adhoc

completed
2026-09-22T20:05:25.292357+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 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
241.7 s
total steps
240
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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the 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: white bowl on the left, a dark plum near the centre, the blue bowl, a lemon and a pear on the right. The right wrist camera shows the pear straight ahead, so I'm moving the right arm forward over it.
move_to
right_x0.3600right_y0.0000right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8005, 0.6132, -0.3824, -0.0143, -0.0307, 0.999, -0.0227, 0.8005, 0.6182, -0.3908, -0.0238, -0.0196, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2955 right_y=0.0011 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.3214, -1.7846, 9.5795, 1.79, -0.1343, 0.105, -0.1197, -0.4581, -1.7709, 9.1966, 1.8584, -0.0317, -0.0024, -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": {"right_x": 0.36, "right_y": 0.0, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: white bowl on the left, a dark plum near the centre, the blue bowl, a lemon and a pear on the right. The right wrist camera shows the pear straight ahead, so I'm moving the right arm forward over it."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePear is centred on the jaw column just ahead of the fingertips; advancing ~3 cm and descending to grasp its body.
move_to
right_x0.3850right_y0.0000right_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]: [-0.0219, 0.8032, 0.6132, -0.3943, -0.0139, -0.028, 0.9989, -0.0219, 1.1492, 0.6098, -0.1009, -0.0242, -0.0273, 0.9994] state[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0037 left_pitch=-0.0145 left_roll=0.0023 left_gripper=0.9989 right_x=0.351 right_y=0.0002 right_z=0.1313 right_yaw=0.0053 right_pitch=-0.0671 right_roll=-0.0044 right_gripper=0.9994 state[joint_eff]: [0.1299, -1.3744, 7.0632, 1.8632, -0.0317, -0.0757, -0.0171, -0.2803, -4.4103, 8.1026, 2.0977, -0.0562, 0.022, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.0, "right_z": 0.03}, "note": "Pear is centred on the jaw column just ahead of the fingertips; advancing ~3 cm and descending to grasp its body."})
tool
executing move_to over 7 steps (0.7s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
Pear is between the jaws. Closing.
agent noteThe pear fills the view between the jaws at z≈2 cm; closing the gripper.
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]: [-0.0219, 0.807, 0.6132, -0.4053, -0.0139, -0.0273, 0.9989, -0.0189, 1.6203, 0.4667, 0.4709, -0.0242, -0.0349, 0.9994] state[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1754 left_yaw=-0.0041 left_pitch=-0.0294 left_roll=0.0032 left_gripper=0.9989 right_x=0.3788 right_y=0.0007 right_z=0.0205 right_yaw=0.0126 right_pitch=-0.1094 right_roll=-0.0092 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.6068, 7.0085, 1.8388, -0.0757, 0.0024, -0.0122, -0.4034, -6.5846, 5.1897, 1.956, -0.0366, 0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). 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
Pear is between the jaws. Closing.
move_to({"targets": {"right_gripper": 0}, "note": "The pear fills the view between the jaws at z\u22482 cm; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
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 noteEmpty close (0.01): the jaws met just short of the pear's base. Opening and lifting slightly before moving further out.
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]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0139, -0.0277, 0.9989, -0.017, 1.6203, 0.4656, 0.4664, -0.0242, -0.0376, 0.0115] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1745 left_yaw=-0.0039 left_pitch=-0.0336 left_roll=0.003 left_gripper=0.9989 right_x=0.3777 right_y=0.0015 right_z=0.0193 right_yaw=0.016 right_pitch=-0.1151 right_roll=-0.0111 right_gripper=0.0115 state[joint_eff]: [0.0068, -1.2513, 7.4735, 1.7509, -0.0513, -0.0757, -0.0122, -0.1983, -6.065, 5.0393, 1.6581, -0.0562, 0.0024, 0.9841] 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": {"right_gripper": 1, "right_z": 0.05}, "note": "Empty close (0.01): the jaws met just short of the pear's base. Opening and lifting slightly before moving further out."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent notePear sits a few cm beyond the jaws; advancing ~5 cm and dropping to 2 cm so the jaws straddle its body.
move_to
right_x0.4300right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0277, 0.9989, -0.017, 1.5143, 0.4934, 0.2935, -0.0242, -0.0456, 0.996] state[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0039 left_pitch=-0.0431 left_roll=0.0031 left_gripper=0.9989 right_x=0.3687 right_y=0.0016 right_z=0.0342 right_yaw=0.0205 right_pitch=-0.154 right_roll=-0.0158 right_gripper=0.996 state[joint_eff]: [-0.1846, -1.4017, 6.9949, 1.8242, -0.0757, -0.0562, -0.0122, -0.335, -6.7761, 8.0068, 1.6777, -0.0757, 0.0415, -0.1783] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_z": 0.02}, "note": "Pear sits a few cm beyond the jaws; advancing ~5 cm and dropping to 2 cm so the jaws straddle its body."})
tool
executing move_to over 5 steps (0.5s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteThe pear now fills the space right at 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]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0277, 0.9989, -0.0151, 1.7824, 0.6903, 0.3099, -0.025, -0.0536, 0.9971] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0038 left_pitch=-0.0534 left_roll=0.0033 left_gripper=0.9989 right_x=0.4167 right_y=0.0017 right_z=0.0066 right_yaw=0.0279 right_pitch=-0.2089 right_roll=-0.019 right_gripper=0.9971 state[joint_eff]: [-0.335, -1.6342, 7.0496, 1.746, -0.0415, -0.0708, -0.0171, -0.212, -7.5556, 6.9265, 1.8877, -0.0464, 0.0415, 0.0952] camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pear now fills the space right at the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 47
top_cam
camera top_cam step 47
left_cam
camera left_cam step 47
right_cam
camera right_cam step 47
assistant
agent noteGripper settled at 0.70 (~6.7 cm), so the pear is held. Lifting it clear before carrying to the blue bowl.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4316, -0.0135, -0.0277, 0.9989, -0.0154, 1.7824, 0.6895, 0.3042, -0.0246, -0.0612, 0.7043] state[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0042 left_pitch=-0.0637 left_roll=0.0033 left_gripper=0.9989 right_x=0.4154 right_y=0.0015 right_z=0.0053 right_yaw=0.0315 right_pitch=-0.2155 right_roll=-0.0245 right_gripper=0.7043 state[joint_eff]: [-0.1299, -1.388, 6.9949, 1.7558, -0.0317, -0.0415, -0.0122, -0.1709, -7.6923, 5.094, 1.5849, -0.0659, 0.0513, 1.033] camera 'top_cam' (step 47): [image omitted: streamed camera frame] camera 'left_cam' (step 47): [image omitted: streamed camera frame] camera 'right_cam' (step 47): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.70 (~6.7 cm), so the pear is held. Lifting it clear before carrying to the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent notePear held at 17 cm. The blue bowl is ahead and to the left of the gripper in both views, so I'm carrying the pear over it.
move_to
right_x0.4600right_y0.1000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4347, -0.0139, -0.0277, 0.9989, -0.0151, 1.4822, 1.1679, -0.5259, -0.0315, -0.0723, 0.7079] state[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0038 left_pitch=-0.0671 left_roll=0.0036 left_gripper=0.9989 right_x=0.4129 right_y=0.0029 right_z=0.1727 right_yaw=0.0447 right_pitch=-0.2667 right_roll=-0.0243 right_gripper=0.7079 state[joint_eff]: [-0.3214, -1.1966, 7.3778, 1.7265, -0.0708, -0.0464, -0.0122, -0.3761, -8.7863, 9.1145, 1.6435, 0.0464, 0.0757, 0.779] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.1, "right_z": 0.2}, "note": "Pear held at 17 cm. The blue bowl is ahead and to the left of the gripper in both views, so I'm carrying the pear over it."})
tool
executing move_to over 9 steps (0.9s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe pear is above the blue bowl, perhaps slightly past its far edge. Pulling back a little and lowering before I release it.
move_to
right_x0.4300right_y0.1100right_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]: [-0.0219, 0.8192, 0.6132, -0.4438, -0.0139, -0.0277, 0.9989, 0.2596, 1.7069, 1.4651, -0.6819, 0.12, 0.0853, 0.7112] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1644 left_yaw=-0.0038 left_pitch=-0.0801 left_roll=0.0038 left_gripper=0.9989 right_x=0.4453 right_y=0.1001 right_z=0.1774 right_yaw=0.0951 right_pitch=-0.3419 right_roll=-0.0458 right_gripper=0.7112 state[joint_eff]: [-0.1573, -1.6615, 6.9949, 1.7265, -0.0415, -0.0464, -0.0122, -0.3761, -8.8821, 9.7299, 1.5849, 0.3053, 0.2759, 0.6618] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.11, "right_z": 0.1}, "note": "The pear is above the blue bowl, perhaps slightly past its far edge. Pulling back a little and lowering before I release it."})
tool
executing move_to over 5 steps (0.5s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteThe wrist view shows the blue bowl just beyond the pear, so the grasp point is short of it. Moving forward and slightly left to get over the bowl's centre.
move_to
right_x0.4700right_y0.1200right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4492, -0.0139, -0.0277, 0.9989, 0.2939, 1.713, 1.1656, -0.487, 0.1337, 0.1055, 0.7135] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1631 left_yaw=-0.0038 left_pitch=-0.0862 left_roll=0.0039 left_gripper=0.9989 right_x=0.4108 right_y=0.1035 right_z=0.0865 right_yaw=0.0969 right_pitch=-0.4481 right_roll=-0.067 right_gripper=0.7135 state[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.7314, -0.0317, -0.0269, -0.0171, 0.4991, -8.4444, 7.1453, 1.7363, 0.105, 0.0659, 0.7546] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.12, "right_z": 0.11}, "note": "The wrist view shows the blue bowl just beyond the pear, so the grasp point is short of it. Moving forward and slightly left to get over the bowl's centre."})
tool
executing move_to over 5 steps (0.5s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteThe arm stalled at x=0.42; the dangling pear is probably catching on the bowl rim. Raising while moving forward over the bowl.
move_to
right_x0.4700right_y0.1200right_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]: [-0.0219, 0.82, 0.6132, -0.45, -0.0139, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4156, 0.1341, 0.1051, 0.7141] state[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.163 left_yaw=-0.0038 left_pitch=-0.087 left_roll=0.0039 left_gripper=0.9989 right_x=0.4202 right_y=0.1087 right_z=0.0897 right_yaw=0.1069 right_pitch=-0.3942 right_roll=-0.056 right_gripper=0.7141 state[joint_eff]: [-0.0752, -1.347, 7.0222, 1.6435, -0.0464, -0.022, -0.0122, -0.1436, -8.6769, 6.9128, 1.6825, 0.1245, 0.0464, 0.7302] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.12, "right_z": 0.18}, "note": "The arm stalled at x=0.42; the dangling pear is probably catching on the bowl rim. Raising while moving forward over the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe right arm didn't respond to the last target; trying a pure lift on its own to get it tracking again.
move_to
right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8253, 0.6132, -0.4683, -0.0135, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4164, 0.1337, 0.1051, 0.7163] state[eef_state]: left_x=0.285 left_y=-0.0003 left_z=0.158 left_yaw=-0.0041 left_pitch=-0.1106 left_roll=0.0041 left_gripper=0.9989 right_x=0.42 right_y=0.1087 right_z=0.0896 right_yaw=0.1071 right_pitch=-0.395 right_roll=-0.0558 right_gripper=0.7163 state[joint_eff]: [-0.1709, -1.7983, 7.159, 1.7607, -0.0415, -0.0464, -0.0171, -0.212, -8.841, 6.9128, 1.6679, 0.105, 0.0708, 0.5104] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.15}, "note": "The right arm didn't respond to the last target; trying a pure lift on its own to get it tracking again."})
tool
executing move_to over 4 steps (0.4s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteFrom the overhead view the gripper sits just right of the blue bowl, and the wrist view shows the bowl up and to the left. Shifting left by about 5 cm.
move_to
right_x0.4400right_y0.1600right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8276, 0.6132, -0.4698, -0.0135, -0.0277, 0.9989, 0.2989, 1.7069, 1.2953, -0.6201, 0.1299, 0.0967, 0.7185] state[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1571 left_yaw=-0.0041 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9989 right_x=0.4169 right_y=0.1082 right_z=0.1202 right_yaw=0.1108 right_pitch=-0.4464 right_roll=-0.068 right_gripper=0.7185 state[joint_eff]: [-0.0068, -1.5248, 7.1316, 1.6386, -0.0317, -0.0513, -0.0171, -0.3487, -11.2889, 8.841, 1.536, 0.0855, 0.0366, 0.5299] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.16, "right_z": 0.15}, "note": "From the overhead view the gripper sits just right of the blue bowl, and the wrist view shows the bowl up and to the left. Shifting left by about 5 cm."})
tool
executing move_to over 5 steps (0.5s)
step 94
top_cam
camera top_cam step 94
left_cam
camera left_cam step 94
right_cam
camera right_cam step 94
assistant
agent noteOverhead view has the gripper over the blue bowl, and the bowl has left the wrist view, which puts it underneath. Releasing the pear.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4759, -0.0139, -0.0273, 0.9989, 0.4114, 1.8523, 1.5379, -0.7891, 0.1593, 0.1505, 0.7208] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1556 left_yaw=-0.0039 left_pitch=-0.1217 left_roll=0.0049 left_gripper=0.9989 right_x=0.4268 right_y=0.1596 right_z=0.1288 right_yaw=0.1552 right_pitch=-0.5088 right_roll=-0.0839 right_gripper=0.7208 state[joint_eff]: [-0.0342, -1.2923, 7.3504, 1.663, -0.0269, -0.0513, -0.0122, -0.4444, -10.0718, 9.0462, 1.1648, 0.2759, 0.3541, 0.2369] camera 'top_cam' (step 94): [image omitted: streamed camera frame] camera 'left_cam' (step 94): [image omitted: streamed camera frame] camera 'right_cam' (step 94): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Overhead view has the gripper over the blue bowl, and the bowl has left the wrist view, which puts it underneath. Releasing the pear."})
tool
executing move_to over 3 steps (0.3s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent notePear released, but the wrist view showed the bowl slightly ahead of where it fell. Pulling the arm back to check the result from overhead.
move_to
right_x0.3000right_y0.0000right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4763, -0.0139, -0.0273, 0.9989, 0.4152, 1.8572, 1.5429, -0.8085, 0.16, 0.1497, 0.9956] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0039 left_pitch=-0.1236 left_roll=0.0049 left_gripper=0.9989 right_x=0.4235 right_y=0.1598 right_z=0.1263 right_yaw=0.156 right_pitch=-0.5274 right_roll=-0.0908 right_gripper=0.9956 state[joint_eff]: [-0.1026, -0.9368, 6.9538, 1.6288, -0.0415, 0.0073, -0.0122, -0.4034, -10.1949, 6.065, 1.2821, 0.0513, 0.022, -0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2}, "note": "Pear released, but the wrist view showed the bowl slightly ahead of where it fell. Pulling the arm back to check the result from overhead."})
tool
executing move_to over 14 steps (1.4s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteThe pear missed the bowl and rolled to the table centre, at about right-frame (0.21, 0.27); the lemon is nearer the front. Flying the right arm over the pear.
move_to
right_x0.2200right_y0.2600right_z0.1300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.0277, 0.9989, -0.0189, 1.2945, 1.2598, -1.0477, -0.0154, -0.2089, 0.9965] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1251 left_roll=0.0046 left_gripper=0.9989 right_x=0.3107 right_y=0.0004 right_z=0.1997 right_yaw=0.1165 right_pitch=-0.5132 right_roll=-0.0974 right_gripper=0.9965 state[joint_eff]: [-0.0342, -1.5795, 6.9538, 1.6777, -0.0513, -0.0659, -0.0122, -0.1709, -5.3128, 5.7641, 1.1551, -0.1441, -0.0171, 0.0855] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.22, "right_y": 0.26, "right_z": 0.13, "right_yaw": 0}, "note": "The pear missed the bowl and rolled to the table centre, at about right-frame (0.21, 0.27); the lemon is nearer the front. Flying the right arm over the pear."})
tool
executing move_to over 22 steps (2.2s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteThe right wrist view has the lemon just ahead of the jaws and slightly left, with the pear beyond it. Descending onto the lemon first and levelling the pitch.
