)
step 233
top_cam
camera top_cam step 233
left_cam
camera left_cam step 233
right_cam
camera right_cam step 233
assistant
agent noteLemon is at the bottom-centre of the wrist view between the jaws, with its short axis across the jaws; descending to grasp.
move_to
right_x0.3150right_z0.0150
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]: [-0.0811, 0.9916, 0.8021, -0.6102, -0.1188, -0.0784, 0.9961, 0.5327, 1.7309, 0.8589, 0.0681, -0.5964, -0.6792, 0.9966] state[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1698 left_yaw=0.0582 left_pitch=-0.2238 left_roll=0.0469 left_gripper=0.9961 right_x=0.3059 right_y=0.2997 right_z=0.0681 right_yaw=1.3853 right_pitch=-0.0743 right_roll=-0.1168 right_gripper=0.9966 state[joint_eff]: [-0.2256, -2.4821, 6.9402, 1.5165, -0.1148, -0.0122, -0.0122, 0.4855, -7.4735, 5.8598, 1.7705, -0.4225, 0.0562, -0.0122] camera 'top_cam' (step 233): [image omitted: streamed camera frame] camera 'left_cam' (step 233): [image omitted: streamed camera frame] camera 'right_cam' (step 233): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.315, "right_z": 0.015}, "note": "Lemon is at the bottom-centre of the wrist view between the jaws, with its short axis across the jaws; descending to grasp."})
tool
executing move_to over 4 steps (0.4s)
step 237
top_cam
camera top_cam step 237
assistant
agent noteLemon sits between the jaws at table level; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0807, 0.9932, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5205, 1.8965, 0.8227, 0.2237, -0.5995, -0.6807, 0.9966] state[eef_state]: left_x=0.2997 left_y=0.0003 left_z=0.1694 left_yaw=0.0585 left_pitch=-0.2254 left_roll=0.0465 left_gripper=0.9961 right_x=0.31 right_y=0.2967 right_z=0.0133 right_yaw=1.3792 right_pitch=-0.103 right_roll=-0.0816 right_gripper=0.9966 state[joint_eff]: [-0.0752, -2.6188, 6.8171, 1.4725, -0.0757, -0.0562, -0.0122, -0.4444, -9.1145, 5.094, 1.9316, -0.3053, -0.1636, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon sits between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 247
assistant
agent noteGripper settled at 0.45 (~4 cm) — lemon held. Lifting before carrying to the blue bowl.
move_to
right_z0.1700
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]: [-0.0811, 0.9939, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.9152, 0.8139, 0.2661, -0.5999, -0.6918, 0.4506] state[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.1691 left_yaw=0.0581 left_pitch=-0.2261 left_roll=0.0467 left_gripper=0.9961 right_x=0.3118 right_y=0.2975 right_z=0.0092 right_yaw=1.3836 right_pitch=-0.0936 right_roll=-0.1015 right_gripper=0.4506 state[joint_eff]: [-0.0205, -2.5504, 7.2, 1.4774, -0.105, -0.0269, -0.0122, -0.294, -9.1556, 5.2171, 1.6044, -0.3346, -0.0269, 1.033] camera 'top_cam' (step 247): [image omitted: streamed camera frame] camera 'left_cam' (step 247): [image omitted: streamed camera frame] camera 'right_cam' (step 247): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Gripper settled at 0.45 (~4 cm) \u2014 lemon held. Lifting before carrying to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 258
assistant
agent noteLemon held at carry height; moving over the blue bowl where the pear was dropped.
move_to
right_x0.4600right_y0.1900right_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]: [-0.0811, 0.9943, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.6257, 1.1316, -0.3401, -0.5991, -0.6918, 0.4534] state[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.169 left_yaw=0.0582 left_pitch=-0.2265 left_roll=0.0467 left_gripper=0.9961 right_x=0.3166 right_y=0.3001 right_z=0.1524 right_yaw=1.3829 right_pitch=-0.0933 right_roll=-0.1027 right_gripper=0.4534 state[joint_eff]: [-0.335, -2.2359, 7.0085, 1.4774, -0.0757, -0.0464, -0.0122, -0.0615, -10.2085, 8.3487, 1.3016, -0.2418, -0.022, 1.033] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.19, "right_z": 0.15}, "note": "Lemon held at carry height; moving over the blue bowl where the pear was dropped."})
tool
executing move_to over 12 steps (1.2s)
step 270
assistant
agent noteWrist view shows the blue bowl (with plum) right under the lemon; releasing.
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]: [-0.0811, 0.9962, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1329, 2.0529, 1.6966, -0.7395, -0.7918, -1.0939, 0.4534] state[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1685 left_yaw=0.0582 left_pitch=-0.2284 left_roll=0.047 left_gripper=0.9961 right_x=0.4603 right_y=0.192 right_z=0.1441 right_yaw=1.3565 right_pitch=-0.1107 right_roll=-0.112 right_gripper=0.4534 state[joint_eff]: [-0.3077, -2.5778, 7.0085, 1.4969, -0.0806, -0.0366, -0.0122, -0.4444, -11.1932, 7.6923, 0.6032, -0.6911, -0.022, 1.0281] camera 'top_cam' (step 270): [image omitted: streamed camera frame] camera 'left_cam' (step 270): [image omitted: streamed camera frame] camera 'right_cam' (step 270): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Wrist view shows the blue bowl (with plum) right under the lemon; releasing."})
tool
executing move_to over 6 steps (0.6s)
step 276
assistant
agent noteAll three fruits are in the blue bowl. Parking the right arm home and bringing the left arm (which can reach the white bowl) partway toward the blue bowl's left rim to grab it for pouring.
move_to
right_x0.2960right_y0.0000right_z0.1800right_yaw0.0000left_x0.4000left_y-0.2000left_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]: [-0.0811, 0.997, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1345, 2.0674, 1.702, -0.7521, -0.786, -1.1076, 0.9958] state[eef_state]: left_x=0.2999 left_y=0.0002 left_z=0.1683 left_yaw=0.0582 left_pitch=-0.2291 left_roll=0.0471 left_gripper=0.9961 right_x=0.4598 right_y=0.1919 right_z=0.1375 right_yaw=1.3651 right_pitch=-0.1236 right_roll=-0.1038 right_gripper=0.9958 state[joint_eff]: [-0.0752, -2.5368, 6.9265, 1.4774, -0.0904, -0.0317, -0.0122, -0.4718, -12.5333, 5.9282, 1.1355, -0.5153, 0.0904, -0.0757] camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.296, "right_y": 0.0, "right_z": 0.18, "right_yaw": 0.0, "left_x": 0.4, "left_y": -0.2, "left_z": 0.2}, "note": "All three fruits are in the blue bowl. Parking the right arm home and bringing the left arm (which can reach the white bowl) partway toward the blue bowl's left rim to grab it for pouring."})
tool
executing move_to over 18 steps (1.8s)
step 294
assistant
agent noteLemon bounced out of the blue bowl and now lies far forward (likely beyond reach). Pear and plum are in the blue bowl; moving the left arm to its left rim to grab it for pouring.
move_to
left_x0.4700left_y-0.3600left_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6502, 1.6936, 1.4532, -0.7429, -0.4675, -0.5335, 0.9961, 0.0425, 0.918, 0.7391, -0.4988, 0.0074, -0.1459, 0.9966] state[eef_state]: left_x=0.3933 left_y=-0.1946 left_z=0.1845 left_yaw=0.0474 left_pitch=-0.2692 left_roll=0.0582 left_gripper=0.9961 right_x=0.3034 right_y=0.0152 right_z=0.1826 right_yaw=0.1116 right_pitch=-0.1137 right_roll=-0.1141 right_gripper=0.9966 state[joint_eff]: [-0.4581, -8.9094, 8.8957, 1.1551, -0.4713, -0.0904, -0.0122, -0.6085, -2.1949, 6.1333, 1.917, 0.0611, 0.1832, 0.0611] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.36, "left_z": 0.08}, "note": "Lemon bounced out of the blue bowl and now lies far forward (likely beyond reach). Pear and plum are in the blue bowl; moving the left arm to its left rim to grab it for pouring."})
tool
executing move_to over 15 steps (1.5s)
step 309
assistant
agent noteBlue bowl's left rim is just right of the jaw centre in the left wrist view; shifting right ~3 cm and descending so the rim wall sits between the jaws.
move_to
left_y-0.3850left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.807, 2.439, 2.1387, -0.7815, -0.5358, -0.6975, 0.9961, 0.0429, 0.9237, 0.7391, -0.5209, 0.0097, -0.1429, 0.9966] state[eef_state]: left_x=0.4672 left_y=-0.3522 left_z=0.0717 left_yaw=0.0498 left_pitch=-0.2937 left_roll=0.061 left_gripper=0.9961 right_x=0.3003 right_y=0.0148 right_z=0.1768 right_yaw=0.1086 right_pitch=-0.1414 right_roll=-0.1113 right_gripper=0.9966 state[joint_eff]: [-0.9094, -14.5983, 8.1162, 0.8718, -0.5348, 0.0366, -0.0122, -0.0479, -2.4821, 7.0496, 1.8291, -0.0757, -0.0611, -0.0122] camera 'top_cam' (step 309): [image omitted: streamed camera frame] camera 'left_cam' (step 309): [image omitted: streamed camera frame] camera 'right_cam' (step 309): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.385, "left_z": 0.03}, "note": "Blue bowl's left rim is just right of the jaw centre in the left wrist view; shifting right ~3 cm and descending so the rim wall sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 312
assistant
agent noteRim wall of the blue bowl now runs near the jaw centre; descent stopped at contact, so closing to pinch the rim.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.828, 2.5473, 2.2711, -0.7757, -0.564, -0.7425, 0.9961, 0.0429, 0.9249, 0.7391, -0.5217, 0.0067, -0.1425, 0.9966] state[eef_state]: left_x=0.4777 left_y=-0.3753 left_z=0.0604 left_yaw=0.0657 left_pitch=-0.2548 left_roll=0.0226 left_gripper=0.9961 right_x=0.3002 right_y=0.0153 right_z=0.1763 right_yaw=0.111 right_pitch=-0.1431 right_roll=-0.1089 right_gripper=0.9966 state[joint_eff]: [-1.5795, -11.6718, 6.188, 0.5104, -0.1441, 0.2125, -0.0122, -0.0615, -2.1128, 6.9128, 1.6093, 0.0122, -0.0513, -0.0073] camera 'top_cam' (step 312): [image omitted: streamed camera frame] camera 'left_cam' (step 312): [image omitted: streamed camera frame] camera 'right_cam' (step 312): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Rim wall of the blue bowl now runs near the jaw centre; descent stopped at contact, so closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 322
assistant
agent noteGripper reads 0.038, which could be a thin rim pinch or an empty close; lifting to check whether the blue bowl comes with it.
move_to
left_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]: [-0.8463, 2.5969, 2.2986, -0.7387, -0.5686, -0.765, 0.0379, 0.0429, 0.9249, 0.7391, -0.5224, 0.0063, -0.1425, 0.9966] state[eef_state]: left_x=0.4775 left_y=-0.3906 left_z=0.0458 left_yaw=0.0599 left_pitch=-0.2424 left_roll=-0.0027 left_gripper=0.0379 right_x=0.3001 right_y=0.0154 right_z=0.1762 right_yaw=0.1114 right_pitch=-0.1438 right_roll=-0.1086 right_gripper=0.9966 state[joint_eff]: [-0.5128, -14.1744, 6.1744, 0.5055, -0.1929, 0.188, 0.7741, -0.1709, -2.0581, 6.9402, 1.58, -0.0122, -0.0415, -0.0122] camera 'top_cam' (step 322): [image omitted: streamed camera frame] camera 'left_cam' (step 322): [image omitted: streamed camera frame] camera 'right_cam' (step 322): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.16}, "note": "Gripper reads 0.038, which could be a thin rim pinch or an empty close; lifting to check whether the blue bowl comes with it."})
tool
executing move_to over 8 steps (0.8s)
step 330
assistant
agent noteThe blue bowl lifted with the gripper (held by its rim). Carrying it over the large white bowl for pouring.
move_to
left_x0.4300left_y-0.0300left_z0.2200
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]: [-0.8455, 2.7941, 3.0272, -1.2739, -0.5606, -0.7738, 0.0395, 0.0429, 0.9268, 0.7391, -0.5232, 0.0063, -0.1425, 0.9966] state[eef_state]: left_x=0.4735 left_y=-0.3871 left_z=0.1274 left_yaw=0.0611 left_pitch=-0.2503 left_roll=-0.0102 left_gripper=0.0395 right_x=0.3001 right_y=0.0154 right_z=0.1755 right_yaw=0.1114 right_pitch=-0.1465 right_roll=-0.1084 right_gripper=0.9966 state[joint_eff]: [-0.294, -17.347, 8.4991, 1.2772, -0.3394, 0.0708, 0.8864, -0.2256, -1.7846, 6.9128, 1.663, -0.0171, -0.0317, -0.0073] camera 'top_cam' (step 330): [image omitted: streamed camera frame] camera 'left_cam' (step 330): [image omitted: streamed camera frame] camera 'right_cam' (step 330): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.43, "left_y": -0.03, "left_z": 0.22}, "note": "The blue bowl lifted with the gripper (held by its rim). Carrying it over the large white bowl for pouring."})
tool
executing move_to over 32 steps (3.2s)
step 362
assistant
agent noteThe blue bowl overshot past the white bowl; pulling back over the white bowl and rolling the wrist to tip the fruits into it.
move_to
left_x0.4100left_y-0.0200left_z0.2200left_roll1.3000
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]: [-0.1448, 2.5, 3.121, -1.5887, -0.1551, -0.2138, 0.0404, 0.0429, 0.9279, 0.7391, -0.5255, 0.0067, -0.1425, 0.9966] state[eef_state]: left_x=0.5335 left_y=-0.0466 left_z=0.26 left_yaw=0.1132 left_pitch=-0.3812 left_roll=0.019 left_gripper=0.0404 right_x=0.2998 right_y=0.0153 right_z=0.1748 right_yaw=0.1111 right_pitch=-0.1499 right_roll=-0.1084 right_gripper=0.9966 state[joint_eff]: [0.3761, -18.7145, 6.1197, 1.4921, 0.1148, 0.0952, 0.6862, -0.0752, -2.1265, 6.9128, 1.5995, -0.0073, -0.0562, -0.0122] 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": {"left_x": 0.41, "left_y": -0.02, "left_z": 0.22, "left_roll": 1.3}, "note": "The blue bowl overshot past the white bowl; pulling back over the white bowl and rolling the wrist to tip the fruits into it."})
tool
executing move_to over 17 steps (1.7s)
step 379
assistant
agent noteI only partly completed the task, and the lemon was the failure. The plum and pear went into the blue bowl and were then poured into the large white bowl. The lemon was dropped into the blue bowl, but it bounced back out and ended up on the table far forward, near the edge of the arms' reach. With the calls I had left I chose to do the pour rather than go back for it. The final overhead view shows the pear in the white bowl. I didn't confirm the plum in any image after pouring: it's probably in the white bowl behind the pear. The left arm is still holding the tilted, now-empty blue bowl up high above the white bowl.
done
hindsight- Where things were: the large white bowl was straight ahead of the left arm, at about left frame x 0.45, y -0.05. The blue bowl was at about right frame x 0.46, y 0.19, which is left frame y ≈ -0.40, right on the left arm's box limit. Since only the left arm can reach the white bowl, the pour has to be done by the left arm holding the blue bowl's left rim at about left frame x 0.47, y -0.39, with yaw 0 so the jaws close across the rim wall. - Pinching a thin plastic rim settles at about 0.038, which looks like an empty close. Lift to check before deciding the grasp failed. - In the overhead camera, the dark blob at the image edge is not the grasp point. Use the wrist camera to line up on an object. - The fingertips reach further than the wrist image suggests. Upright objects needed the arm 5–7 cm further forward than where the object first looked centred between the jaws. At z ≈ 0.02 the arm tends to stop short in x, so grasp tall objects a bit higher (z ≈ 0.04). - A lemon dropped from about 14 cm bounced out of a shallow bowl. Lower round fruit to just above the bowl floor before opening. - Carrying a load, the arm overshot: commanding x 0.43 gave 0.53. A combined roll + position move sent z up to 0.48. Break pour moves into steps, and plan for the 40-call budget. Each fruit took 4–7 calls. - Commanding yaw 1.57 on the right arm also produced a pitch of about -0.58; command pitch 0 along with yaw.
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]: [-0.4065, 1.5417, 2.0048, -0.8173, -0.8921, 0.6514, 0.0424, 0.0429, 0.9302, 0.7391, -0.5377, 0.0063, -0.1425, 0.9966] state[eef_state]: left_x=0.3999 left_y=-0.0185 left_z=0.4765 left_yaw=0.0612 left_pitch=0.1257 left_roll=0.9289 left_gripper=0.0424 right_x=0.2979 right_y=0.0153 right_z=0.1719 right_yaw=0.1116 right_pitch=-0.1644 right_roll=-0.1072 right_gripper=0.9966 state[joint_eff]: [-0.4855, 2.8103, 3.1932, 2.2882, -0.0855, 0.0024, 0.4225, -0.212, -2.0308, 6.8991, 1.7363, -0.0073, -0.0464, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 379): [image omitted: streamed camera frame] camera 'left_cam' (step 379): [image omitted: streamed camera frame] camera 'right_cam' (step 379): [image omitted: streamed camera frame]
assistant
done({"summary": "I only partly completed the task, and the lemon was the failure. The plum and pear went into the blue bowl and were then poured into the large white bowl. The lemon was dropped into the blue bowl, but it bounced back out and ended up on the table far forward, near the edge of the arms' reach. With the calls I had left I chose to do the pour rather than go back for it. The final overhead view shows the pear in the white bowl. I didn't confirm the plum in any image after pouring: it's probably in the white bowl behind the pear. The left arm is still holding the tilted, now-empty blue bowl up high above the white bowl.", "hindsight": "- Where things were: the large white bowl was straight ahead of the left arm, at about left frame x 0.45, y -0.05. The blue bowl was at about right frame x 0.46, y 0.19, which is left frame y \u2248 -0.40, right on the left arm's box limit. Since only the left arm can reach the white bowl, the pour has to be done by the left arm holding the blue bowl's left rim at about left frame x 0.47, y -0.39, with yaw 0 so the jaws close across the rim wall.\n- Pinching a thin plastic rim settles at about 0.038, which looks like an empty close. Lift to check before deciding the grasp failed.\n- In the overhead camera, the dark blob at the image edge is not the grasp point. Use the wrist camera to line up on an object.\n- The fingertips reach further than the wrist image suggests. Upright objects needed the arm 5\u20137 cm further forward than where the object first looked centred between the jaws. At z \u2248 0.02 the arm tends to stop short in x, so grasp tall objects a bit higher (z \u2248 0.04).\n- A lemon dropped from about 14 cm bounced out of a shallow bowl. Lower round fruit to just above the bowl floor before opening.\n- Carrying a load, the arm overshot: commanding x 0.43 gave 0.53. A combined roll + position move sent z up to 0.48. Break pour moves into steps, and plan for the 40-call budget. Each fruit took 4\u20137 calls.\n- Commanding yaw 1.57 on the right arm also produced a pitch of about -0.58; command pitch 0 along with yaw."})
tool
done: I only partly completed the task, and the lemon was the failure. The plum and pear went into the blue bowl and were then poured into the large white bowl. The lemon was dropped into the blue bowl, but it bounced back out and ended up on the table far forward, near the edge of the arms' reach. With the calls I had left I chose to do the pour rather than go back for it. The final overhead view shows the pear in the white bowl. I didn't confirm the plum in any image after pouring: it's probably in the white bowl behind the pear. The left arm is still holding the tilted, now-empty blue bowl up high above the white bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 12.1 s
model
claude-opus-5-5
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]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0139, -0.0296, 0.999, -0.0227, 0.8001, 0.6186, -0.387, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0003 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7709, 9.5658, 1.8242, -0.0904, 0.1587, -0.1148, -0.4308, -1.7573, 9.1692, 1.8535, -0.0317, 0.0464, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0dfcd8e8d1734a5af978e0bfb0e61af334703d25a942a1cb5340d3499db7468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49f3369bf3ad6781d29273ac861ecb9a410f9f90f0742bcf0120fdcb828411ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fdc813d3805b106f3897650c69be9d6db9738ea93727ba2ee5b2d8416fdf885a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 4.26 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0139, -0.0296, 0.999, -0.0227, 0.8001, 0.6186, -0.387, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0003 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7709, 9.5658, 1.8242, -0.0904, 0.1587, -0.1148, -0.4308, -1.7573, 9.1692, 1.8535, -0.0317, 0.0464, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0dfcd8e8d1734a5af978e0bfb0e61af334703d25a942a1cb5340d3499db7468",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49f3369bf3ad6781d29273ac861ecb9a410f9f90f0742bcf0120fdcb828411ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdc813d3805b106f3897650c69be9d6db9738ea93727ba2ee5b2d8416fdf885a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HX8nJensfMvZ1Qt7wNLL3e",
      "input": {
        "note": "Scene: large white bowl (left), blue bowl (right), plum, lemon, pear. Left wrist cam shows the plum just ahead and slightly right of the jaws; moving left arm over it and lower.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.04,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HX8nJensfMvZ1Qt7wNLL3e",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2317, 1.1133, 0.3958, 0.1013, -0.1875, -0.1448, 0.999, -0.0227, 0.8043, 0.6178, -0.3946, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.326 left_y=-0.0394 left_z=0.0923 left_yaw=-0.0025 left_pitch=-0.0346 left_roll=0.006 left_gripper=0.999 right_x=0.2952 right_y=0.0004 right_z=0.1804 right_yaw=0.0005 right_pitch=-0.0126 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -3.535, 6.653, 1.9072, -0.149, -0.0562, -0.022, -0.1299, -1.5932, 7.1043, 1.7705, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29c2b189efe4a1c83db53b33d4fb5878d568d643d1e042cad2dc0138e99cc96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cfd8f86a4c39c83a2534a900c1dbc384c5dde4b7c9977a03252839a5eee6573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:16040b8e74611523afcd2d767399eda8c4ce79d741e2206e8afd9f4bf18551e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.806 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0139, -0.0296, 0.999, -0.0227, 0.8001, 0.6186, -0.387, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0003 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7709, 9.5658, 1.8242, -0.0904, 0.1587, -0.1148, -0.4308, -1.7573, 9.1692, 1.8535, -0.0317, 0.0464, -0.0708]",
      "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]: [-0.2317, 1.1133, 0.3958, 0.1013, -0.1875, -0.1448, 0.999, -0.0227, 0.8043, 0.6178, -0.3946, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.326 left_y=-0.0394 left_z=0.0923 left_yaw=-0.0025 left_pitch=-0.0346 left_roll=0.006 left_gripper=0.999 right_x=0.2952 right_y=0.0004 right_z=0.1804 right_yaw=0.0005 right_pitch=-0.0126 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -3.535, 6.653, 1.9072, -0.149, -0.0562, -0.022, -0.1299, -1.5932, 7.1043, 1.7705, -0.022, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29c2b189efe4a1c83db53b33d4fb5878d568d643d1e042cad2dc0138e99cc96a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cfd8f86a4c39c83a2534a900c1dbc384c5dde4b7c9977a03252839a5eee6573",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 6):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16040b8e74611523afcd2d767399eda8c4ce79d741e2206e8afd9f4bf18551e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSwgYKEAgSGAI4AUIIdGhpbmtpbmcSDNOxqmkVVka2vaBytxoM/S2Ao0nPj4uNZTW3IjBmI2lYW532P6D5ZfcJF0QZU1KAG7LTAKfJSVEeaE4RfquNe3OnjUFtW59bxuH8x50q3wWjvhOEOI2RCvQZOD+fXcAOHWpoJb1hwUWjCEElMH9oJufI9VK739bkXOv32za6uEPu7EBfryURA/oiTYQFPAUs2Q71WAyAtp+oXDVbXcfyUNm5a3KQUmnTNkVh9tGEdpUIt9FAexDohyNL5IeVouk3sddbGek+xcYHhTRuBg7pNIYGQJmrWNoWudAIwkBnrXATKjQFoOUXBaKitxK783JgdLJStz37RjwmZ9Aa4CfM7YYB/MyKLuQvulTEyXsuejGirp4Fy6KMuGFCpJ6zn7voktShP29Wq3MHss3noJRpSxmIcWfYVWAG3MClHkSy1Tzv5ngogX73k4q/L5IVvX533x03E+vlqmwNI28UTEPozq7RLBJbtmOXSxA3fWM1aOUTPQDyBm0/XEBixEEkF9mOzJvLmCSaobTtiwRqv7GTKyyn5Bnsr2Tnoazs2Fpj0E7AMij24S53xrZyHVrq/s9D0+NZf1NVLWXA4R91gFaCDiIZf1o2kdyI6uO7G3ymqOMeYCezIv3il/2r0zTVYXK060R8Q8VII2aalKG6N+yvfxJzlBgDe1k+916Nwa7y6XL7oKV+H9wAQU7ZxXwMYpoe7526HZaeOy7Hs1RcmpZPduCaExzJL95cbb3MLlwUFvvxVLOdVyB+iVZqkyIvyUwiWUT6gbh20248ymwKTGNr51PM5wQXUc7vBWVnB0lggo9ZwHvKqsDEw+hWseMOkk1BxpzQ03QvPhN70ak+d4lRgI9484a23/hcysBjDVRN82FMoB3ug7ayiuQmyKwt/GsddTffxCnhtWADXgEdf+RRexU9wlB7ThGTTJpQNiys5v0yWYeacrS9tu4VAzKgWZXyLZ1WjP2lX9xKKZdwFMDVZiJbZFpM4DtOtotc0UNnX21RllnToqGIMi3wg3gwenr7X84Ul7DHOoIjI7TIPdWCTB/iVOH8i2CuTKMDKP92M5bGNqp1gvL1B01564kN1m0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012y8r5bZ6G5oMTy8MdBojV1",
      "input": {
        "note": "Plum is at the bottom of the left wrist view, slightly right of the jaws; shifting slightly right/forward and descending to grasp.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.055,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012y8r5bZ6G5oMTy8MdBojV1",
      "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]: [-0.2737, 1.644, 0.3073, 0.6819, -0.2211, -0.1738, 0.9988, -0.0227, 0.8089, 0.6174, -0.395, -0.0196, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3454 left_y=-0.053 left_z=0.0034 left_yaw=-0.0003 left_pitch=-0.0669 left_roll=0.0113 left_gripper=0.9988 right_x=0.2954 right_y=0.0004 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -5.4632, 4.1094, 1.9853, -0.1783, -0.0122, -0.022, -0.0342, -1.5385, 7.0359, 1.7216, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceac6ae846c97a8639ba44c3e0f691294d78032775804321615c200b30adf97c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0015fb9c5f5d629ffb1a2b48adce0a6fc99e23c3303ee990b7804bd70c47cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7f9327a9a017d13e1128ac7e82d826e446f0e3551f248bc4f89c9c8a0d32cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 11.21 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8005, 0.6136, -0.3824, -0.0139, -0.0296, 0.999, -0.0227, 0.8001, 0.6186, -0.387, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=-0.0002 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.296 right_y=0.0003 right_z=0.1835 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5812, -1.7709, 9.5658, 1.8242, -0.0904, 0.1587, -0.1148, -0.4308, -1.7573, 9.1692, 1.8535, -0.0317, 0.0464, -0.0708]",
      "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]: [-0.2317, 1.1133, 0.3958, 0.1013, -0.1875, -0.1448, 0.999, -0.0227, 0.8043, 0.6178, -0.3946, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.326 left_y=-0.0394 left_z=0.0923 left_yaw=-0.0025 left_pitch=-0.0346 left_roll=0.006 left_gripper=0.999 right_x=0.2952 right_y=0.0004 right_z=0.1804 right_yaw=0.0005 right_pitch=-0.0126 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -3.535, 6.653, 1.9072, -0.149, -0.0562, -0.022, -0.1299, -1.5932, 7.1043, 1.7705, -0.022, -0.0611, -0.0122]",
      "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]: [-0.2737, 1.644, 0.3073, 0.6819, -0.2211, -0.1738, 0.9988, -0.0227, 0.8089, 0.6174, -0.395, -0.0196, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3454 left_y=-0.053 left_z=0.0034 left_yaw=-0.0003 left_pitch=-0.0669 left_roll=0.0113 left_gripper=0.9988 right_x=0.2954 right_y=0.0004 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -5.4632, 4.1094, 1.9853, -0.1783, -0.0122, -0.022, -0.0342, -1.5385, 7.0359, 1.7216, -0.0317, -0.0513, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ceac6ae846c97a8639ba44c3e0f691294d78032775804321615c200b30adf97c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0015fb9c5f5d629ffb1a2b48adce0a6fc99e23c3303ee990b7804bd70c47cc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7f9327a9a017d13e1128ac7e82d826e446f0e3551f248bc4f89c9c8a0d32cd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "text": "Plum between jaws at bottom. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E8Bi8Z3MXQes65zzc8zC8E",
      "input": {
        "note": "Plum is centred between the left jaws at table level; closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UUB9YXgNJ4i3n4UFNihWj7",
      "input": {
        "note": "Lifting the plum to check the grasp.",
        "targets": {
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01E8Bi8Z3MXQes65zzc8zC8E",
      "type": "tool_result"
    },
    {
      "content": "ignored: one tool call per turn",
      "tool_use_id": "toolu_01UUB9YXgNJ4i3n4UFNihWj7",
      "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]: [-0.2737, 1.644, 0.3073, 0.6773, -0.2207, -0.1806, 0.5173, -0.0227, 0.8089, 0.6174, -0.395, -0.0189, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3448 left_y=-0.0529 left_z=0.0025 left_yaw=0.0031 left_pitch=-0.0714 left_roll=0.0068 left_gripper=0.5173 right_x=0.2954 right_y=0.0002 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -5.2308, 4.0684, 1.7118, -0.149, 0.0122, 1.0281, -0.1026, -1.3197, 7.0359, 1.7021, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5fcb6e0715336d7dc84b000e0bca4c9eac30f32214d546dd5540283f65a33ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:717667022d46b39d121ef88247b959449d147ce857973987174d00c23ddf1e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:606ff08ff11890bcff79bd1a85bab42ff216637f1d25049d6ba41d233bf3a72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 7.241 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2317, 1.1133, 0.3958, 0.1013, -0.1875, -0.1448, 0.999, -0.0227, 0.8043, 0.6178, -0.3946, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.326 left_y=-0.0394 left_z=0.0923 left_yaw=-0.0025 left_pitch=-0.0346 left_roll=0.006 left_gripper=0.999 right_x=0.2952 right_y=0.0004 right_z=0.1804 right_yaw=0.0005 right_pitch=-0.0126 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -3.535, 6.653, 1.9072, -0.149, -0.0562, -0.022, -0.1299, -1.5932, 7.1043, 1.7705, -0.022, -0.0611, -0.0122]",
      "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]: [-0.2737, 1.644, 0.3073, 0.6819, -0.2211, -0.1738, 0.9988, -0.0227, 0.8089, 0.6174, -0.395, -0.0196, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3454 left_y=-0.053 left_z=0.0034 left_yaw=-0.0003 left_pitch=-0.0669 left_roll=0.0113 left_gripper=0.9988 right_x=0.2954 right_y=0.0004 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -5.4632, 4.1094, 1.9853, -0.1783, -0.0122, -0.022, -0.0342, -1.5385, 7.0359, 1.7216, -0.0317, -0.0513, -0.0171]",
      "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]: [-0.2737, 1.644, 0.3073, 0.6773, -0.2207, -0.1806, 0.5173, -0.0227, 0.8089, 0.6174, -0.395, -0.0189, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3448 left_y=-0.0529 left_z=0.0025 left_yaw=0.0031 left_pitch=-0.0714 left_roll=0.0068 left_gripper=0.5173 right_x=0.2954 right_y=0.0002 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -5.2308, 4.0684, 1.7118, -0.149, 0.0122, 1.0281, -0.1026, -1.3197, 7.0359, 1.7021, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5fcb6e0715336d7dc84b000e0bca4c9eac30f32214d546dd5540283f65a33ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:717667022d46b39d121ef88247b959449d147ce857973987174d00c23ddf1e61",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:606ff08ff11890bcff79bd1a85bab42ff216637f1d25049d6ba41d233bf3a72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016y3F4kAMUw34rzjLFdxyBM",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm), so the plum is held; lifting it to carry height.",
        "targets": {
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_016y3F4kAMUw34rzjLFdxyBM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2729, 1.1362, 0.7242, -0.2836, -0.2207, -0.1844, 0.5197, -0.0227, 0.8135, 0.6174, -0.395, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3423 left_y=-0.0519 left_z=0.1531 left_yaw=0.0068 left_pitch=-0.1062 left_roll=0.0138 left_gripper=0.5197 right_x=0.2957 right_y=0.0003 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0225 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -5.0667, 9.0325, 1.5653, -0.1294, -0.0073, 0.6374, -0.212, -1.7162, 7.0359, 1.6923, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c69b16571f1ba007af5fef7eb304942c6cf8ed219167767d0ea166afab6501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f4f844b849c23ff48a072910368048f58ac42d662a031921076d83af737c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9d402ba0cdc704b620522d0daca8a6f62519d3edd2fa647f8120f7471eba732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 6.024 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2737, 1.644, 0.3073, 0.6819, -0.2211, -0.1738, 0.9988, -0.0227, 0.8089, 0.6174, -0.395, -0.0196, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3454 left_y=-0.053 left_z=0.0034 left_yaw=-0.0003 left_pitch=-0.0669 left_roll=0.0113 left_gripper=0.9988 right_x=0.2954 right_y=0.0004 right_z=0.1789 right_yaw=0.0003 right_pitch=-0.0179 right_roll=0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -5.4632, 4.1094, 1.9853, -0.1783, -0.0122, -0.022, -0.0342, -1.5385, 7.0359, 1.7216, -0.0317, -0.0513, -0.0171]",
      "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]: [-0.2737, 1.644, 0.3073, 0.6773, -0.2207, -0.1806, 0.5173, -0.0227, 0.8089, 0.6174, -0.395, -0.0189, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3448 left_y=-0.0529 left_z=0.0025 left_yaw=0.0031 left_pitch=-0.0714 left_roll=0.0068 left_gripper=0.5173 right_x=0.2954 right_y=0.0002 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -5.2308, 4.0684, 1.7118, -0.149, 0.0122, 1.0281, -0.1026, -1.3197, 7.0359, 1.7021, -0.0269, -0.0611, -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 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]: [-0.2729, 1.1362, 0.7242, -0.2836, -0.2207, -0.1844, 0.5197, -0.0227, 0.8135, 0.6174, -0.395, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3423 left_y=-0.0519 left_z=0.1531 left_yaw=0.0068 left_pitch=-0.1062 left_roll=0.0138 left_gripper=0.5197 right_x=0.2957 right_y=0.0003 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0225 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -5.0667, 9.0325, 1.5653, -0.1294, -0.0073, 0.6374, -0.212, -1.7162, 7.0359, 1.6923, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80c69b16571f1ba007af5fef7eb304942c6cf8ed219167767d0ea166afab6501",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19f4f844b849c23ff48a072910368048f58ac42d662a031921076d83af737c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d402ba0cdc704b620522d0daca8a6f62519d3edd2fa647f8120f7471eba732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019kkVWwPkAWmxcuUaLKBvgj",
      "input": {
        "note": "Plum held. Blue bowl estimated near left_y≈-0.38, x≈0.45 (edge of left arm's box); carrying there at height and will check the wrist view.",
        "targets": {
          "left_x": 0.45,
          "left_y": -0.36,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_019kkVWwPkAWmxcuUaLKBvgj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8608, 2.2372, 2.0647, -0.7635, -0.6212, -0.6556, 0.521, -0.0227, 0.8173, 0.6159, -0.4168, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4468 left_y=-0.3566 left_z=0.1647 left_yaw=0.0043 left_pitch=-0.1446 left_roll=0.0265 left_gripper=0.521 right_x=0.2927 right_y=0.0003 right_z=0.1715 right_yaw=0.0002 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -13.1487, 9.1556, 1.326, -0.4713, 0.022, 0.6471, -0.0752, -1.5385, 7.1453, 1.917, -0.0562, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:443e8f6de5e21bb8a3ccd2f45a6c4b7aa6c02deff15a6c58b0dd2b2bbe6e9e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded410b6b1d174e581493191fbccfb41e629b540e983e27577bfdb77c74da67e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc04f51e8d642fd49b26057c821bc85b840d50beb8b8579983444026715b9336",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.214 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2737, 1.644, 0.3073, 0.6773, -0.2207, -0.1806, 0.5173, -0.0227, 0.8089, 0.6174, -0.395, -0.0189, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3448 left_y=-0.0529 left_z=0.0025 left_yaw=0.0031 left_pitch=-0.0714 left_roll=0.0068 left_gripper=0.5173 right_x=0.2954 right_y=0.0002 right_z=0.1789 right_yaw=-0.0003 right_pitch=-0.0179 right_roll=0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.3897, -5.2308, 4.0684, 1.7118, -0.149, 0.0122, 1.0281, -0.1026, -1.3197, 7.0359, 1.7021, -0.0269, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2729, 1.1362, 0.7242, -0.2836, -0.2207, -0.1844, 0.5197, -0.0227, 0.8135, 0.6174, -0.395, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3423 left_y=-0.0519 left_z=0.1531 left_yaw=0.0068 left_pitch=-0.1062 left_roll=0.0138 left_gripper=0.5197 right_x=0.2957 right_y=0.0003 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0225 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -5.0667, 9.0325, 1.5653, -0.1294, -0.0073, 0.6374, -0.212, -1.7162, 7.0359, 1.6923, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.8608, 2.2372, 2.0647, -0.7635, -0.6212, -0.6556, 0.521, -0.0227, 0.8173, 0.6159, -0.4168, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4468 left_y=-0.3566 left_z=0.1647 left_yaw=0.0043 left_pitch=-0.1446 left_roll=0.0265 left_gripper=0.521 right_x=0.2927 right_y=0.0003 right_z=0.1715 right_yaw=0.0002 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -13.1487, 9.1556, 1.326, -0.4713, 0.022, 0.6471, -0.0752, -1.5385, 7.1453, 1.917, -0.0562, -0.0708, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:443e8f6de5e21bb8a3ccd2f45a6c4b7aa6c02deff15a6c58b0dd2b2bbe6e9e0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ded410b6b1d174e581493191fbccfb41e629b540e983e27577bfdb77c74da67e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc04f51e8d642fd49b26057c821bc85b840d50beb8b8579983444026715b9336",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQoKEAgSGAI4AUIIdGhpbmtpbmcSDEhK0pVC7GTQTiW8pRoMYRgzc1WYtv+hWJ+VIjCyoR2Xy6Dk1OuN6euOazyROj2Gsrt9s365xgKqy2CGDSY0opaZ09R0bJft0gSmUYgqvgmB8kIURXWhRrKfBPS8KgNNaZzJh7ufojmpyYwa5Ae+xgOoi/B93lgAGIGvyKxHx9VziDZ2o0M//ny3irPQv4AWFJI21T9l+8YSrAq0I082dhY1z2b0VS5I6P7KGUbAPRo8gnXgv/iGMuQHZ1+/MR1b2E53hUCXJNrbV19szLNfMBw1N4y9X5pv1lIHeVxXREmGVIaPBbswAqlYqMvQp4VQLtnpThmSmIc/a0YAdDimL8QlIQ6iUu/5rdASllw/iG6w+en8ot28iQaTOjU8GB0TDWyKn3Uq13X289ykrG3MGQ6yxmnWbbi0YiePWIm3rzSf3uhuOlw+JpORDFV185ef1LJXYqGEaWACoH2vc2sjBwXrss1jH+3DaI8SXeqCrio3YN08wVbHxELGyt5Ul9fjMkwyvd3XNumIl2tgwcAZ71QbtjXKMLSg3DxuQHZyzYwpvi4Na6obrM07yeQDIEgUn6C0ffVJkonqwOpOJ0XINJzIl/eDtiY1qovpghQgsm9orGyygVcO6C8fN91VkjnR0L2y2RGjZAZQ7nJD7YvCDPDeab4504mV13lqOb+MKnAAF8vYpAaaSu27xFAN+qoppp7cpmaXmEPWxikqeKQ/YBX4gh7smRlHpYMobXCRltHkLGhRyhiL/7AtxksWYfvINIVYui05g0DjMI4herqb7KXEZvDpN+oSLtosROVyCN2eJV2C10dZF/JBfNw0uhAVREYhbtsWxh3LpQFfP9Nf3TC7f9K8Vh+ZvjwxEApXKub4y7oVXGwy2M0cWJ3WoG4Y2z40NxQYSDUXQ0z2irBpkK2bhZ79vW8ERJF59Vc14vCVEIkpxq+ylpZ53u+8B6Hb5YCDvhQaxUsIYcCmYQcHjBM8/dTaIgkj+CqERyh8gHzIfp61krDx/VYIzh+sKlJfKq91M7u2P1TErjNfCf8+sKprmliXhzKQX9S5UjAoCN2vW7l+I3ZDzzCQTrMSef6QKWk3vN29fi7dj5b0wiINPklfFcQCpLaDMijl/Y7u9NgTxLW1qT+lXz5uX1a3c86y5sJhbadeQMPnIkR5UPQJ5kQVVmq6hW6R2jkdL7IwIU3k46zMsolfoN5kW+UUXdGIdbMAkFtbER3hpoWJJRTWwEHPXnVkzuPQuL6pc5F2Z9b36QOrr+0xOB36sHiRNfQ9S4WS2SocC/vXRuB/+YNTg8/cLZ4rvICk0RnR0x1UqKafgPKyEJzOmXK0DV4ZbjtdA3IUidPtLKHRhhNDo7a8yft5aoacPIh9HZs7PNsvBnD5x1VoaTqHFlz/oCm4inGK2ExgSw+09y5Ul2nNaxRnmfSvOuZXXxxix/TIa2tIHUHqgHC6Mkwhmt7QDYRvxidt//edWyRN+v5IQAEEDKRLmj5Njyr28tMfVbl1TCvoGCRgJMJQw6bta//NgIk+KbeaIT7ZmXVBTjH+DTlfuT9tkfp7xsCYEic5p6XMkp6javBGwoT3qFfnej4wQ4S44lSP46W7fL3NGjmPoVG5Q4nplVG/VPjrQWSZa+LKNxhgxdH8kqgiq9m0sDIMbYmkps3emnrTJXrJiyiFNvowTJUHk3cIj5vveHFbVdwL6d81ItNJrvGH12SlldSOWLU0DxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UV1imnbVyvmmex56bvKvwP",
      "input": {
        "note": "Blue bowl is visible just ahead-right of the left jaws; shifting to the right bound and slightly forward, lowering to drop the plum in.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UV1imnbVyvmmex56bvKvwP",
      "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]: [-0.8742, 2.5172, 2.3302, -0.8078, -0.617, -0.6815, 0.5235, -0.0227, 0.8173, 0.6159, -0.4252, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.4679 left_y=-0.3944 left_z=0.1003 left_yaw=0.0099 left_pitch=-0.1845 left_roll=0.0504 left_gripper=0.5235 right_x=0.2915 right_y=0.0004 right_z=0.1698 right_yaw=0.0 right_pitch=-0.058 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.7453, -15.4735, 8.9915, 1.2821, -0.4908, 0.0269, 0.2466, -0.0205, -1.1692, 6.9949, 1.7998, -0.0366, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb136e4fa63975f98d56561a85f95dd08426c2c5d108d5a3e8baa5b37824035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a96782812e0876c2f448acd3907d562bd098a0bfa688fba8208a0025b3ed07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb57b471b5606fe756a7ad3ca63c14fd07b212a71c12db2bd2cdf789df9365fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.251 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.2729, 1.1362, 0.7242, -0.2836, -0.2207, -0.1844, 0.5197, -0.0227, 0.8135, 0.6174, -0.395, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.3423 left_y=-0.0519 left_z=0.1531 left_yaw=0.0068 left_pitch=-0.1062 left_roll=0.0138 left_gripper=0.5197 right_x=0.2957 right_y=0.0003 right_z=0.1777 right_yaw=0.0 right_pitch=-0.0225 right_roll=0.0005 right_gripper=0.9994\nstate[joint_eff]: [0.0342, -5.0667, 9.0325, 1.5653, -0.1294, -0.0073, 0.6374, -0.212, -1.7162, 7.0359, 1.6923, -0.0366, -0.0659, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.8608, 2.2372, 2.0647, -0.7635, -0.6212, -0.6556, 0.521, -0.0227, 0.8173, 0.6159, -0.4168, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4468 left_y=-0.3566 left_z=0.1647 left_yaw=0.0043 left_pitch=-0.1446 left_roll=0.0265 left_gripper=0.521 right_x=0.2927 right_y=0.0003 right_z=0.1715 right_yaw=0.0002 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -13.1487, 9.1556, 1.326, -0.4713, 0.022, 0.6471, -0.0752, -1.5385, 7.1453, 1.917, -0.0562, -0.0708, -0.0171]",
      "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]: [-0.8742, 2.5172, 2.3302, -0.8078, -0.617, -0.6815, 0.5235, -0.0227, 0.8173, 0.6159, -0.4252, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.4679 left_y=-0.3944 left_z=0.1003 left_yaw=0.0099 left_pitch=-0.1845 left_roll=0.0504 left_gripper=0.5235 right_x=0.2915 right_y=0.0004 right_z=0.1698 right_yaw=0.0 right_pitch=-0.058 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.7453, -15.4735, 8.9915, 1.2821, -0.4908, 0.0269, 0.2466, -0.0205, -1.1692, 6.9949, 1.7998, -0.0366, -0.0366, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb136e4fa63975f98d56561a85f95dd08426c2c5d108d5a3e8baa5b37824035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4a96782812e0876c2f448acd3907d562bd098a0bfa688fba8208a0025b3ed07",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb57b471b5606fe756a7ad3ca63c14fd07b212a71c12db2bd2cdf789df9365fb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Bowl now under the jaws. Release.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XS1iFpowe3tps1UUyKmGHj",
      "input": {