move_to
right_x0.2350right_y0.2650right_z0.0200right_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]: [-0.0219, 0.8322, 0.6132, -0.4763, -0.0139, -0.0277, 0.9989, 1.0698, 1.6192, 1.2797, -1.0462, 0.4229, 0.8989, 0.9966] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1255 left_roll=0.0046 left_gripper=0.9989 right_x=0.2171 right_y=0.253 right_z=0.1236 right_yaw=0.0318 right_pitch=-0.5458 right_roll=-0.1269 right_gripper=0.9966 state[joint_eff]: [-0.1026, -1.2103, 6.9812, 1.619, -0.0464, -0.0415, -0.0122, 0.294, -7.0085, 7.9385, 0.5055, 0.4322, 0.1587, -0.0024] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.235, "right_y": 0.265, "right_z": 0.02, "right_pitch": 0}, "note": "The right wrist view has the lemon just ahead of the jaws and slightly left, with the pear beyond it. Descending onto the lemon first and levelling the pitch."})
tool
executing move_to over 19 steps (1.9s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteThe lemon has dropped to the bottom edge of the wrist view, so it should be between the fingertips 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]: [-0.0219, 0.8379, 0.6132, -0.4908, -0.0139, -0.0277, 0.9989, 1.243, 1.8198, 0.7692, -0.1692, 0.8909, 0.934, 0.9966] state[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0037 left_pitch=-0.1457 left_roll=0.005 left_gripper=0.9989 right_x=0.23 right_y=0.261 right_z=0.0151 right_yaw=0.0418 right_pitch=-0.0657 right_roll=-0.1557 right_gripper=0.9966 state[joint_eff]: [-0.0068, -1.7846, 6.9265, 1.7705, -0.0611, -0.0513, -0.0122, 0.6359, -7.3368, 4.1368, 1.0427, 0.7839, -0.0806, -0.0073] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon has dropped to the bottom edge of the wrist view, so it should be between the fingertips at table level. Closing."})
tool
executing move_to over 10 steps (1.0s)
step 162
top_cam
camera top_cam step 162
left_cam
camera left_cam step 162
right_cam
camera right_cam step 162
assistant
agent noteGripper settled at 0.63 (~6 cm), so the lemon is held. Carrying it high towards the blue bowl at the back right.
move_to
right_x0.4500right_y0.1700right_z0.2000right_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]: [-0.0219, 0.8379, 0.6132, -0.4919, -0.0139, -0.0273, 0.9989, 1.2434, 1.8309, 0.7628, -0.1513, 0.8974, 0.9318, 0.6305] state[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0039 left_pitch=-0.1468 left_roll=0.0053 left_gripper=0.9989 right_x=0.2304 right_y=0.2602 right_z=0.0122 right_yaw=0.0411 right_pitch=-0.0601 right_roll=-0.1594 right_gripper=0.6305 state[joint_eff]: [-0.0205, -1.4564, 6.9538, 1.6288, -0.0659, -0.0269, -0.0122, -0.1436, -8.294, 5.053, 0.6374, 0.2857, -0.0513, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.17, "right_z": 0.2, "right_pitch": 0}, "note": "Gripper settled at 0.63 (~6 cm), so the lemon is held. Carrying it high towards the blue bowl at the back right."})
tool
executing move_to over 17 steps (1.7s)
step 179
top_cam
camera top_cam step 179
left_cam
camera left_cam step 179
right_cam
camera right_cam step 179
assistant
agent noteThe wrist view shows the blue bowl centred but several centimetres ahead of the jaws. Advancing about 6 cm so the lemon ends up over it.
move_to
right_x0.5100right_y0.1600right_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]: [-0.0219, 0.8398, 0.6132, -0.4942, -0.0139, -0.0273, 0.9989, 0.5407, 1.6501, 1.2289, -0.2539, 0.4988, 0.1631, 0.6305] state[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1493 left_yaw=-0.0039 left_pitch=-0.151 left_roll=0.0054 left_gripper=0.9989 right_x=0.4403 right_y=0.17 right_z=0.1892 right_yaw=0.033 right_pitch=-0.0159 right_roll=-0.1656 right_gripper=0.6305 state[joint_eff]: [-0.0342, -1.5658, 6.9812, 1.6239, -0.0611, -0.022, -0.0122, -0.4718, -7.5145, 8.6632, 1.6044, 0.1832, 0.1099, 0.4811] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.51, "right_y": 0.16, "right_z": 0.17}, "note": "The wrist view shows the blue bowl centred but several centimetres ahead of the jaws. Advancing about 6 cm so the lemon ends up over it."})
tool
executing move_to over 6 steps (0.6s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe bowl's near rim now lines up with the jaws, but its centre is still a few centimetres ahead. Advancing another ~4 cm.
move_to
right_x0.5350right_y0.1550right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8448, 0.6132, -0.4953, -0.0139, -0.0273, 0.9989, 0.4408, 1.8618, 1.3655, -0.2394, 0.4129, 0.0875, 0.6316] state[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1478 left_yaw=-0.0039 left_pitch=-0.1571 left_roll=0.0055 left_gripper=0.9989 right_x=0.4916 right_y=0.1575 right_z=0.1455 right_yaw=0.0402 right_pitch=-0.1019 right_roll=-0.2032 right_gripper=0.6316 state[joint_eff]: [-0.1846, -1.7573, 7.0906, 1.5995, -0.0415, -0.0171, -0.0122, -0.6906, -9.7162, 9.265, 1.9951, 0.1685, 0.1197, 0.6764] camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.535, "right_y": 0.155, "right_z": 0.15}, "note": "The bowl's near rim now lines up with the jaws, but its centre is still a few centimetres ahead. Advancing another ~4 cm."})
tool
executing move_to over 4 steps (0.4s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
right_cam
camera right_cam step 189
assistant
agent noteThe blue bowl fills the lower wrist view directly under the jaws. Releasing the lemon into 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]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0277, 0.9989, 0.4061, 1.9934, 1.5253, -0.3019, 0.3763, 0.0509, 0.6341] state[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0036 left_pitch=-0.1583 left_roll=0.0052 left_gripper=0.9989 right_x=0.5224 right_y=0.1579 right_z=0.1328 right_yaw=0.0532 right_pitch=-0.1471 right_roll=-0.2208 right_gripper=0.6341 state[joint_eff]: [-0.1026, -1.6068, 6.9538, 1.5556, -0.0513, -0.0464, -0.0122, -0.8137, -11.6034, 9.1419, 1.6923, 0.149, 0.022, 0.6227] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The blue bowl fills the lower wrist view directly under the jaws. Releasing the lemon into it."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe lemon is in the blue bowl (yellow showing at its rim in the overhead view). Next target is the pear at the table centre, around right-frame (0.37, 0.24), so I'm flying over it.
move_to
right_x0.3700right_y0.2400right_z0.1300right_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]: [-0.0219, 0.8471, 0.6132, -0.4946, -0.0139, -0.0273, 0.9989, 0.3962, 2.0068, 1.5398, -0.3187, 0.3683, 0.0406, 0.9958] state[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0039 left_pitch=-0.1587 left_roll=0.0055 left_gripper=0.9989 right_x=0.5245 right_y=0.1543 right_z=0.1286 right_yaw=0.0545 right_pitch=-0.1649 right_roll=-0.2287 right_gripper=0.9958 state[joint_eff]: [-0.253, -1.4564, 6.9538, 1.5751, -0.0415, -0.0317, -0.0122, -0.6359, -11.9043, 9.4838, 1.7607, 0.1832, 0.0611, -0.0611] 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_x": 0.37, "right_y": 0.24, "right_z": 0.13, "right_pitch": 0}, "note": "The lemon is in the blue bowl (yellow showing at its rim in the overhead view). Next target is the pear at the table centre, around right-frame (0.37, 0.24), so I'm flying over it."})
tool
executing move_to over 12 steps (1.2s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe lemon bounced out of the blue bowl and is now next to the pear, both just under the jaws. Descending onto the pear, which sits slightly left.
move_to
right_x0.3750right_y0.2520right_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]: [-0.0219, 0.8528, 0.6128, -0.4984, -0.0139, -0.0277, 0.9989, 0.8227, 1.7313, 1.0588, -0.1841, 0.6758, 0.2844, 0.9966] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.145 left_yaw=-0.0036 left_pitch=-0.1686 left_roll=0.0054 left_gripper=0.9989 right_x=0.3691 right_y=0.2406 right_z=0.11 right_yaw=0.1119 right_pitch=-0.0806 right_roll=-0.2713 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.935, 6.9402, 1.6825, -0.0269, -0.0513, -0.0171, 1.4291, -10.6188, 6.8308, 1.619, 0.3639, 0.1783, 0.0611] camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.252, "right_z": 0.03}, "note": "The lemon bounced out of the blue bowl and is now next to the pear, both just under the jaws. Descending onto the pear, which sits slightly left."})
tool
executing move_to over 6 steps (0.6s)
step 211
top_cam
camera top_cam step 211
left_cam
camera left_cam step 211
right_cam
camera right_cam step 211
assistant
agent noteThe pear sits between the jaws at the bottom of the wrist view, which means it is still a little ahead of the fingertips. Advancing ~3 cm and going lower before closing.
move_to
right_x0.4000right_y0.2500right_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]: [-0.0219, 0.8528, 0.6128, -0.4988, -0.0139, -0.0277, 0.9989, 0.8303, 1.9289, 0.9821, 0.0456, 0.6762, 0.2955, 0.9966] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1449 left_yaw=-0.0036 left_pitch=-0.169 left_roll=0.0054 left_gripper=0.9989 right_x=0.3714 right_y=0.2478 right_z=0.0326 right_yaw=0.1107 right_pitch=-0.1125 right_roll=-0.2922 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.5248, 6.8991, 1.5556, -0.0659, -0.0171, -0.0122, 0.1846, -8.5812, 4.4786, 1.4628, 0.3053, -0.0611, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.25, "right_z": 0.015}, "note": "The pear sits between the jaws at the bottom of the wrist view, which means it is still a little ahead of the fingertips. Advancing ~3 cm and going lower before closing."})
tool
executing move_to over 3 steps (0.3s)
step 214
assistant
agent noteThe pear is between the jaws at table level with the lemon to its right. Closing on the pear.
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]: [-0.0219, 0.8536, 0.6128, -0.4992, -0.0139, -0.0277, 0.9989, 0.7895, 2.0125, 1.0237, 0.099, 0.651, 0.2623, 0.9966] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1446 left_yaw=-0.0036 left_pitch=-0.1701 left_roll=0.0055 left_gripper=0.9989 right_x=0.3905 right_y=0.2468 right_z=0.0155 right_yaw=0.1056 right_pitch=-0.1215 right_roll=-0.2955 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.5795, 6.9265, 1.5946, -0.0415, -0.0366, -0.0171, -0.4444, -8.8, 7.0222, 0.9011, 0.149, -0.1294, -0.0171] camera 'top_cam' (step 214): [image omitted: streamed camera frame] camera 'left_cam' (step 214): [image omitted: streamed camera frame] camera 'right_cam' (step 214): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pear is between the jaws at table level with the lemon to its right. Closing on the pear."})
tool
executing move_to over 10 steps (1.0s)
step 224
assistant
agent noteGripper settled at 0.85, so the pear is held. Carrying it high to the blue bowl, where the last drop landed around right-frame (0.52, 0.155).
move_to
right_x0.5200right_y0.1550right_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]: [-0.0219, 0.8547, 0.6128, -0.5022, -0.0139, -0.0277, 0.9989, 0.7757, 2.0254, 1.0378, 0.1127, 0.6498, 0.2428, 0.8516] state[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1438 left_yaw=-0.0036 left_pitch=-0.1743 left_roll=0.0055 left_gripper=0.9989 right_x=0.3979 right_y=0.2456 right_z=0.0161 right_yaw=0.104 right_pitch=-0.1135 right_roll=-0.3005 right_gripper=0.8516 state[joint_eff]: [-0.1026, -1.4974, 6.8855, 1.6581, -0.0513, -0.0513, -0.0171, 0.0068, -9.1419, 6.5299, 1.4042, 0.1783, -0.022, 1.033] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.155, "right_z": 0.17}, "note": "Gripper settled at 0.85, so the pear is held. Carrying it high to the blue bowl, where the last drop landed around right-frame (0.52, 0.155)."})
tool
executing move_to over 10 steps (1.0s)
step 234
assistant
agent noteThe pear hangs over the near half of the blue bowl. Nudging forward and lowering so the drop is short and it stays in.
move_to
right_x0.5350right_y0.1550right_z0.1100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8581, 0.6132, -0.514, -0.0139, -0.0277, 0.9989, 0.4225, 1.945, 1.4956, -0.3225, 0.4015, -0.0441, 0.8549] state[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1409 left_yaw=-0.0035 left_pitch=-0.1892 left_roll=0.0058 left_gripper=0.9989 right_x=0.5103 right_y=0.1576 right_z=0.1432 right_yaw=0.0993 right_pitch=-0.1561 right_roll=-0.3104 right_gripper=0.8549 state[joint_eff]: [-0.3214, -1.8393, 7.1179, 1.6484, -0.0562, -0.0415, -0.0122, -0.2256, -11.7402, 9.0188, 1.6825, 0.2027, 0.105, 1.0085] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 234): [image omitted: streamed camera frame] camera 'left_cam' (step 234): [image omitted: streamed camera frame] camera 'right_cam' (step 234): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.535, "right_y": 0.155, "right_z": 0.11}, "note": "The pear hangs over the near half of the blue bowl. Nudging forward and lowering so the drop is short and it stays in."})
tool
executing move_to over 3 steps (0.3s)
step 237
assistant
agent noteThe pear is low over the blue bowl; 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]: [-0.0219, 0.8597, 0.6128, -0.5175, -0.0139, -0.0273, 0.9989, 0.4038, 2.0285, 1.5265, -0.2874, 0.3813, -0.0647, 0.8569] state[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1398 left_yaw=-0.0037 left_pitch=-0.1945 left_roll=0.0062 left_gripper=0.9989 right_x=0.5258 right_y=0.1571 right_z=0.1175 right_yaw=0.1071 right_pitch=-0.1805 right_roll=-0.3176 right_gripper=0.8569 state[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.5751, -0.022, -0.0317, -0.0122, -0.8274, -11.3573, 6.1333, 1.7802, 0.1538, -0.0659, 1.0134] 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": 1}, "note": "The pear is low over the blue bowl; releasing."})
tool
executing move_to over 2 steps (0.2s)
step 239
assistant
agent noteI've used 32 of 40 calls, and only the pear is confirmed in the blue bowl. The lemon bounced out on the first drop; it may now be lying just beside the bowl, but I can't confirm that. The plum and the pour haven't been started. The plum is near the left arm, but the blue bowl, which sits around right-frame (0.52, 0.155), is beyond the left arm's y bound (−0.4). The large white bowl is on the far left, which looks beyond the right arm's y bound (0.4). That means the pour needs either a handoff between arms or the blue bowl moved to the centre first, and I can't do either in 8 calls.
give_up
hindsight- Blue bowl centre is about right-frame x≈0.52, y≈0.155 (top_cam ≈ (160,62)). It is small and shallow. Drop fruit from about z≈0.11 with pitch commanded to 0. Drops from 0.13–0.2 bounced the lemon out, and a drop at x=0.42 while pitch had drifted to −0.5 missed the bowl entirely. - Command pitch=0 explicitly on every move. Otherwise wrist pitch drifts negative (toward −0.5) during moves, which shifts where things drop. - Fruit grasps: the fingertips reach ~3–4 cm past where an object looks 'between the jaws' in the wrist cam. Advance 3–4 cm before descending to z≈0.015. Pear read 0.70–0.85 when held, lemon 0.63. - Top-cam mapping for the right arm at table level: about 3.3 px/cm in image-y and 2.6 px/cm in image-x. Right-frame (0.23, 0.26) ≈ px (123,160) and (0.50, 0.155) ≈ px (150,72). - Plan the arm split early. The white bowl (top_cam ≈ (68,62)) is on the left arm's side and the blue bowl on the right arm's side. Pouring needs a handoff between arms, or the blue bowl moved to the centre first. Budget at least 10 calls for the pour. - The arm can stall when carried fruit catches a bowl rim. Lift first, then translate.