        "note": "Blue bowl is directly under the left jaws; opening to drop the plum in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XS1iFpowe3tps1UUyKmGHj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.873, 2.5172, 2.3299, -0.8089, -0.6128, -0.6888, 0.9951, -0.0227, 0.8173, 0.6159, -0.4358, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4678 left_y=-0.3942 left_z=0.0997 left_yaw=0.0125 left_pitch=-0.1881 left_roll=0.044 left_gripper=0.9951 right_x=0.2899 right_y=0.0004 right_z=0.1677 right_yaw=0.0003 right_pitch=-0.0686 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -14.7214, 6.5846, 1.2186, -0.3199, 0.0464, -0.0659, -0.0068, -1.347, 7.0222, 1.7509, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5314ef0089bdd16784d83fa2be50f73947b76cd0dc827331c09e5c0eab8d6bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce0fe286c38199bfa18a34819c999060c67cad649876046c44b1d90a983303d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb65c375ac49f6024b5c47e0d8144062d950abb45b8402b7d0dbae859a67d33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 5.845 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8608, 2.2372, 2.0647, -0.7635, -0.6212, -0.6556, 0.521, -0.0227, 0.8173, 0.6159, -0.4168, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4468 left_y=-0.3566 left_z=0.1647 left_yaw=0.0043 left_pitch=-0.1446 left_roll=0.0265 left_gripper=0.521 right_x=0.2927 right_y=0.0003 right_z=0.1715 right_yaw=0.0002 right_pitch=-0.0496 right_roll=0.0008 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -13.1487, 9.1556, 1.326, -0.4713, 0.022, 0.6471, -0.0752, -1.5385, 7.1453, 1.917, -0.0562, -0.0708, -0.0171]",
      "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]: [-0.8742, 2.5172, 2.3302, -0.8078, -0.617, -0.6815, 0.5235, -0.0227, 0.8173, 0.6159, -0.4252, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.4679 left_y=-0.3944 left_z=0.1003 left_yaw=0.0099 left_pitch=-0.1845 left_roll=0.0504 left_gripper=0.5235 right_x=0.2915 right_y=0.0004 right_z=0.1698 right_yaw=0.0 right_pitch=-0.058 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.7453, -15.4735, 8.9915, 1.2821, -0.4908, 0.0269, 0.2466, -0.0205, -1.1692, 6.9949, 1.7998, -0.0366, -0.0366, -0.0171]",
      "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]: [-0.873, 2.5172, 2.3299, -0.8089, -0.6128, -0.6888, 0.9951, -0.0227, 0.8173, 0.6159, -0.4358, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4678 left_y=-0.3942 left_z=0.0997 left_yaw=0.0125 left_pitch=-0.1881 left_roll=0.044 left_gripper=0.9951 right_x=0.2899 right_y=0.0004 right_z=0.1677 right_yaw=0.0003 right_pitch=-0.0686 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -14.7214, 6.5846, 1.2186, -0.3199, 0.0464, -0.0659, -0.0068, -1.347, 7.0222, 1.7509, -0.0415, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5314ef0089bdd16784d83fa2be50f73947b76cd0dc827331c09e5c0eab8d6bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ce0fe286c38199bfa18a34819c999060c67cad649876046c44b1d90a983303d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb65c375ac49f6024b5c47e0d8144062d950abb45b8402b7d0dbae859a67d33c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgkKEAgSGAI4AUIIdGhpbmtpbmcSDGva4AZ2FHIRi2+cBRoML09GgkF2T98I1+MKIjBxB4ckm4dNkFtHPsMNSrnonLm+DtIjhzw3STq7llqJnGp+r4AAT09JkbUayMzWA24qqwh2bdDOLzvHaf0hvv0xlCNumRxN0nf/gBjZH+wayi+0PtzVLm0dx3VbWG0iG+5CkRxGekodDOs/zXbJkVWpAeC3J8JKRqXODFi3uwcsICzq2BkgeP0TDOYGcALNCSNMG8besdeeSD4C/H0uM3lK6SOqlpzkx5NdmUjrCBy3ASCDvsgJQI2zbZWbtMC7FX/zFzz7b887/AAzEs1YHKJbozQ9QmJRJx8wMm0kM1jqtxv6HmGLAMgy+ypX/7Pe22+TU3WVbBygKo3smthHV+TjTgdNOce5hivI8Xy1rZlD4Y7KImLFFeMsRx+nDy1zDYnYde4cghaa6TwoWbGusVPZE2bdRcROY8/2PKtBjY/MH8JaL844JdlVH2eePJ0EW4n8bd35zSneO7M026eeZP8otw+OWie5EnR9iAtfPnjois+POQXRg1v6TuImBRYpqQhoIBQjxc8ZP4lnsXBJuZAbNJ6a53KRJKJoWy5OdGQoWFRaAoxjBefQ4gCuwj83Cn8ahpdobq88bLkyROWcQ87AsfqsFRh2LYw4QsLUuHCIUjK14+KXwxBWWzKQ85V8WNIY6DiLkj2SAd1UJH0DRl+KScL7aErDV9BlbU3tk763YwchtXKwe49EWsPID5gvTi1Q5KtoRsF1ZuHu3TuzUaCbyok0jfU7lFaKsVLkVNpILw53CPDKsvqhigEs+bAc0LPIVifvUaJ0TM7Sypg1lq5d/sHxbn/GldZs6VD7XP/8OWyTjeL1VY3CtEQuBdeI1Sspelj3d7+YlDeCCFr+xeKZhk6nbdE8qzXu04z06uVg3+NGjnWHDZjBHTUwYgTkJXgaTtuHwg3ecjAagd7yoKv6yww6E3x3X/rFcQmgjUMFTVysu2INZ0HqxzKzphm221p9ukaBM7Clanzeyg71GRogz5UJz30jsvM2+FO8sqtFVBIiSpYCLTbuZL59YW+LS1ArApJ8v5dmjEX9HMCUrSyFnDSbEdVoV83R2IF0FXwzeO53XNLmn/W/Cy9KGTlhM2n4q1yiNtjnlU0N/LhjmsQpUiDB2J5Z2A46ZtUwjVDdzdtJvVEuNM67SgX6S2nlzyoR+Nhbslr39gx6Vm0LpkZJT8kXON8uTJ306Bl86jeJJEom0IMRrzl1cSmQwahmovsnaolx8bw6KC1CWvk/gbJ1yGLMk8IDFc/AZEQSOLkgXAL2/JafLubFvmARg074dxBEZDm7Fv3nTZkEzo70jSITFV1AXRYyGYf3fBMNBa1mH4r/789NmOD3ZSgDMHLbVa9xHWyOyL2qfKQEpWLYLjncxW+DB/CF1EwLoMIvprDex1SF/217JisXR6dcPLy/0dHC7HkPNFuPo/uD3EUVT0ayyoIIr/vOJvqcuv5FWBnh23p/CgJ2WSr3VW8hDKVGRl/20lEyWss6ZGWBVGmAKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016VCVLyFUwNUvnP1EqAMSKX",
      "input": {
        "note": "Plum is now in the blue bowl (visible in right wrist cam). Parking the left arm at home to clear the way for the right arm.",
        "targets": {
          "left_x": 0.296,
          "left_y": 0.0,
          "left_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 36 steps (3.6s)",
      "tool_use_id": "toolu_016VCVLyFUwNUvnP1EqAMSKX",
      "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]: [-0.0811, 0.9661, 0.804, -0.5903, -0.1226, -0.0845, 0.996, -0.0227, 0.8219, 0.6159, -0.4496, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=0.0008 left_z=0.1813 left_yaw=0.0634 left_pitch=-0.1765 left_roll=0.0383 left_gripper=0.996 right_x=0.2881 right_y=0.0005 right_z=0.1638 right_yaw=0.0006 right_pitch=-0.0869 right_roll=0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -3.0701, 6.5983, 1.5311, 0.0513, 0.1148, 0.0806, -0.0342, -1.7573, 7.1179, 1.8779, -0.0464, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd89ccc76353a6cb11fa4f5e2169bc3e4f38a0a4ae756a03372781031061a5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57948bff196fb6b40d79beb9a8e62c8c07f93cb33577b5212116171c354fed9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:402c7a4e448f7cb226ae4770a1090315c3600e64654b7d9f3569a3aaaa33f8cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 4.473 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8742, 2.5172, 2.3302, -0.8078, -0.617, -0.6815, 0.5235, -0.0227, 0.8173, 0.6159, -0.4252, -0.0193, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.4679 left_y=-0.3944 left_z=0.1003 left_yaw=0.0099 left_pitch=-0.1845 left_roll=0.0504 left_gripper=0.5235 right_x=0.2915 right_y=0.0004 right_z=0.1698 right_yaw=0.0 right_pitch=-0.058 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [-0.7453, -15.4735, 8.9915, 1.2821, -0.4908, 0.0269, 0.2466, -0.0205, -1.1692, 6.9949, 1.7998, -0.0366, -0.0366, -0.0171]",
      "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]: [-0.873, 2.5172, 2.3299, -0.8089, -0.6128, -0.6888, 0.9951, -0.0227, 0.8173, 0.6159, -0.4358, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4678 left_y=-0.3942 left_z=0.0997 left_yaw=0.0125 left_pitch=-0.1881 left_roll=0.044 left_gripper=0.9951 right_x=0.2899 right_y=0.0004 right_z=0.1677 right_yaw=0.0003 right_pitch=-0.0686 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -14.7214, 6.5846, 1.2186, -0.3199, 0.0464, -0.0659, -0.0068, -1.347, 7.0222, 1.7509, -0.0415, -0.0757, -0.0171]",
      "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]: [-0.0811, 0.9661, 0.804, -0.5903, -0.1226, -0.0845, 0.996, -0.0227, 0.8219, 0.6159, -0.4496, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=0.0008 left_z=0.1813 left_yaw=0.0634 left_pitch=-0.1765 left_roll=0.0383 left_gripper=0.996 right_x=0.2881 right_y=0.0005 right_z=0.1638 right_yaw=0.0006 right_pitch=-0.0869 right_roll=0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -3.0701, 6.5983, 1.5311, 0.0513, 0.1148, 0.0806, -0.0342, -1.7573, 7.1179, 1.8779, -0.0464, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd89ccc76353a6cb11fa4f5e2169bc3e4f38a0a4ae756a03372781031061a5a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:57948bff196fb6b40d79beb9a8e62c8c07f93cb33577b5212116171c354fed9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:402c7a4e448f7cb226ae4770a1090315c3600e64654b7d9f3569a3aaaa33f8cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gkKEAgSGAI4AUIIdGhpbmtpbmcSDCtECzJ3gMZ8154LzRoMN55sHDl27fjwSTwPIjC+i2EizzuK51Q66wVLPUeVIx9zbkOCEr0Cu0QYaxVWSv6SPH7VPyTDeEgDu7DOOJEqkwlZ8peAuw0Ro54EtccZXHnpFQfwnUa+9UjNNLBttBYOZHq34nXw9vn+aFTK4emo4OCS418C8CS/4ivpdipCuvy8Pzv+D9IJz9vQTTkRRxNrr9FD9qLMDj+Jp5V9PvnWuTok35ZXM3JKUSyzDQZbrLOn0/ZQNaPACjX1cFOPghFFhAQALjL4k5bpFSw7NWebVqRskJe58hlpI12LI88HBSq3vUsIY+vZMIIgiSfR3dRFlQeyoWWn2zZg1L+gzAojvxZJqYXPL0oFNJYKAd1eu/OQazzH61WOw0DGLKVa64gHFWGxdv1BxLO3A7pAvbIFfSuv6uNPeL6aC4GFaq4lypG1je4O65Ilz4rCqb+zcxqPubEPBk2s63xDq7cT2SPBl+U0JetkZYFH5Jqg5EmwZIo26+iyfvWYDGLCZuAHeDQ3aba1+tD/hNFBsj2ngLiMhWCVwisbJ9Z7Y2falI9nlOQomCvoQjKc0tT67U3SGABzuYyzx+lcxcqspb7f25t8xKe+yjZJYZvYF31uSUZOehu+6XqpCMKDke3nr0bsMtAp78n0JjmgQrj6YbitTXbRO/3sIL1sOQ5TwwY0Qe7mGDWKJwNUsWsBYMpMr10jOJJkORryLJXUyTNgY2woMYc1laEjCh5MbLTZ2LW8So4Cp2vx+ZE0GbiglvMkHDiNzmQTT1Ud+YkEK1WOFNxdOH9vR9PXPvhYMCVm+dGaqJCZq6YlcbC+A3znxmoX6Cp7Dqx3HhSiwHCag6FLghDpLD1C/MdlCkczlo3nzN1yEY8IERbJZ+rkEIPQJJRr2lbmnVgVFysrj4KxDskRLbE5OaWojSoG9yItmuBy/GaJL4oZ726tkwg5NqqpcBEHE2ygLg+GTVYOdc4IWHZvzOX0W4jt5p/vphUDOxVDsDSmkzqotkzde+6+liKyDqcK5MvA3YvgLdj4lgvuACYNqBFlSQj4cyBWQc28qu+JcLXRWhgn2BQUL+/OIUv4n0oazbBeE33J40R8aSN1pUfM95X56wlDDBi+fi7rOIFGCHiCb0Qy/bQClyTwSt31Fy478rz5OmJW7IDgVkvNQ3gIQBL8xG+Ow0jm2uIwJQ/0fmv64ZMvn9rrJvAUsb2lML7G7qAGyuttTg+sIv2/86ZCo3h9oFJlak3ePReLmtgKLxY8ElHJEKICaINpxUGsFC5dGM5NL0zDl9TNB41KTl9kKZt7LQ6K7KTA+q4+NpBXAYlFbcNcdOzMI/MV9WTmnzQupL/zH3ApnWyVmONZxALKr32ssh9L+cJtVP3tkZDvQyfuedTLzhO8UtNYcMoy97B8UjjXn3I7sJ6kLDYSTqzdjfZvJCyvovMpWi3XQ2I8RFJiRNOq724+V10boM1sQZjrucRqd8elrUiTGtX9J2fOL3oqXIs8bBiALNmB+XkrWYNzgNVnnxMzURJOipVmlXsoRBkFnd7xY10UEkRPHL07+Rf/EDdjRQ21Q53SILR43aQI8I7X+b9mBueWRwkul6Lbg5a1CeODkhwJd9YznZ3XQRQ1emZK0PRfIdb2n644T18O5+YLWdV50fxmGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NzzCPCLrUg6E88toCQ9c5J",
      "input": {
        "note": "Right wrist cam shows the pear ahead-left of the jaws; moving over it and lowering to align.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.07,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01NzzCPCLrUg6E88toCQ9c5J",
      "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]: [-0.0803, 0.9703, 0.8021, -0.6037, -0.1154, -0.0788, 0.9961, 0.3187, 1.1522, 0.5163, -0.1253, 0.2058, 0.152, 0.9994]\nstate[eef_state]: left_x=0.2994 left_y=-0.0001 left_z=0.1768 left_yaw=0.0554 left_pitch=-0.1966 left_roll=0.0402 left_gripper=0.9961 right_x=0.3155 right_y=0.0699 right_z=0.0885 right_yaw=0.0565 right_pitch=-0.1731 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -2.6188, 6.9949, 1.6484, -0.1538, -0.0952, -0.0073, 0.1162, -4.1915, 6.0376, 1.7265, 0.1978, 0.2173, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2e949d396252ff5fd5c7a5889bc01b0e9c7e9b1b8e7dc8e33bfea021dcd0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0389532f40380bdec3c60d275191e36d91af416b68f61f2da23964a6568ec035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:68c6e800e14764a7fa39c434657f5b3da913e7245bdc23bffa82d95429ccf48a",
        "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 · 3.741 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.873, 2.5172, 2.3299, -0.8089, -0.6128, -0.6888, 0.9951, -0.0227, 0.8173, 0.6159, -0.4358, -0.0193, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.4678 left_y=-0.3942 left_z=0.0997 left_yaw=0.0125 left_pitch=-0.1881 left_roll=0.044 left_gripper=0.9951 right_x=0.2899 right_y=0.0004 right_z=0.1677 right_yaw=0.0003 right_pitch=-0.0686 right_roll=0.0013 right_gripper=0.9994\nstate[joint_eff]: [0.0889, -14.7214, 6.5846, 1.2186, -0.3199, 0.0464, -0.0659, -0.0068, -1.347, 7.0222, 1.7509, -0.0415, -0.0757, -0.0171]",
      "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]: [-0.0811, 0.9661, 0.804, -0.5903, -0.1226, -0.0845, 0.996, -0.0227, 0.8219, 0.6159, -0.4496, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=0.0008 left_z=0.1813 left_yaw=0.0634 left_pitch=-0.1765 left_roll=0.0383 left_gripper=0.996 right_x=0.2881 right_y=0.0005 right_z=0.1638 right_yaw=0.0006 right_pitch=-0.0869 right_roll=0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -3.0701, 6.5983, 1.5311, 0.0513, 0.1148, 0.0806, -0.0342, -1.7573, 7.1179, 1.8779, -0.0464, -0.0659, -0.0171]",
      "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]: [-0.0803, 0.9703, 0.8021, -0.6037, -0.1154, -0.0788, 0.9961, 0.3187, 1.1522, 0.5163, -0.1253, 0.2058, 0.152, 0.9994]\nstate[eef_state]: left_x=0.2994 left_y=-0.0001 left_z=0.1768 left_yaw=0.0554 left_pitch=-0.1966 left_roll=0.0402 left_gripper=0.9961 right_x=0.3155 right_y=0.0699 right_z=0.0885 right_yaw=0.0565 right_pitch=-0.1731 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -2.6188, 6.9949, 1.6484, -0.1538, -0.0952, -0.0073, 0.1162, -4.1915, 6.0376, 1.7265, 0.1978, 0.2173, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a2e949d396252ff5fd5c7a5889bc01b0e9c7e9b1b8e7dc8e33bfea021dcd0b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0389532f40380bdec3c60d275191e36d91af416b68f61f2da23964a6568ec035",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68c6e800e14764a7fa39c434657f5b3da913e7245bdc23bffa82d95429ccf48a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStgcKEAgSGAI4AUIIdGhpbmtpbmcSDF9xI+gYaaBQZNBwnBoMZCbBtE+83JPUJzEhIjCBaN0pZr4KO11ex+POAnZ6/ZLTdNV3qlKYsfeW1OcgqUNoA1U3f54OXfZoR90Xvl4q0waBgfgIRhND22X6UL2icYBxGHpb940s5csof76/oRKW03DWGg1u+pHGa5YxOAxq9mEHCAETUBQdySjS9SMf8hxNanN4+kZSLp8gumPQ5XyW0P1WcSBuOjtUrbZ8MHvALa/dbV1fBDUWfz9ezI4Th20hwZ61pg1MaiCwAg8jJi/C5CL8qQLtsJOxPFV8bKZ1832Gj25d8Mia9SCBXK40m1N3f+7IUlZ2u0fuNHpuj2Ghfi80AZavz7RmbiRqhP0MHGeQhj+5nJGjfZowXZ7xvAcIA24m76fXIJyZMgWzpTRDfzdwdxsMAskjpuaR5XfRUct9aVzty7ziKkTD7gEz5UF958ShnTuW2SLUixT111zWAlicHZ8/DBrQ4axnWIth/kIV3MiZn62xTljwx0j7X01wKu2XEfV+HbPqHkgK3tBTUkEOSzzQsxWNQynCPgD1y36wUQ23vWfDFC3+lvn1qlh63gdd/EOA+zVUtWqpnVPaMiDVltqthSfAQjoiEJN2/fSHDhkVHMAh4v5/a2kyShfrlH5sPUy/D8THPl+m5XImm5K7Lbn7JpGwZ+okJbuZJ1+yZ1MCv4PZaddXzi9BeKltAMZvgLOStZj9hthfmGvTrIqYhAwqCutoOFzwkjWh84Ms8fvv2Yjjo/+NvRU+OfnIgWvJOiJMsSI3lYDjhPCt4pgldwY0MSP0irFX0RmhW4/kQatg2CuSkYl1E7fhAAqkWYpLPh69yGwsUpriPqRo4uyCNZvbJeUHR+fbcZ9ggsEV4lna8DbfdokFy6hP0qIP4yCx/dTkx73S4yxPuJrnS6VlW4vOYTXCBwQr88S4f43NRq8dOmt5Z6PeCfNVsOK3qL0a9QRAKLwM6Fu+KgI7GFbmROWob2GSqVHFMq5Ah8Xd40bQ+HMcqCwKYsCWVJKHuKRL2Teh15UklDjvi3wn/1sigA7Hwn5DeNuVjG8rjKOb+JsUx47FId1cFTXdqRNnEJ5oYl1zABq4pPtVc3/mo1RXgDc872jUhRd52Fzvot6a9vsmH/dVxBYK611f0WfRAFRSXDTnZ5XPeGwTKxkRExdiZQf1qokrqRZGINJ1ldoDuxuyzq0czAUr9KCBoKjCXrWi4Y1nNU9VZa/7ADC4lxjrhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019vdhNZVpskPm6xNGWgmXEr",
      "input": {
        "note": "Pear sits slightly left and ahead of the jaw column; nudging left/forward and descending to grasp its body.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.09,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019vdhNZVpskPm6xNGWgmXEr",
      "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]: [-0.0807, 0.9733, 0.8021, -0.6075, -0.1184, -0.0788, 0.9961, 0.3519, 1.4982, 0.4973, 0.1467, 0.2249, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2989 left_y=0.0004 left_z=0.1753 left_yaw=0.0578 left_pitch=-0.2031 left_roll=0.0434 left_gripper=0.9961 right_x=0.3341 right_y=0.0845 right_z=0.0188 right_yaw=0.0563 right_pitch=-0.2583 right_roll=-0.0501 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -2.5094, 7.0496, 1.5556, -0.0757, -0.0415, -0.0122, 0.1299, -6.9675, 5.5179, 1.7802, 0.0562, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e59fd6be6f12d4ae1dedadf80dfe828c218916f6f37659ec68c01d737aa1ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb5cc732e082eaffbc8269c46112d6df95443848961c90848e0b3c93bded18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f0917347aabd4ed4729eef2e85e762beb949cc8caa71d19e215732506bda4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 5.272 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9661, 0.804, -0.5903, -0.1226, -0.0845, 0.996, -0.0227, 0.8219, 0.6159, -0.4496, -0.0196, -0.0189, 0.9994]\nstate[eef_state]: left_x=0.3017 left_y=0.0008 left_z=0.1813 left_yaw=0.0634 left_pitch=-0.1765 left_roll=0.0383 left_gripper=0.996 right_x=0.2881 right_y=0.0005 right_z=0.1638 right_yaw=0.0006 right_pitch=-0.0869 right_roll=0.0019 right_gripper=0.9994\nstate[joint_eff]: [0.4444, -3.0701, 6.5983, 1.5311, 0.0513, 0.1148, 0.0806, -0.0342, -1.7573, 7.1179, 1.8779, -0.0464, -0.0659, -0.0171]",
      "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]: [-0.0803, 0.9703, 0.8021, -0.6037, -0.1154, -0.0788, 0.9961, 0.3187, 1.1522, 0.5163, -0.1253, 0.2058, 0.152, 0.9994]\nstate[eef_state]: left_x=0.2994 left_y=-0.0001 left_z=0.1768 left_yaw=0.0554 left_pitch=-0.1966 left_roll=0.0402 left_gripper=0.9961 right_x=0.3155 right_y=0.0699 right_z=0.0885 right_yaw=0.0565 right_pitch=-0.1731 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -2.6188, 6.9949, 1.6484, -0.1538, -0.0952, -0.0073, 0.1162, -4.1915, 6.0376, 1.7265, 0.1978, 0.2173, -0.0171]",
      "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]: [-0.0807, 0.9733, 0.8021, -0.6075, -0.1184, -0.0788, 0.9961, 0.3519, 1.4982, 0.4973, 0.1467, 0.2249, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2989 left_y=0.0004 left_z=0.1753 left_yaw=0.0578 left_pitch=-0.2031 left_roll=0.0434 left_gripper=0.9961 right_x=0.3341 right_y=0.0845 right_z=0.0188 right_yaw=0.0563 right_pitch=-0.2583 right_roll=-0.0501 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -2.5094, 7.0496, 1.5556, -0.0757, -0.0415, -0.0122, 0.1299, -6.9675, 5.5179, 1.7802, 0.0562, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e59fd6be6f12d4ae1dedadf80dfe828c218916f6f37659ec68c01d737aa1ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5fb5cc732e082eaffbc8269c46112d6df95443848961c90848e0b3c93bded18e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 116):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f0917347aabd4ed4729eef2e85e762beb949cc8caa71d19e215732506bda4a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/AYKEAgSGAI4AUIIdGhpbmtpbmcSDLe9vM3kGYpSFs7Z5BoMmeRJqahjLYtfhMZOIjCPmJWg1JgMUDI1z1aOeFhSUAAmJnb4RLKlVu4jMsOzm6QYjR3gp/6tenoYISSlsDsqmQZmH48Tyx4EvtbXM31sd/2N1nR5Hp+fKhb/pAeSQXrlIPRDS9rWQFTFuIeKFxZ7PAaPj1CdX3DXIWlLj0E8g5ILmJQqREX+MhXkyCiZz0X5qeWml+ptj3Ujv44JDeFU9rRULSG/Lx/HaPSHzAD2isOWDXctLTnWmWzqPVJRrJQiJDMFvaMV4QqjgJFJRHgcckCDHxY8ArUBi1HPKhwW2/lmDKuhEAnaQb8RQnfxEcnyW5knP7dez7PQuG/MXtkzUC8hrTYr1tDysm2LSvyAYyQp/KtSV6rkz5zijhlgl7/4plClkPj/i0rdnH9GMPeFE7KpUpG699G+LjwgDBnHI5D24DzRK6IOUvzQ4zbKNlEUsQ45X2H68sdiDuUWxTZToUpisIl8H3FsicqMw+evpEbolnXPi4eGmW/EmmlP8rmazUoR2Fu+nx2nbBFYZ02NkW/MbkdydwfXpEwEab+t0JLgs7GzhYN7gqwlg0BMDTiC9iN+e8D2cmCt+0cwya0g56e4JYn0jFaCki70BvQfsB/PNghDQIxhVp/Q67gLG8nn1m7LvNzxHLzKEx9+kbd2mt541GW516MmPJ00+9UdUWFRqcnZJRuLjlT4VTjvkbFbl+pCLaX2HwKFpwmwWB8BGUogKv/yNExAih6xZc7TYucZgxsIcTkuT5u8IZ/JVR/7PowpuAnWeCOo0ZKCJckJBXcY62Kb5FAMTJotxWqRL7TRlSQ08tv881mp7IiIo6iUAPb0PClslAVRQa5d7JSeFi2/c0Zcy29aS+dze4LAYlbuXjAq23aBdEWsHLcYnet8Is1uG2K36B3lNGiRNaqyCLrT7X/UgDIkwQ5vko3ejC8U9WygKHWuYs/Kmd+QZY4fZRSjqgbDITIEs3RnlW7hRNq1wwQfdEyfTt77HOQCuWJWmpL1pU3CYUayinvxGKrBEO751v3jqXq4zViMEO8oUh+cIemECAhaiZrFnhuo+/8Mezdad/Cx0SWH2z2vLx+Vb2Ut2jq0AT/wvubKJuWVqU4HQ7PzF8FnFwwTTq46Nf/4y5cyYYQ/uQhyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wu7ReYzHKbrpPjhTbiQkbi",
      "input": {
        "note": "Pear fills the view between the right jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wu7ReYzHKbrpPjhTbiQkbi",
      "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]: [-0.0811, 0.9752, 0.8021, -0.6067, -0.1184, -0.0788, 0.9961, 0.3534, 1.5299, 0.495, 0.2359, 0.2237, 0.173, 0.0111]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1749 left_yaw=0.0575 left_pitch=-0.2042 left_roll=0.0435 left_gripper=0.9961 right_x=0.3453 right_y=0.0895 right_z=0.0222 right_yaw=0.0626 right_pitch=-0.2056 right_roll=-0.0329 right_gripper=0.0111\nstate[joint_eff]: [-0.1983, -2.3863, 6.9812, 1.4969, -0.1245, -0.0269, -0.0122, 0.0205, -6.3795, 5.3675, 1.746, 0.188, 0.022, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8679438ae5643911623ae7cace39c1816f5ab0b665259d454fece6a120dca2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fd23b131f77e5ac171ac6b273e64fd319a92df9e177e41e314179ce0e943f86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b6818a6769d4ac21495ca498a0ee37d3cb8a016f6ab26a6c345ddee624c01f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.214 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0803, 0.9703, 0.8021, -0.6037, -0.1154, -0.0788, 0.9961, 0.3187, 1.1522, 0.5163, -0.1253, 0.2058, 0.152, 0.9994]\nstate[eef_state]: left_x=0.2994 left_y=-0.0001 left_z=0.1768 left_yaw=0.0554 left_pitch=-0.1966 left_roll=0.0402 left_gripper=0.9961 right_x=0.3155 right_y=0.0699 right_z=0.0885 right_yaw=0.0565 right_pitch=-0.1731 right_roll=-0.0256 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -2.6188, 6.9949, 1.6484, -0.1538, -0.0952, -0.0073, 0.1162, -4.1915, 6.0376, 1.7265, 0.1978, 0.2173, -0.0171]",