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8597, 0.6128, -0.5201, -0.0139, -0.0277, 0.9989, 0.3962, 2.0781, 1.5085, -0.2584, 0.3687, -0.0704, 0.994] state[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1393 left_yaw=-0.0035 left_pitch=-0.1972 left_roll=0.006 left_gripper=0.9989 right_x=0.5267 right_y=0.1552 right_z=0.0883 right_yaw=0.1107 right_pitch=-0.221 right_roll=-0.3242 right_gripper=0.994 state[joint_eff]: [-0.0889, -1.4974, 6.8855, 1.5849, -0.0415, -0.0513, -0.0122, -0.3487, -13.5316, 7.4325, 1.7363, 0.2125, 0.1245, 0.1734] camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I've used 32 of 40 calls, and only the pear is confirmed in the blue bowl. The lemon bounced out on the first drop; it may now be lying just beside the bowl, but I can't confirm that. The plum and the pour haven't been started. The plum is near the left arm, but the blue bowl, which sits around right-frame (0.52, 0.155), is beyond the left arm's y bound (\u22120.4). The large white bowl is on the far left, which looks beyond the right arm's y bound (0.4). That means the pour needs either a handoff between arms or the blue bowl moved to the centre first, and I can't do either in 8 calls.", "hindsight": "- Blue bowl centre is about right-frame x\u22480.52, y\u22480.155 (top_cam \u2248 (160,62)). It is small and shallow. Drop fruit from about z\u22480.11 with pitch commanded to 0. Drops from 0.13\u20130.2 bounced the lemon out, and a drop at x=0.42 while pitch had drifted to \u22120.5 missed the bowl entirely.\n- Command pitch=0 explicitly on every move. Otherwise wrist pitch drifts negative (toward \u22120.5) during moves, which shifts where things drop.\n- Fruit grasps: the fingertips reach ~3\u20134 cm past where an object looks 'between the jaws' in the wrist cam. Advance 3\u20134 cm before descending to z\u22480.015. Pear read 0.70\u20130.85 when held, lemon 0.63.\n- Top-cam mapping for the right arm at table level: about 3.3 px/cm in image-y and 2.6 px/cm in image-x. Right-frame (0.23, 0.26) \u2248 px (123,160) and (0.50, 0.155) \u2248 px (150,72).\n- Plan the arm split early. The white bowl (top_cam \u2248 (68,62)) is on the left arm's side and the blue bowl on the right arm's side. Pouring needs a handoff between arms, or the blue bowl moved to the centre first. Budget at least 10 calls for the pour.\n- The arm can stall when carried fruit catches a bowl rim. Lift first, then translate."})
tool
give_up: I've used 32 of 40 calls, and only the pear is confirmed in the blue bowl. The lemon bounced out on the first drop; it may now be lying just beside the bowl, but I can't confirm that. The plum and the pour haven't been started. The plum is near the left arm, but the blue bowl, which sits around right-frame (0.52, 0.155), is beyond the left arm's y bound (−0.4). The large white bowl is on the far left, which looks beyond the right arm's y bound (0.4). That means the pour needs either a handoff between arms or the blue bowl moved to the centre first, and I can't do either in 8 calls.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 15.2 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]: [-0.02, 0.8005, 0.6132, -0.3824, -0.0143, -0.0307, 0.999, -0.0227, 0.8005, 0.6182, -0.3908, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2955 right_y=0.0011 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.7846, 9.5795, 1.79, -0.1343, 0.105, -0.1197, -0.4581, -1.7709, 9.1966, 1.8584, -0.0317, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d837242913d88528e07c566d76c376d982d1d342b06882bdb83d2ff17f2e82e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e09bac6a31df613ed27db2a05d876ba4961f96e19ef64cf01393dd002f147941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6096da3a09d05fe01f38ba3947619839721da030169a986472dc837ebd856734",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 3.93 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]: [-0.02, 0.8005, 0.6132, -0.3824, -0.0143, -0.0307, 0.999, -0.0227, 0.8005, 0.6182, -0.3908, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2955 right_y=0.0011 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.7846, 9.5795, 1.79, -0.1343, 0.105, -0.1197, -0.4581, -1.7709, 9.1966, 1.8584, -0.0317, -0.0024, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d837242913d88528e07c566d76c376d982d1d342b06882bdb83d2ff17f2e82e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e09bac6a31df613ed27db2a05d876ba4961f96e19ef64cf01393dd002f147941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6096da3a09d05fe01f38ba3947619839721da030169a986472dc837ebd856734",
        "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_01Xv6iBB8EvNWyDsqC9TNdYu",
      "input": {
        "note": "Scene: white bowl on the left, a dark plum near the centre, the blue bowl, a lemon and a pear on the right. The right wrist camera shows the pear straight ahead, so I'm moving the right arm forward over it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Xv6iBB8EvNWyDsqC9TNdYu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8032, 0.6132, -0.3943, -0.0139, -0.028, 0.9989, -0.0219, 1.1492, 0.6098, -0.1009, -0.0242, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0037 left_pitch=-0.0145 left_roll=0.0023 left_gripper=0.9989 right_x=0.351 right_y=0.0002 right_z=0.1313 right_yaw=0.0053 right_pitch=-0.0671 right_roll=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -1.3744, 7.0632, 1.8632, -0.0317, -0.0757, -0.0171, -0.2803, -4.4103, 8.1026, 2.0977, -0.0562, 0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1136baf872aacaa2588fbcc1127cc48be90845f8af6a5d987ea00e9d8f66c18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0278b9f637eac3c722ab62bcffea44b11e00c7e1d58931dcbde7e1a85c2d6e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:285b7881df59d380834bd48187ee764250e3ba911365bf141c1b689abcb153c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.555 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]: [-0.02, 0.8005, 0.6132, -0.3824, -0.0143, -0.0307, 0.999, -0.0227, 0.8005, 0.6182, -0.3908, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2955 right_y=0.0011 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.7846, 9.5795, 1.79, -0.1343, 0.105, -0.1197, -0.4581, -1.7709, 9.1966, 1.8584, -0.0317, -0.0024, -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]: [-0.0219, 0.8032, 0.6132, -0.3943, -0.0139, -0.028, 0.9989, -0.0219, 1.1492, 0.6098, -0.1009, -0.0242, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0037 left_pitch=-0.0145 left_roll=0.0023 left_gripper=0.9989 right_x=0.351 right_y=0.0002 right_z=0.1313 right_yaw=0.0053 right_pitch=-0.0671 right_roll=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -1.3744, 7.0632, 1.8632, -0.0317, -0.0757, -0.0171, -0.2803, -4.4103, 8.1026, 2.0977, -0.0562, 0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1136baf872aacaa2588fbcc1127cc48be90845f8af6a5d987ea00e9d8f66c18d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0278b9f637eac3c722ab62bcffea44b11e00c7e1d58931dcbde7e1a85c2d6e21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285b7881df59d380834bd48187ee764250e3ba911365bf141c1b689abcb153c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzAYKEAgSGAI4AUIIdGhpbmtpbmcSDEmWgME3P0tHCsV7NBoMT8gAFkMmk999qTE1IjA/rtYhk3sf7UOwk13c60n26NhLRCDhHuhMhptUvqns9QpeO4i64MNfS5IHmiOMViQq6QUaAmtiQpYxwW4rxs6tfGgZdpMneeYOqLY0cGxDM29wzNfLdCiF6HkpsLb1shkWfbN2YDChx/kGH3Yu4a8M8LGD/9Fg4V2lvbwB8j/ajGxxXSySwGVVtApjLWxIXEujs/BYaTYkI0nT4OSsPEdIpvSnuC8GHF2wgPQrwlcF13VfoVXDwZEvS2SDeHuMTSpqR+c4hRR/lQucHhJkx1rTQJGOHGdNJvZqEeb1Zt7pvTyEf7kxRTU4SkrakYQ5vfyLxxoamMuH5lvOLFN1VHghoenC/yQ1kN4p8ozgdZrSx+sgV0rgvvDgeqypO2EWeEDDcyIsuwpmpnkOicMR2JewwRgV843H/uKk9GlWyO/XvYeyFQRtiLFq4hCh8KnI7V0EvL4Aq6IDBmgTwr81Uf4QT8A39ir3CPiJ4UFLRKUb0xeJ1hm5z9ljZ4fCRMTzDRZvbZopEucF4AVtZQVIP20vexf9AHTsoeaSQEcQLxEFR/VG4wXjIA69i2lqIlXikNk0jwVABYIXmRhge80pTKOo4Ec60JeRukMqqUXurBrDwt57F8Z8tM3w98qTuVQR1FnYUSed/TNwgKbXs0qre7lZnMKzYilyom/mvbsQ3xXbxo3zia7mEipQ69/FwK0A/Li1xCdA93le3R81esSIRM/iMgKMYMdQSNLJeD0HLB5HgKOH7vVVC+UBvmW9CsHRIA2AhQdOjtSJDjK1z485rVXAgnx7L26VoKMrYsDoHyMe9+qfT7I4qu9NfUKnM8Ml302h/UjTjfyTipPKkr+qj5NHakBOrXpnT0luBG9udz8hqIneiDlCqoUixXvGIjZaHbwXujQQGQgsVwr+c4LRbeN2gjmqthNTq7kR4bw9rLCE2E8OYWayqYIdJoaPa7t7x5JZidfuYjUbKdUYoLyZQo2jsp2sw0GuCfDUxQZTAk/QHG64hRjuk9F7Q1ddIOSargmjYnTo4EWN5vr5yogub0cwE6g6+TRe3yO+/J5BGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YSfkd6BKm9XeRjturaMcpH",
      "input": {
        "note": "Pear is centred on the jaw column just ahead of the fingertips; advancing ~3 cm and descending to grasp its body.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01YSfkd6BKm9XeRjturaMcpH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4053, -0.0139, -0.0273, 0.9989, -0.0189, 1.6203, 0.4667, 0.4709, -0.0242, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1754 left_yaw=-0.0041 left_pitch=-0.0294 left_roll=0.0032 left_gripper=0.9989 right_x=0.3788 right_y=0.0007 right_z=0.0205 right_yaw=0.0126 right_pitch=-0.1094 right_roll=-0.0092 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.6068, 7.0085, 1.8388, -0.0757, 0.0024, -0.0122, -0.4034, -6.5846, 5.1897, 1.956, -0.0366, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1acf3deb05bced3aeec062938fd1c67163c277846a181056f8bb21add91b159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c10990c5c6b777c93386aefe8001ae329ede646cc4dc3c0a7c022b368808cff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9347bccc6ec6e01f9488e4393ea4b70dc2b8b5526d71cd67070e5f9eb7239a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.025 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]: [-0.02, 0.8005, 0.6132, -0.3824, -0.0143, -0.0307, 0.999, -0.0227, 0.8005, 0.6182, -0.3908, -0.0238, -0.0196, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.999 right_x=0.2955 right_y=0.0011 right_z=0.1825 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.7846, 9.5795, 1.79, -0.1343, 0.105, -0.1197, -0.4581, -1.7709, 9.1966, 1.8584, -0.0317, -0.0024, -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]: [-0.0219, 0.8032, 0.6132, -0.3943, -0.0139, -0.028, 0.9989, -0.0219, 1.1492, 0.6098, -0.1009, -0.0242, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0037 left_pitch=-0.0145 left_roll=0.0023 left_gripper=0.9989 right_x=0.351 right_y=0.0002 right_z=0.1313 right_yaw=0.0053 right_pitch=-0.0671 right_roll=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -1.3744, 7.0632, 1.8632, -0.0317, -0.0757, -0.0171, -0.2803, -4.4103, 8.1026, 2.0977, -0.0562, 0.022, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4053, -0.0139, -0.0273, 0.9989, -0.0189, 1.6203, 0.4667, 0.4709, -0.0242, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1754 left_yaw=-0.0041 left_pitch=-0.0294 left_roll=0.0032 left_gripper=0.9989 right_x=0.3788 right_y=0.0007 right_z=0.0205 right_yaw=0.0126 right_pitch=-0.1094 right_roll=-0.0092 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.6068, 7.0085, 1.8388, -0.0757, 0.0024, -0.0122, -0.4034, -6.5846, 5.1897, 1.956, -0.0366, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1acf3deb05bced3aeec062938fd1c67163c277846a181056f8bb21add91b159",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c10990c5c6b777c93386aefe8001ae329ede646cc4dc3c0a7c022b368808cff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9347bccc6ec6e01f9488e4393ea4b70dc2b8b5526d71cd67070e5f9eb7239a9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019jBhrxh3Luns69MDGR5hiv",
      "input": {