      "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]: [-0.0807, 0.9733, 0.8021, -0.6075, -0.1184, -0.0788, 0.9961, 0.3519, 1.4982, 0.4973, 0.1467, 0.2249, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2989 left_y=0.0004 left_z=0.1753 left_yaw=0.0578 left_pitch=-0.2031 left_roll=0.0434 left_gripper=0.9961 right_x=0.3341 right_y=0.0845 right_z=0.0188 right_yaw=0.0563 right_pitch=-0.2583 right_roll=-0.0501 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -2.5094, 7.0496, 1.5556, -0.0757, -0.0415, -0.0122, 0.1299, -6.9675, 5.5179, 1.7802, 0.0562, 0.0269, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0811, 0.9752, 0.8021, -0.6067, -0.1184, -0.0788, 0.9961, 0.3534, 1.5299, 0.495, 0.2359, 0.2237, 0.173, 0.0111]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1749 left_yaw=0.0575 left_pitch=-0.2042 left_roll=0.0435 left_gripper=0.9961 right_x=0.3453 right_y=0.0895 right_z=0.0222 right_yaw=0.0626 right_pitch=-0.2056 right_roll=-0.0329 right_gripper=0.0111\nstate[joint_eff]: [-0.1983, -2.3863, 6.9812, 1.4969, -0.1245, -0.0269, -0.0122, 0.0205, -6.3795, 5.3675, 1.746, 0.188, 0.022, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8679438ae5643911623ae7cace39c1816f5ab0b665259d454fece6a120dca2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fd23b131f77e5ac171ac6b273e64fd319a92df9e177e41e314179ce0e943f86",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 126):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b6818a6769d4ac21495ca498a0ee37d3cb8a016f6ab26a6c345ddee624c01f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQkKEAgSGAI4AUIIdGhpbmtpbmcSDKJLMXNFxylaHK1dixoMB+xPgGUYmhy9JwWXIjBsf8MlKubb6v5IUORRL826KgzdEaWIUa2rdtFT4kHQag7n47MAMWhkXNPB/siUaroqvgiS+qnyAuGyL/G3uT4y6b1BVXnt9UXWKv1L0lL0YxC4pmZlmmpBQWI8SzbEymyc5eu6zXCBinVc0oBXe1epfxos/I+sq6zGIxZOgtXP+7VMPI2xOYLiqsevM29QTvLJEKXTdokRQuxXjUr7DD6EpUbY91W+aKxKJU8tUDpFAy0kfl/CXpw4IDnK1Sg2HORvaq4Kwxme9P9m35Nf0MMCR/cp61KKYKQqOmP0LDfRGEgB+JwP3IdVArXoHxBYUJp1AozCBx8tmfhCwUR0dRP8BthjOxTM+ckDazHdzlAaZE//wfgBgJbKhrk2rvZ1ivnDKwep3+pX/wXTDe9/d6nEMi3wODslxGoFmtOT2C1v6CP0W1uazBFsJedvgqw7/o2ylMGE9rnIJ4DWOn/VSpmZ3Y8JwMx9MIXejo7u5V3wuTg9+mdbz60dKDdHN0KnGvNXvUnrfxFv29/4Sf9dybIerpE/UCIjsj3TyM3PUEWsNm9s9q3GzkboyiPkYvCmCr5449YIAyFIlmXZfYyR68Pm9+8U30kTOWTVxOMh81WaDii5xMY5p9BOoGl4DIF7J1Ol2yaCSixIMVwEpNS67xXIa+7v3vsQ8cW+kf3l4TI35+EwFlTyfz/DlTQowwTWxm5l6LUodzK3RVNBqnJRgnOl7CPMOtxsmy/+vyhfdmj6NIJzNwMu4T1JU5vkGwqqI9z2InI0vSsWgwx8AU9QMNVZ1sQCxhl+ccGe+gmjE6/DaFCVCMCZ05wXeGBpVspSe1SDTt2WtL00/T2SoQ/S4SubDpfXySiP9ebUyRW+vOifnq52zH67Hom64XN3W0OeqTpQ6u0ov/Cw8qQZGiUeNE7UOsnEfFSjyT+zONDaDgKFPmBwV6f4Z89HglGJCdGcaqYpamlqgXJLrd6szNfADY2tyF7MulJ3PA1bEElr5/toalCsIkvfYyT1gcHDpzl73COVgbEbRrJOgV8M4pApU6vWaSiYZ2/ks8u5AKRnsgQJu2dQhLX52qNgPsdKaPY1wlat8xg8Q7k3t21+ElGzCm0+B9ENyji/5e+Zwt3m448HBvRctm7Of5w6Sp0XTEtyTFtvjBcG8g325XqnGmD8+GSV+/qlHWrPCZeInJagvAiRCXleGhV6MOmEdzGVFpHGOiEluQzNATsQpuMUaOU1uefymxExjA61SglSqWfy1vFfuk3r7RIQukcepN4biSZ7eVEnnX37EQzolP5NYAcAtupwB6Y72MdGel7015MjucH/ATsmldKbozpEwEbLKD4cW/pyaUzFXFjZGaJVFPlFltkQEuZIBBpsp7jFEbURMLHXAsgXrVaJ64Ey+QPV8DY8f1c41yoAQaGEBdBaAIPfWU6IGAquvIjZe6iIkZakWkXCPZ4KD2SwRa9TQwqn1i4KkeHSvlEap5NA5qij2kOIQyZSSM9T0LDG+D/M3//25NgQNs8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VLzyYCzGDymDNeosCwjLi9",
      "input": {
        "note": "Empty close: the pear is a few cm ahead of the fingertips. Opening and lifting slightly before advancing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VLzyYCzGDymDNeosCwjLi9",
      "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]: [-0.0811, 0.976, 0.8021, -0.6071, -0.1184, -0.0788, 0.9961, 0.3534, 1.4544, 0.5251, 0.0837, 0.2234, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1747 left_yaw=0.0575 left_pitch=-0.2053 left_roll=0.0437 left_gripper=0.9961 right_x=0.3358 right_y=0.086 right_z=0.0326 right_yaw=0.0636 right_pitch=-0.2505 right_roll=-0.0512 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -2.441, 6.8991, 1.5067, -0.0806, -0.0464, -0.0122, -0.0615, -7.0222, 7.9658, 1.453, 0.0269, 0.0757, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3803243f4003347928a1583c0422edb9aaff2d96a3997c4de181887c51508d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e4634bdcc43a6c2275a3de1b0b13fcd40c7d3ba8321bbedcebd6647a082972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c6a93d53c8e72453328011959388bbe6259b2129b9574c36a72ca7283d71ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.451 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 0.9733, 0.8021, -0.6075, -0.1184, -0.0788, 0.9961, 0.3519, 1.4982, 0.4973, 0.1467, 0.2249, 0.173, 0.9994]\nstate[eef_state]: left_x=0.2989 left_y=0.0004 left_z=0.1753 left_yaw=0.0578 left_pitch=-0.2031 left_roll=0.0434 left_gripper=0.9961 right_x=0.3341 right_y=0.0845 right_z=0.0188 right_yaw=0.0563 right_pitch=-0.2583 right_roll=-0.0501 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -2.5094, 7.0496, 1.5556, -0.0757, -0.0415, -0.0122, 0.1299, -6.9675, 5.5179, 1.7802, 0.0562, 0.0269, -0.0171]\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]: [-0.0811, 0.9752, 0.8021, -0.6067, -0.1184, -0.0788, 0.9961, 0.3534, 1.5299, 0.495, 0.2359, 0.2237, 0.173, 0.0111]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1749 left_yaw=0.0575 left_pitch=-0.2042 left_roll=0.0435 left_gripper=0.9961 right_x=0.3453 right_y=0.0895 right_z=0.0222 right_yaw=0.0626 right_pitch=-0.2056 right_roll=-0.0329 right_gripper=0.0111\nstate[joint_eff]: [-0.1983, -2.3863, 6.9812, 1.4969, -0.1245, -0.0269, -0.0122, 0.0205, -6.3795, 5.3675, 1.746, 0.188, 0.022, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.976, 0.8021, -0.6071, -0.1184, -0.0788, 0.9961, 0.3534, 1.4544, 0.5251, 0.0837, 0.2234, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1747 left_yaw=0.0575 left_pitch=-0.2053 left_roll=0.0437 left_gripper=0.9961 right_x=0.3358 right_y=0.086 right_z=0.0326 right_yaw=0.0636 right_pitch=-0.2505 right_roll=-0.0512 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -2.441, 6.8991, 1.5067, -0.0806, -0.0464, -0.0122, -0.0615, -7.0222, 7.9658, 1.453, 0.0269, 0.0757, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3803243f4003347928a1583c0422edb9aaff2d96a3997c4de181887c51508d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:26e4634bdcc43a6c2275a3de1b0b13fcd40c7d3ba8321bbedcebd6647a082972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c6a93d53c8e72453328011959388bbe6259b2129b9574c36a72ca7283d71ff8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cf4C3PsGSiwW74M2YFkAPT",
      "input": {
        "note": "Pear is centred but ahead of the fingertips; advancing ~4 cm forward to bring it between the jaws.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.09,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Cf4C3PsGSiwW74M2YFkAPT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 0.9787, 0.8021, -0.609, -0.1188, -0.0788, 0.9961, 0.3164, 1.6222, 0.6445, 0.0841, 0.1993, 0.1383, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0004 left_z=0.1736 left_yaw=0.0583 left_pitch=-0.2098 left_roll=0.0446 left_gripper=0.9961 right_x=0.364 right_y=0.0861 right_z=0.0166 right_yaw=0.059 right_pitch=-0.3026 right_roll=-0.0656 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -2.5504, 6.8308, 1.5409, -0.0952, -0.0366, -0.0122, -0.5949, -6.9402, 7.2821, 1.5897, 0.0171, -0.0659, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:311ada7814ff489a57d027954fffb38f70e68e5a105f732eb618615092a6a81d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8cd2b3a02a5fd525e65c311f15853d38a16699b23c46526b8e37b7641b72c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e8ec42400933bb3217db0016bf3216dbf8a219fb17d95251221913f9b5bda2b",
        "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 · 5.862 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9752, 0.8021, -0.6067, -0.1184, -0.0788, 0.9961, 0.3534, 1.5299, 0.495, 0.2359, 0.2237, 0.173, 0.0111]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1749 left_yaw=0.0575 left_pitch=-0.2042 left_roll=0.0435 left_gripper=0.9961 right_x=0.3453 right_y=0.0895 right_z=0.0222 right_yaw=0.0626 right_pitch=-0.2056 right_roll=-0.0329 right_gripper=0.0111\nstate[joint_eff]: [-0.1983, -2.3863, 6.9812, 1.4969, -0.1245, -0.0269, -0.0122, 0.0205, -6.3795, 5.3675, 1.746, 0.188, 0.022, 0.9646]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.976, 0.8021, -0.6071, -0.1184, -0.0788, 0.9961, 0.3534, 1.4544, 0.5251, 0.0837, 0.2234, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1747 left_yaw=0.0575 left_pitch=-0.2053 left_roll=0.0437 left_gripper=0.9961 right_x=0.3358 right_y=0.086 right_z=0.0326 right_yaw=0.0636 right_pitch=-0.2505 right_roll=-0.0512 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -2.441, 6.8991, 1.5067, -0.0806, -0.0464, -0.0122, -0.0615, -7.0222, 7.9658, 1.453, 0.0269, 0.0757, -0.1587]\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 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]: [-0.0807, 0.9787, 0.8021, -0.609, -0.1188, -0.0788, 0.9961, 0.3164, 1.6222, 0.6445, 0.0841, 0.1993, 0.1383, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0004 left_z=0.1736 left_yaw=0.0583 left_pitch=-0.2098 left_roll=0.0446 left_gripper=0.9961 right_x=0.364 right_y=0.0861 right_z=0.0166 right_yaw=0.059 right_pitch=-0.3026 right_roll=-0.0656 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -2.5504, 6.8308, 1.5409, -0.0952, -0.0366, -0.0122, -0.5949, -6.9402, 7.2821, 1.5897, 0.0171, -0.0659, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:311ada7814ff489a57d027954fffb38f70e68e5a105f732eb618615092a6a81d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8cd2b3a02a5fd525e65c311f15853d38a16699b23c46526b8e37b7641b72c5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 140):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8ec42400933bb3217db0016bf3216dbf8a219fb17d95251221913f9b5bda2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDJUSzH9MLM3MC7hDIBoMlB2HNww2SkEqb87iIjD4zAk+I3zml0fkCEkLnxzSxyBLnRmWkpE0qEmlQfTIiVi9xsSpFe080PNF3gqOG3YqtQaoV01mFH82Lvgq7MGLqTGoZT608cWlQDRE624yAe7fH8pzLc2M3+FlhJdf0dymiMk+cq1Bkj7RgGx+dOH+0vVZcGywma/HmQlQCC4myRgWhvvRsvy7ZVVrpMwgQlLvXLi6+JQbNhzYoh3n5i8sUcuPOY/XQBdqzxozpa9GiCzj7/PBvrO8JQSdq2QBwBQn/PY51DTJx0zuDSlNrXk1t61TS2KjAsbUQxbLtAr/1Cs5GqAbcSIGsjHi9AFCjjkRspIjYNY6RJM5MamuLNUvccXPxsh4lBe2snWk/f0bKOueF71KaMj20FLbKC+7sQtK+G6R8d6MNidSbqRR4iynkSP2DhDFvtihDY1T4Vp79ccU3qGpWnuuA6n1LBGcTd2bw/reWIuyE8r8k8LO2nFKtYhyl1yktVIRoVjj2wOWBq0EOSS2iG1WPzTVV6QlfTQsLTKFt+JycYtVLyy87ZYdbEl7ejYy7IJ8jvKxQV1RM2THsjhNTn2wfjCNNvSJtRUgL1X7yif4MWLIXp6/YCmQ7thMMGGY+ee1aVq7YQ0CAy2EsdpEqBqWmKH4/Yf8x4Ijp6jAiWebKdaQ5jqPwLF2R13wvzqmpD3ZZpkQu+XL8lhYSLpP0rNlsIoWZW3u8cYtPgLLL8eZs80WriGI3w7HQttOIfpwIDoXiPBX/FWJ4qnt0NKaZCkFiS6Xy3p6NfknZyyk0FX9qUmndQu8T1MGVugN/NX7Dd3m9llIiOI2ZFobJaDI1RIt62dNo98UkfT9+i/lt570IOX8UI4L6EcuSUXdO2kB5k1HWzawnFxlJNVwmldBLBs76fpifT7utUrD8IMpsi3Qg/acx7CfEt0wx7u1riT/WKqx2GOXi65mcdDFeFxziI582vXRReA75BKMpv1IqgcdGIL34cuU5D+3d28cmJ4de9JaPzBYSPJu8q46MBIVStmAJJIY38aBsTMu5ePQJsCNATvsEsM78yKYvp0f/xVhKCImgQm/Xxzt3VXsznkZB7r2I37m6vLaXIY1VnfBTn0QZV0JqFL8aSSjZAFsxVV6r0cNH4Vjs3RmF+zAepRYaR8pruoHN+x5847rfmmiz+LIVRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015VmBBv1zPCmEbe8CTFeAS1",
      "input": {
        "note": "Pear now fills the space between the right jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_015VmBBv1zPCmEbe8CTFeAS1",
      "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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3141, 1.6318, 0.6483, 0.0765, 0.1932, 0.131, 0.0102]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.363 right_y=0.086 right_z=0.0132 right_yaw=0.065 right_pitch=-0.317 right_roll=-0.0691 right_gripper=0.0102\nstate[joint_eff]: [-0.0752, -2.1675, 6.8171, 1.4823, -0.105, -0.0366, -0.0122, 0.0752, -7.3368, 5.0256, 1.4286, 0.1392, 0.0317, 0.8913]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46a608862b955dac998a2a30768ab11126df9b0fdf60e43afb78c390891d87f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e31add051146f136b97216a40b64c3f2441802d534f3a4d0b3e83d87569710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d21392310b37660611b4e89143faf7c57567e8fb542390f8aea42f4ebe77a259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 4.956 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.976, 0.8021, -0.6071, -0.1184, -0.0788, 0.9961, 0.3534, 1.4544, 0.5251, 0.0837, 0.2234, 0.1661, 0.9956]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1747 left_yaw=0.0575 left_pitch=-0.2053 left_roll=0.0437 left_gripper=0.9961 right_x=0.3358 right_y=0.086 right_z=0.0326 right_yaw=0.0636 right_pitch=-0.2505 right_roll=-0.0512 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -2.441, 6.8991, 1.5067, -0.0806, -0.0464, -0.0122, -0.0615, -7.0222, 7.9658, 1.453, 0.0269, 0.0757, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0807, 0.9787, 0.8021, -0.609, -0.1188, -0.0788, 0.9961, 0.3164, 1.6222, 0.6445, 0.0841, 0.1993, 0.1383, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0004 left_z=0.1736 left_yaw=0.0583 left_pitch=-0.2098 left_roll=0.0446 left_gripper=0.9961 right_x=0.364 right_y=0.0861 right_z=0.0166 right_yaw=0.059 right_pitch=-0.3026 right_roll=-0.0656 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -2.5504, 6.8308, 1.5409, -0.0952, -0.0366, -0.0122, -0.5949, -6.9402, 7.2821, 1.5897, 0.0171, -0.0659, 0.0855]",
      "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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3141, 1.6318, 0.6483, 0.0765, 0.1932, 0.131, 0.0102]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.363 right_y=0.086 right_z=0.0132 right_yaw=0.065 right_pitch=-0.317 right_roll=-0.0691 right_gripper=0.0102\nstate[joint_eff]: [-0.0752, -2.1675, 6.8171, 1.4823, -0.105, -0.0366, -0.0122, 0.0752, -7.3368, 5.0256, 1.4286, 0.1392, 0.0317, 0.8913]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f46a608862b955dac998a2a30768ab11126df9b0fdf60e43afb78c390891d87f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e31add051146f136b97216a40b64c3f2441802d534f3a4d0b3e83d87569710",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 150):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21392310b37660611b4e89143faf7c57567e8fb542390f8aea42f4ebe77a259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1goKEAgSGAI4AUIIdGhpbmtpbmcSDJaZbDXvc8t8z/I0ThoMQDIMWVEhZYVICtxXIjDyKFysTJZHu37VjDNlgjYoTLHYA3SsJ5fyZ2nuSl18Wqzdi9N86A15dKV10t48MAYq8wnjN3fAKRiXNxlYhzmUEJr+MtPKzWxHI/FX2ty3Y4yFse9qmaU6nh0VbuH9Qrna7eKd1/QoYRH+5GmagJwc/ObT4LbPCHuYY7Y6qf9xMR3C6sfa6bPDVTAQCSUciak6xh7riY1IJZFmnE105/FgxWM5fK7ZzscrW0Xs0acxh47eogAxsJj+cj2ue7gjKV3+D8qX3ZPt1jIntSld8iRWjXYMR02DbYDZs1fPP6Wx+DshYww/yPNzy9cg7MxW8qtHElKIbstnl1wIsVCo1mqIDN+bFzz6mX5eJ6UpyRjIapwsve8TjTF/PfjZfuX03fCWkBAMXT3/HqWdFLEIErt1ebSq6S5wOKfIGzGcxwUPwfLwFXKr9WhnnA4b/GuLmzrrAcpE0kYZENOi2HN3PNAceMs2n2PWO+sr5syWJ2f4mPZ0SKYTBYO3zH7n/4Pi/uWlqISZT9FAUdKEWzSk4jVd2d1YM0g74ByFNPnm2Ps91TVGGssnatNh4j9dszQPwz3R55n+cHX7SDrzDDsLCHNOyAoF35rOHhVEsogJ5YTv3pm8LJItPzzOhqS3CyUHhKE9EfeqsO66ncSSdBWccqSqJIrMvFMlEHcvnvt0EXv9HsUhGraqsh4DJuKWkpzcNWf57N/ZU1YL9pRGKwUZDRIEWFEtZT1ucv8wDoRmhlTikFgbL5Aiulx+c8NodK2irlm4p67mOkfFqbJ1JCWq7kcwguM7nB1pvNDC+3JZZ0QRh6khEnbTgBjJA/3JTFia1F+3mn2KZsh5cRL2jSy+7Y46MGS2wRr9MT8QtVDelSFBhkrwwHPpouneYvm7pnxKdf16nEEFZvel+Q+MPxqRVJusuY+lu84Is+sq4VPsZZXG6TX4OhI3ZgX/BIcGjkh5Vtv0bgcGlb3uC9MYTdIf20v/SOePK20qACmE9Q0e7nghn2JcLzpJGa2iwYbG8WJSz/sJhrfCmjjBE1iOVt5B9jO2opKji+jIGGr+LYzSLfymi5cq2Jv0ZdaV1dWwSCM1Jt8b9UrW5rSt43JaEn3YAytxwLoIhULxgI4m03q64SGcFOU59U2IGCTG2za4g2V7joGJeaVAQFcUB54dC9dKjDi43XCJeSUmHXSojPl4bBLF5gkZ6SUXOUfEAhVwRJ6pvf31BECqJqMN2SOxF/WZXldSTXYAHO+iGARQKXVcKkpNT2qah+Ak1S+4MNIPFi8BZqTNS9hIgDjy2J6U1nxZRR5CQAqekzv8KIMAcy12eB5l4N3PFf/t1hw076NDLR4EAx01UMPqri8l1NmIYkVm4aqQcKZW2PUwXvgD4/mOoYFeXO3KUYy7p3OSEw1+CGKDAea7i0YRJzo2I8u+xXZUntVCgQc6ThiUiS+TBDXDNSRo8hMRAdA67MBvpQpdyARJa9Lt4/thz/ZL2DAs4xzEMlxWxFq0E4UWNp4zHW8gM++faIAz0oUSpM7+axComUy+pzERs/RABpPEMNgTXPoGB8kPmuBEGQwYkel+t50zY+oExB4HGsB1OWifg8tf56v12+htUnzQlem1DRFobw5u6RSNliMy0iGZnaqCtnfY9pf24XCZZ8nSO+PzgxBaJmqag3LU6LLUUIFN0g2onV4nWs41Bugrp/IS6h8bhdvju7RE9exld518tB+Fy2tHf7x78PFZkQkZeAsYw0NG1VfUf7q8O3tlVjc9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MkGXaczMDcKjtjvoL3XaGU",
      "input": {
        "note": "Second empty close — the pear is still just beyond the fingertips. Opening again.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MkGXaczMDcKjtjvoL3XaGU",
      "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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3138, 1.6318, 0.6483, 0.0757, 0.186, 0.123, 0.9953]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.3626 right_y=0.0871 right_z=0.0129 right_yaw=0.0754 right_pitch=-0.3194 right_roll=-0.0688 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.3043, 7.1179, 1.4921, -0.1099, -0.0464, -0.0122, -0.0889, -6.6393, 5.3538, 1.3553, 0.1001, 0.0806, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:defff685e798e84cb8b3991af661a70e05c50406220972ca17b7986db1b45c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86904120a5a5ff51de19f280a2de814d50b54c6dae2439d9a03e9e2c43f9ba5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cbe2e9b3585214d3cdc6b41425acd43fddc1b789355d0c53b61e27bddb1d8211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 3.514 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 0.9787, 0.8021, -0.609, -0.1188, -0.0788, 0.9961, 0.3164, 1.6222, 0.6445, 0.0841, 0.1993, 0.1383, 0.9965]\nstate[eef_state]: left_x=0.299 left_y=0.0004 left_z=0.1736 left_yaw=0.0583 left_pitch=-0.2098 left_roll=0.0446 left_gripper=0.9961 right_x=0.364 right_y=0.0861 right_z=0.0166 right_yaw=0.059 right_pitch=-0.3026 right_roll=-0.0656 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -2.5504, 6.8308, 1.5409, -0.0952, -0.0366, -0.0122, -0.5949, -6.9402, 7.2821, 1.5897, 0.0171, -0.0659, 0.0855]",
      "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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3141, 1.6318, 0.6483, 0.0765, 0.1932, 0.131, 0.0102]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.363 right_y=0.086 right_z=0.0132 right_yaw=0.065 right_pitch=-0.317 right_roll=-0.0691 right_gripper=0.0102\nstate[joint_eff]: [-0.0752, -2.1675, 6.8171, 1.4823, -0.105, -0.0366, -0.0122, 0.0752, -7.3368, 5.0256, 1.4286, 0.1392, 0.0317, 0.8913]",
      "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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3138, 1.6318, 0.6483, 0.0757, 0.186, 0.123, 0.9953]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.3626 right_y=0.0871 right_z=0.0129 right_yaw=0.0754 right_pitch=-0.3194 right_roll=-0.0688 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.3043, 7.1179, 1.4921, -0.1099, -0.0464, -0.0122, -0.0889, -6.6393, 5.3538, 1.3553, 0.1001, 0.0806, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:defff685e798e84cb8b3991af661a70e05c50406220972ca17b7986db1b45c2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86904120a5a5ff51de19f280a2de814d50b54c6dae2439d9a03e9e2c43f9ba5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbe2e9b3585214d3cdc6b41425acd43fddc1b789355d0c53b61e27bddb1d8211",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS8wYKEAgSGAI4AUIIdGhpbmtpbmcSDIF2mMLoK6I6endznBoMOp7A5/L9vthgd+lTIjDvTfblYtU4a6WEJKdmnVq32AJkq/pXU3zO9YB+7mmwJkCYYzOIBp3YqfRJ9JPQJpEqkAb9WkXoSBFbtYLnlziC8NISp59wY2wWkNqo/dwWAzQhR1h1qHXx2w922cE0QRMFR1ACtVLs5lMFBqDGNk90QLH/44PZIwBiwLgFssoWUOlEQ4oJMO94dSAj73NASyFRRe3fT0pY54Npl9wVEqlRBooR2UeH//Em05mhuho6NS1YWoNz+eMe+UeZ40RTDDmREVeKA81aziFm7orJnDh8K+E7bg/htUY0w5GxAI3iAwVFZbSHQ0xCByvWLT1zI2eCba33XUI+pYCFjgaaIs/aAt6Z8EcoxAmK4enollGLSoOdlJb/AbTC+xUN25JTJjsMfNvwffWut5jb1E/0+/F+8x0HWq+eqgu6LANSzDCnQu/mEw/4O1jB7dlpWfjor8hlC8Ev8EdIrylzPdstOswhE43qBihq1WyIWm7z8gxep4OIL777pb2ddUsn1IKsBL2iRl8joKxNY8Zr4+lw8hpvRql2vRuHxh2NqlojFb92ticpxtdFXQtAudEwziFQYi8MEGtl7gBE8jq3m/h2JDFvVJNGIumkaL76w5NH9eHD8JeUKhNUmYuIqDlKaBkvGrOb/hBPLRlKTI5iHRE2027moQUwejRGnnC1R1CAcfxmHONMlzjRiy/Uec77Ybfn6m8vm9vw2tsjeQol3yRxyvw4DOTrdcnEiL4jOP7d8le1EWiRvcgkt5vh1/6GVu6uBsDIMduxFoOu6Ov/Y3E5VNiRpPH5xXNGF9hDTlis/USFAuDIHtsU2AL0INLHqLoxrSw6BuQbNC4WN+S4EUXc7TyCAtxv8Jp5F4IDFkI1SI8BEDYGUIyOQ3lYv07M98+JHLMQExVWaP74+9f6+eXxO0hCzM2UEBfLpOB+QZjM5K01zsgFPOt1DA0e1nij9DKHGlUAodDsxQ9G1fUg4CvKeDQRZY1YGsRWO2C/E4Plme/R0PFxmGWEu2VWcUYTdk8nXg7elatbos7krxIMZNYWYJGO2zLPNk1/mSkkKuesa+pT0z3LwgRzMUaIMbk8DWz/Hd7oquP0t5X9JEZspoXbl4ey+tK6GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WB7HMnwcB9eug7zZT79KhJ",
      "input": {
        "note": "Pear centred on the jaw column but still ahead of the fingertips; advancing ~4 cm and grasping a bit higher on its body.",
        "targets": {
          "right_x": 0.405,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01WB7HMnwcB9eug7zZT79KhJ",
      "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]: [-0.0807, 0.9836, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.2771, 1.6844, 0.8196, -0.0387, 0.1627, 0.0929, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0004 left_z=0.172 left_yaw=0.0582 left_pitch=-0.2159 left_roll=0.0452 left_gripper=0.9961 right_x=0.3972 right_y=0.087 right_z=0.0349 right_yaw=0.0764 right_pitch=-0.3204 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -2.6735, 7.0496, 1.5067, -0.0611, -0.0562, -0.0122, -0.5949, -6.0923, 7.2957, 1.3407, 0.0562, -0.0464, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d38556c3d3af081cfd7fb01c949989c449a8e99d72e578c04231ffa3927ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cf678e51e14723606e4db7d259773ae12943b0afb64c02b4608d83b941ac53e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b61ad141ca68628b69676a93987581474c6df47c641c924456bd18d456a691c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.376 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3141, 1.6318, 0.6483, 0.0765, 0.1932, 0.131, 0.0102]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.363 right_y=0.086 right_z=0.0132 right_yaw=0.065 right_pitch=-0.317 right_roll=-0.0691 right_gripper=0.0102\nstate[joint_eff]: [-0.0752, -2.1675, 6.8171, 1.4823, -0.105, -0.0366, -0.0122, 0.0752, -7.3368, 5.0256, 1.4286, 0.1392, 0.0317, 0.8913]",
      "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]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3138, 1.6318, 0.6483, 0.0757, 0.186, 0.123, 0.9953]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.3626 right_y=0.0871 right_z=0.0129 right_yaw=0.0754 right_pitch=-0.3194 right_roll=-0.0688 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.3043, 7.1179, 1.4921, -0.1099, -0.0464, -0.0122, -0.0889, -6.6393, 5.3538, 1.3553, 0.1001, 0.0806, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 0.9836, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.2771, 1.6844, 0.8196, -0.0387, 0.1627, 0.0929, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0004 left_z=0.172 left_yaw=0.0582 left_pitch=-0.2159 left_roll=0.0452 left_gripper=0.9961 right_x=0.3972 right_y=0.087 right_z=0.0349 right_yaw=0.0764 right_pitch=-0.3204 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -2.6735, 7.0496, 1.5067, -0.0611, -0.0562, -0.0122, -0.5949, -6.0923, 7.2957, 1.3407, 0.0562, -0.0464, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45d38556c3d3af081cfd7fb01c949989c449a8e99d72e578c04231ffa3927ad1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cf678e51e14723606e4db7d259773ae12943b0afb64c02b4608d83b941ac53e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b61ad141ca68628b69676a93987581474c6df47c641c924456bd18d456a691c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WRR1hN4j241WChPX3ujnQH",
      "input": {
        "note": "Pear now extends down between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WRR1hN4j241WChPX3ujnQH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9836, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.6974, 0.8253, -0.0521, 0.1593, 0.0856, 0.6333]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1721 left_yaw=0.0576 left_pitch=-0.2155 left_roll=0.0454 left_gripper=0.9961 right_x=0.3956 right_y=0.0865 right_z=0.0299 right_yaw=0.0806 right_pitch=-0.3414 right_roll=-0.0752 right_gripper=0.6333\nstate[joint_eff]: [-0.0342, -2.3043, 7.1043, 1.5653, -0.0855, -0.0073, -0.0122, -0.1983, -8.6632, 5.2991, 1.4823, 0.0562, -0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81411fcc5b46f5cb92503abb8f6ce71d45363aa329afec2992ce25dd9af99f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b80fc83ea33561d6e54277ee15982f3c7573f0301c15bd74f0c798cbd2decb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa369a26dfa4cbe26b24d24e4bbef1411c93e8e6ea336d637a2d44c2fccac60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.976 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9787, 0.8021, -0.6083, -0.1184, -0.0788, 0.9961, 0.3138, 1.6318, 0.6483, 0.0757, 0.186, 0.123, 0.9953]\nstate[eef_state]: left_x=0.2991 left_y=0.0002 left_z=0.1737 left_yaw=0.0576 left_pitch=-0.2091 left_roll=0.0442 left_gripper=0.9961 right_x=0.3626 right_y=0.0871 right_z=0.0129 right_yaw=0.0754 right_pitch=-0.3194 right_roll=-0.0688 right_gripper=0.9953\nstate[joint_eff]: [-0.1026, -2.3043, 7.1179, 1.4921, -0.1099, -0.0464, -0.0122, -0.0889, -6.6393, 5.3538, 1.3553, 0.1001, 0.0806, 0.0366]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 0.9836, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.2771, 1.6844, 0.8196, -0.0387, 0.1627, 0.0929, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0004 left_z=0.172 left_yaw=0.0582 left_pitch=-0.2159 left_roll=0.0452 left_gripper=0.9961 right_x=0.3972 right_y=0.087 right_z=0.0349 right_yaw=0.0764 right_pitch=-0.3204 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -2.6735, 7.0496, 1.5067, -0.0611, -0.0562, -0.0122, -0.5949, -6.0923, 7.2957, 1.3407, 0.0562, -0.0464, 0.1001]",
      "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]: [-0.0811, 0.9836, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.6974, 0.8253, -0.0521, 0.1593, 0.0856, 0.6333]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1721 left_yaw=0.0576 left_pitch=-0.2155 left_roll=0.0454 left_gripper=0.9961 right_x=0.3956 right_y=0.0865 right_z=0.0299 right_yaw=0.0806 right_pitch=-0.3414 right_roll=-0.0752 right_gripper=0.6333\nstate[joint_eff]: [-0.0342, -2.3043, 7.1043, 1.5653, -0.0855, -0.0073, -0.0122, -0.1983, -8.6632, 5.2991, 1.4823, 0.0562, -0.0024, 1.0379]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81411fcc5b46f5cb92503abb8f6ce71d45363aa329afec2992ce25dd9af99f75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b80fc83ea33561d6e54277ee15982f3c7573f0301c15bd74f0c798cbd2decb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa369a26dfa4cbe26b24d24e4bbef1411c93e8e6ea336d637a2d44c2fccac60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsAkKEAgSGAI4AUIIdGhpbmtpbmcSDE94N+8S/wIsQIqs8RoMUio4kbhm1BiMYm7EIjDTCX7JxHlcHIqQUkqRbOhTak5D0uWDtDeBOvfGT2YpT518HhzgJiIeH0remgCPwWkqzQjfItynFLDs0YxcvOzB90IkZ2M3rcg67pGKA85jt3dljVsK5KQFimlAAOICyk7Hs9tND2RMa1/k+j119ZxUv6Y6EEWfEcqmieyeFaLA047XaLeTrRVMtlFCBioa2ziDtpYEXj4wUbHXV7baMTc2ufa/GXEytlqi/u/sL3WMTR0u6jlwcWnZYBbd+3IrlU3mBKgnpNHyyCvDq6ji8JRSN8SUOfar8HteC8nSG16OfyTT3Jt9ucOneRZYtvc+nQHWNKjjvR4cnK2+9n1AoAmwP7bbeOiXlliVUzAoiLaxo+FhPDRAJ6mGuZ4NltaHIEnPxasNTaPmVK20pXJNKvw8hEvo1n8v+aw8JniKdtVuD/YbE16fPp1wAHiOkcj50ChS5zR9LMq2xrwWU39uYemmE9zo4I9qN/3YSCSy/6GP0qLwdRskpzGdIwYDNxIcaqFfCJM+ziGobdyjOvgAtKpPEcAzT2B/GQxzWgmb8mK8FACOCf1fsq/cF672la79ofAhJfbhSt1lvGri7ZuPnuQ0PIccjcwdLiMhdhZM8z5H5/GCyZXa2NBjLw02IkL8kJvgFnGePhf/GoI+LW+4mvxqZMikxEO6nBT/fXTt8b62fMy0ii0RrXC1slp3WgyIaxaQf8EpC+Qq1UesCNa4a86dDKDXFCfIDZn+URfVQpTncPOAtHqvixBPJoaGftz33U3AJHuCgDy7Nj7Fea47a52kSx/pUhpnzp1ZpKOBXpugWJwdUUpDzHVIKkyeutAetlt/Jfkzo7r9YBjqgo4e9YFcAMMXSzSlqd7pXHBTHSoEojS74fGbPNj+OWQno1yKxZFN0O1w0qImAMnQ5WVLfUTAe6E1W8fmtK0portDtLdbE9JtFnpQvbEdDfamK1z/QzZxmJ4ri8Sa37UEoTufTPe8frcKRRdaKA4cRya3r+5aWC6WdcZNGRO9y9fX+WN+L+9d4PEvXYNs1aqDLkPUzm+Z/SS2bSfXwXy748buDYuYTfE+F1n3aqueFX0Spei4CfsduEbNJIwPuCygYXMTK1f7JSTG1pI0SfvQPOrBjXWS86oIbfIhhWSlq/9jUP5NKYPkxjfb1q9VIshju/mXk15PkA9eCEvIog46mByBMPRKvK6pt7cJkbBa6ZtS0v3bik634EiEY0VC8XLL2fGSiBP48sEThtXYt2e45wHtKUfYISqdh6Vo6opidU70MN4R/O2Q/YtQNCVA1ETMWiv0ceDAyA/0LuewlQRoI+Wb8vus4czrIkR03CNN+qcTfG4r54shq/6+fsuEdO7P4a06bbSmysue+bEV7/8lH5y1hqnmu/U9422DGye6MWEtYFp8CwRP3kMF4T9kPr8w0O9/Jfb7b84Fjco5QNlCphuQRzT6AtCsLR5vhVVy0A5wWG/A2wmiazI6Dbe8ToDpmOVTKUFAjOVaFe/RvLCeD84Qgtqqrk4F+C/o4cJgj4LbHNE9gjsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W56WKHbnXDVQesgrzK8EMc",
      "input": {
        "note": "Gripper settled at 0.63 (~6 cm) — pear held. Lifting it clear of the blue bowl rim.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W56WKHbnXDVQesgrzK8EMc",
      "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]: [-0.0811, 0.984, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.5513, 1.2209, -0.6464, 0.1555, 0.078, 0.6353]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.172 left_yaw=0.0576 left_pitch=-0.2159 left_roll=0.0455 left_gripper=0.9961 right_x=0.3942 right_y=0.0868 right_z=0.1507 right_yaw=0.0845 right_pitch=-0.394 right_roll=-0.0877 right_gripper=0.6353\nstate[joint_eff]: [-0.1983, -2.4, 6.9128, 1.4921, -0.0659, -0.0171, -0.0122, -0.3624, -10.0718, 9.0188, 1.5165, 0.1148, 0.0611, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f5e6611bf72da3a4a33f0e8e10abdc59a48d1a23414c525192ea1595ca912d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016bdace9c2ec69c1589e08770d3d35ce64b3db0345a85c3cfb6c1a33123e9d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ec80dd56b8da39d7d662c818b401cb9adc3ed9654041d5f0b33d946cd4e4ec5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.856 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 0.9836, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.2771, 1.6844, 0.8196, -0.0387, 0.1627, 0.0929, 0.9964]\nstate[eef_state]: left_x=0.2991 left_y=0.0004 left_z=0.172 left_yaw=0.0582 left_pitch=-0.2159 left_roll=0.0452 left_gripper=0.9961 right_x=0.3972 right_y=0.087 right_z=0.0349 right_yaw=0.0764 right_pitch=-0.3204 right_roll=-0.069 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -2.6735, 7.0496, 1.5067, -0.0611, -0.0562, -0.0122, -0.5949, -6.0923, 7.2957, 1.3407, 0.0562, -0.0464, 0.1001]",
      "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]: [-0.0811, 0.9836, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.6974, 0.8253, -0.0521, 0.1593, 0.0856, 0.6333]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1721 left_yaw=0.0576 left_pitch=-0.2155 left_roll=0.0454 left_gripper=0.9961 right_x=0.3956 right_y=0.0865 right_z=0.0299 right_yaw=0.0806 right_pitch=-0.3414 right_roll=-0.0752 right_gripper=0.6333\nstate[joint_eff]: [-0.0342, -2.3043, 7.1043, 1.5653, -0.0855, -0.0073, -0.0122, -0.1983, -8.6632, 5.2991, 1.4823, 0.0562, -0.0024, 1.0379]",
      "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]: [-0.0811, 0.984, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.5513, 1.2209, -0.6464, 0.1555, 0.078, 0.6353]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.172 left_yaw=0.0576 left_pitch=-0.2159 left_roll=0.0455 left_gripper=0.9961 right_x=0.3942 right_y=0.0868 right_z=0.1507 right_yaw=0.0845 right_pitch=-0.394 right_roll=-0.0877 right_gripper=0.6353\nstate[joint_eff]: [-0.1983, -2.4, 6.9128, 1.4921, -0.0659, -0.0171, -0.0122, -0.3624, -10.0718, 9.0188, 1.5165, 0.1148, 0.0611, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f5e6611bf72da3a4a33f0e8e10abdc59a48d1a23414c525192ea1595ca912d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:016bdace9c2ec69c1589e08770d3d35ce64b3db0345a85c3cfb6c1a33123e9d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec80dd56b8da39d7d662c818b401cb9adc3ed9654041d5f0b33d946cd4e4ec5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjgoKEAgSGAI4AUIIdGhpbmtpbmcSDKfxFgHrT7geIFRSCxoMIVKsuvo8P3NUG39OIjB9FCkOF8X+yFV78qJI1Yuiyc2LnEQwwepoae75X65c/UnvxA+feTyERAZE7fefPCgqqwm3Ls+mmoUgRJaRv2ItDX49RfPOgAMmqyQEGwfFHqn5ZUtnkvQGZHTIBCoFHt/ci0AKUjYyrgoD8qZEq9+dK24/ebsGNEQBKD6uZw/2IBNH5iqbSD+uYmQUbJ/SasD5dblW8zFfH6T5XKN2k+umsBMFNeT0uc2VI39E7FFSeSpjRRDgScoB+/HrIHXhsSn1E2UC34EZScMm+dHArtAyNAQ8LY1zGzigniECkFXX3IXsUARSMgMboNn/PHVW+eLN5TGCLGghKXNfO6yZlx41C4zq5rSssi5R+5LYs84MCbsDCvTgDvDeRRasu4uy/6mBSCOrdHtskTG1p7SIJKZv1q//ZwSe1hKbiCij1jLJK9znYGt+WNJLaiGxeghjwlVAWW4/RerRoOYYVcE/NoiSsfNJgAFbpk6iQJ3wvXBB1YLYBwEvtMW16UgqQ0mNUsUyl/VAxHPYZGS5AQb69Ab1s8OHS4b+itGOAE0F1k/1XmoSLQhuJlSF5PYUaBNjkwNOxGNJWUw4Z0KPq8y95O03K8W4tx83eZhMj1at3vjqFvgqsmLI953zG44A+4jTftnblcd3AyP2RPQh59xHzeloV6Ulfm2364NTbM07PvJGq0g7F3c1wySqXeEsRudVH7pwhfNsRvZx0u5QoxaVdXswi7curxlsqk4jqliq8+pPQC4EMjpu0yZnQJLelrPr9MMSM8Ozubg40Y2l0//2HXZVsyt6Kxev9wwi75HjXNxZndQ2u9ccZwWTSZcHjsO98Ez2Yg/2jrCT7uX92/ndbfZC0QN7KmqESudP2/453oGDlszplcZ3gp/6qy9tcXycXJNEY8+AmyeFjy+CGLvui6qXQIuTy1TkrZzk1shrEkoNO4avhy9GebBib7uSEi0jFjZ9Orqu9pKnw62xaZkQT+0HrJENLnf7D2Vq25SfLrM1u5HFIAHOTZdSNH/9VbwI/ymIf2FB/B094Fc9CcQpNr12wGZ2m4HwiXaYyWf/fsPwocVBon3ewZCW5nfK8QrZBVLMloO59YtdCNOY/wIaPAjHMqZL2CcVZPzGX5+2NeHNMBiqTAHruLWSpvg4lNUr3OCl3D7YQcdOhwyt68iZuSPJrHYNTXJgn9Vh222OAXJ4znUwnPHYSU8HCXrfok5yBevde35wRZDg3ic9gATEalYcALuwu+xtGBZECnsrWJuns3YVmxEKOcv4N9U8BkN2vaLUTKWC0oZDrf5zSCDA/EU/wDPRK60+YNs9dirZ4dPQgQaz8UGCUGJJFHx720tV2srU317z65jSCsCbGwsffhM+wr5eJ0E3Qb9UC0ZY0uJnu1y0MB4R3Wn4syVFLHN8rwnVLnnzOnxQYMDizn0o7v38AuLJJBpClujpY9EfHkskG8LV2a6mupFy5I10OMWYK9PbD8dRKAW2qj+TfwBAo0Hv8n1Kp0F7dEC2Q7CSGkthDHDDPVxzVhcrQiZP0sHykjRYYEvXO5uGKa2maXIxXqrZe/WZKNu86FDSD8+Fqe0frOdr/jzpAlnU84sial8RyZCuApi3SwX/As6pCda09jV7GBNqNy0qhwQfQJKSVpDOeOSk0rg9hs/2UHM+glAlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UdYtPqUfhFL9dJskKx6arE",
      "input": {
        "note": "Pear held; the blue bowl (with plum) is up-left in the right wrist view. Carrying the pear over the bowl.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.19,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01UdYtPqUfhFL9dJskKx6arE",
      "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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4831, 1.911, 1.7622, -0.8993, 0.2424, 0.2188, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0002 left_z=0.1715 left_yaw=0.0579 left_pitch=-0.2174 left_roll=0.0454 left_gripper=0.9961 right_x=0.443 right_y=0.1885 right_z=0.1747 right_yaw=0.1236 right_pitch=-0.4355 right_roll=-0.1011 right_gripper=0.639\nstate[joint_eff]: [-0.0889, -2.2496, 6.8308, 1.4921, -0.0757, -0.022, -0.0122, 0.1983, -10.6051, 8.5538, 1.0476, 0.3297, 0.188, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:426080f4b128182acf2526c242051beb10c33037fd3aeb64b5ba170e3ca7d934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:088b38204cbd21afb93c25abb476dbb84e272745035818706b557f7641d69552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5341b0e012ae22a90de9e7703232d51711846195683b8ffa5fb8dd31f249c148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.32 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9836, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.6974, 0.8253, -0.0521, 0.1593, 0.0856, 0.6333]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.1721 left_yaw=0.0576 left_pitch=-0.2155 left_roll=0.0454 left_gripper=0.9961 right_x=0.3956 right_y=0.0865 right_z=0.0299 right_yaw=0.0806 right_pitch=-0.3414 right_roll=-0.0752 right_gripper=0.6333\nstate[joint_eff]: [-0.0342, -2.3043, 7.1043, 1.5653, -0.0855, -0.0073, -0.0122, -0.1983, -8.6632, 5.2991, 1.4823, 0.0562, -0.0024, 1.0379]",
      "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]: [-0.0811, 0.984, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.5513, 1.2209, -0.6464, 0.1555, 0.078, 0.6353]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.172 left_yaw=0.0576 left_pitch=-0.2159 left_roll=0.0455 left_gripper=0.9961 right_x=0.3942 right_y=0.0868 right_z=0.1507 right_yaw=0.0845 right_pitch=-0.394 right_roll=-0.0877 right_gripper=0.6353\nstate[joint_eff]: [-0.1983, -2.4, 6.9128, 1.4921, -0.0659, -0.0171, -0.0122, -0.3624, -10.0718, 9.0188, 1.5165, 0.1148, 0.0611, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4831, 1.911, 1.7622, -0.8993, 0.2424, 0.2188, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0002 left_z=0.1715 left_yaw=0.0579 left_pitch=-0.2174 left_roll=0.0454 left_gripper=0.9961 right_x=0.443 right_y=0.1885 right_z=0.1747 right_yaw=0.1236 right_pitch=-0.4355 right_roll=-0.1011 right_gripper=0.639\nstate[joint_eff]: [-0.0889, -2.2496, 6.8308, 1.4921, -0.0757, -0.022, -0.0122, 0.1983, -10.6051, 8.5538, 1.0476, 0.3297, 0.188, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:426080f4b128182acf2526c242051beb10c33037fd3aeb64b5ba170e3ca7d934",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:088b38204cbd21afb93c25abb476dbb84e272745035818706b557f7641d69552",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5341b0e012ae22a90de9e7703232d51711846195683b8ffa5fb8dd31f249c148",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDKW/yT642+pHZSKBWxoMzgq3Irx1YsYHD9gcIjDKGS7ZC+C+kEKQZ8xlJGR+aSrdY+EwjOhRWc2FjbeiZOnbpFr1AjXdwYiBXKuz2vkqygdocYXXMsHo94bTquuikGoxMGDg5oSoiQFWMiQSKWFEGSPzdYtprVTXPcjjd3NMF9FVWaB2/3F8k+iTse/15u7z91yS8Zi370busNNuTHBSVVfwRZ8MaZBOOhOOFjgVrrEWhKUr+JYwy3vGX42ePBGoLtN3/CIdRamUmtXwdgudu41FK5yDD6jTA7sdDELICDAzA1IgyMzihpbeKdNVNvPrGXGXpdQpuXpfmG/JqPGo5Ct1jdDVXamZJaLLG+rcPzLYOayXhPZ8XBt+Ghuj1SMbzAnqKe/wNKpdZb5V9Z9pYTDtiFNRGok6rQ1XYpNRPSojUxx2X7/HF6+C0jqC6Yxj+iuAKzxd4s6ff/cP++7LbKsoVM2VF56JSwyWd+eqQx1lh9n0EB56VUxVOQnHvBTLh2tbgMeFR4DVy3Mxtcn61AYXea6t4j7vv0RXxhQK8m2rLGnivlIrmxCF28IsqFevKBHUmsKQ4alPwBRtjSXROnsiKKq6S2XuBI0DkBVAdoOPo8CrPQQ+DPPLANN9yskgPMyGfrlBngoEpze2UoPlfsCPI1bJ0yLeuQw/Rej+WvQxpJmk+7P18nnQ/mAmqCBxt8I4c84dVU5LSOVyXahWp4bKra9ZuaTx7lBVpJ8QJELu5TzGoeMUgcDKYrjSe7e4mXDGzvGAADWGqn6CbRKK1bqLQzPG0KSvPMbyLPqszyMs1u/gSWIgDNt/4x8Ol6sv2TDDm2jZc8pZruNe/HqzW/gE/6ZxV2FIMpP/8e04KtEPLOS03DwBBH8AJYM0gcrWIy+0GzRLIxSP/ZO7I/r8XjMxuryKB+E4m+2YN9W7uqaK/rTo4M3oJsI60MZuN6vZQdM3gfQZZtro0KXDrV70W6x1Nt7A+qGAO96+HDezoxr0r0ULyoj3ZdMjXnBaYONq/SO6jsQqYXeiIsQu/suqn5qUVN5wLmawms9j5YbPCrzvJdZftDJEyRO8t/zkeX78KLQEZzERU+KvtXUFd94sub0roUa8iPKRgXqFryqClhnOUbZ57oygFo4RcGAOBc8MwUadjls1/kNtghu6SuO5jtvc74GrsjVS7AqLv/P80YJlTkNtvFBAyyHhPovG+jdKo/sGmjaerTKQfNk58CtBrcOw0x3oUG7KD090gDoCzkAFhuCFBMMPpXNNHFBhaT7lqhgsg6+21go/VxsGkiWENnJX+bIfyeTbywVQgFHu/kFE3LdYRmQV3wIexdEwq30p9B1q0OJubnYeQiuF+Odb0SvrNQQcVZRebX222WIVNbpOFWHauJ79e0eIGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016mVkNu8yufeza5K4MFqdTm",
      "input": {
        "note": "Top view shows the right gripper directly over the blue bowl; lowering a bit before releasing the pear.",
        "targets": {
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_016mVkNu8yufeza5K4MFqdTm",
      "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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4866, 1.9163, 1.6329, -0.8326, 0.2451, 0.2241, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0003 left_z=0.1716 left_yaw=0.0582 left_pitch=-0.2174 left_roll=0.0457 left_gripper=0.9961 right_x=0.4316 right_y=0.1839 right_z=0.1327 right_yaw=0.1091 right_pitch=-0.4977 right_roll=-0.1278 right_gripper=0.639\nstate[joint_eff]: [-0.1846, -2.441, 6.8308, 1.5067, -0.105, -0.0708, -0.0122, -0.5812, -10.7556, 8.0342, 1.7216, 0.0611, -0.105, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d768b023fcf9fb6e8a17a2b23415f1eb2e0ba89f060c723390b905e9609808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee85d474648aeb46e5e16bdd1d37fe55ab23f489f2a6a5d91fb0e6da361cc7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1ceca5619f78a9ecaa5913e5a3ebff3fce5d8a7641d41bd10212d0f7c3213d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 3.322 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.984, 0.8021, -0.6098, -0.1184, -0.0784, 0.9961, 0.2756, 1.5513, 1.2209, -0.6464, 0.1555, 0.078, 0.6353]\nstate[eef_state]: left_x=0.2992 left_y=0.0002 left_z=0.172 left_yaw=0.0576 left_pitch=-0.2159 left_roll=0.0455 left_gripper=0.9961 right_x=0.3942 right_y=0.0868 right_z=0.1507 right_yaw=0.0845 right_pitch=-0.394 right_roll=-0.0877 right_gripper=0.6353\nstate[joint_eff]: [-0.1983, -2.4, 6.9128, 1.4921, -0.0659, -0.0171, -0.0122, -0.3624, -10.0718, 9.0188, 1.5165, 0.1148, 0.0611, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4831, 1.911, 1.7622, -0.8993, 0.2424, 0.2188, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0002 left_z=0.1715 left_yaw=0.0579 left_pitch=-0.2174 left_roll=0.0454 left_gripper=0.9961 right_x=0.443 right_y=0.1885 right_z=0.1747 right_yaw=0.1236 right_pitch=-0.4355 right_roll=-0.1011 right_gripper=0.639\nstate[joint_eff]: [-0.0889, -2.2496, 6.8308, 1.4921, -0.0757, -0.022, -0.0122, 0.1983, -10.6051, 8.5538, 1.0476, 0.3297, 0.188, 0.9304]",
      "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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4866, 1.9163, 1.6329, -0.8326, 0.2451, 0.2241, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0003 left_z=0.1716 left_yaw=0.0582 left_pitch=-0.2174 left_roll=0.0457 left_gripper=0.9961 right_x=0.4316 right_y=0.1839 right_z=0.1327 right_yaw=0.1091 right_pitch=-0.4977 right_roll=-0.1278 right_gripper=0.639\nstate[joint_eff]: [-0.1846, -2.441, 6.8308, 1.5067, -0.105, -0.0708, -0.0122, -0.5812, -10.7556, 8.0342, 1.7216, 0.0611, -0.105, 0.9939]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1d768b023fcf9fb6e8a17a2b23415f1eb2e0ba89f060c723390b905e9609808",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ee85d474648aeb46e5e16bdd1d37fe55ab23f489f2a6a5d91fb0e6da361cc7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ceca5619f78a9ecaa5913e5a3ebff3fce5d8a7641d41bd10212d0f7c3213d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8QcKEAgSGAI4AUIIdGhpbmtpbmcSDBZJ/U+FGIKk3AsH3hoMXPJXg4Ihy2cmYWAlIjC3RAVYhwLtBbTWTZv9vJHFLUtCvCvvqde5zmogzaX5U0PCMZ6Fm3M03Lgzka3+1N0qjgc7q6Zb09USC7buKdOCzwj2nH5hXDEx7qUrKARHqugS8p+fR3t6b9BcNP8ZN87QD0ei6kUX2dWWpMfze8EzYzF6E7JhN2wNr4A2DsEYuQ0T5XVmHWU1INJfv9DGUK+rZLdjRqxJiEBi89WmLXghh1IPm2cVU+DqHVCCR+B2N6YhMaqHpGtV10R6K6Xs+M9u4l9h/EjDZIqyt8bmzHQ4qRGfVbrVH5UFDFhW6vJeWOIf484bV8zPIagDeuYuo99VVEo0cdnGYsJ5DK+K6ti/Dw6+kRojawKQ/+cTBIJPCBfMBEETxjABQdH7Zh0jCyBUYPwJp13Dca6OpCw9mZdrlewhG9QSUwWXdMKcVUOegsacvi9RoOkSvbsPbte+Ui9DMFsV3hSqCwxsNdMVPhWv2StcW+WPPeYRRfPEsqOiEnK7EWAWMvfcBW2LPwDT+sQl9HeAHrxEaomtZMIilAVLKZcyaPr0V22QioFO7/dK0dPGrTrOBLQQ+VbB7Yz05JZ93tX51yzeUGt3pZYkAOVhpVwBknfoPAdbkGWP0J4wIbX5SqTEM5rc6+HnjRdv82TXtHyJvg7OjT7pg49xciBR0O2Icf++dUqn5L1diH8LWK7F5Ez3SR9HkuPMsGVzbaZBdn53+VUPWj+rC1oolswZiptTclZnRl5feUri2I4831irVbwTmoH7FMIZ107ithepJia/xMKQya+1Wz6T5WguO6rHtYc8KUE450DrcVHf4kUIsxcMA0JnWDMBeRN76/oUhoPRrTVxyZP3VieNaIn/3uyztS+YKZFQfjnJRmWxzXcrOuL5ZX8z6m8snBaSLgrNx/p0fuexgpHX6Q83OgAiqceQ/6VQYEuN+STUnLjqWKbK/4To90v/M2bN6Y+nCHQI/IY+r2Af58BUepTnmPp5RmXY7ZPit3VE6QBkr63c4RGLicgPoJRUXhd4Yci7mMepVhwNbbbgJH406MCS8UXFlddE720zl7J42bPElCgA7mOVVu2e9vI4z0xC7lFtQyPo6gYvnnI6/R0+HvB7Yt0+BXdUMef7iGmjLX1JklwXjGb6OO8kOvPJqhpENWrfjTo59XvWt0ag5AZSkcRSQA0WG/WdYKbgs/bzQ5gLmYvuRvHwXlxFlaAIziU5KaH8ZBn+Dp2Qbfe9dzYYlN0IHob/Nv8fHpwCGpTgzvwJVZZ4WTXUrVrgq3QoOJADVDP+mLhDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XEj1anhBBvBRjgpooM4XJu",
      "input": {