        "note": "The pear fills the view between the jaws at z≈2 cm; closing the gripper.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019jBhrxh3Luns69MDGR5hiv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0139, -0.0277, 0.9989, -0.017, 1.6203, 0.4656, 0.4664, -0.0242, -0.0376, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1745 left_yaw=-0.0039 left_pitch=-0.0336 left_roll=0.003 left_gripper=0.9989 right_x=0.3777 right_y=0.0015 right_z=0.0193 right_yaw=0.016 right_pitch=-0.1151 right_roll=-0.0111 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.2513, 7.4735, 1.7509, -0.0513, -0.0757, -0.0122, -0.1983, -6.065, 5.0393, 1.6581, -0.0562, 0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f72a2d5c631fe953c5fe3b4b5c87e5855766b2c3cc7896565f153457ced4023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3f0d38fffb76fc6fad79dc798f2c102a229d7a7cb06d1621ab310c26f52b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f636e421f0cae2359ad79a9ab28307da0d67ac08220f792a81d01cf16faf7503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.595 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]: [-0.0219, 0.8032, 0.6132, -0.3943, -0.0139, -0.028, 0.9989, -0.0219, 1.1492, 0.6098, -0.1009, -0.0242, -0.0273, 0.9994]\nstate[eef_state]: left_x=0.2946 left_y=-0.0004 left_z=0.1787 left_yaw=-0.0037 left_pitch=-0.0145 left_roll=0.0023 left_gripper=0.9989 right_x=0.351 right_y=0.0002 right_z=0.1313 right_yaw=0.0053 right_pitch=-0.0671 right_roll=-0.0044 right_gripper=0.9994\nstate[joint_eff]: [0.1299, -1.3744, 7.0632, 1.8632, -0.0317, -0.0757, -0.0171, -0.2803, -4.4103, 8.1026, 2.0977, -0.0562, 0.022, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4053, -0.0139, -0.0273, 0.9989, -0.0189, 1.6203, 0.4667, 0.4709, -0.0242, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1754 left_yaw=-0.0041 left_pitch=-0.0294 left_roll=0.0032 left_gripper=0.9989 right_x=0.3788 right_y=0.0007 right_z=0.0205 right_yaw=0.0126 right_pitch=-0.1094 right_roll=-0.0092 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.6068, 7.0085, 1.8388, -0.0757, 0.0024, -0.0122, -0.4034, -6.5846, 5.1897, 1.956, -0.0366, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0139, -0.0277, 0.9989, -0.017, 1.6203, 0.4656, 0.4664, -0.0242, -0.0376, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1745 left_yaw=-0.0039 left_pitch=-0.0336 left_roll=0.003 left_gripper=0.9989 right_x=0.3777 right_y=0.0015 right_z=0.0193 right_yaw=0.016 right_pitch=-0.1151 right_roll=-0.0111 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.2513, 7.4735, 1.7509, -0.0513, -0.0757, -0.0122, -0.1983, -6.065, 5.0393, 1.6581, -0.0562, 0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f72a2d5c631fe953c5fe3b4b5c87e5855766b2c3cc7896565f153457ced4023",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af3f0d38fffb76fc6fad79dc798f2c102a229d7a7cb06d1621ab310c26f52b03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f636e421f0cae2359ad79a9ab28307da0d67ac08220f792a81d01cf16faf7503",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpQcKEAgSGAI4AUIIdGhpbmtpbmcSDIUdxEOFMRqDllAurhoMPafteQ215g5UMayfIjDnkOW221n1KSAVQJnB5TbXSXnvUvQ9ZNOW07UotgWXMWM5Ja+ZzHvGMxAz6GXY6D0qwgY6WgERf3y0FyjqoviPOYh8yKpiuK1kFt3BHbVokqBT1nL2ZWY0LGxXkz3pZHsnMyqJf4adggIDJco58MKYG0//QDgi4vrjZuzb6o34QRStf1h0qwhTYvphLZ/Zxw9vkeYD4HPJgn04M2Pz+2cyKP2BKiZ9/rwmTPOuVwDUjo1tdjvLKEYwj4J++EgXPoie5Q5kV+CrvcM+C0L9lHPP4lwphmTKA/7UZ2ISmlu8WSMg4NHt+wqq+FiSuHpMBuggL282M/p5JRbXQDbhGkDvj4n93jJR2qDWkwSSoDLPNKgFNqhaBqx7WysMeCiG6JLYBguCWv7G4fw6BNOxPZ8658xhTaWnack1RyamyAmuGLkrT1qYV3fJ7z/YDHn0ZwUaduY2iG7Gpk3U1/MqrnKqJFVstXW8PXkOnaiiotF/LGQB1hqCzNyrUDScmEY1prLTSqqm51uez3uXrwp8EoXOC4RELHgYQRLh21evDPApBbZTiM+tQM8ZFdG7S1aOCITBIyQCiIU8vQB+ibyh/ZXrHZycoTEkBS1U8WzBCwZZxFBt2ORSp5YuqxEerD/dQNJI2JvwdxPZq7a3dGk+6qghIYvVoNZ2RHIrkKfvoWfuPO3EN4eG6giPxdVLUXyMQK4rJTNNB3eEgumh779wmokAN6FCRbNbImcgamhKXggotZBYJwL5ybAtaElDX1489UX0kqPCajgeRxqgTKtk6VETRvJJDtzBKM8bzQo9XnAqcX3o+rI8Lh11C1zEBrAG9qumyeWQmx98EurQkkIGblIG/ibqZuw0f2EBjpCl/ZdMA95sON0UJuq1d8G8tPLqh0sBW+mmA0MwxavgDeQeykgSlA1gqz/BFQAsMJsq25wXTNToCiX5J+jHa7ZebVBPVWFMOmwNn50LcAZLJeWQqYo1Z09U5FgHgiuFrqbUegt0bvg1vwsrN73Ujoolno7DdWR5z/+n9o5+87LC+hsyC1gZEgw60hW4uTK+Pkkq+gABqI6cJ+zUC/VtS4Wts2FgBjM7E//5km3AkbubCBJk/P8oyeuwsLc6tx7uijdRv90UDRVVDKt9dCoyRLBMFaZ/04fKdm09VboRTyownbehPKXKqZVwT5cYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BqZnuoTquqAvhRva1CgrCJ",
      "input": {
        "note": "Empty close (0.01): the jaws met just short of the pear's base. Opening and lifting slightly before moving further out.",
        "targets": {
          "right_gripper": 1,
          "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_01BqZnuoTquqAvhRva1CgrCJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0277, 0.9989, -0.017, 1.5143, 0.4934, 0.2935, -0.0242, -0.0456, 0.996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0039 left_pitch=-0.0431 left_roll=0.0031 left_gripper=0.9989 right_x=0.3687 right_y=0.0016 right_z=0.0342 right_yaw=0.0205 right_pitch=-0.154 right_roll=-0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.4017, 6.9949, 1.8242, -0.0757, -0.0562, -0.0122, -0.335, -6.7761, 8.0068, 1.6777, -0.0757, 0.0415, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5660abecb06129a8677b506909946d60c2ef5b2cb5cd3db77d42af8816f3825e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f83ac57fa07a32dc33ac2980f334073863530c6a0b8bcd4a0337954427ed0d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8cca133cc9b5e5b61098a84dabcad01f13e2e6c3c6c7b4e7b90b633291b9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.285 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]: [-0.0219, 0.807, 0.6132, -0.4053, -0.0139, -0.0273, 0.9989, -0.0189, 1.6203, 0.4667, 0.4709, -0.0242, -0.0349, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1754 left_yaw=-0.0041 left_pitch=-0.0294 left_roll=0.0032 left_gripper=0.9989 right_x=0.3788 right_y=0.0007 right_z=0.0205 right_yaw=0.0126 right_pitch=-0.1094 right_roll=-0.0092 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.6068, 7.0085, 1.8388, -0.0757, 0.0024, -0.0122, -0.4034, -6.5846, 5.1897, 1.956, -0.0366, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0139, -0.0277, 0.9989, -0.017, 1.6203, 0.4656, 0.4664, -0.0242, -0.0376, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1745 left_yaw=-0.0039 left_pitch=-0.0336 left_roll=0.003 left_gripper=0.9989 right_x=0.3777 right_y=0.0015 right_z=0.0193 right_yaw=0.016 right_pitch=-0.1151 right_roll=-0.0111 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.2513, 7.4735, 1.7509, -0.0513, -0.0757, -0.0122, -0.1983, -6.065, 5.0393, 1.6581, -0.0562, 0.0024, 0.9841]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0277, 0.9989, -0.017, 1.5143, 0.4934, 0.2935, -0.0242, -0.0456, 0.996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0039 left_pitch=-0.0431 left_roll=0.0031 left_gripper=0.9989 right_x=0.3687 right_y=0.0016 right_z=0.0342 right_yaw=0.0205 right_pitch=-0.154 right_roll=-0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.4017, 6.9949, 1.8242, -0.0757, -0.0562, -0.0122, -0.335, -6.7761, 8.0068, 1.6777, -0.0757, 0.0415, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5660abecb06129a8677b506909946d60c2ef5b2cb5cd3db77d42af8816f3825e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f83ac57fa07a32dc33ac2980f334073863530c6a0b8bcd4a0337954427ed0d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8cca133cc9b5e5b61098a84dabcad01f13e2e6c3c6c7b4e7b90b633291b9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016Yd28kQUrx9RCNcrLbE6oE",
      "input": {
        "note": "Pear sits a few cm beyond the jaws; advancing ~5 cm and dropping to 2 cm so the jaws straddle its body.",
        "targets": {
          "right_x": 0.43,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_016Yd28kQUrx9RCNcrLbE6oE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0277, 0.9989, -0.0151, 1.7824, 0.6903, 0.3099, -0.025, -0.0536, 0.9971]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0038 left_pitch=-0.0534 left_roll=0.0033 left_gripper=0.9989 right_x=0.4167 right_y=0.0017 right_z=0.0066 right_yaw=0.0279 right_pitch=-0.2089 right_roll=-0.019 right_gripper=0.9971\nstate[joint_eff]: [-0.335, -1.6342, 7.0496, 1.746, -0.0415, -0.0708, -0.0171, -0.212, -7.5556, 6.9265, 1.8877, -0.0464, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cadf63d14cff10f4f85eb74442985805f3d341331f54773ed3785f95f2985c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdce8e825527c3567067aa78eb694051f6c0390bc2399ce1d728ca104a2689da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:895453a5d13627bcc41cedc87d4af24297dcc0994fadd169d2d4daecca8caeb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.823 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]: [-0.0219, 0.8078, 0.6132, -0.4088, -0.0139, -0.0277, 0.9989, -0.017, 1.6203, 0.4656, 0.4664, -0.0242, -0.0376, 0.0115]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1745 left_yaw=-0.0039 left_pitch=-0.0336 left_roll=0.003 left_gripper=0.9989 right_x=0.3777 right_y=0.0015 right_z=0.0193 right_yaw=0.016 right_pitch=-0.1151 right_roll=-0.0111 right_gripper=0.0115\nstate[joint_eff]: [0.0068, -1.2513, 7.4735, 1.7509, -0.0513, -0.0757, -0.0122, -0.1983, -6.065, 5.0393, 1.6581, -0.0562, 0.0024, 0.9841]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0277, 0.9989, -0.017, 1.5143, 0.4934, 0.2935, -0.0242, -0.0456, 0.996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0039 left_pitch=-0.0431 left_roll=0.0031 left_gripper=0.9989 right_x=0.3687 right_y=0.0016 right_z=0.0342 right_yaw=0.0205 right_pitch=-0.154 right_roll=-0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.4017, 6.9949, 1.8242, -0.0757, -0.0562, -0.0122, -0.335, -6.7761, 8.0068, 1.6777, -0.0757, 0.0415, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0277, 0.9989, -0.0151, 1.7824, 0.6903, 0.3099, -0.025, -0.0536, 0.9971]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0038 left_pitch=-0.0534 left_roll=0.0033 left_gripper=0.9989 right_x=0.4167 right_y=0.0017 right_z=0.0066 right_yaw=0.0279 right_pitch=-0.2089 right_roll=-0.019 right_gripper=0.9971\nstate[joint_eff]: [-0.335, -1.6342, 7.0496, 1.746, -0.0415, -0.0708, -0.0171, -0.212, -7.5556, 6.9265, 1.8877, -0.0464, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4cadf63d14cff10f4f85eb74442985805f3d341331f54773ed3785f95f2985c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cdce8e825527c3567067aa78eb694051f6c0390bc2399ce1d728ca104a2689da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:895453a5d13627bcc41cedc87d4af24297dcc0994fadd169d2d4daecca8caeb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QM9SZ5bppixZr3CjVazsGU",
      "input": {