        "note": "Blue bowl rim peeks out just beyond the pear in the wrist view, so the bowl is a little further forward; advancing 3 cm before release.",
        "targets": {
          "right_x": 0.465,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01XEj1anhBBvBRjgpooM4XJu",
      "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]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4622, 2.027, 1.7817, -0.8902, 0.2237, 0.1925, 0.6393]\nstate[eef_state]: left_x=0.2995 left_y=0.0003 left_z=0.1705 left_yaw=0.0583 left_pitch=-0.2212 left_roll=0.0462 left_gripper=0.9961 right_x=0.4551 right_y=0.1869 right_z=0.1281 right_yaw=0.1195 right_pitch=-0.5249 right_roll=-0.1322 right_gripper=0.6393\nstate[joint_eff]: [-0.2803, -2.4957, 7.0632, 1.5018, -0.0806, -0.0269, -0.0122, -0.6906, -11.4393, 8.3214, 0.9304, 0.1538, -0.0073, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db1e56d1928260ffece2b58bad0e8436765435604b25a777aa8ace59fc55e37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:757e274802fbdc2fd47a99fa074bb8de6b12e949cc65ec8c5c0e06d0664a4708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5b395163a2a9be3f7580967a458fcb70ab26f5eadbf06df73aead0b16dbcbc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 7.958 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4831, 1.911, 1.7622, -0.8993, 0.2424, 0.2188, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0002 left_z=0.1715 left_yaw=0.0579 left_pitch=-0.2174 left_roll=0.0454 left_gripper=0.9961 right_x=0.443 right_y=0.1885 right_z=0.1747 right_yaw=0.1236 right_pitch=-0.4355 right_roll=-0.1011 right_gripper=0.639\nstate[joint_eff]: [-0.0889, -2.2496, 6.8308, 1.4921, -0.0757, -0.022, -0.0122, 0.1983, -10.6051, 8.5538, 1.0476, 0.3297, 0.188, 0.9304]",
      "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]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4866, 1.9163, 1.6329, -0.8326, 0.2451, 0.2241, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0003 left_z=0.1716 left_yaw=0.0582 left_pitch=-0.2174 left_roll=0.0457 left_gripper=0.9961 right_x=0.4316 right_y=0.1839 right_z=0.1327 right_yaw=0.1091 right_pitch=-0.4977 right_roll=-0.1278 right_gripper=0.639\nstate[joint_eff]: [-0.1846, -2.441, 6.8308, 1.5067, -0.105, -0.0708, -0.0122, -0.5812, -10.7556, 8.0342, 1.7216, 0.0611, -0.105, 0.9939]",
      "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]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4622, 2.027, 1.7817, -0.8902, 0.2237, 0.1925, 0.6393]\nstate[eef_state]: left_x=0.2995 left_y=0.0003 left_z=0.1705 left_yaw=0.0583 left_pitch=-0.2212 left_roll=0.0462 left_gripper=0.9961 right_x=0.4551 right_y=0.1869 right_z=0.1281 right_yaw=0.1195 right_pitch=-0.5249 right_roll=-0.1322 right_gripper=0.6393\nstate[joint_eff]: [-0.2803, -2.4957, 7.0632, 1.5018, -0.0806, -0.0269, -0.0122, -0.6906, -11.4393, 8.3214, 0.9304, 0.1538, -0.0073, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db1e56d1928260ffece2b58bad0e8436765435604b25a777aa8ace59fc55e37d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:757e274802fbdc2fd47a99fa074bb8de6b12e949cc65ec8c5c0e06d0664a4708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5b395163a2a9be3f7580967a458fcb70ab26f5eadbf06df73aead0b16dbcbc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011vCNwRrjRYT5dgoTCiqp89",
      "input": {
        "note": "Pear is over the blue bowl; releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011vCNwRrjRYT5dgoTCiqp89",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4595, 2.043, 1.7874, -0.9096, 0.2237, 0.1837, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.1705 left_yaw=0.058 left_pitch=-0.2212 left_roll=0.046 left_gripper=0.9961 right_x=0.453 right_y=0.1844 right_z=0.1207 right_yaw=0.1163 right_pitch=-0.5536 right_roll=-0.1485 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4684, 6.8444, 1.4823, -0.1001, -0.0464, -0.0122, 0.1709, -12.3966, 6.1197, 1.1746, 0.1245, 0.0464, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1586551c73e0a9ef51bdb324132ad400f1295b2e13fab611c352adbbc142195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a60f4592b00960827ba2a7a8b254e323f3142da98558ecd7217a09fc509b8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f96288e375b212fd776bd0830b8a3c1db7eb05f282879f91010fbc0325343799",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 9.353 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9855, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4866, 1.9163, 1.6329, -0.8326, 0.2451, 0.2241, 0.639]\nstate[eef_state]: left_x=0.2993 left_y=0.0003 left_z=0.1716 left_yaw=0.0582 left_pitch=-0.2174 left_roll=0.0457 left_gripper=0.9961 right_x=0.4316 right_y=0.1839 right_z=0.1327 right_yaw=0.1091 right_pitch=-0.4977 right_roll=-0.1278 right_gripper=0.639\nstate[joint_eff]: [-0.1846, -2.441, 6.8308, 1.5067, -0.105, -0.0708, -0.0122, -0.5812, -10.7556, 8.0342, 1.7216, 0.0611, -0.105, 0.9939]",
      "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]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4622, 2.027, 1.7817, -0.8902, 0.2237, 0.1925, 0.6393]\nstate[eef_state]: left_x=0.2995 left_y=0.0003 left_z=0.1705 left_yaw=0.0583 left_pitch=-0.2212 left_roll=0.0462 left_gripper=0.9961 right_x=0.4551 right_y=0.1869 right_z=0.1281 right_yaw=0.1195 right_pitch=-0.5249 right_roll=-0.1322 right_gripper=0.6393\nstate[joint_eff]: [-0.2803, -2.4957, 7.0632, 1.5018, -0.0806, -0.0269, -0.0122, -0.6906, -11.4393, 8.3214, 0.9304, 0.1538, -0.0073, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4595, 2.043, 1.7874, -0.9096, 0.2237, 0.1837, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.1705 left_yaw=0.058 left_pitch=-0.2212 left_roll=0.046 left_gripper=0.9961 right_x=0.453 right_y=0.1844 right_z=0.1207 right_yaw=0.1163 right_pitch=-0.5536 right_roll=-0.1485 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4684, 6.8444, 1.4823, -0.1001, -0.0464, -0.0122, 0.1709, -12.3966, 6.1197, 1.1746, 0.1245, 0.0464, -0.188]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1586551c73e0a9ef51bdb324132ad400f1295b2e13fab611c352adbbc142195",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4a60f4592b00960827ba2a7a8b254e323f3142da98558ecd7217a09fc509b8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f96288e375b212fd776bd0830b8a3c1db7eb05f282879f91010fbc0325343799",
        "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_01GAj83W8yRRtUweyK6rtQBH",
      "input": {
        "note": "Pear and plum are in the blue bowl. Moving the right arm over the lemon (on the table in front of the bowl), rotating the jaws 90° to close across its short axis.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.25,
          "right_yaw": 1.57,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GAj83W8yRRtUweyK6rtQBH",
      "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]: [-0.0811, 0.9913, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4686, 1.8614, 1.626, -1.0073, -0.2871, -0.9825, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.17 left_yaw=0.058 left_pitch=-0.2231 left_roll=0.0462 left_gripper=0.9961 right_x=0.3549 right_y=0.2398 right_z=0.1396 right_yaw=1.3905 right_pitch=-0.5804 right_roll=-0.1403 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.2222, 7.0769, 1.5116, -0.105, -0.0757, -0.0171, 0.7043, -8.759, 8.8137, 0.6569, -0.315, -0.0611, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead68a1d29c0c8795969ac1681c6a312bbfbab94ee87600cd423951be3b50000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8819a8cc67059c97707f0ec2283c345335e27b7164f6de39ab6e9259bf8c21ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f04777a9d4c5026e8b540b2613a00bcf6b24eaa88908b72c0ae4f37b6880180c",
        "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 · 5.051 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1188, -0.0788, 0.9961, 0.4622, 2.027, 1.7817, -0.8902, 0.2237, 0.1925, 0.6393]\nstate[eef_state]: left_x=0.2995 left_y=0.0003 left_z=0.1705 left_yaw=0.0583 left_pitch=-0.2212 left_roll=0.0462 left_gripper=0.9961 right_x=0.4551 right_y=0.1869 right_z=0.1281 right_yaw=0.1195 right_pitch=-0.5249 right_roll=-0.1322 right_gripper=0.6393\nstate[joint_eff]: [-0.2803, -2.4957, 7.0632, 1.5018, -0.0806, -0.0269, -0.0122, -0.6906, -11.4393, 8.3214, 0.9304, 0.1538, -0.0073, 0.9158]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4595, 2.043, 1.7874, -0.9096, 0.2237, 0.1837, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.1705 left_yaw=0.058 left_pitch=-0.2212 left_roll=0.046 left_gripper=0.9961 right_x=0.453 right_y=0.1844 right_z=0.1207 right_yaw=0.1163 right_pitch=-0.5536 right_roll=-0.1485 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4684, 6.8444, 1.4823, -0.1001, -0.0464, -0.0122, 0.1709, -12.3966, 6.1197, 1.1746, 0.1245, 0.0464, -0.188]",
      "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]: [-0.0811, 0.9913, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4686, 1.8614, 1.626, -1.0073, -0.2871, -0.9825, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.17 left_yaw=0.058 left_pitch=-0.2231 left_roll=0.0462 left_gripper=0.9961 right_x=0.3549 right_y=0.2398 right_z=0.1396 right_yaw=1.3905 right_pitch=-0.5804 right_roll=-0.1403 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.2222, 7.0769, 1.5116, -0.105, -0.0757, -0.0171, 0.7043, -8.759, 8.8137, 0.6569, -0.315, -0.0611, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ead68a1d29c0c8795969ac1681c6a312bbfbab94ee87600cd423951be3b50000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8819a8cc67059c97707f0ec2283c345335e27b7164f6de39ab6e9259bf8c21ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 213):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f04777a9d4c5026e8b540b2613a00bcf6b24eaa88908b72c0ae4f37b6880180c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016JkXvSLSMKmN77ENnHC8ai",
      "input": {
        "note": "Lemon appears toward +y and slightly toward the base of the rotated wrist view (top view agrees). Moving over it and lowering.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.31,
          "right_y": 0.31,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_016JkXvSLSMKmN77ENnHC8ai",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9916, 0.8021, -0.6102, -0.1188, -0.0784, 0.9961, 0.5327, 1.7309, 0.8589, 0.0681, -0.5964, -0.6792, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1698 left_yaw=0.0582 left_pitch=-0.2238 left_roll=0.0469 left_gripper=0.9961 right_x=0.3059 right_y=0.2997 right_z=0.0681 right_yaw=1.3853 right_pitch=-0.0743 right_roll=-0.1168 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -2.4821, 6.9402, 1.5165, -0.1148, -0.0122, -0.0122, 0.4855, -7.4735, 5.8598, 1.7705, -0.4225, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8cdc78f619aaa651fd4f0262d8eaf3dd3cb658592b4904465ae590c5a6a29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9feed540b1e1bf4206f246df95044a56292883b915d9dfac758d4b413b20de3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b11168efec279041accf7070cdf8c93c1b9ec6630120f91d3821cd3076c639af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 5.008 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9894, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4595, 2.043, 1.7874, -0.9096, 0.2237, 0.1837, 0.996]\nstate[eef_state]: left_x=0.2995 left_y=0.0002 left_z=0.1705 left_yaw=0.058 left_pitch=-0.2212 left_roll=0.046 left_gripper=0.9961 right_x=0.453 right_y=0.1844 right_z=0.1207 right_yaw=0.1163 right_pitch=-0.5536 right_roll=-0.1485 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -2.4684, 6.8444, 1.4823, -0.1001, -0.0464, -0.0122, 0.1709, -12.3966, 6.1197, 1.1746, 0.1245, 0.0464, -0.188]",
      "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]: [-0.0811, 0.9913, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4686, 1.8614, 1.626, -1.0073, -0.2871, -0.9825, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.17 left_yaw=0.058 left_pitch=-0.2231 left_roll=0.0462 left_gripper=0.9961 right_x=0.3549 right_y=0.2398 right_z=0.1396 right_yaw=1.3905 right_pitch=-0.5804 right_roll=-0.1403 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.2222, 7.0769, 1.5116, -0.105, -0.0757, -0.0171, 0.7043, -8.759, 8.8137, 0.6569, -0.315, -0.0611, 0.0464]",
      "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]: [-0.0811, 0.9916, 0.8021, -0.6102, -0.1188, -0.0784, 0.9961, 0.5327, 1.7309, 0.8589, 0.0681, -0.5964, -0.6792, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1698 left_yaw=0.0582 left_pitch=-0.2238 left_roll=0.0469 left_gripper=0.9961 right_x=0.3059 right_y=0.2997 right_z=0.0681 right_yaw=1.3853 right_pitch=-0.0743 right_roll=-0.1168 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -2.4821, 6.9402, 1.5165, -0.1148, -0.0122, -0.0122, 0.4855, -7.4735, 5.8598, 1.7705, -0.4225, 0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8cdc78f619aaa651fd4f0262d8eaf3dd3cb658592b4904465ae590c5a6a29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9feed540b1e1bf4206f246df95044a56292883b915d9dfac758d4b413b20de3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 233):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b11168efec279041accf7070cdf8c93c1b9ec6630120f91d3821cd3076c639af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAgKEAgSGAI4AUIIdGhpbmtpbmcSDEjRM+G0wz/XhD04WBoMRsaqMfIXfYNRghxLIjBm/OhSKxaRzLmYiez3KLnzfglxGrP0j1/3AUi5H07/EaabgGezcaiw803PCxUjCHsq6QfSjSH/AUiFfQ740WjpE6PQP4M4Sx83gAAIFKEgq+/zqLvRwIPb2++b2Jg6El3V0mHVjCo2FntiW5JHczuddbZ3WT9rJZ/c4yshkMtMcvyj8869+4maR59cdNzjk8dKnqllAjrdoaxMFeevjflL/60xik9TKR6sHsrj6cz35NS9up79osp9PUH9Npg1CZlLusUhqITzm5VQgr3M8ad7an0PifYAj0UCEk2j0WkQZHDTjNypn4ojt0jQixnjk1Zb+t/4FRXHVQrCekl+6iUTqpgqbGhGWycVfE9HaSVrPHVq+GxNW+zNzvgFRBjcipwlEFEhCTLZQZ5AR074Wg8uxwmZvGxXp2jZ3CxQJta7Xira1Z6fI1lGFUFW90/IZ9VwvqmX9V4Hrtunndqfa2bfGkQyEioqxQVdtMDQHhna1PaW0io08AkJ844YEQWqmtw4cgz/fujWDCwVEtbieWkPjdZ9Ety9LouYJenpcWZdLoiaLMTaFdyDDMmys7VC6cPmkZaZX43X7BJVmYvX0wObj5CvBdE1Xkk4UA+FVTcdhEMXBBDWoBj5PHZEFBHD4/HzUhc/BbhW9v4ec+QzrbnL0PuwiH9yl7wLHUucBMZqUYp0VIekj6zC2ACChAAH73EQmTmzU2csbsl3KRz+Gk49HFphqn01+yeRu/upkgcx8DqJumVkQL4IzgjKZ9rapc1HhgUaH5oigS/0xYsshkX1L961HdiFAFXE+bzwaUlTnL0evhohtDR1yEA0erIs49r2QSUvPQzmzxYlowy1n01MzFWgYxoAOtQFfU/xTw0NV+gIKZfuMglV5A/qxM4N/l/fkmf7q90IzR1Ld0AOHinAEdLMUyz2/v8A8TDLyUqAdoCf04fVVFQdasGDLxHhiN6qpAtTXvnIvSo/K5Or3/HCi28RyPrRbVqSYN3xv0FBdljO8J56Ou6roHcyDNxxRYQUfvbB+YiabhjPVXxmi8l2MXUZ5WvXIABe4t06vcEtRI9z5Cb0vWUyoeSaQULL3ay3QVFSNHC3i7gCpYjjl0ABD7niLyEH/yFZIy9GqMfYk/7vKoBroXj8uUlHPurdXV4v3R5royJneMq1V/rntfAjyaP8pQSvTlgkJKf9pFI3MZPnuNueV7gy/lxll2zFdfzZpi38xqhSjEWvgbfBT4+0sZH2WIuHJJvD1jQLOUzUBMPfDGeHCLpB1NecDdhvOnLDHHHgWQSAIg1bYpaXA44qGiHlDPnRzMC8Yu/aYpJ+8qZO2QE97p2DqPz4HzgWNk76wfomRzYSelycumCfCfb7qrcMhkKCg55V86PbM4dhHXQXal5nxjdQWIh3ixgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019wzv6WJLoB5mrm1KUpCMdP",
      "input": {
        "note": "Lemon is at the bottom-centre of the wrist view between the jaws, with its short axis across the jaws; descending to grasp.",
        "targets": {
          "right_x": 0.315,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_019wzv6WJLoB5mrm1KUpCMdP",
      "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]: [-0.0807, 0.9932, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5205, 1.8965, 0.8227, 0.2237, -0.5995, -0.6807, 0.9966]\nstate[eef_state]: left_x=0.2997 left_y=0.0003 left_z=0.1694 left_yaw=0.0585 left_pitch=-0.2254 left_roll=0.0465 left_gripper=0.9961 right_x=0.31 right_y=0.2967 right_z=0.0133 right_yaw=1.3792 right_pitch=-0.103 right_roll=-0.0816 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.6188, 6.8171, 1.4725, -0.0757, -0.0562, -0.0122, -0.4444, -9.1145, 5.094, 1.9316, -0.3053, -0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e42d44e9c489a508951a17df2fc45b3596401de80c6b795d30ce041b09081cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3bccd95f34ce7502fc4ef82d1687c9270f776e1116e84355126014821337055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c77d3b4fed519a5e12e152e7e96a3a038bbd2f915a375be59fceccba9aaeb35d",
        "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 · 6.069 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9913, 0.8021, -0.6098, -0.1184, -0.0788, 0.9961, 0.4686, 1.8614, 1.626, -1.0073, -0.2871, -0.9825, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0002 left_z=0.17 left_yaw=0.058 left_pitch=-0.2231 left_roll=0.0462 left_gripper=0.9961 right_x=0.3549 right_y=0.2398 right_z=0.1396 right_yaw=1.3905 right_pitch=-0.5804 right_roll=-0.1403 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.2222, 7.0769, 1.5116, -0.105, -0.0757, -0.0171, 0.7043, -8.759, 8.8137, 0.6569, -0.315, -0.0611, 0.0464]",
      "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]: [-0.0811, 0.9916, 0.8021, -0.6102, -0.1188, -0.0784, 0.9961, 0.5327, 1.7309, 0.8589, 0.0681, -0.5964, -0.6792, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1698 left_yaw=0.0582 left_pitch=-0.2238 left_roll=0.0469 left_gripper=0.9961 right_x=0.3059 right_y=0.2997 right_z=0.0681 right_yaw=1.3853 right_pitch=-0.0743 right_roll=-0.1168 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -2.4821, 6.9402, 1.5165, -0.1148, -0.0122, -0.0122, 0.4855, -7.4735, 5.8598, 1.7705, -0.4225, 0.0562, -0.0122]",
      "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]: [-0.0807, 0.9932, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5205, 1.8965, 0.8227, 0.2237, -0.5995, -0.6807, 0.9966]\nstate[eef_state]: left_x=0.2997 left_y=0.0003 left_z=0.1694 left_yaw=0.0585 left_pitch=-0.2254 left_roll=0.0465 left_gripper=0.9961 right_x=0.31 right_y=0.2967 right_z=0.0133 right_yaw=1.3792 right_pitch=-0.103 right_roll=-0.0816 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.6188, 6.8171, 1.4725, -0.0757, -0.0562, -0.0122, -0.4444, -9.1145, 5.094, 1.9316, -0.3053, -0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e42d44e9c489a508951a17df2fc45b3596401de80c6b795d30ce041b09081cf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3bccd95f34ce7502fc4ef82d1687c9270f776e1116e84355126014821337055",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c77d3b4fed519a5e12e152e7e96a3a038bbd2f915a375be59fceccba9aaeb35d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6gYKEAgSGAI4AUIIdGhpbmtpbmcSDHuEa4CgmGbg1eQsJRoMT5mSVWkoa1ky/Uw0IjAqPnxt7Z6fKSTbTVNbKvgFUyXHyU7BBOdIZzLJqSuUqznrS+nWht+HYVQCBGAEpIYqhwZWqaxaTkvWp0ngtc3sx9LT8ZWN5g1ce+gWsTsuDpObVY7kbfJwkc65m2fa0oUKjmHHO70s9yM9I4mwx7fdgzYmpFyEzlcvaVmDXsgP34uo31jCLS4Xgn+y9Z5egYUUc5GlTTE/pkt63giI/EV2OMPYRKJ+5MVRqDuh4r/NnGkresacXzFBdW5YvXwLacTNqoUOoLL+gSMi1rfO4jqIhDdSgT9+CApMmEZBh7AQ6u/QxLZBV062J0xGdfQGgblmQVtkT2QCd7SoeaSl3KREMTpZAASSgV8NNNPBbQa1G8TU+dpYlD/KXYIf+HDY6LSe3krpPGvyK+qA7lx4m5YyOHHIv19aVXd/zRkIIHD9wb6d/0UQo6/Fe/3n/6loYLV7G7ukYnBlQc5F2IDTlEWl1qg7Iv7weEpU9fnpiuAun3CGzmMwyrk/YrcR7xb7h2NafRG4ujNF6xtY2xRZm5Srjg2hPbgz6ekOupr5AHO8K4np+UP5ulDhaRVQ/+tl5uJ6HA+yxDorNF+pzEXk+8aXM398cuTovSZ3snvUCQ3HdciGda0Mvx8KvuEJBfcnhXJoLd1XjQZgA8US24Abbk26Da1XlihZGjepvv+PQz0uW4H/PAaik1x/ZtlO/jw5pYAypNXBNqYvByZGLHnyyiKWjK2y8R+FkdOhct80jkzNgqgoMgx4d1VbosFM/Gu6bWuWwrop6k3veGT7MNaZjj2YQWMkB4+JqtaYx3qjTcQ6aW4qOkqsWbsOYgijPES+MwkQV2ZTELFvcbgggoA41GqTTnpekiVBUxb0tiqSxxJzLqTQAqOYYoRjIbTLSzPRRZLS6cXn4Hr9s87Bo/HDvRs/3LSpFFwrY+z0Una2S7DXQWNNkPxkEWkx3aR7UaHnjFeFaoRZOer1XZ/Amx8C6R6yUdCg3cwMZJFX3si7rULzt4moRQSVQ0snaPj0OkA+DxSwvhKW8GLB3Wdraj0LW2RGzvGVUFwnYw8BViFHUN2WGcR31im97liLoQkb7Y/qyrFpqKVcw50jhFWKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H5575X4Y7NafgybKW9RvJA",
      "input": {
        "note": "Lemon sits between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01H5575X4Y7NafgybKW9RvJA",
      "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]: [-0.0811, 0.9939, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.9152, 0.8139, 0.2661, -0.5999, -0.6918, 0.4506]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.1691 left_yaw=0.0581 left_pitch=-0.2261 left_roll=0.0467 left_gripper=0.9961 right_x=0.3118 right_y=0.2975 right_z=0.0092 right_yaw=1.3836 right_pitch=-0.0936 right_roll=-0.1015 right_gripper=0.4506\nstate[joint_eff]: [-0.0205, -2.5504, 7.2, 1.4774, -0.105, -0.0269, -0.0122, -0.294, -9.1556, 5.2171, 1.6044, -0.3346, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51490bec50fe3cac5e4404414cb706c4c88fc263861eb154df35db3d49b97da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e01be5bdd6c689f508d2a1779b719298b4ad7f2909dfee5adc69f6f60b2a9939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:af5c7b19f553cea0f777d10478fde4f6fa8028984e6381c3515b7c2a7a040003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 4.073 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9916, 0.8021, -0.6102, -0.1188, -0.0784, 0.9961, 0.5327, 1.7309, 0.8589, 0.0681, -0.5964, -0.6792, 0.9966]\nstate[eef_state]: left_x=0.2996 left_y=0.0003 left_z=0.1698 left_yaw=0.0582 left_pitch=-0.2238 left_roll=0.0469 left_gripper=0.9961 right_x=0.3059 right_y=0.2997 right_z=0.0681 right_yaw=1.3853 right_pitch=-0.0743 right_roll=-0.1168 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -2.4821, 6.9402, 1.5165, -0.1148, -0.0122, -0.0122, 0.4855, -7.4735, 5.8598, 1.7705, -0.4225, 0.0562, -0.0122]",
      "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]: [-0.0807, 0.9932, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5205, 1.8965, 0.8227, 0.2237, -0.5995, -0.6807, 0.9966]\nstate[eef_state]: left_x=0.2997 left_y=0.0003 left_z=0.1694 left_yaw=0.0585 left_pitch=-0.2254 left_roll=0.0465 left_gripper=0.9961 right_x=0.31 right_y=0.2967 right_z=0.0133 right_yaw=1.3792 right_pitch=-0.103 right_roll=-0.0816 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.6188, 6.8171, 1.4725, -0.0757, -0.0562, -0.0122, -0.4444, -9.1145, 5.094, 1.9316, -0.3053, -0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9939, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.9152, 0.8139, 0.2661, -0.5999, -0.6918, 0.4506]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.1691 left_yaw=0.0581 left_pitch=-0.2261 left_roll=0.0467 left_gripper=0.9961 right_x=0.3118 right_y=0.2975 right_z=0.0092 right_yaw=1.3836 right_pitch=-0.0936 right_roll=-0.1015 right_gripper=0.4506\nstate[joint_eff]: [-0.0205, -2.5504, 7.2, 1.4774, -0.105, -0.0269, -0.0122, -0.294, -9.1556, 5.2171, 1.6044, -0.3346, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:51490bec50fe3cac5e4404414cb706c4c88fc263861eb154df35db3d49b97da9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e01be5bdd6c689f508d2a1779b719298b4ad7f2909dfee5adc69f6f60b2a9939",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 247):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af5c7b19f553cea0f777d10478fde4f6fa8028984e6381c3515b7c2a7a040003",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0wgKEAgSGAI4AUIIdGhpbmtpbmcSDCouy0Wwx5ZMFbbfsxoM5yoadnMohJ1m1ghnIjCKlM7MzkfOb/35M3Dtx7OFqG93bz0Gd0ceCobVb8i8fmYNmyrCvovlxnVz0qezUg8q8AeghaHpSMKDxfMT5nk/jONfJYjcsvljAZbIayA8fxYBqJ6hhpATRxNkm6xGrbNyMBfGTk/EyqIMnMcUJPiJGQVLy0aqSS6PSQo/smSa/QwLGhdNKXNRs+6vizB9Dx+6MhXE7FSquLjpQPOO1F1caJGua4yrbvU7yeqYmzbPwJzAi/AQZH27vHjB56TVEAa67+6nN2LpN7W+k7hk9Hn6YI8yTtC6oN8xTcauCu5t45F1Px6oFY0CLJSHAbJKrhTXTc5HNufZff+rRnnoSS6Pvc3cfddJrF6FEmu2iLT5R2nm9Hj/Rk/xnW+ILT3qt2+VUL/bJefhJdM1LWsjW3HQ2005k3O/Nz3zJMpwsHCp2L3blnwSNHfVnycvTEu4ypIfyUw5pYX1BQVtTzIOXlIZ0NkELfS+DfwKl59IVfyBBjuXLIEveU9aJU/TTjVmiemd4lHb3rb9TzLTzpw/ZN2t2zgPz34qKnYkvEZyhUQSHA/B26EGrX7Su34Jn/oXe7EJBztnGvzmLbfKd+gBnhEMipgxC23CBgn6FGOVZO60oBcFroyYJx6NZz2CBuisKA4xL5ktlzk8O7g9V0mBYd/1f2VigLYFxJzHjVFaQVGeK9uaJLZUIah24fsynxHytGMj0VI6MLJyxOM3w2rcPttoNU4SJu901NRz6ZzmMD2KzNu95soVZciHOTWeW0mc4fkppaX3MPc3ylnfae1wDGLcgG4lrNOTYXxnTMpmwlAshx8FWNu/Ta4Ite0HJ/QzMj0/cjTgZA0zrE8SUbaXzNgHcn0llqkvuebow8PNxAKbU4Yf3ox9h2HPzk0gGaZ34uH2TtAFrReyV8Olxw90fWfJ1J7LKZBv+o6Da+9vNA+33uV7ASBoRnR4/aYdNE4Pc5CtBpL492EWBM+Y1ES6Y1mT4m2AnjF5yEgaI+GFPmL9kupWqNB0gOT+C16THSI/cw+zaaqtZevl+jg4RmJPUFEnN1xeHbJZ/tu9tWY9owM50wO6yXEyQ1cyH13iZDkFVxc3971jA7FlAOIcW8rvRSdwlpZYFP7oH2qYjxahhXSmE2Tk7YftUnM8gTR6EgENpZzKhK5IepLqKC+OpZHt0UN0ZXN3J3MN9wqiW29qHtIGs16h9FkicHvsqgtYyaB9af2dQb+Om9jx2/lHjCVaYvXWDQjgeWQbY7iZ0/WjaW3UC8VxL8cGC0dM4EXeZcxh4/RAXBYz0+7lYVu3tv0e5sj60I7aCIVG4vVHQuvcTNRfIMkL0sH+6P9kl8+K6VWIR/UtKVn+DLalqLinuc71+9sqxBEgwOtRAMWiqW8ERAqaQqzX1bf+WBcbNbUs5dajLhuKFdwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011WZfd526p1moZd5TkUP7Ne",
      "input": {
        "note": "Gripper settled at 0.45 (~4 cm) — lemon held. Lifting before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_011WZfd526p1moZd5TkUP7Ne",
      "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]: [-0.0811, 0.9943, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.6257, 1.1316, -0.3401, -0.5991, -0.6918, 0.4534]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.169 left_yaw=0.0582 left_pitch=-0.2265 left_roll=0.0467 left_gripper=0.9961 right_x=0.3166 right_y=0.3001 right_z=0.1524 right_yaw=1.3829 right_pitch=-0.0933 right_roll=-0.1027 right_gripper=0.4534\nstate[joint_eff]: [-0.335, -2.2359, 7.0085, 1.4774, -0.0757, -0.0464, -0.0122, -0.0615, -10.2085, 8.3487, 1.3016, -0.2418, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c95d8fff04e2420d123a661142c1822c4294083c3fc1c8e65b40a637f32c75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37e4e48807dd18ed01ee705e067585d1d9f9d3bed3f1ccefc736f90671741aaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0803ba4bc68a58317fe8b0cfcd8fb9e63aaf08a02f556ee994e63d21a7adca42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.29 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0807, 0.9932, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5205, 1.8965, 0.8227, 0.2237, -0.5995, -0.6807, 0.9966]\nstate[eef_state]: left_x=0.2997 left_y=0.0003 left_z=0.1694 left_yaw=0.0585 left_pitch=-0.2254 left_roll=0.0465 left_gripper=0.9961 right_x=0.31 right_y=0.2967 right_z=0.0133 right_yaw=1.3792 right_pitch=-0.103 right_roll=-0.0816 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -2.6188, 6.8171, 1.4725, -0.0757, -0.0562, -0.0122, -0.4444, -9.1145, 5.094, 1.9316, -0.3053, -0.1636, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9939, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.9152, 0.8139, 0.2661, -0.5999, -0.6918, 0.4506]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.1691 left_yaw=0.0581 left_pitch=-0.2261 left_roll=0.0467 left_gripper=0.9961 right_x=0.3118 right_y=0.2975 right_z=0.0092 right_yaw=1.3836 right_pitch=-0.0936 right_roll=-0.1015 right_gripper=0.4506\nstate[joint_eff]: [-0.0205, -2.5504, 7.2, 1.4774, -0.105, -0.0269, -0.0122, -0.294, -9.1556, 5.2171, 1.6044, -0.3346, -0.0269, 1.033]",
      "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]: [-0.0811, 0.9943, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.6257, 1.1316, -0.3401, -0.5991, -0.6918, 0.4534]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.169 left_yaw=0.0582 left_pitch=-0.2265 left_roll=0.0467 left_gripper=0.9961 right_x=0.3166 right_y=0.3001 right_z=0.1524 right_yaw=1.3829 right_pitch=-0.0933 right_roll=-0.1027 right_gripper=0.4534\nstate[joint_eff]: [-0.335, -2.2359, 7.0085, 1.4774, -0.0757, -0.0464, -0.0122, -0.0615, -10.2085, 8.3487, 1.3016, -0.2418, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28c95d8fff04e2420d123a661142c1822c4294083c3fc1c8e65b40a637f32c75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37e4e48807dd18ed01ee705e067585d1d9f9d3bed3f1ccefc736f90671741aaa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0803ba4bc68a58317fe8b0cfcd8fb9e63aaf08a02f556ee994e63d21a7adca42",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgcKEAgSGAI4AUIIdGhpbmtpbmcSDHL8DrAmmIS5zmwnmRoMJqnJ65vUhCxtbQz3IjBrsOYHS7QN6a8+v9w4yOD0SiayNZ0Yv/EU/fdXz8LE87LKOvd21ul7uXzBZt2PLuwqrwbbvf0WNU1SEaMl2+COilYd31XwrZ7OrJPx7Kq3prQvjhbTDNRXrYwZdSJmuptNCkJbGP+eLLYjkiGWuzYPf2lO4IzMCJZBrClafrLUZcbG+tcqfuK0xNtZcZlKzRc+Y6o9vUmlLR4rot4bvuXyRBPICE6W1nohQHwYRHfSyGrFHDuFyt5LSUZL3nWk/XUgCLs/NKXp9h/hievIPuahz0LzjIvOCgCYnn6eFaEMpQUcGlQnvQTFCblwUDG1VeCAQecvwc8+WHkn4TTL3tMz+dirOz4khhcPDfBLOVqErGfcnQir+Xha0yiGo3vXnG/NHPHpbfswmoXIEkgTAZegk9KU2dSbAw4zrwl/V8QphOE4Zc6kSOp/kTYs1ACthnq9QKQoAWuVnB/Bkt+v3ZgKeMg3Q+491mdRnK7QzBsUpYu0c2l5xF1XMTKSSsSiGfIhSUcSQJXqYqdd/w2bI0v92wkDVcisnMvK4fa/JholMlixEFEGMz6VzQtLkXYkire7Cl27OdyLk/P3B1xwo5LMQds1kt880FhQeIUrHfer2aThMsmaGuY1kGJ28FxnT7jUyxZHvCmRwe2NKtHqdeWyTO6iFiElapCcnaezAciydgoPCHexUjcBXoU6F1/Y8Y6ovCozgHA0SSs6xOSJUr9yrPuGj2fvTwEA9Rub7eFnXl635qOYIDkBXcdm0MzdY4s+fzhiEGw0Nyg4cSuNVpki0V/uUvI9ljILQaGWZSsBsK8nxfW+gVFIGTEi/Uz8SZ90xR8jHuJAgQ2efwVFLUy2XW8t5NZ+g7qytYwirypp/BShdy0+yzv+aw1QWonGBXJDgQJXRaNYn+PakUxmLu7THdzvOsTgBIs2efO44mSvrlPAL70yE9yovLT03arX06CeP87IhBnNvX1Bwgo8PKciylOZrWrfBUdsxKJyLVjE2S5xj5gX8KiyCpDcpl4SpARHQZHoRsCzVxEZwyMh2QfzwmjxsjL+e/nh+NOcB2D/2Drv08SLhyeLIkU2UPjEJ7RMn7G18uIC5Ha4WxTcRy/+NIdlUnRHS2t+12mtca7Om6JpGJomUMEBHXNnFso5YRNlZBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TNViw1zM8BkiY5MHw73D5L",
      "input": {
        "note": "Lemon held at carry height; moving over the blue bowl where the pear was dropped.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.19,
          "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_01TNViw1zM8BkiY5MHw73D5L",
      "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]: [-0.0811, 0.9962, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1329, 2.0529, 1.6966, -0.7395, -0.7918, -1.0939, 0.4534]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1685 left_yaw=0.0582 left_pitch=-0.2284 left_roll=0.047 left_gripper=0.9961 right_x=0.4603 right_y=0.192 right_z=0.1441 right_yaw=1.3565 right_pitch=-0.1107 right_roll=-0.112 right_gripper=0.4534\nstate[joint_eff]: [-0.3077, -2.5778, 7.0085, 1.4969, -0.0806, -0.0366, -0.0122, -0.4444, -11.1932, 7.6923, 0.6032, -0.6911, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de17b009bce7f1414d98d155fc7639c964d1c9a4b8df6907353173e8144b7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa4d73cd2516dbbf490f0c3f7609fd071df5f0e349a527b045e9472075f4834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1a8b5fae96e69daced300f799487f5398c10ff2c22f778df3a0fbd781b59c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 15.19 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9939, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.9152, 0.8139, 0.2661, -0.5999, -0.6918, 0.4506]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.1691 left_yaw=0.0581 left_pitch=-0.2261 left_roll=0.0467 left_gripper=0.9961 right_x=0.3118 right_y=0.2975 right_z=0.0092 right_yaw=1.3836 right_pitch=-0.0936 right_roll=-0.1015 right_gripper=0.4506\nstate[joint_eff]: [-0.0205, -2.5504, 7.2, 1.4774, -0.105, -0.0269, -0.0122, -0.294, -9.1556, 5.2171, 1.6044, -0.3346, -0.0269, 1.033]",
      "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]: [-0.0811, 0.9943, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.6257, 1.1316, -0.3401, -0.5991, -0.6918, 0.4534]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.169 left_yaw=0.0582 left_pitch=-0.2265 left_roll=0.0467 left_gripper=0.9961 right_x=0.3166 right_y=0.3001 right_z=0.1524 right_yaw=1.3829 right_pitch=-0.0933 right_roll=-0.1027 right_gripper=0.4534\nstate[joint_eff]: [-0.335, -2.2359, 7.0085, 1.4774, -0.0757, -0.0464, -0.0122, -0.0615, -10.2085, 8.3487, 1.3016, -0.2418, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0811, 0.9962, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1329, 2.0529, 1.6966, -0.7395, -0.7918, -1.0939, 0.4534]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1685 left_yaw=0.0582 left_pitch=-0.2284 left_roll=0.047 left_gripper=0.9961 right_x=0.4603 right_y=0.192 right_z=0.1441 right_yaw=1.3565 right_pitch=-0.1107 right_roll=-0.112 right_gripper=0.4534\nstate[joint_eff]: [-0.3077, -2.5778, 7.0085, 1.4969, -0.0806, -0.0366, -0.0122, -0.4444, -11.1932, 7.6923, 0.6032, -0.6911, -0.022, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6de17b009bce7f1414d98d155fc7639c964d1c9a4b8df6907353173e8144b7c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fa4d73cd2516dbbf490f0c3f7609fd071df5f0e349a527b045e9472075f4834",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 270):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a8b5fae96e69daced300f799487f5398c10ff2c22f778df3a0fbd781b59c16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDLk/bFW3r1OVKAtfxhoM6sW+Yz+Y62AEsCM2IjD/ULo8i+EJW6lUM5wRGh3V0ZzFkiwh/zLtVDSEFwpSyEigyBQmYjAumrQDWg945qQqhQZtAhqmChP5gcI17j4HxbFOxAuJsiH8u7vZPLywHeucnDTbzmJFgeUWnrCG14Tuk789KA8N8mTxxifYFO2h6CNKrqRzVpFHmgFOceQqih15pxKdb+/ZRYOu2IK5v/bQ0IGXB0L+mzQmz3PbW/sXSPWD/rja28ZWIZstGxE/Xv9AHI7aSLVuMFYGHGY0Ry8Nvfolu+Sd+SMDXUTpjXl/5FzCA4L4fYkcP8P4i+Q5pWURiDuA7yIypWzUOVXZlzy/EAtOMK0pXk/BjzecZG9KOld66H4y1KokZVoUB5+mVVPQtCBSh9GmlBdjtU/fNS42zPrs7LIxc4rl6kDNTirUS1x2yWWc/qMjxFiBK8QfBmHr/4WpgRhacAeIB2FrzSmvHHIBSxKScUbtuxvJG2NVT3UZTjqVGhKPwl5UjwP+yREVx5Kpj8ku66Af1DOBKMyHMbGQXWs/mkEupCmULwv44pL7a6KLkMIlxwwbPEV5hPvL6iToGIEuOFk9UuUQEUR8fMSCOUkAaEz2vCwuhOpmLkNRfHJXyI9FC87/8S4TeaUIx/nepzIJTzxhdMnS6+qwdLfk0GLKOv1sc48yRwke/hxKHFtTmC92m5RyuSONVem1Jt9VyYlRWnnZIsq4rCiFXBkePT81h4iqFL9F9oM4+Mqa0Xqp3PYKxr2cIs1gIOTg+M0uNPedQACZsirKpswf/F7b5WH3WxfHMbbbJVt0zZNC5rN0bksvXEKGKsSiA+r0ifI2AobFTOkk5r14nhbladdb+6176SoqfuRVPdZuIt7djPEekJSataXf2B7dl0k4RTJnThwd9EgxLRl5d/yyCg7dBeJyUtnCMVNnzbBJFUNj9LsmOGNlsAM8fP5dTPcdDtxN/6xVw9qHHyztvckuXDpPdubP3zyjuW3o+Kmh29oXdal6EL4S+mVhdd8tvxTPr2jz5Pf2+Q6gvNpjYo8TbX4dSjeRAQzHFIW9rlKRHj9m9FL24BeDwSgZafPC/seg2kiPmZ/myYh+QtkSaErCZdClxCiLlRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015WpNXaXpVYMZuwr8THEcCa",
      "input": {
        "note": "Wrist view shows the blue bowl (with plum) right under the lemon; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_015WpNXaXpVYMZuwr8THEcCa",
      "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]: [-0.0811, 0.997, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1345, 2.0674, 1.702, -0.7521, -0.786, -1.1076, 0.9958]\nstate[eef_state]: left_x=0.2999 left_y=0.0002 left_z=0.1683 left_yaw=0.0582 left_pitch=-0.2291 left_roll=0.0471 left_gripper=0.9961 right_x=0.4598 right_y=0.1919 right_z=0.1375 right_yaw=1.3651 right_pitch=-0.1236 right_roll=-0.1038 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.5368, 6.9265, 1.4774, -0.0904, -0.0317, -0.0122, -0.4718, -12.5333, 5.9282, 1.1355, -0.5153, 0.0904, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3723f6ccb3c94e083b8a6997f9cae34508e7c2a15d22264e65ee46fcf0a29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f521be8808e6d8932e22ba6f2c166069fabb942ae3964b14253733092d9a5694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a58cd62f14b04b1cdf4a0fef8fbcf4ed66296df302aa39a18656a7d52453a1b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 9.051 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9943, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.5198, 1.6257, 1.1316, -0.3401, -0.5991, -0.6918, 0.4534]\nstate[eef_state]: left_x=0.2997 left_y=0.0002 left_z=0.169 left_yaw=0.0582 left_pitch=-0.2265 left_roll=0.0467 left_gripper=0.9961 right_x=0.3166 right_y=0.3001 right_z=0.1524 right_yaw=1.3829 right_pitch=-0.0933 right_roll=-0.1027 right_gripper=0.4534\nstate[joint_eff]: [-0.335, -2.2359, 7.0085, 1.4774, -0.0757, -0.0464, -0.0122, -0.0615, -10.2085, 8.3487, 1.3016, -0.2418, -0.022, 1.033]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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]: [-0.0811, 0.9962, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1329, 2.0529, 1.6966, -0.7395, -0.7918, -1.0939, 0.4534]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1685 left_yaw=0.0582 left_pitch=-0.2284 left_roll=0.047 left_gripper=0.9961 right_x=0.4603 right_y=0.192 right_z=0.1441 right_yaw=1.3565 right_pitch=-0.1107 right_roll=-0.112 right_gripper=0.4534\nstate[joint_eff]: [-0.3077, -2.5778, 7.0085, 1.4969, -0.0806, -0.0366, -0.0122, -0.4444, -11.1932, 7.6923, 0.6032, -0.6911, -0.022, 1.0281]",
      "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]: [-0.0811, 0.997, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1345, 2.0674, 1.702, -0.7521, -0.786, -1.1076, 0.9958]\nstate[eef_state]: left_x=0.2999 left_y=0.0002 left_z=0.1683 left_yaw=0.0582 left_pitch=-0.2291 left_roll=0.0471 left_gripper=0.9961 right_x=0.4598 right_y=0.1919 right_z=0.1375 right_yaw=1.3651 right_pitch=-0.1236 right_roll=-0.1038 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.5368, 6.9265, 1.4774, -0.0904, -0.0317, -0.0122, -0.4718, -12.5333, 5.9282, 1.1355, -0.5153, 0.0904, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7c3723f6ccb3c94e083b8a6997f9cae34508e7c2a15d22264e65ee46fcf0a29d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f521be8808e6d8932e22ba6f2c166069fabb942ae3964b14253733092d9a5694",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a58cd62f14b04b1cdf4a0fef8fbcf4ed66296df302aa39a18656a7d52453a1b9",
        "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_01W8mAYzkMR6E7hB2EE4zQwP",
      "input": {
        "note": "All three fruits are in the blue bowl. Parking the right arm home and bringing the left arm (which can reach the white bowl) partway toward the blue bowl's left rim to grab it for pouring.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.2,
          "left_z": 0.2,
          "right_x": 0.296,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01W8mAYzkMR6E7hB2EE4zQwP",
      "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]: [-0.6502, 1.6936, 1.4532, -0.7429, -0.4675, -0.5335, 0.9961, 0.0425, 0.918, 0.7391, -0.4988, 0.0074, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.1946 left_z=0.1845 left_yaw=0.0474 left_pitch=-0.2692 left_roll=0.0582 left_gripper=0.9961 right_x=0.3034 right_y=0.0152 right_z=0.1826 right_yaw=0.1116 right_pitch=-0.1137 right_roll=-0.1141 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -8.9094, 8.8957, 1.1551, -0.4713, -0.0904, -0.0122, -0.6085, -2.1949, 6.1333, 1.917, 0.0611, 0.1832, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168f8144cbe06cdb184403bcfc492f3744eff6ad560c1d6bfb61800ad6d54602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6282d6f725d298f02d2978f0dc946fdb3eddf4d21de74b54497af5d7d411f701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa813d9b7e8a36bf3b7b0632032161cd7f012e47be178b4530fb93deef7026a7",
        "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 · 5.836 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.9962, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1329, 2.0529, 1.6966, -0.7395, -0.7918, -1.0939, 0.4534]\nstate[eef_state]: left_x=0.2998 left_y=0.0002 left_z=0.1685 left_yaw=0.0582 left_pitch=-0.2284 left_roll=0.047 left_gripper=0.9961 right_x=0.4603 right_y=0.192 right_z=0.1441 right_yaw=1.3565 right_pitch=-0.1107 right_roll=-0.112 right_gripper=0.4534\nstate[joint_eff]: [-0.3077, -2.5778, 7.0085, 1.4969, -0.0806, -0.0366, -0.0122, -0.4444, -11.1932, 7.6923, 0.6032, -0.6911, -0.022, 1.0281]",
      "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]: [-0.0811, 0.997, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1345, 2.0674, 1.702, -0.7521, -0.786, -1.1076, 0.9958]\nstate[eef_state]: left_x=0.2999 left_y=0.0002 left_z=0.1683 left_yaw=0.0582 left_pitch=-0.2291 left_roll=0.0471 left_gripper=0.9961 right_x=0.4598 right_y=0.1919 right_z=0.1375 right_yaw=1.3651 right_pitch=-0.1236 right_roll=-0.1038 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.5368, 6.9265, 1.4774, -0.0904, -0.0317, -0.0122, -0.4718, -12.5333, 5.9282, 1.1355, -0.5153, 0.0904, -0.0757]",
      "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]: [-0.6502, 1.6936, 1.4532, -0.7429, -0.4675, -0.5335, 0.9961, 0.0425, 0.918, 0.7391, -0.4988, 0.0074, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.1946 left_z=0.1845 left_yaw=0.0474 left_pitch=-0.2692 left_roll=0.0582 left_gripper=0.9961 right_x=0.3034 right_y=0.0152 right_z=0.1826 right_yaw=0.1116 right_pitch=-0.1137 right_roll=-0.1141 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -8.9094, 8.8957, 1.1551, -0.4713, -0.0904, -0.0122, -0.6085, -2.1949, 6.1333, 1.917, 0.0611, 0.1832, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168f8144cbe06cdb184403bcfc492f3744eff6ad560c1d6bfb61800ad6d54602",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6282d6f725d298f02d2978f0dc946fdb3eddf4d21de74b54497af5d7d411f701",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa813d9b7e8a36bf3b7b0632032161cd7f012e47be178b4530fb93deef7026a7",
        "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_01R26tVPoHPQNiAxsSJoFyrD",
      "input": {
        "note": "Lemon bounced out of the blue bowl and now lies far forward (likely beyond reach). Pear and plum are in the blue bowl; moving the left arm to its left rim to grab it for pouring.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.36,
          "left_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01R26tVPoHPQNiAxsSJoFyrD",
      "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]: [-0.807, 2.439, 2.1387, -0.7815, -0.5358, -0.6975, 0.9961, 0.0429, 0.9237, 0.7391, -0.5209, 0.0097, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.4672 left_y=-0.3522 left_z=0.0717 left_yaw=0.0498 left_pitch=-0.2937 left_roll=0.061 left_gripper=0.9961 right_x=0.3003 right_y=0.0148 right_z=0.1768 right_yaw=0.1086 right_pitch=-0.1414 right_roll=-0.1113 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -14.5983, 8.1162, 0.8718, -0.5348, 0.0366, -0.0122, -0.0479, -2.4821, 7.0496, 1.8291, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:507a8e247fd599e058289ef690b6b843e3d912efbef789cbd7e8acdd9918c49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f569a1fbb09637e83a8605f7a9c43c1d6741f1d3c97f737b5972ecfd7c06d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f377c132795282e91d70e89a541ae16f59dc5817f4d4e36451779aa4802ebb54",
        "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 · 5.104 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0811, 0.997, 0.8021, -0.6102, -0.1184, -0.0788, 0.9961, 0.1345, 2.0674, 1.702, -0.7521, -0.786, -1.1076, 0.9958]\nstate[eef_state]: left_x=0.2999 left_y=0.0002 left_z=0.1683 left_yaw=0.0582 left_pitch=-0.2291 left_roll=0.0471 left_gripper=0.9961 right_x=0.4598 right_y=0.1919 right_z=0.1375 right_yaw=1.3651 right_pitch=-0.1236 right_roll=-0.1038 right_gripper=0.9958\nstate[joint_eff]: [-0.0752, -2.5368, 6.9265, 1.4774, -0.0904, -0.0317, -0.0122, -0.4718, -12.5333, 5.9282, 1.1355, -0.5153, 0.0904, -0.0757]",
      "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]: [-0.6502, 1.6936, 1.4532, -0.7429, -0.4675, -0.5335, 0.9961, 0.0425, 0.918, 0.7391, -0.4988, 0.0074, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.1946 left_z=0.1845 left_yaw=0.0474 left_pitch=-0.2692 left_roll=0.0582 left_gripper=0.9961 right_x=0.3034 right_y=0.0152 right_z=0.1826 right_yaw=0.1116 right_pitch=-0.1137 right_roll=-0.1141 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -8.9094, 8.8957, 1.1551, -0.4713, -0.0904, -0.0122, -0.6085, -2.1949, 6.1333, 1.917, 0.0611, 0.1832, 0.0611]",