        "note": "The pear now fills the space right at the jaws; closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01QM9SZ5bppixZr3CjVazsGU",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4316, -0.0135, -0.0277, 0.9989, -0.0154, 1.7824, 0.6895, 0.3042, -0.0246, -0.0612, 0.7043]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0042 left_pitch=-0.0637 left_roll=0.0033 left_gripper=0.9989 right_x=0.4154 right_y=0.0015 right_z=0.0053 right_yaw=0.0315 right_pitch=-0.2155 right_roll=-0.0245 right_gripper=0.7043\nstate[joint_eff]: [-0.1299, -1.388, 6.9949, 1.7558, -0.0317, -0.0415, -0.0122, -0.1709, -7.6923, 5.094, 1.5849, -0.0659, 0.0513, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d92fddbd4e00918d6b047ec94e0b2f5cb2d2c294db4ac794ec31b2132181d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36697dc46558d31e175623389480627aa111cf76449eabefa5a18b2028c86d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5618d3e7280aeb057235835ae815290c2425092c00314da516f327dbc7b29334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 7.35 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]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0277, 0.9989, -0.017, 1.5143, 0.4934, 0.2935, -0.0242, -0.0456, 0.996]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0039 left_pitch=-0.0431 left_roll=0.0031 left_gripper=0.9989 right_x=0.3687 right_y=0.0016 right_z=0.0342 right_yaw=0.0205 right_pitch=-0.154 right_roll=-0.0158 right_gripper=0.996\nstate[joint_eff]: [-0.1846, -1.4017, 6.9949, 1.8242, -0.0757, -0.0562, -0.0122, -0.335, -6.7761, 8.0068, 1.6777, -0.0757, 0.0415, -0.1783]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0277, 0.9989, -0.0151, 1.7824, 0.6903, 0.3099, -0.025, -0.0536, 0.9971]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0038 left_pitch=-0.0534 left_roll=0.0033 left_gripper=0.9989 right_x=0.4167 right_y=0.0017 right_z=0.0066 right_yaw=0.0279 right_pitch=-0.2089 right_roll=-0.019 right_gripper=0.9971\nstate[joint_eff]: [-0.335, -1.6342, 7.0496, 1.746, -0.0415, -0.0708, -0.0171, -0.212, -7.5556, 6.9265, 1.8877, -0.0464, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4316, -0.0135, -0.0277, 0.9989, -0.0154, 1.7824, 0.6895, 0.3042, -0.0246, -0.0612, 0.7043]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0042 left_pitch=-0.0637 left_roll=0.0033 left_gripper=0.9989 right_x=0.4154 right_y=0.0015 right_z=0.0053 right_yaw=0.0315 right_pitch=-0.2155 right_roll=-0.0245 right_gripper=0.7043\nstate[joint_eff]: [-0.1299, -1.388, 6.9949, 1.7558, -0.0317, -0.0415, -0.0122, -0.1709, -7.6923, 5.094, 1.5849, -0.0659, 0.0513, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99d92fddbd4e00918d6b047ec94e0b2f5cb2d2c294db4ac794ec31b2132181d5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c36697dc46558d31e175623389480627aa111cf76449eabefa5a18b2028c86d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5618d3e7280aeb057235835ae815290c2425092c00314da516f327dbc7b29334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5ggKEAgSGAI4AUIIdGhpbmtpbmcSDKrmEZg0FCiFoxbolBoM2nQ71NYrdgiKISalIjBbka4UQxDrtaVY38irFn20mg5F1qtDuZ75F2gQKbUQvsRQYnniGgZRtJqBRUIITkMqgwgJphv0xJquCvnrp2DLGUfqhrzC5HukPCnDWkECISYOxuWNJ48G25lQimbNIbOO1tCoGU1evvPduKUH29LQic2vjqravyZdmg2soCrRxU+EyoDP/9DfKnFPszHn6QGzLwRiL6wfFJTsdkrO5M8JORjw2oQ6C56sqhn/2pvlL5/Oelw/BXb9V4iTGMB4R4NRtDRkS/iQesJ1+QVSCbBhxyzH4Ovom5Jd5voerRond4J2AwI+WKGazEurAAfldPhHj+Uw7SZcOiLts1LTbStpU9YFck7SUTtHakacwClJtSx1EjVfJPPt0XBm23w9ExnnzhAGuNpYdly6QlbT9OnAq/PZQ/RA2CTuq9WB8tiz0kIvjdAGjrtMvFxBnsviua8PR1IdoW/3x8GiGFMrCs3ERlsqVfEa3psemEyMiplZnvqNZ3lTwDixIJxbJPZTPZQDADmiLjS2iRmSCEOXRXdDapR6VEzK36Iutbwpt79wOZ78JMPl+OSK2CleXlyCufC5fISCcImUMFgUTguw7u/p12CjqbZVT6EmbtaTqInzqx2Oilg10qe4nCHsQsNUAMbvT0KzKwzkRtvWWYWvNUgyVvftnIMHDZoQtFti7lEGlWC7+L9vNkRQCGSptHbLcT6jyv5HOz1ckN0ATnxE20an/f6clwF5OfjgqRpNy/P5Bx6hwQCXxtT7r7iBAX49PoIk4bvQsllCwgcqOnKr28umjcf9ZtQd23tfofArH2rwhDx39rhNfqFLFOZdP/J1Da6oGaXRyyjRRBYSgpE35czF/OiEJ4M33DfKNnUuvQiO4+F8hM4CKEIbpF6mCPh8dlhMXeVt0SGdzdKDX7sy2qfvIisCdfgtorJkD095vBbGMaBlRHpX4eElpB3L9uujM99cur/iLsrYJ151UttUnR9/cSGd4fiUI1YGbGJ23oWY4W7uWtjrwFpS0AEF13tZbKCnnu3h0vmZKSAKpTHRb4Ac27UPX9CjRUWUW8hDYa4BKbWPCsogDRsxGI7ThTO7hBYFLP/KvnpCJZBuLG/+aXz/MfO0E49eUfiW6yQMT10oDVqfqrtp7pMk0wpG4VfFT8wAgjIIUjVQQrw4LafMaEftPCaZwm80DGtrONCJ+xNbXsdxEHfcnJQXajHCGOs2gnj3KNe2/FYvLKprVDD+A+2+vQvduaw5Tvj5Lejga8p6Cur43IuM9E1GA+t156QPDfHErd2xpHrUNjxTroHMwtSPbV7VIUrdT/OgsCgNBBmrhggdNiuJ+rIiDMj6kqFvzura+8FM4aVfqitjJQXv436TUqMU/j80XVg/doH/7CYOcC0jbh5Tz1tJsaoJaaoE322EOCCcbDV7yjx2opqTOPKaInAbEb9VGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013biaKAF86HemJ6ArhUH5bJ",
      "input": {
        "note": "Gripper settled at 0.70 (~6.7 cm), so the pear is held. Lifting it clear before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013biaKAF86HemJ6ArhUH5bJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4347, -0.0139, -0.0277, 0.9989, -0.0151, 1.4822, 1.1679, -0.5259, -0.0315, -0.0723, 0.7079]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0038 left_pitch=-0.0671 left_roll=0.0036 left_gripper=0.9989 right_x=0.4129 right_y=0.0029 right_z=0.1727 right_yaw=0.0447 right_pitch=-0.2667 right_roll=-0.0243 right_gripper=0.7079\nstate[joint_eff]: [-0.3214, -1.1966, 7.3778, 1.7265, -0.0708, -0.0464, -0.0122, -0.3761, -8.7863, 9.1145, 1.6435, 0.0464, 0.0757, 0.779]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11fe1e62d9f2072adade784bbc77a69dbb6a260bddfa23b7c18a166ab18ed133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06f3aa5f75d1e46b46c9b775429837eadbf724159c93f580607454698b84d3bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:438966a9c2375f3400dd6dba39fddfeb477875e7a398a8b06c496a4556ea94f5",
        "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 · 5.555 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]: [-0.0219, 0.8124, 0.6132, -0.424, -0.0139, -0.0277, 0.9989, -0.0151, 1.7824, 0.6903, 0.3099, -0.025, -0.0536, 0.9971]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0038 left_pitch=-0.0534 left_roll=0.0033 left_gripper=0.9989 right_x=0.4167 right_y=0.0017 right_z=0.0066 right_yaw=0.0279 right_pitch=-0.2089 right_roll=-0.019 right_gripper=0.9971\nstate[joint_eff]: [-0.335, -1.6342, 7.0496, 1.746, -0.0415, -0.0708, -0.0171, -0.212, -7.5556, 6.9265, 1.8877, -0.0464, 0.0415, 0.0952]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6132, -0.4316, -0.0135, -0.0277, 0.9989, -0.0154, 1.7824, 0.6895, 0.3042, -0.0246, -0.0612, 0.7043]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0042 left_pitch=-0.0637 left_roll=0.0033 left_gripper=0.9989 right_x=0.4154 right_y=0.0015 right_z=0.0053 right_yaw=0.0315 right_pitch=-0.2155 right_roll=-0.0245 right_gripper=0.7043\nstate[joint_eff]: [-0.1299, -1.388, 6.9949, 1.7558, -0.0317, -0.0415, -0.0122, -0.1709, -7.6923, 5.094, 1.5849, -0.0659, 0.0513, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4347, -0.0139, -0.0277, 0.9989, -0.0151, 1.4822, 1.1679, -0.5259, -0.0315, -0.0723, 0.7079]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0038 left_pitch=-0.0671 left_roll=0.0036 left_gripper=0.9989 right_x=0.4129 right_y=0.0029 right_z=0.1727 right_yaw=0.0447 right_pitch=-0.2667 right_roll=-0.0243 right_gripper=0.7079\nstate[joint_eff]: [-0.3214, -1.1966, 7.3778, 1.7265, -0.0708, -0.0464, -0.0122, -0.3761, -8.7863, 9.1145, 1.6435, 0.0464, 0.0757, 0.779]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11fe1e62d9f2072adade784bbc77a69dbb6a260bddfa23b7c18a166ab18ed133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06f3aa5f75d1e46b46c9b775429837eadbf724159c93f580607454698b84d3bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:438966a9c2375f3400dd6dba39fddfeb477875e7a398a8b06c496a4556ea94f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1gkKEAgSGAI4AUIIdGhpbmtpbmcSDL6ehLv7QsBYxFdF9hoMfGUwPtUUICSzIuF7IjAOa7EcelH2tL308EaqQ9+ENnHxgR93DaOc5NqM1x5/q3qo0Hm13BOUCwQzbpafRIYq8wimFbtwMhpvFCts1PJQBLC/4E35maVyiaIITmJjuI73xKRq0DsfDwjm2ThR9RsTXjdaWdRy0d/ha2AiahbV5lHRaFJCnZIBLB4rKstxLEiEtO8aHIUW26h+BzUpJ2hbtpT7jwmt2KmyKfGGqUWU/Qp+mi1R9fhNd+kmSUIZvwuOps+8BObVlbX40Kb7oJA8LXiLbNELuJ0GiQc2Qwfjk9n2GjtsubxMufG1B6Z2IeSOUQDKOcSVtVBO4yEr7YD7QaDU6GVq0D9mA0LZB387zsLbuGv18gXDSIX1xymWBQ2Bj2GU5MkV9u9mlIT4iMTn+wkUsNeli6EJMw0fBOTnSCbCZX+GhVExQ82uN4LStGHvsnFSNFwJ1vNFXw8+wkINF/avYqgzkMgyp0W32urc5eksEcL1KkBX9N51dZgnasjLJ2wdkksZ/WFZsUQReJMUHLkFT7gmfKWrz1VbHgrY+xbBLcck6N9HzaqbLBghkAaYkOsHDDAB8WZIy8sQqyLSKxBSJ3MRQydmfdWDgTgUVKLwgOv9hJMF9vIH0ZuZjQMSu4hVDykwFCbYjJBkYS+7rrjzVwFa54tmS4GEZ4D9vcW5QOxb9FAXATEjPBWMjqouSaPPk1wuzrVRd22bXLmXBOlhLaaJGxK0VOW5/2yteLyGiKg4IKOgqbVWQvnRJdufAng9NksnOBFHBkAmNskimu/USeshLOfpJ2AkQ93f3MWg0yDyrM0GqsW/924L53YnIQidvljiLF2oquX2mT5XCeoFUFv1AvcsFt4xHHs6zCVsEimjtXWTxleyBpLIDi5AwLohZo81Zznf5SSNgZ3Y0/HsM9FIoD4rLDtqx2kuMWRPrfjB/Loib7WgqRM2dKZGKf32ifwvPZA8LBg/uJ5mw8uQ0junYifDwFQMsZjMNSpki9vpmalUP0/z1Fbs8DVT5IDS87/Y6wu35Y75KmiB8AEdz/HNXg+zboJydEZOXVjTR1+WIZTPu9Y4UxsV4w8WZlG/j91CwmvdofJB2ZBLViRPd9tr+pd3i0flFFoC4cITXNRq0s7dU8NWKF/ftTmIi9cPZHf/2V4qoQSS2OSbTsV/Flknefea4hao5+jGzcTVA5XEjxt5fXlUGfBcy3hnM8S6j7m/mlKfvI17GJGzPPNgdb3MZugKfgx+kn+sB5OLBVVyni8EFY0DhXGe35xDk28HrB7Zx9W0Qkdz2QzetYKMYyKG5UKSK/5n3XcOup7JCqZowiPAo5dm8iD3Tvf1j9IWYQM2s5fBfVwFC1e0oDR5r1fbCFDqrxl0UKuSvPOumMQqUpGGXs1VIWbQJFvOiOTFrMLo9uX40DeQISID56Jyo56Z7Tba61w7Jnc+GC+qlcLfmLZlVJHOhSdYToqEQHlsSC/ZWLPBZByTeSY/32LruXgBhx2Zpffyty2DQmdjoe82HjKr952K8IhVkxf63xheKgNOBP7b209GIiwEn9AX6KRkHoFzkD0q1LCniIKUGnrN4JRReYa/KeGpbGzCdyZ7ghgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JpcV6duXvaWxaJ53YHd6ZQ",
      "input": {
        "note": "Pear held at 17 cm. The blue bowl is ahead and to the left of the gripper in both views, so I'm carrying the pear over it.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.1,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JpcV6duXvaWxaJ53YHd6ZQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4438, -0.0139, -0.0277, 0.9989, 0.2596, 1.7069, 1.4651, -0.6819, 0.12, 0.0853, 0.7112]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1644 left_yaw=-0.0038 left_pitch=-0.0801 left_roll=0.0038 left_gripper=0.9989 right_x=0.4453 right_y=0.1001 right_z=0.1774 right_yaw=0.0951 right_pitch=-0.3419 right_roll=-0.0458 right_gripper=0.7112\nstate[joint_eff]: [-0.1573, -1.6615, 6.9949, 1.7265, -0.0415, -0.0464, -0.0122, -0.3761, -8.8821, 9.7299, 1.5849, 0.3053, 0.2759, 0.6618]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b099005d5a73b82c5ceb10c4ed19557f78d18e9d02bad0b7f4af58bf86623398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42bbde5f2114506403c51beb8bad659c4488c28ac3c1ed20bf8b6b381ce36e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcac5c11d132b152b3ddb471a0e5ecb7705f22d43d2cd7bd0be30a4819071423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 5.676 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]: [-0.0219, 0.815, 0.6132, -0.4316, -0.0135, -0.0277, 0.9989, -0.0154, 1.7824, 0.6895, 0.3042, -0.0246, -0.0612, 0.7043]\nstate[eef_state]: left_x=0.29 left_y=-0.0004 left_z=0.1679 left_yaw=-0.0042 left_pitch=-0.0637 left_roll=0.0033 left_gripper=0.9989 right_x=0.4154 right_y=0.0015 right_z=0.0053 right_yaw=0.0315 right_pitch=-0.2155 right_roll=-0.0245 right_gripper=0.7043\nstate[joint_eff]: [-0.1299, -1.388, 6.9949, 1.7558, -0.0317, -0.0415, -0.0122, -0.1709, -7.6923, 5.094, 1.5849, -0.0659, 0.0513, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4347, -0.0139, -0.0277, 0.9989, -0.0151, 1.4822, 1.1679, -0.5259, -0.0315, -0.0723, 0.7079]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0038 left_pitch=-0.0671 left_roll=0.0036 left_gripper=0.9989 right_x=0.4129 right_y=0.0029 right_z=0.1727 right_yaw=0.0447 right_pitch=-0.2667 right_roll=-0.0243 right_gripper=0.7079\nstate[joint_eff]: [-0.3214, -1.1966, 7.3778, 1.7265, -0.0708, -0.0464, -0.0122, -0.3761, -8.7863, 9.1145, 1.6435, 0.0464, 0.0757, 0.779]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4438, -0.0139, -0.0277, 0.9989, 0.2596, 1.7069, 1.4651, -0.6819, 0.12, 0.0853, 0.7112]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1644 left_yaw=-0.0038 left_pitch=-0.0801 left_roll=0.0038 left_gripper=0.9989 right_x=0.4453 right_y=0.1001 right_z=0.1774 right_yaw=0.0951 right_pitch=-0.3419 right_roll=-0.0458 right_gripper=0.7112\nstate[joint_eff]: [-0.1573, -1.6615, 6.9949, 1.7265, -0.0415, -0.0464, -0.0122, -0.3761, -8.8821, 9.7299, 1.5849, 0.3053, 0.2759, 0.6618]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b099005d5a73b82c5ceb10c4ed19557f78d18e9d02bad0b7f4af58bf86623398",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42bbde5f2114506403c51beb8bad659c4488c28ac3c1ed20bf8b6b381ce36e16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcac5c11d132b152b3ddb471a0e5ecb7705f22d43d2cd7bd0be30a4819071423",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswkKEAgSGAI4AUIIdGhpbmtpbmcSDBiosqlWpbXOcEKfhhoMC2HS38W/nxjqLeZRIjCZ/xOKMKNkRXHKcbHSsakzFTFNvQdVlRXL7mVsMpdaZ2owJjwwEeOGGf+sNPuhGgYq0AhKoPwv5mcqapjUTIIlqBUzdWxJeMfRe/gqZZz0yqodXhtbQsH/KulPZ8FZshBkTfnb1n68gU6kRo9rttJYwCHlB2K+qWJnHsY5LCY5CPJYHMpa52PsZIjM03q2DnFLFMF18wHfGEiRDAs6vl4KtubtaM5JEUjGkEGZOO5j4JUH/rG7qY4iAXlgoWKhi6KeWyq07XB0k67q8N1f0kwHGyQp1Jc6u2yVtGU3dogvJ0do+P822Hr+yLZaNukqVT43PC+V3RKA7u/VJkRW0/4S8+n3UpuI4r/AZAKlrKDcHxRFmkyrmh6aoRS+sS3zvBNCx3oAkgWIgbOxnrkg73aRJNRS+TWwoETc6HtyHAMI0d7QSiL9Sbdupq/ti+3hD28sn3m1Il+BbrROOW0vCuTi2tpuJJ7lWIGJPO7Onl4gQHPbxYpgC5/OmOa3bPIBoj3MicitVTeirE1EZ7VgWtoU6e8TpCPA503Fty0QPct2K/DXaGFlyInL1V9yFQO+e3J2v29rX0OUxrv9gqCbl6JA3k/rsveXzBZlh6NlTv+kmXyPyztt+rGwzvkh8KMKBi0cWTm0/6TeA+l3BvIT8nHHOAKRE2hqsnJrDETarEPyDigYSEUE/hTcuUDa1p9RLVXYiNhTVP02SINWqAdMn1qIYd81Ro9f/H4MxL/SjjMFKG4GzCs7Y5C4vArWzCcPX1v/hbfa8OTuPd/V/h6ZrqEfzGjWKTSprbcegbZpVo2UtO2KW0xqJ25JH1CFYBoLHPJsXR3PYB2nUbSMKnW+VLntb1he15GpmIVf/Zq7NpU8nIY51uidXfElxNzYu8D144Is3ChxfhTRQuvR0AC5UFuUj1W5BXjBxiViR0ztfZZUCSXjVXOkktuDS9IH0nYKQ3071bc09Z9SyapESN3/dnsF92Z3ZVePdb7qB5R+tKHl1Uk71wDU+0MKlFIBhb+O0gR9ldlL6RiWu9WhG5joh5416aLOpDnMtOtIYN1Q3r32RlSIbKpbDsXBe5vIUjUKOWjQN42um/t9rgLaEzE/J6zF3WK8PZo8pO682n5aKQfnhDIh0v+FJv90zGyaEnVonigkXffxjrVllzTvwZ71SQV943SRuGfj1JmNHoM8RoyI4QwkZnOoUTi/UJYN8XFdY3TxRu4VkYTgAbmk9STtVsk9bR1YeA0u3Ya0jmJdfxsxlLv7TfQUqFM49iQkU3zfyDhqHOjvEB7AJsILUt+ce1GZf5Tqs19uMn/KZJBijo4P/L08D9jblcbwgngWt6eYFR78ltifRHFd/jEgkGAq9wJWphZFfRI0KYOmTHvJLhzUkYJkoOrE1lRFj+VYifwAt7cE1pTuiE5yf8PJPnWHJUdZtplXndHWKWdzui0q9izS2Q8qGt4h8C/HC3cFvb3+SFxejm3PHWblzOoRvH9g3Vq32ph1FCJTZc758DJofK2oJ01avbJBy6zNOlYry+KOQL6eYvMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HEL2YRquEywquXZtdLwWbX",