      "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]: [-0.807, 2.439, 2.1387, -0.7815, -0.5358, -0.6975, 0.9961, 0.0429, 0.9237, 0.7391, -0.5209, 0.0097, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.4672 left_y=-0.3522 left_z=0.0717 left_yaw=0.0498 left_pitch=-0.2937 left_roll=0.061 left_gripper=0.9961 right_x=0.3003 right_y=0.0148 right_z=0.1768 right_yaw=0.1086 right_pitch=-0.1414 right_roll=-0.1113 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -14.5983, 8.1162, 0.8718, -0.5348, 0.0366, -0.0122, -0.0479, -2.4821, 7.0496, 1.8291, -0.0757, -0.0611, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:507a8e247fd599e058289ef690b6b843e3d912efbef789cbd7e8acdd9918c49f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f569a1fbb09637e83a8605f7a9c43c1d6741f1d3c97f737b5972ecfd7c06d25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 309):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f377c132795282e91d70e89a541ae16f59dc5817f4d4e36451779aa4802ebb54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxgkKEAgSGAI4AUIIdGhpbmtpbmcSDG0TSUc6MI8HpW9o/hoMnXFxGyibWIHmPwWFIjB7jtxgVceTW9Ow0Z1tMuXMXdccEL4kuw+F6fWFdyDd0qhyAiPu4Rg0trMoShN/NFEq4wj+aveI/dpFbwiU0Euz3ntyO1OrIC+rQQNqIKMkUl8jM18m0QcdnWrlarP2nSCuvSmDQN/hvrIssaqBGbw9vaTWZPQP24r8lsBXQGOTfLEYXIU8UobvZJ5h0Ky4T9EMI2XQVg5uI8GweHV20iR8vXQzoMFpVS2jqLoYLjyvXs1BvkMABkK6B6l1/t5TuHJIInRPkIWNaV/rDGZeZdgdqzi8QfiAAIgeG9XZoaTHvX+fwudgOg1PX98G2PfXV75Ubr2VjhzO2KdtzsKovJEiBQH7Hp6vHaGxJHTk6lMPZ8QLmBsYYxtQfQTNlw6cCmdP8CSnDuZdl33akrImGtabI8wYGR+yvZSjlW4VujOzFDgWW+9bpCxBeOP+0Ig4Q1TwW3YW3c+EepddC5uMfMdueLdpPyHwdeQ6mG5mWmWL9/cgd2kdqSWXfvRNEQMdK5jyDPyG0zcTKuKkB1MYShCsGUp8UyEb1duyQ6OPvRJ46+x5Pe0QUQw6LVMLfs9LyAwV52Oq/x1J+msPePaoinbb/xFF+jqViKfVqyOqXDm2MgPe+5oNJOAG4rKvhv1nSAJR4yn1mgnhtkXljd1gqc05U99+hXqudL8YcFEcLBY/uwnLEwIu12wurtpBLfIzjzds+dEX9j6bZIz/hCoTf31tpjHUf8W48Thk7hsytsuK1d7pQ9dQnDyxz/on15N/7CUJSCqh1flCLp6gX4afEGWDBXrqE1jmpGFsgRP5O2O/DryKru9rvBbn7jMhXbasnhPPzy4S9WZawokn3s5W0jlVO5O4lmks8DBqHIQcMh/Gx4VNBeDQ+gnv4fmSOItAU0GnsW5LmDXGjcBdX4WVok3UVEQdPwBY/+KTqcVvzRtLKRpLjYsFzDNS0fiGJdjTNWDtWEgE8gZQL9jJBN/WaO0H2xFh8P6o+MgYHnhp7QjI9LvFW2my6TPTjqIxjXc7NX46iW4VvH8xR9yUGxVYoFvmLT4sWRJS36yHS2arwCksf7la3uCzxxk32s7IiiXWow+oxzSIgxvk0KHLU3m21KtnOr2KMXmlUSDOEU74Z65cN2XUp1RrQ0QciqC7xFBYdA37+FmpNd/UXGTqKLe9PYxpMlZkrcZ2KmZk6Y2Pm9QdjqO39sJObyY8rM/WLfsMPEtcFZt//vprOF1DUjEgihurX0F0MrTys3WE1m1QUMDjt35q5e6R3xQq2IK/4R7QwRhDkKlwmZBIMHIA4zAmV6rbhL27fvqB7cZ+JWIeiv8QegZQNMxA1evETq1+YFypbZePoioApB9WcfzPHrhLoio4rUr5FncNFXOOlYRnjpMLotJqkOImhAFDafa3W+du14IxvItUT0YFJxOvvbbkD2FQzBrmPS6GANDYWMOviZ+U8RT8Ab1TFlpNpksHgkTbVteB8+Nf18ccJ52FKtrBIqV07ML46tzEmADiSA3hS8ZdvLwooRG2oRGn6nPpUNQdGlICVRSzngMjVNl9WLpEQlqDQj452hgdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RWq3dbyXCVSd8HJdQz3XJn",
      "input": {
        "note": "Blue bowl's left rim is just right of the jaw centre in the left wrist view; shifting right ~3 cm and descending so the rim wall sits between the jaws.",
        "targets": {
          "left_y": -0.385,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RWq3dbyXCVSd8HJdQz3XJn",
      "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]: [-0.828, 2.5473, 2.2711, -0.7757, -0.564, -0.7425, 0.9961, 0.0429, 0.9249, 0.7391, -0.5217, 0.0067, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4777 left_y=-0.3753 left_z=0.0604 left_yaw=0.0657 left_pitch=-0.2548 left_roll=0.0226 left_gripper=0.9961 right_x=0.3002 right_y=0.0153 right_z=0.1763 right_yaw=0.111 right_pitch=-0.1431 right_roll=-0.1089 right_gripper=0.9966\nstate[joint_eff]: [-1.5795, -11.6718, 6.188, 0.5104, -0.1441, 0.2125, -0.0122, -0.0615, -2.1128, 6.9128, 1.6093, 0.0122, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f7baefe5855366c63faf2d44a10d554eb7789e38b5d69be2ec5c98eac2e1fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534a939842175cccd39c5362e4eafdd12d457a65f5cc06e77afbe760b3e054c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c35b271196042ce7c6f1d6b797054c9f2f0829c1cc785d46057925cd890abf69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.939 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.6502, 1.6936, 1.4532, -0.7429, -0.4675, -0.5335, 0.9961, 0.0425, 0.918, 0.7391, -0.4988, 0.0074, -0.1459, 0.9966]\nstate[eef_state]: left_x=0.3933 left_y=-0.1946 left_z=0.1845 left_yaw=0.0474 left_pitch=-0.2692 left_roll=0.0582 left_gripper=0.9961 right_x=0.3034 right_y=0.0152 right_z=0.1826 right_yaw=0.1116 right_pitch=-0.1137 right_roll=-0.1141 right_gripper=0.9966\nstate[joint_eff]: [-0.4581, -8.9094, 8.8957, 1.1551, -0.4713, -0.0904, -0.0122, -0.6085, -2.1949, 6.1333, 1.917, 0.0611, 0.1832, 0.0611]",
      "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]: [-0.807, 2.439, 2.1387, -0.7815, -0.5358, -0.6975, 0.9961, 0.0429, 0.9237, 0.7391, -0.5209, 0.0097, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.4672 left_y=-0.3522 left_z=0.0717 left_yaw=0.0498 left_pitch=-0.2937 left_roll=0.061 left_gripper=0.9961 right_x=0.3003 right_y=0.0148 right_z=0.1768 right_yaw=0.1086 right_pitch=-0.1414 right_roll=-0.1113 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -14.5983, 8.1162, 0.8718, -0.5348, 0.0366, -0.0122, -0.0479, -2.4821, 7.0496, 1.8291, -0.0757, -0.0611, -0.0122]",
      "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]: [-0.828, 2.5473, 2.2711, -0.7757, -0.564, -0.7425, 0.9961, 0.0429, 0.9249, 0.7391, -0.5217, 0.0067, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4777 left_y=-0.3753 left_z=0.0604 left_yaw=0.0657 left_pitch=-0.2548 left_roll=0.0226 left_gripper=0.9961 right_x=0.3002 right_y=0.0153 right_z=0.1763 right_yaw=0.111 right_pitch=-0.1431 right_roll=-0.1089 right_gripper=0.9966\nstate[joint_eff]: [-1.5795, -11.6718, 6.188, 0.5104, -0.1441, 0.2125, -0.0122, -0.0615, -2.1128, 6.9128, 1.6093, 0.0122, -0.0513, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:02f7baefe5855366c63faf2d44a10d554eb7789e38b5d69be2ec5c98eac2e1fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:534a939842175cccd39c5362e4eafdd12d457a65f5cc06e77afbe760b3e054c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 312):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35b271196042ce7c6f1d6b797054c9f2f0829c1cc785d46057925cd890abf69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgkKEAgSGAI4AUIIdGhpbmtpbmcSDIp6gIBXaNl2OaEHwRoMMtirf33yHpxmq3DNIjBvJ2M3HqG0w2CN+y5ZxE34annJuzcUzdyFXPio7OPo3IprHm09iCoTt2262HgABCcqwwicHNOTWpbMmD8gvNRfC/oA48NyYVL53olfnwOgKQYTk/rX+JH9rXQRhOvlIi2zluLOcZZaeNCyJ6RFD5iWQLdXvAjIrZqvoEM9A2caDJCode4bn+Kh3O6NDtr1iChp+P5l1EunLsXoZvLayi5eWxWUNoEMVCepWUqO+Al3cJmMeXjT26TDtFxIhIRzDTMv9wmXzLhdm9PYjxsZYLc2kIM/Er5EzHJxPw0d+okGWii8g1WaMtApyF097zC4C30FwIeBCScCwwE2GJIJI6BIdGF+Rwm8IU1dojhbOgTJqiXejtG81Iefzvmm9f3eAxUvsG/yX2yNH9JifxpIyUir5vRqlF6xoI1s5vMhlGiiaBwSCj2dyN+lQR/xiiZoQ4yoq1s4GUksoUdFmJZlDTWQelsDsH4rRMQr/pakls5zI+dxsg6oD5tN1WPJgdXtWe6CcnRzb8rX+ogGYtaBFeaf4hEagiaOFojyUBxWpF2zzBLbVf8UENmo1oHykZCD0oIDbzrouHvu/b34w+bSIuMhhyGwpWhAF3MdjNQqYFtSLPAH96TYfxHbaWINGIyVNWFsxRLMUMV6UsoZb587UmEaE5xB4dlnvnKIVntolIoz9iUOHU6EPcPI/VZtHPk2ucMvmKS5WDNJbvm+NTI6/jKSn+ZEdfPEeMWn6o7kr7I0xrxE+boFtqV2mS3Lhm5uc6xBGeRulgWkpWEpUwRUt3aBoQvcqpSw8xMpXouIdQm/kEEKDnBa/Z5tMDQqxJcxxrQKS/S5Gb3G0NqBE4iE4+OxOZsV8msKYxbNMkj06GJqRCdmPnOLZudFwpkDyyVOJsfkNqBWkIcPVYL/lwquQqCfrl53x5dZdrKlj4+T85ia7EJqHQ/QGhT1nN+TRSFviPtNtEVP3l++fUi5/6oytbJB9FGGOMZp8Nb407HPrbGnWDX/CLysS+yBZoA1joIkfWPiTMLgN0IeLBCfhbiHwDihtQY17g9Gni+We7uMFDd+X8vIyD5WrfU/Q09wVPrw8Cx+OjwQWjw2uoBNLydPirwo5CX2X+SwLmcOSnRDltDll1fADKbs9urrkRdUeDV+yFNcZl6jhxxiwSlwF/ajgpHo9f1q6bw5zfB+uNUMZo5/T1wM2nDQg1LgpS0jNrox+g/5RX/lAb5AIyjWtdzn1Zx8prnsE4aAIoXmmT+5/Zajb/tSqGJw3nIoRJmy/MrJOCdjQj4gWE7ZvDSh8UYA1Ojy2ZpjUzKQ5kbSiKXQy4pGe7hBj45ZxM/0DJTGP1ImIWkkUYDc95GjNQAVGNabAmBzjbel96mYTV78+LxAvEOCZfnty/5x/8FqPHntlCKqV75ZvTOh8YKF9sTcMQe1e6U/GWXAJA0NoLKxgNr3CjqjspU1odDTd4blmq+sPimmzWFp2LM9wNx8+0yACwdLS0+TAyOGM85UmGNGOXgUqYx2pLnFJ1wamhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KU3W9MYsbq89tnvbJwNQFS",
      "input": {
        "note": "Rim wall of the blue bowl now runs near the jaw centre; descent stopped at contact, so closing to pinch the rim.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KU3W9MYsbq89tnvbJwNQFS",
      "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]: [-0.8463, 2.5969, 2.2986, -0.7387, -0.5686, -0.765, 0.0379, 0.0429, 0.9249, 0.7391, -0.5224, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4775 left_y=-0.3906 left_z=0.0458 left_yaw=0.0599 left_pitch=-0.2424 left_roll=-0.0027 left_gripper=0.0379 right_x=0.3001 right_y=0.0154 right_z=0.1762 right_yaw=0.1114 right_pitch=-0.1438 right_roll=-0.1086 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -14.1744, 6.1744, 0.5055, -0.1929, 0.188, 0.7741, -0.1709, -2.0581, 6.9402, 1.58, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdbc5da2bdf36f8b3b9dd0e001692e3c41f0b210cac92a426e650576dadd0fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f53fb3d3ffb2a624c589615156e95706c004f386025045a3ea6dd28851c70033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d5e3311226362fbfcce942105623bc3de938e03bb0ac777415b90e5816555ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 7.583 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.807, 2.439, 2.1387, -0.7815, -0.5358, -0.6975, 0.9961, 0.0429, 0.9237, 0.7391, -0.5209, 0.0097, -0.1429, 0.9966]\nstate[eef_state]: left_x=0.4672 left_y=-0.3522 left_z=0.0717 left_yaw=0.0498 left_pitch=-0.2937 left_roll=0.061 left_gripper=0.9961 right_x=0.3003 right_y=0.0148 right_z=0.1768 right_yaw=0.1086 right_pitch=-0.1414 right_roll=-0.1113 right_gripper=0.9966\nstate[joint_eff]: [-0.9094, -14.5983, 8.1162, 0.8718, -0.5348, 0.0366, -0.0122, -0.0479, -2.4821, 7.0496, 1.8291, -0.0757, -0.0611, -0.0122]",
      "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]: [-0.828, 2.5473, 2.2711, -0.7757, -0.564, -0.7425, 0.9961, 0.0429, 0.9249, 0.7391, -0.5217, 0.0067, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4777 left_y=-0.3753 left_z=0.0604 left_yaw=0.0657 left_pitch=-0.2548 left_roll=0.0226 left_gripper=0.9961 right_x=0.3002 right_y=0.0153 right_z=0.1763 right_yaw=0.111 right_pitch=-0.1431 right_roll=-0.1089 right_gripper=0.9966\nstate[joint_eff]: [-1.5795, -11.6718, 6.188, 0.5104, -0.1441, 0.2125, -0.0122, -0.0615, -2.1128, 6.9128, 1.6093, 0.0122, -0.0513, -0.0073]",
      "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]: [-0.8463, 2.5969, 2.2986, -0.7387, -0.5686, -0.765, 0.0379, 0.0429, 0.9249, 0.7391, -0.5224, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4775 left_y=-0.3906 left_z=0.0458 left_yaw=0.0599 left_pitch=-0.2424 left_roll=-0.0027 left_gripper=0.0379 right_x=0.3001 right_y=0.0154 right_z=0.1762 right_yaw=0.1114 right_pitch=-0.1438 right_roll=-0.1086 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -14.1744, 6.1744, 0.5055, -0.1929, 0.188, 0.7741, -0.1709, -2.0581, 6.9402, 1.58, -0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fdbc5da2bdf36f8b3b9dd0e001692e3c41f0b210cac92a426e650576dadd0fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f53fb3d3ffb2a624c589615156e95706c004f386025045a3ea6dd28851c70033",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 322):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5e3311226362fbfcce942105623bc3de938e03bb0ac777415b90e5816555ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9wcKEAgSGAI4AUIIdGhpbmtpbmcSDFwl+7RGAJXa+SzwThoMCdH9maJ9sYt2uy9BIjDn84qUPO7qynfEhQ4DZ8iS3ull72857syKEM8PoSY6aLVJqjIwEWUCwVFLPJZw+iwqlAeIHAxZ4oGUgsncR49hxpRfBBAdgHbKFux7PBiUnaAk96ECLfNyrfo0I+rBF18r2ogC36qLZE0SnQ1RmYzT9mww/KL80KlpjmkL0cXNToXlnL177+8r9mjqooN0sdDJ4mJpeWXMZwK7+EaQUi8LX+KRVqNzacOVFUw13pOlCNVv/dsBUyUK06OcMGvmlkEdL/ln3qouC70EcmGfKB5ZUgpjWjeDtndstzj4GVZKS2+26G5tearqQh4KLZKxSwomVONPXCaKKaDR/dqU+Q77RIkvaFRwuRwTUFOMofukfk3CCDwu6ZrgHoZ1oQ21PfXVOslPnwBR3TfZ8fm265cRZxI0q/eccYyoXgA5KuzIup2hCeLeGhhydTBXMA/nmrhrHxuDsno3ps3Cw5XyNgi6eC85LAsqopz5ccDkYEfBCxi4Ijmkqgkuz4l7D089896mjGTlR/PwQLDGpP9JJeAIAPUMs+AMto2qbsxXOfHxAr+Ut/r3LbbwtkmaHP48AKrdohb0UcS5T3V59yk60EVpj0TxJrDztNoVI+f2JEOYkrry6wwu7YwZz+2orwgMrzR92nhHKp6HIWs2mRyDhM1De0bQJFXpq6vMw2hKbCoMxUyVbFY9Dcn3RjUzxTYHiUT2U48lm66svu/FL0VL0hJJdpjXlQC5PfQF+uLwYvYW/uHNrDchqPM8z+KJNAxIzOjl+K/veMnBdFxd+1xwdBnmmk2QXnoKCLIWvsxJXp6sQ1DXaI766gQl45mO+JN9+lqHTYbhJRs0ubRxA+TKC9QGyXB43J+AQRhaoqp/qOndHwCjIeUfY5PlOMTJQwJ2oBGi/cGlzUJ0MosDh3cHEFvAE/iJeLF5ttQI+onQW4awkeeJm2M/xLcFfqOAVa2lQN4aRpJYpCHv5G+1HJHOEuuSioL5vMtFwJLGMrYEjW2gsXSCMayfKVexCJLDeFsqSmRK9v4NqNJcYl+vNUD1fsqXK/ZhLEJjIIeyyxbGhm6PgXK5ZjA6u7ijYwyl9RUK4pgzppZrz4cyHaoIidDMiztut7ryZt3n41eD8Fnb/GGEIwBNg8szW8ASUce8VGB+9ems/3uzFQFOOv+aEwTNz+0V0zFRqmaPiafkFUMyHqhbu265as1xP18IHfXeA9YFeGUtl62yJd6rLggfrdUReiBHaHQUZaF1WA3M7IhwTNRe30NToUjvX97m7Ov2PD6ONQVu5+via4krGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016DyCVGsWesNPFa8qAbJ7DS",
      "input": {
        "note": "Gripper reads 0.038, which could be a thin rim pinch or an empty close; lifting to check whether the blue bowl comes with it.",
        "targets": {
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_016DyCVGsWesNPFa8qAbJ7DS",
      "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]: [-0.8455, 2.7941, 3.0272, -1.2739, -0.5606, -0.7738, 0.0395, 0.0429, 0.9268, 0.7391, -0.5232, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4735 left_y=-0.3871 left_z=0.1274 left_yaw=0.0611 left_pitch=-0.2503 left_roll=-0.0102 left_gripper=0.0395 right_x=0.3001 right_y=0.0154 right_z=0.1755 right_yaw=0.1114 right_pitch=-0.1465 right_roll=-0.1084 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -17.347, 8.4991, 1.2772, -0.3394, 0.0708, 0.8864, -0.2256, -1.7846, 6.9128, 1.663, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9773f119d75c4b2d0015b893b7d01c40727895e6618e05d0b1ffbcf891f5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba946ff2643bd4973ed78bdec695ef3a0a50130e82842206ea9f8128dba7cb1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b70da0d565f427e60ca856a72c57fc3f680327ee164b0e62e1cf3424c6df7ef1",
        "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 · 9.051 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.828, 2.5473, 2.2711, -0.7757, -0.564, -0.7425, 0.9961, 0.0429, 0.9249, 0.7391, -0.5217, 0.0067, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4777 left_y=-0.3753 left_z=0.0604 left_yaw=0.0657 left_pitch=-0.2548 left_roll=0.0226 left_gripper=0.9961 right_x=0.3002 right_y=0.0153 right_z=0.1763 right_yaw=0.111 right_pitch=-0.1431 right_roll=-0.1089 right_gripper=0.9966\nstate[joint_eff]: [-1.5795, -11.6718, 6.188, 0.5104, -0.1441, 0.2125, -0.0122, -0.0615, -2.1128, 6.9128, 1.6093, 0.0122, -0.0513, -0.0073]",
      "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]: [-0.8463, 2.5969, 2.2986, -0.7387, -0.5686, -0.765, 0.0379, 0.0429, 0.9249, 0.7391, -0.5224, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4775 left_y=-0.3906 left_z=0.0458 left_yaw=0.0599 left_pitch=-0.2424 left_roll=-0.0027 left_gripper=0.0379 right_x=0.3001 right_y=0.0154 right_z=0.1762 right_yaw=0.1114 right_pitch=-0.1438 right_roll=-0.1086 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -14.1744, 6.1744, 0.5055, -0.1929, 0.188, 0.7741, -0.1709, -2.0581, 6.9402, 1.58, -0.0122, -0.0415, -0.0122]",
      "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]: [-0.8455, 2.7941, 3.0272, -1.2739, -0.5606, -0.7738, 0.0395, 0.0429, 0.9268, 0.7391, -0.5232, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4735 left_y=-0.3871 left_z=0.1274 left_yaw=0.0611 left_pitch=-0.2503 left_roll=-0.0102 left_gripper=0.0395 right_x=0.3001 right_y=0.0154 right_z=0.1755 right_yaw=0.1114 right_pitch=-0.1465 right_roll=-0.1084 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -17.347, 8.4991, 1.2772, -0.3394, 0.0708, 0.8864, -0.2256, -1.7846, 6.9128, 1.663, -0.0171, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c9773f119d75c4b2d0015b893b7d01c40727895e6618e05d0b1ffbcf891f5e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ba946ff2643bd4973ed78bdec695ef3a0a50130e82842206ea9f8128dba7cb1c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 330):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b70da0d565f427e60ca856a72c57fc3f680327ee164b0e62e1cf3424c6df7ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S19Q73jkzWZUpsrQ9dn8JK",
      "input": {
        "note": "The blue bowl lifted with the gripper (held by its rim). Carrying it over the large white bowl for pouring.",
        "targets": {
          "left_x": 0.43,
          "left_y": -0.03,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 32 steps (3.2s)",
      "tool_use_id": "toolu_01S19Q73jkzWZUpsrQ9dn8JK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1448, 2.5, 3.121, -1.5887, -0.1551, -0.2138, 0.0404, 0.0429, 0.9279, 0.7391, -0.5255, 0.0067, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.5335 left_y=-0.0466 left_z=0.26 left_yaw=0.1132 left_pitch=-0.3812 left_roll=0.019 left_gripper=0.0404 right_x=0.2998 right_y=0.0153 right_z=0.1748 right_yaw=0.1111 right_pitch=-0.1499 right_roll=-0.1084 right_gripper=0.9966\nstate[joint_eff]: [0.3761, -18.7145, 6.1197, 1.4921, 0.1148, 0.0952, 0.6862, -0.0752, -2.1265, 6.9128, 1.5995, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7f1df7bd7b3926250879abeba8944cfcd3380a352010f9072871b57c7a9e34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53c569e036fdad019c0be7db8107201bc66e3b9c1bf4348d0c5f8921691ed09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c043f8e6607187611f7d1a0b125c679f12c4cff565cd322c2bd057f054561f27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 11.78 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8463, 2.5969, 2.2986, -0.7387, -0.5686, -0.765, 0.0379, 0.0429, 0.9249, 0.7391, -0.5224, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4775 left_y=-0.3906 left_z=0.0458 left_yaw=0.0599 left_pitch=-0.2424 left_roll=-0.0027 left_gripper=0.0379 right_x=0.3001 right_y=0.0154 right_z=0.1762 right_yaw=0.1114 right_pitch=-0.1438 right_roll=-0.1086 right_gripper=0.9966\nstate[joint_eff]: [-0.5128, -14.1744, 6.1744, 0.5055, -0.1929, 0.188, 0.7741, -0.1709, -2.0581, 6.9402, 1.58, -0.0122, -0.0415, -0.0122]",
      "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]: [-0.8455, 2.7941, 3.0272, -1.2739, -0.5606, -0.7738, 0.0395, 0.0429, 0.9268, 0.7391, -0.5232, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.4735 left_y=-0.3871 left_z=0.1274 left_yaw=0.0611 left_pitch=-0.2503 left_roll=-0.0102 left_gripper=0.0395 right_x=0.3001 right_y=0.0154 right_z=0.1755 right_yaw=0.1114 right_pitch=-0.1465 right_roll=-0.1084 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -17.347, 8.4991, 1.2772, -0.3394, 0.0708, 0.8864, -0.2256, -1.7846, 6.9128, 1.663, -0.0171, -0.0317, -0.0073]",
      "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]: [-0.1448, 2.5, 3.121, -1.5887, -0.1551, -0.2138, 0.0404, 0.0429, 0.9279, 0.7391, -0.5255, 0.0067, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.5335 left_y=-0.0466 left_z=0.26 left_yaw=0.1132 left_pitch=-0.3812 left_roll=0.019 left_gripper=0.0404 right_x=0.2998 right_y=0.0153 right_z=0.1748 right_yaw=0.1111 right_pitch=-0.1499 right_roll=-0.1084 right_gripper=0.9966\nstate[joint_eff]: [0.3761, -18.7145, 6.1197, 1.4921, 0.1148, 0.0952, 0.6862, -0.0752, -2.1265, 6.9128, 1.5995, -0.0073, -0.0562, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7f1df7bd7b3926250879abeba8944cfcd3380a352010f9072871b57c7a9e34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53c569e036fdad019c0be7db8107201bc66e3b9c1bf4348d0c5f8921691ed09f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 362):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c043f8e6607187611f7d1a0b125c679f12c4cff565cd322c2bd057f054561f27",
        "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_015A8BUBiN9VncobPNsLLAfz",
      "input": {
        "note": "The blue bowl overshot past the white bowl; pulling back over the white bowl and rolling the wrist to tip the fruits into it.",
        "targets": {
          "left_roll": 1.3,
          "left_x": 0.41,
          "left_y": -0.02,
          "left_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_015A8BUBiN9VncobPNsLLAfz",
      "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]: [-0.4065, 1.5417, 2.0048, -0.8173, -0.8921, 0.6514, 0.0424, 0.0429, 0.9302, 0.7391, -0.5377, 0.0063, -0.1425, 0.9966]\nstate[eef_state]: left_x=0.3999 left_y=-0.0185 left_z=0.4765 left_yaw=0.0612 left_pitch=0.1257 left_roll=0.9289 left_gripper=0.0424 right_x=0.2979 right_y=0.0153 right_z=0.1719 right_yaw=0.1116 right_pitch=-0.1644 right_roll=-0.1072 right_gripper=0.9966\nstate[joint_eff]: [-0.4855, 2.8103, 3.1932, 2.2882, -0.0855, 0.0024, 0.4225, -0.212, -2.0308, 6.8991, 1.7363, -0.0073, -0.0464, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c09474dde5825c28ce99da0026f96fe25d2f3102bc0ae16fefeb407bd5429a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 379):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f351169e17fc6e428f6cf2a25d231e763f1295035b6303a4c91209eaf914b60a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 379):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffec78cc4d2bd0c7c46aea9d40f0b11101bd3f6ea7f223c22b9f78fda063bd9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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