      "input": {
        "note": "The pear is above the blue bowl, perhaps slightly past its far edge. Pulling back a little and lowering before I release it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.11,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01HEL2YRquEywquXZtdLwWbX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4492, -0.0139, -0.0277, 0.9989, 0.2939, 1.713, 1.1656, -0.487, 0.1337, 0.1055, 0.7135]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1631 left_yaw=-0.0038 left_pitch=-0.0862 left_roll=0.0039 left_gripper=0.9989 right_x=0.4108 right_y=0.1035 right_z=0.0865 right_yaw=0.0969 right_pitch=-0.4481 right_roll=-0.067 right_gripper=0.7135\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.7314, -0.0317, -0.0269, -0.0171, 0.4991, -8.4444, 7.1453, 1.7363, 0.105, 0.0659, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae56154144a9bbb91678b2ccb33a4f3199a3dd423e7929b2e6e260aa6fc710a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65254a43eb772e759b9f56cbe21dd3214968b2b242f008efc638ac57e4712b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9fe61a41b78d4c3649a2052bd9b6b801711d5de87b343480d6bd5490d4057dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 4.766 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]: [-0.0219, 0.8154, 0.6132, -0.4347, -0.0139, -0.0277, 0.9989, -0.0151, 1.4822, 1.1679, -0.5259, -0.0315, -0.0723, 0.7079]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1672 left_yaw=-0.0038 left_pitch=-0.0671 left_roll=0.0036 left_gripper=0.9989 right_x=0.4129 right_y=0.0029 right_z=0.1727 right_yaw=0.0447 right_pitch=-0.2667 right_roll=-0.0243 right_gripper=0.7079\nstate[joint_eff]: [-0.3214, -1.1966, 7.3778, 1.7265, -0.0708, -0.0464, -0.0122, -0.3761, -8.7863, 9.1145, 1.6435, 0.0464, 0.0757, 0.779]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4438, -0.0139, -0.0277, 0.9989, 0.2596, 1.7069, 1.4651, -0.6819, 0.12, 0.0853, 0.7112]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1644 left_yaw=-0.0038 left_pitch=-0.0801 left_roll=0.0038 left_gripper=0.9989 right_x=0.4453 right_y=0.1001 right_z=0.1774 right_yaw=0.0951 right_pitch=-0.3419 right_roll=-0.0458 right_gripper=0.7112\nstate[joint_eff]: [-0.1573, -1.6615, 6.9949, 1.7265, -0.0415, -0.0464, -0.0122, -0.3761, -8.8821, 9.7299, 1.5849, 0.3053, 0.2759, 0.6618]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4492, -0.0139, -0.0277, 0.9989, 0.2939, 1.713, 1.1656, -0.487, 0.1337, 0.1055, 0.7135]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1631 left_yaw=-0.0038 left_pitch=-0.0862 left_roll=0.0039 left_gripper=0.9989 right_x=0.4108 right_y=0.1035 right_z=0.0865 right_yaw=0.0969 right_pitch=-0.4481 right_roll=-0.067 right_gripper=0.7135\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.7314, -0.0317, -0.0269, -0.0171, 0.4991, -8.4444, 7.1453, 1.7363, 0.105, 0.0659, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cae56154144a9bbb91678b2ccb33a4f3199a3dd423e7929b2e6e260aa6fc710a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65254a43eb772e759b9f56cbe21dd3214968b2b242f008efc638ac57e4712b72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9fe61a41b78d4c3649a2052bd9b6b801711d5de87b343480d6bd5490d4057dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStAgKEAgSGAI4AUIIdGhpbmtpbmcSDAiGsPCGlYfeDB64cxoMOOI90QDKDZIEf1tQIjCGqfqnFal2VHjpMmbQRsd2nAsdeAyEuu8RNihrfGxJLmf8IEwnAvE9oElaquYf6gcq0QfVHSPLBs0PXFE96h61mph/TbbtuUwY+2uZ3wY0qkQ/IXAtv0QUGQQEPkT9VzIYk9Rzd7VuELsZPyIcRUDiUdeXdbyP7fGQ++PSxHeXgVluolBJD+QwAamnd4LNhT04qQIoH3MF1q6ARUGpogFdPsPLGJ0TUPX2Wf9z9CQeLQ+U4238fkK8pR4EV+29MHzgLAcn3qP2ejMz+kL6i3K9pTm8vk2TENGp5ptTDv49qUoU5MsfXLsEmkq3GHWYvxpSIpJgILfSPbk9PD0ncmy/ywOmASMjdCw/Gr7z6d1m+Rgi3nxU86TA+BY4TBtUdGxIarVABbHC4UzOO5VAApWbcvFabaQ+9vxY8GTowlAX/IStTbrqNeC3DVdX2OAMwm0sGH/eV/xBeS9wk4cMBwtu1HHJiGSfV2DcT0Dss0bPWOYTPQDTm/RIkfSrQfsTdcbHGsY7LOFpoXBcWZKc7rXl4X9AiH6xHea+7s5BXhsRcA6081Qrm5+D5IZrxZf3465HIUt8VGWAvnnGT+4fFQ85OeQ7u8sE2A8Ji2wgZpZuIdaL4JsE4Moq2o5NpWZUOUoHoeU+mG1Ng/qm/Yw7WPjrJ/HBgoUlXyF7m8Lnzlq21xUrBUE88dgZuVJ0qsxgZ2KiZt62lBJeGeDx9A56aNvHOiserAI0HDICJiwmGLgMiHIhaWH1AFPbloPb0p7btm2BGRZu96tYVSa654tGueJWJDPigNkGwBcB5OLVxjoF/5wuGagTOxrc9AAQPWK6wvBmySjyha9YQ71oh+ED68f349NfAB2B85UUaXb4FCZfSXTaxYNW4U5OM2+JmaRYzaHM8s/JdKgf1e91+XWGk6s7C3cSPwaaYQTrG4GnYuE0F4gYIDvZ9SEZdsLPk8cqephMzLFQQGPATmtSMQpLFeOlQ50naLFJNsWvGVyJt9iatVI/KoRMH407c4+XCZBlhiwCkuR1x7OVDPYXstS1jEATIdecQivmgmR0Xi+EEOb4eZvIlmZorzhxV7xcAqeV6JT1mNorSJ5i3ahfds3xZBqNZw0obJHKdYQK9byfU1k02qfz2K/tc402N3a+v8Z2Pv2L55RiW+9YrQsgwTCjXz9+fC02e7qSeK6nLPxpFeN8xJan6toIxSe4PhxB/k7jxqHGCqp9tWpbfin2i1vSyh/WcNujw5znNo3mGyStQypGL2E6cfQkqkD2qJviPJIFu4GUJPUY4uoSpSQPsfujrkK7gNvLLOisM1W4d7QxFuApfG/mFd+v1CeyFOTWgIC1d/Cvc65bEC4MLeV1svN+4w0LnyblPxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MEPYEZT8VPuHQZKfJwvWp9",
      "input": {
        "note": "The wrist view shows the blue bowl just beyond the pear, so the grasp point is short of it. Moving forward and slightly left to get over the bowl's centre.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.12,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MEPYEZT8VPuHQZKfJwvWp9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.45, -0.0139, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4156, 0.1341, 0.1051, 0.7141]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.163 left_yaw=-0.0038 left_pitch=-0.087 left_roll=0.0039 left_gripper=0.9989 right_x=0.4202 right_y=0.1087 right_z=0.0897 right_yaw=0.1069 right_pitch=-0.3942 right_roll=-0.056 right_gripper=0.7141\nstate[joint_eff]: [-0.0752, -1.347, 7.0222, 1.6435, -0.0464, -0.022, -0.0122, -0.1436, -8.6769, 6.9128, 1.6825, 0.1245, 0.0464, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc6787f0ef1c21819f750941009585c98a7f408c660fe540ae4420118127381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e323fc1ef6722f5ed79f3ac1feaafeb606c0bde339f33bac37d2c04f2d2e225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10d800da5c63324c6c991aaf05870e2495d0e8cbe337eb9ead29eaa368818d12",
        "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 · 7.168 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]: [-0.0219, 0.8192, 0.6132, -0.4438, -0.0139, -0.0277, 0.9989, 0.2596, 1.7069, 1.4651, -0.6819, 0.12, 0.0853, 0.7112]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1644 left_yaw=-0.0038 left_pitch=-0.0801 left_roll=0.0038 left_gripper=0.9989 right_x=0.4453 right_y=0.1001 right_z=0.1774 right_yaw=0.0951 right_pitch=-0.3419 right_roll=-0.0458 right_gripper=0.7112\nstate[joint_eff]: [-0.1573, -1.6615, 6.9949, 1.7265, -0.0415, -0.0464, -0.0122, -0.3761, -8.8821, 9.7299, 1.5849, 0.3053, 0.2759, 0.6618]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4492, -0.0139, -0.0277, 0.9989, 0.2939, 1.713, 1.1656, -0.487, 0.1337, 0.1055, 0.7135]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1631 left_yaw=-0.0038 left_pitch=-0.0862 left_roll=0.0039 left_gripper=0.9989 right_x=0.4108 right_y=0.1035 right_z=0.0865 right_yaw=0.0969 right_pitch=-0.4481 right_roll=-0.067 right_gripper=0.7135\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.7314, -0.0317, -0.0269, -0.0171, 0.4991, -8.4444, 7.1453, 1.7363, 0.105, 0.0659, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.45, -0.0139, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4156, 0.1341, 0.1051, 0.7141]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.163 left_yaw=-0.0038 left_pitch=-0.087 left_roll=0.0039 left_gripper=0.9989 right_x=0.4202 right_y=0.1087 right_z=0.0897 right_yaw=0.1069 right_pitch=-0.3942 right_roll=-0.056 right_gripper=0.7141\nstate[joint_eff]: [-0.0752, -1.347, 7.0222, 1.6435, -0.0464, -0.022, -0.0122, -0.1436, -8.6769, 6.9128, 1.6825, 0.1245, 0.0464, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6fc6787f0ef1c21819f750941009585c98a7f408c660fe540ae4420118127381",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e323fc1ef6722f5ed79f3ac1feaafeb606c0bde339f33bac37d2c04f2d2e225",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10d800da5c63324c6c991aaf05870e2495d0e8cbe337eb9ead29eaa368818d12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS7wcKEAgSGAI4AUIIdGhpbmtpbmcSDIJbst+TKrs36UdwcxoMWO98jlgakNAJyeZIIjDezMcM9RoRMGS4KlbXLIV/r5AXCPR4VQavzhQdeGNAAhI21XvwkN6JvgSKeZDZkLwqjAfrUomZGPdDGgHCmaa/QeiXvOVdb44ptCPSAkQ5dfmW7M9XK7NQV5bTIH7gcYYm35WEEQzPEUkf8a01/BwD5WzIIwshdyaMK/8GocjoaTMTQ4CXYYWleOaOZAFN92W5BKfDvuLiINehgsYhEwaML9bQPSHTYTjnX4CGQGs1U5miqT9ABgikDwktJcihfAv1HGGda7RRF1vrhfOOdcaVNzu7LFF8R1qmXZIo8oDRnSjR6RnGbFV/MJgxnJCC2rfG2nh+dVzZVjwC+vkCN3WyWPJlmsMrxZn4ChqSUrCDv+FFkzqfPpyeiZJ5AQH3zIFWKRlQjbsfVmi5O78EdYFMJEOgdfNxFnMiAKY0gJGUQ6FTZ3R8PeTaKG4YgxAH7jvMfK5Oz0hKxJXJ23DGN7egeH6sNP3kAtbol3KKDyIoYWbI2Olcyxf0s5eJP4cwgYq2GvH1uRK0dsA/g0Wb41KTawO6PU67hRcXiX0K76NGsu1i1eU3iYYw8j2WT3rDInXPFoycelcoZdF6bjgTChSxIay67L1uZowsqpd6JtU09wZupvJV/NQgzcHveK0q7pLmXcbeygLCZrhEWIAs5BXaCbmuP8xkRywFPydw8MmnIBdy6NB+sUk12SN2owiB70cCJGuOQQM2iGADk3EppC6nlziV71zuAvPSpaI5I/xuEmNxrR4Sdk0hexAiST80MZ0oCvQ3DB9uOE39TmPsER3LMA1LKusATHY0jSf8tM5jNYcxOTDLNlsHCkI1PKSm9bs2U3PzfIFBarUcSHomlmjAhT/ojEN2c5XEowkUEA81ZO1jV2SwYd9NRmMBBAIFsU7qJcm+ADf/f9GbEs0cODenwb5i5+QjDlFPlTl/HKQDO413AiqSIUdT2fD/8M98zQ5AtGSO07KxxZeaKdXDz6B+Vz5YI/GOmIgWel+Fx5PXxWRy3MLyThjp+MOlaxiRAZOw61NKE/PC5p4Vo5AA5crIv7kkEX+2/LCZ/diNm1KP/odeiiRyEhPOFMry8wQzBUFssmVcbRFaLXp15bj83cHejiupeVUL0/SgYEusE9IAmtu5fn6yyi2ezMz9FIFVr2CzzXMWtQ5snt+B7ag5axrfdUbS+YwXEorHym2z24zA08JhRJYzjut7XGZpXZM3r38r4gI+WCTETe36TrA0gAUwCr6VvKgo3LWon5VSaO1gksLre4XVj1vEhNBLyvc3txgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Pf2EVW5yL9WHQfiXR6pTWW",
      "input": {
        "note": "The arm stalled at x=0.42; the dangling pear is probably catching on the bowl rim. Raising while moving forward over the bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.12,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Pf2EVW5yL9WHQfiXR6pTWW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8253, 0.6132, -0.4683, -0.0135, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4164, 0.1337, 0.1051, 0.7163]\nstate[eef_state]: left_x=0.285 left_y=-0.0003 left_z=0.158 left_yaw=-0.0041 left_pitch=-0.1106 left_roll=0.0041 left_gripper=0.9989 right_x=0.42 right_y=0.1087 right_z=0.0896 right_yaw=0.1071 right_pitch=-0.395 right_roll=-0.0558 right_gripper=0.7163\nstate[joint_eff]: [-0.1709, -1.7983, 7.159, 1.7607, -0.0415, -0.0464, -0.0171, -0.212, -8.841, 6.9128, 1.6679, 0.105, 0.0708, 0.5104]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8f7e450692d1f7296981d144cfa10abc2a186af2d6e99af16a1953ae00a85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc70adf8fdd04f29ec9234fccd7a61310965a3f90e3409e54e87b6b5dde5e288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e35e98633da0b797f20d1e3ca1610589e7da1359aa9e5a41b84b1d0fa28c9a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 5.259 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]: [-0.0219, 0.82, 0.6132, -0.4492, -0.0139, -0.0277, 0.9989, 0.2939, 1.713, 1.1656, -0.487, 0.1337, 0.1055, 0.7135]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.1631 left_yaw=-0.0038 left_pitch=-0.0862 left_roll=0.0039 left_gripper=0.9989 right_x=0.4108 right_y=0.1035 right_z=0.0865 right_yaw=0.0969 right_pitch=-0.4481 right_roll=-0.067 right_gripper=0.7135\nstate[joint_eff]: [-0.0479, -1.4154, 7.0769, 1.7314, -0.0317, -0.0269, -0.0171, 0.4991, -8.4444, 7.1453, 1.7363, 0.105, 0.0659, 0.7546]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.45, -0.0139, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4156, 0.1341, 0.1051, 0.7141]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.163 left_yaw=-0.0038 left_pitch=-0.087 left_roll=0.0039 left_gripper=0.9989 right_x=0.4202 right_y=0.1087 right_z=0.0897 right_yaw=0.1069 right_pitch=-0.3942 right_roll=-0.056 right_gripper=0.7141\nstate[joint_eff]: [-0.0752, -1.347, 7.0222, 1.6435, -0.0464, -0.022, -0.0122, -0.1436, -8.6769, 6.9128, 1.6825, 0.1245, 0.0464, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8253, 0.6132, -0.4683, -0.0135, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4164, 0.1337, 0.1051, 0.7163]\nstate[eef_state]: left_x=0.285 left_y=-0.0003 left_z=0.158 left_yaw=-0.0041 left_pitch=-0.1106 left_roll=0.0041 left_gripper=0.9989 right_x=0.42 right_y=0.1087 right_z=0.0896 right_yaw=0.1071 right_pitch=-0.395 right_roll=-0.0558 right_gripper=0.7163\nstate[joint_eff]: [-0.1709, -1.7983, 7.159, 1.7607, -0.0415, -0.0464, -0.0171, -0.212, -8.841, 6.9128, 1.6679, 0.105, 0.0708, 0.5104]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e8f7e450692d1f7296981d144cfa10abc2a186af2d6e99af16a1953ae00a85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc70adf8fdd04f29ec9234fccd7a61310965a3f90e3409e54e87b6b5dde5e288",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e35e98633da0b797f20d1e3ca1610589e7da1359aa9e5a41b84b1d0fa28c9a92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDFGD25Kizc3fI5nn6BoMWvbL0Py7Mxv+3Yd6IjCgegB6fDplk5abdDObrPv9cerCHUC+pki44PLoXvM02NbjWETcVSt9uI7EOXC0rjAqswbQdq1EvUxbSUk9Moo7nq/4QGMKugXf8r1Adz4OL1J8cKdGiltifRgLMfUHNKGaX3As3dGugQ6QtlLjbTodAHwSwU6827Ze1f502tv1F+dycEeV7QkVky6D7h6cDZsq4zBzb0XRS37cMK9//9TslO1CZpv3kry2ApdmLULln4xz2ZyqAKUeVRkEvm7eMuXtyFKor5+Csbp86nLIHjwzOyuCxY+gErNa7vqqlNV9HjZ65O0Odsasq9ZO1a11eJUjIgYDzUMowrnV1dN+Jeo3JpOc5nrWj0WF7qvmEtV3UIGJoywsGms/uMvWGBqrL1accosJimUrczM5eo12UTmZeKJ0w1URUrsEM68QRDGxPFO+v0SOi392DFTGik7HZfekFRX7gqIxYYk9QUeiUDmmqEpfh2qQ8I+YihH3YPTEjnXrizqF1iRUTC6cFkL2toLJ1664Ot2ocDMnK38Pl24WWBmW1eEo8B6usN2/pCB7okkW+WkI5fSK2UjN7VBVv+XAJkoaXEpcJ3JaXzvEVJ8bthDZBD7pLa1VRiNpWJ65BYzXPmxh+9gQoPwwemwIRdIxRSLJZ3pmwkV2YAwJKNhnhIBnkBiU77fc+Z/bthor/+Yjc2PTjzFNAQOhOD3vD9q8kGFkUFKwnN4sU5e92OlXtREtTbOeqCTMYW029mE35JIEY63dn/99E1zw37lptaKbEO5VejZNwSCk2sbT3nqozXiSa5IePwqEcZt8cwSFfbtobl1US6OgPnBLG7nhs95VIVA17i5fjWcToaVksH8xsctXcl3wZckvG5k4PExEk0TrPjEFdeAtKEuV1TLq/Y8G3uCc4AnElMSu/sh6K0KSuu2ZUVus6Q1lqUEAxu22Y/YRUMFFvyNqWq5fCTEwFY6p3D9bS8I6R9HPlBiOeo2r7L932xZy+0FP7HKYdHacjfFRcCjaSMVIfy9dDazF2KD/07rk6BkHeb70ByAx/3mVPe9Ejg4Bq313FQu9S9nWZz8B6MZOwInoE1gfkGZBGsYb8mt/wJ7DcHrpWsIonYSRUzZBETln9wLYoEFWjheD2LkIWupj70yfjS0frdA3S/dFcPUb7IAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VAsgQVVHFkSbgDTpb3w8yw",
      "input": {
        "note": "The right arm didn't respond to the last target; trying a pure lift on its own to get it tracking again.",
        "targets": {
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VAsgQVVHFkSbgDTpb3w8yw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6132, -0.4698, -0.0135, -0.0277, 0.9989, 0.2989, 1.7069, 1.2953, -0.6201, 0.1299, 0.0967, 0.7185]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1571 left_yaw=-0.0041 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9989 right_x=0.4169 right_y=0.1082 right_z=0.1202 right_yaw=0.1108 right_pitch=-0.4464 right_roll=-0.068 right_gripper=0.7185\nstate[joint_eff]: [-0.0068, -1.5248, 7.1316, 1.6386, -0.0317, -0.0513, -0.0171, -0.3487, -11.2889, 8.841, 1.536, 0.0855, 0.0366, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:396ab5850a8e03f5d860d2619772b71894b18be20e685bd2cae4541304df84cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6351f223a06ec14b1891883f0c7aa3e2f2b081821469fb8649ff2206b4fcd3d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7be0320c53860d882d9662b18a38f4621e96491548ced343421edcf6854a68b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 3.793 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]: [-0.0219, 0.82, 0.6132, -0.45, -0.0139, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4156, 0.1341, 0.1051, 0.7141]\nstate[eef_state]: left_x=0.2876 left_y=-0.0003 left_z=0.163 left_yaw=-0.0038 left_pitch=-0.087 left_roll=0.0039 left_gripper=0.9989 right_x=0.4202 right_y=0.1087 right_z=0.0897 right_yaw=0.1069 right_pitch=-0.3942 right_roll=-0.056 right_gripper=0.7141\nstate[joint_eff]: [-0.0752, -1.347, 7.0222, 1.6435, -0.0464, -0.022, -0.0122, -0.1436, -8.6769, 6.9128, 1.6825, 0.1245, 0.0464, 0.7302]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8253, 0.6132, -0.4683, -0.0135, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4164, 0.1337, 0.1051, 0.7163]\nstate[eef_state]: left_x=0.285 left_y=-0.0003 left_z=0.158 left_yaw=-0.0041 left_pitch=-0.1106 left_roll=0.0041 left_gripper=0.9989 right_x=0.42 right_y=0.1087 right_z=0.0896 right_yaw=0.1071 right_pitch=-0.395 right_roll=-0.0558 right_gripper=0.7163\nstate[joint_eff]: [-0.1709, -1.7983, 7.159, 1.7607, -0.0415, -0.0464, -0.0171, -0.212, -8.841, 6.9128, 1.6679, 0.105, 0.0708, 0.5104]\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]: [-0.0219, 0.8276, 0.6132, -0.4698, -0.0135, -0.0277, 0.9989, 0.2989, 1.7069, 1.2953, -0.6201, 0.1299, 0.0967, 0.7185]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1571 left_yaw=-0.0041 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9989 right_x=0.4169 right_y=0.1082 right_z=0.1202 right_yaw=0.1108 right_pitch=-0.4464 right_roll=-0.068 right_gripper=0.7185\nstate[joint_eff]: [-0.0068, -1.5248, 7.1316, 1.6386, -0.0317, -0.0513, -0.0171, -0.3487, -11.2889, 8.841, 1.536, 0.0855, 0.0366, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:396ab5850a8e03f5d860d2619772b71894b18be20e685bd2cae4541304df84cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6351f223a06ec14b1891883f0c7aa3e2f2b081821469fb8649ff2206b4fcd3d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7be0320c53860d882d9662b18a38f4621e96491548ced343421edcf6854a68b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAkKEAgSGAI4AUIIdGhpbmtpbmcSDOaLEvSJD0wzWTJ6MhoMCdadAIQlbANJ1wp6IjAbFauhnMICylHfZviVgIGGFrSmZSIDFBca3j9gL+IZog0K5ktRxnpN4phNWMbJ0RoqoQilyCNDMS4MtOGeGbIY7x0c1wzeEZ62tBPs7axX3LlSJotnQl1T/NPeUdhr/AMTo1y2BVNXWA3jahNDw/cdVPf+7bnTU96dpKwdyRGAewQg7iyKy6cw9VOupAUWslRvJ+o5vPHe9cQMcBh7k7UGsRw7zEBu3MPKt5I7lexuS1DHiNsi3dovntjjLak6vx4eeNSAwhWQd/kcq4YduXlm2Ty3OcOID4WZq7mKdcQ8UZJK2SfvpcoKvRjAsHkx+jqFiU/7o2ivGmf403bpEorVuYkljve+hgs+n9iIxZzJfKv/8fDUoUlrBn3vBAEPhRUDWGeb48QZGgbuZ3F6dbOGg0FMb1JE9F32U5mxpAc9tb+uQMoeTJi+Wr1/Fa/Ba7HHUIqUsd+ZYmnD2E9+NdQxE+RSfhus+9u6U0Ypq7ua//qGoisJk5Wx9Jz4hcNzJ+pl+yIWskn5zfFUaE5YORV0sqo2PFv6NvAfWwEepasE/btltaSNAZvmxeOLNrV5mfWCIMmyo+U0xcA/aKPmDrruoHKj1JvsUBCGDPEVQUMT6DYmcbIiG5CA0oIS5cSIZ+o1eaWrhyha5wSLNlfqz4RJmGjFU4SM0GYukyeL46WCTRrIDcH8UFNim3uOYwldHkT1ia/VBvxqBFthhVpJNI+v6Jj0M7Ycj3v0mBWUrs+QpAIJZgZwitAFIQiTh3mSHwJ8jStVNuo5T5XiuE7GxeyJbF2YeDg21jyGI5BSsdWE8MhHDIcE6fK6b9O217ZuZIu9HbPJ7GeP2Cj2zZsAA+4RAEEOTh8dUdTgJjP4b+WbqOk/SKMLYVyxwofuRSby8ckT5SHF7Wusnxv8rLs/xaauuJ28F790tZev58/PCUtYI/HLWhk+e5mE62S4JJirqImDIfGKhSt9m+icWcFh8pMVUcfGUDT77vxhpN5KnVVrF3cXXqAPJZt4ttEZcAoGxA1ELvESk8s/BqfSs0JZDqdO+J0k7xa6jX3YDiqI061XSWzlNEojWA7xIMrRJqcWDpVxn9s9vVmVBDOUAf7THCQIwL11K2heGmNsrY2ujszuJpf6Us40O8EkOC0ef64sWD5G1t2IQ8ttHL6zGssrf5i1xyrysQaCe6uTQnm2UFCJOLLdpuxOUq37Bp+vHHzbA43FpzG5vQK4zGA/NVc9C7s/e9lnqLmaqAUJ7UFYZznAb5tKh5rOp8VQA81tDB3JLlZU91EmaPlRfcqaFl7T18nYVxjnutFwYCM8Tixr2DH+y8wADGtHU6SvqJouUcqxoy5/q/0UQsBsv1z8VIBcrMBi87w4nuTFIAZyomFdXzPr5gsL71hxPvnP7rE+zmsiABGmpMe0Dtk8Cxz0BaTiNDZW1UsKxV8e+zacpTwkdJKTma9wK9tMVO6R855sswxVCBC6P0DdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S9m79f85Lu4ecSTwdFHSLL",
      "input": {
        "note": "From the overhead view the gripper sits just right of the blue bowl, and the wrist view shows the bowl up and to the left. Shifting left by about 5 cm.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.16,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01S9m79f85Lu4ecSTwdFHSLL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4759, -0.0139, -0.0273, 0.9989, 0.4114, 1.8523, 1.5379, -0.7891, 0.1593, 0.1505, 0.7208]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1556 left_yaw=-0.0039 left_pitch=-0.1217 left_roll=0.0049 left_gripper=0.9989 right_x=0.4268 right_y=0.1596 right_z=0.1288 right_yaw=0.1552 right_pitch=-0.5088 right_roll=-0.0839 right_gripper=0.7208\nstate[joint_eff]: [-0.0342, -1.2923, 7.3504, 1.663, -0.0269, -0.0513, -0.0122, -0.4444, -10.0718, 9.0462, 1.1648, 0.2759, 0.3541, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bbe4f75cc82cdf3cee60f6803dbcefc2807b19075fe38179915109058864d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62bda0fc93bbf69651fb149d3a606f04b5604a657fe0e48603b97e51bbc00a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b2667e0065870854141de2493689aac8abafeeb3574480ccdb33b4f58550c94c",
        "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 · 5.626 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]: [-0.0219, 0.8253, 0.6132, -0.4683, -0.0135, -0.0277, 0.9989, 0.2993, 1.7142, 1.1503, -0.4164, 0.1337, 0.1051, 0.7163]\nstate[eef_state]: left_x=0.285 left_y=-0.0003 left_z=0.158 left_yaw=-0.0041 left_pitch=-0.1106 left_roll=0.0041 left_gripper=0.9989 right_x=0.42 right_y=0.1087 right_z=0.0896 right_yaw=0.1071 right_pitch=-0.395 right_roll=-0.0558 right_gripper=0.7163\nstate[joint_eff]: [-0.1709, -1.7983, 7.159, 1.7607, -0.0415, -0.0464, -0.0171, -0.212, -8.841, 6.9128, 1.6679, 0.105, 0.0708, 0.5104]\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]: [-0.0219, 0.8276, 0.6132, -0.4698, -0.0135, -0.0277, 0.9989, 0.2989, 1.7069, 1.2953, -0.6201, 0.1299, 0.0967, 0.7185]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1571 left_yaw=-0.0041 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9989 right_x=0.4169 right_y=0.1082 right_z=0.1202 right_yaw=0.1108 right_pitch=-0.4464 right_roll=-0.068 right_gripper=0.7185\nstate[joint_eff]: [-0.0068, -1.5248, 7.1316, 1.6386, -0.0317, -0.0513, -0.0171, -0.3487, -11.2889, 8.841, 1.536, 0.0855, 0.0366, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4759, -0.0139, -0.0273, 0.9989, 0.4114, 1.8523, 1.5379, -0.7891, 0.1593, 0.1505, 0.7208]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1556 left_yaw=-0.0039 left_pitch=-0.1217 left_roll=0.0049 left_gripper=0.9989 right_x=0.4268 right_y=0.1596 right_z=0.1288 right_yaw=0.1552 right_pitch=-0.5088 right_roll=-0.0839 right_gripper=0.7208\nstate[joint_eff]: [-0.0342, -1.2923, 7.3504, 1.663, -0.0269, -0.0513, -0.0122, -0.4444, -10.0718, 9.0462, 1.1648, 0.2759, 0.3541, 0.2369]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2bbe4f75cc82cdf3cee60f6803dbcefc2807b19075fe38179915109058864d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62bda0fc93bbf69651fb149d3a606f04b5604a657fe0e48603b97e51bbc00a1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2667e0065870854141de2493689aac8abafeeb3574480ccdb33b4f58550c94c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAcKEAgSGAI4AUIIdGhpbmtpbmcSDHAIlhUIqUca5uMZvxoMolpUeEGlTGaLvRfPIjDjhodP521YON84nZiO+fUT0bVJgR3K97FRiTwbDF2Tkte+UJWcXL2u51trqlsT7fQqnQbBBQZ7MDlQrjX3//df9lh2/IFpv+TpCBSK4KHZBi8XXatllWgAJQ2HfmOd+HhWiu7M0nUlWbqSCsCbDI4UoI+yo1mQJfu3JIlRNRMjI//8xHYZXrQ+cEG8rAmMvv+Kzc35cM9orx2CgrNKD1JO4GhBCYQYDZVa2Y098ilDL6jeaKbiwI9WmKUK07zV4lxX9fsD39VGlB/AgiyWNQzxNQsYvuAM1nerr7j1RDYT+JOPR94iJcsgOwTMMjviPts4iZZZD+3DMJT/3YWmVSA+FpSsMcBNJIqB77AcV2sTY9eu28ffOFdK+j+0quCXOdBTRLv1hsZVxSvnGeuAqQQLtC1EczqfKK3+mojmOZLgph55R21G/sTqPth278VYdjNlY8OijUl6WN4u9l5oxyWhTZcsDe5bM/eyFumtZWhw2bAdHnd9SsyEip4y78olsYvSmMowC7S6hR833ur9MGw6PV8qISkE0IqgURncbS+16aSmLbWwlhsvE19vtNllvAmD7P0DfvvrerQpdaGtLrJxnKxJjluY7SlsvYVnbYOX5qpbxUzavIrEIFb+noInwV001CKw7C2PUFfPC/b6lYQ9nO6ZmOP7qijW2i8AGUv4cHIf7CizisM1K4H6VoNPgD4jsoJXmv6fbqDJ/X4xuFTUjPQpk7IAiq6LruZxKofiGKpKUx8SsoIqmv3+2xZH375dw3mafrg004OCkpItEh9s6nu35F9zO8y261MDgEEFL+6lBYQfxe5iLfr13SrLvkqWBpk1W49W6gTelwKNspmphKYXuwB8qpUQmKB6eY72loiOwwKubQ7GJcnZfL+bHpWRtx9xVgEs1O953YY1GKZpEbB2eCe8Tvsii7EyXKZzLSrPMCpT4gC2OE2GSc9lF1kWcEZV6FW/eqbZqOdPdd+AW6TdXYOq3kxdSF3dMcC2Tm2dxWn6kBWNZ5S0M3JQnyeEJsEPl0gPrJwiSConnznSevm0/YgUNwGPj1K1IGUorfRnOG/p7AqZ03gjLC48zN5s0FumJATtQ9/s34OIijiBWt01DrOdYCRQjzmCklcJKBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ba7VYASRdinXE9Vnu21Np2",
      "input": {
        "note": "Overhead view has the gripper over the blue bowl, and the bowl has left the wrist view, which puts it underneath. Releasing the pear.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ba7VYASRdinXE9Vnu21Np2",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4763, -0.0139, -0.0273, 0.9989, 0.4152, 1.8572, 1.5429, -0.8085, 0.16, 0.1497, 0.9956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0039 left_pitch=-0.1236 left_roll=0.0049 left_gripper=0.9989 right_x=0.4235 right_y=0.1598 right_z=0.1263 right_yaw=0.156 right_pitch=-0.5274 right_roll=-0.0908 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -0.9368, 6.9538, 1.6288, -0.0415, 0.0073, -0.0122, -0.4034, -10.1949, 6.065, 1.2821, 0.0513, 0.022, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df65e6848da8bcf2b9da07c00265004b7933dc803a5588b69a32f84b3b91f6d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d70b3e467e893516283a6a44cc514f635dc08e0478b5d05b0c3d130205d09266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c5a61e3409d5801ef37b28194312e0299bbe68f738f7d86898a2e2f0bf890fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 11.18 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]: [-0.0219, 0.8276, 0.6132, -0.4698, -0.0135, -0.0277, 0.9989, 0.2989, 1.7069, 1.2953, -0.6201, 0.1299, 0.0967, 0.7185]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.1571 left_yaw=-0.0041 left_pitch=-0.1144 left_roll=0.0042 left_gripper=0.9989 right_x=0.4169 right_y=0.1082 right_z=0.1202 right_yaw=0.1108 right_pitch=-0.4464 right_roll=-0.068 right_gripper=0.7185\nstate[joint_eff]: [-0.0068, -1.5248, 7.1316, 1.6386, -0.0317, -0.0513, -0.0171, -0.3487, -11.2889, 8.841, 1.536, 0.0855, 0.0366, 0.5299]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8288, 0.6132, -0.4759, -0.0139, -0.0273, 0.9989, 0.4114, 1.8523, 1.5379, -0.7891, 0.1593, 0.1505, 0.7208]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1556 left_yaw=-0.0039 left_pitch=-0.1217 left_roll=0.0049 left_gripper=0.9989 right_x=0.4268 right_y=0.1596 right_z=0.1288 right_yaw=0.1552 right_pitch=-0.5088 right_roll=-0.0839 right_gripper=0.7208\nstate[joint_eff]: [-0.0342, -1.2923, 7.3504, 1.663, -0.0269, -0.0513, -0.0122, -0.4444, -10.0718, 9.0462, 1.1648, 0.2759, 0.3541, 0.2369]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4763, -0.0139, -0.0273, 0.9989, 0.4152, 1.8572, 1.5429, -0.8085, 0.16, 0.1497, 0.9956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0039 left_pitch=-0.1236 left_roll=0.0049 left_gripper=0.9989 right_x=0.4235 right_y=0.1598 right_z=0.1263 right_yaw=0.156 right_pitch=-0.5274 right_roll=-0.0908 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -0.9368, 6.9538, 1.6288, -0.0415, 0.0073, -0.0122, -0.4034, -10.1949, 6.065, 1.2821, 0.0513, 0.022, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df65e6848da8bcf2b9da07c00265004b7933dc803a5588b69a32f84b3b91f6d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d70b3e467e893516283a6a44cc514f635dc08e0478b5d05b0c3d130205d09266",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5a61e3409d5801ef37b28194312e0299bbe68f738f7d86898a2e2f0bf890fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywcKEAgSGAI4AUIIdGhpbmtpbmcSDOgPi2YSibbN20aA7BoMqJelec8U7OvsvQrFIjAgX1ZlD639K7HhKFxNDXGD0yZXGCq+h6gkA/W3SbcNx7ik7FlFdzf7HIpkUQGhEQAq6Abf4TUOF7wgCta672Vm8LqUhhejbbKIlQM0KlJxYL9nzQSDPx3eYq+FwkefLT9zmiNBX/6+FppV9Ps72mHVFYyHmC2XclVFklFX+hNWOgKcLzbFyG7u7iDMdeK4YL88g8Aw/Jb4LXINPt9Wf24aSYwJflKiazbqg3hbszIqrbasx5TBe6cVMGJkBdxJbveIJX5FE0WLpCio/JXPFl/DxJ8pWLpPGfEKisKTjZ9ZHQZBFr5JljbhyXQBrjvbGh598UvvqFv7S8XmZ47VHd2qHMFQfiIJ1bfPKunNTLduBene7uEeRNwlMKnv9fvu/eXj0KmnMxlunTranJGNRSxRK+tj+Ld14c4sZVySZhEIn8MzCwhyzhAnfRP0i+VvE2UmtJsN/0E1FA/ceiYhgb84GuP70l+6VJ8g3dmIDbeh2Q6GnBADvEdkXvkZIy0UoGxaMH9lFdDwcITqJvTUGbSaVvNwEFtwbp9nddZx/f/8l3PZfpofoCb92fHjEeA858GkU/hvTFJ5n502psloYUDMCS0bRRoOEn5wuJFohZR7K4jZUAx3pXYB0f1q4KJh68Y9mSZAs12Vvaq592Ald0V31ZGQIwzm+8xVVHOYvxhO1UjVShBhL/SseBVGlyybHWGuGmJl83YTjdUEkxsX+ZV0NqldA0vw1qZLW4tkXjFrKE2xmBrEFLheaIFNMHugyJ9DIyT339fMTxIGEICDY36GI43PaahG4uyimlfx9hp4idlgH0LV2q6WMuHYXSnsrlj2oqVThSLQppNxA3bxOORPrTIzZh1hWjpVYLk6ckb8tZERfEZUB3HJo6bVeM2fa8fdNTpvzqxT09JsVu28SCuH4XeE2uDC9AV10sMe23NohtLDhE+hPqkIE18v8h2QlHbt+y0efCe9F1LrcJKajARVQQZzBe8GWR49uR3ZjDTfVpeC94+gOBHyjywffqN7I+mTkG4rljcUmI7AvrQmK+bMVYGrp0HpwD6h57eqwOFSp58Nh0PSWln2tu9agov7VWpNCbDknXw0Yd9loQe5EK3VrfLDrfwVP4nzwM/+VnmfK0IoZhPZwHJ88qZT65DfdQNlk8JNk5hY5p9lh9oCg/ePMd/MKHpCFjEQDuUdjn5hzTNMzcilgbw+4q2Cn9lafIzoFbWkbI3ohLsRaBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WVC5KjXdkZmaQSUCWFken4",
      "input": {
        "note": "Pear released, but the wrist view showed the bowl slightly ahead of where it fell. Pulling the arm back to check the result from overhead.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01WVC5KjXdkZmaQSUCWFken4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.0277, 0.9989, -0.0189, 1.2945, 1.2598, -1.0477, -0.0154, -0.2089, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1251 left_roll=0.0046 left_gripper=0.9989 right_x=0.3107 right_y=0.0004 right_z=0.1997 right_yaw=0.1165 right_pitch=-0.5132 right_roll=-0.0974 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.5795, 6.9538, 1.6777, -0.0513, -0.0659, -0.0122, -0.1709, -5.3128, 5.7641, 1.1551, -0.1441, -0.0171, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d87f9ac855b15fecf85c7a4aac9319364d2c188946eaf560cac0cb2a74f515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9049cc5a7f35b33c6ed8c036198f54db3783cf030029ff4ff012814ed4a2b1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3dc0134cca81c30a18b0e88af3a4135471d4d4b2fe34eb2ff106e2190a8f7e96",
        "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 · 16.32 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]: [-0.0219, 0.8288, 0.6132, -0.4759, -0.0139, -0.0273, 0.9989, 0.4114, 1.8523, 1.5379, -0.7891, 0.1593, 0.1505, 0.7208]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1556 left_yaw=-0.0039 left_pitch=-0.1217 left_roll=0.0049 left_gripper=0.9989 right_x=0.4268 right_y=0.1596 right_z=0.1288 right_yaw=0.1552 right_pitch=-0.5088 right_roll=-0.0839 right_gripper=0.7208\nstate[joint_eff]: [-0.0342, -1.2923, 7.3504, 1.663, -0.0269, -0.0513, -0.0122, -0.4444, -10.0718, 9.0462, 1.1648, 0.2759, 0.3541, 0.2369]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4763, -0.0139, -0.0273, 0.9989, 0.4152, 1.8572, 1.5429, -0.8085, 0.16, 0.1497, 0.9956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0039 left_pitch=-0.1236 left_roll=0.0049 left_gripper=0.9989 right_x=0.4235 right_y=0.1598 right_z=0.1263 right_yaw=0.156 right_pitch=-0.5274 right_roll=-0.0908 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -0.9368, 6.9538, 1.6288, -0.0415, 0.0073, -0.0122, -0.4034, -10.1949, 6.065, 1.2821, 0.0513, 0.022, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.0277, 0.9989, -0.0189, 1.2945, 1.2598, -1.0477, -0.0154, -0.2089, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1251 left_roll=0.0046 left_gripper=0.9989 right_x=0.3107 right_y=0.0004 right_z=0.1997 right_yaw=0.1165 right_pitch=-0.5132 right_roll=-0.0974 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.5795, 6.9538, 1.6777, -0.0513, -0.0659, -0.0122, -0.1709, -5.3128, 5.7641, 1.1551, -0.1441, -0.0171, 0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:16d87f9ac855b15fecf85c7a4aac9319364d2c188946eaf560cac0cb2a74f515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9049cc5a7f35b33c6ed8c036198f54db3783cf030029ff4ff012814ed4a2b1e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3dc0134cca81c30a18b0e88af3a4135471d4d4b2fe34eb2ff106e2190a8f7e96",
        "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_0188ao47zisX1yWFa9PDP29H",
      "input": {
        "note": "The pear missed the bowl and rolled to the table centre, at about right-frame (0.21, 0.27); the lemon is nearer the front. Flying the right arm over the pear.",
        "targets": {
          "right_x": 0.22,
          "right_y": 0.26,
          "right_yaw": 0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_0188ao47zisX1yWFa9PDP29H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4763, -0.0139, -0.0277, 0.9989, 1.0698, 1.6192, 1.2797, -1.0462, 0.4229, 0.8989, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1255 left_roll=0.0046 left_gripper=0.9989 right_x=0.2171 right_y=0.253 right_z=0.1236 right_yaw=0.0318 right_pitch=-0.5458 right_roll=-0.1269 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.2103, 6.9812, 1.619, -0.0464, -0.0415, -0.0122, 0.294, -7.0085, 7.9385, 0.5055, 0.4322, 0.1587, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf86d4d53233c9407eac4b900f178018d5e1f91e83f649f3b15951094443361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e0674ed7a0eaef412d845500f342992d1547fc6a5773729c867a60e2526e757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35ff20d0773d4d806640e73d4927510d0b6294f642ea9e483045e1e5e846b099",
        "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 · 4.114 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]: [-0.0219, 0.8303, 0.6132, -0.4763, -0.0139, -0.0273, 0.9989, 0.4152, 1.8572, 1.5429, -0.8085, 0.16, 0.1497, 0.9956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1552 left_yaw=-0.0039 left_pitch=-0.1236 left_roll=0.0049 left_gripper=0.9989 right_x=0.4235 right_y=0.1598 right_z=0.1263 right_yaw=0.156 right_pitch=-0.5274 right_roll=-0.0908 right_gripper=0.9956\nstate[joint_eff]: [-0.1026, -0.9368, 6.9538, 1.6288, -0.0415, 0.0073, -0.0122, -0.4034, -10.1949, 6.065, 1.2821, 0.0513, 0.022, -0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.0277, 0.9989, -0.0189, 1.2945, 1.2598, -1.0477, -0.0154, -0.2089, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1251 left_roll=0.0046 left_gripper=0.9989 right_x=0.3107 right_y=0.0004 right_z=0.1997 right_yaw=0.1165 right_pitch=-0.5132 right_roll=-0.0974 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.5795, 6.9538, 1.6777, -0.0513, -0.0659, -0.0122, -0.1709, -5.3128, 5.7641, 1.1551, -0.1441, -0.0171, 0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4763, -0.0139, -0.0277, 0.9989, 1.0698, 1.6192, 1.2797, -1.0462, 0.4229, 0.8989, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1255 left_roll=0.0046 left_gripper=0.9989 right_x=0.2171 right_y=0.253 right_z=0.1236 right_yaw=0.0318 right_pitch=-0.5458 right_roll=-0.1269 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.2103, 6.9812, 1.619, -0.0464, -0.0415, -0.0122, 0.294, -7.0085, 7.9385, 0.5055, 0.4322, 0.1587, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7cf86d4d53233c9407eac4b900f178018d5e1f91e83f649f3b15951094443361",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e0674ed7a0eaef412d845500f342992d1547fc6a5773729c867a60e2526e757",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35ff20d0773d4d806640e73d4927510d0b6294f642ea9e483045e1e5e846b099",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwkKEAgSGAI4AUIIdGhpbmtpbmcSDL/f4GRu8bBrgBDjLxoM9bUuZx1WItrWkpBwIjB0N66tYbS9Z1AZzYItGO1HdQk4a586Vpi46aCK/rGMAms9Fs1yotLytZ6MzYGkQlUq7AjJWgAW71JApnbuqHYgJFdJKrnd/vm5XFXMDx/RYMunD60DebTAGJ1jjk+lpIbXmfcz4HJ7Iazu3YC1Zi5mq5Poytkb/JmRA5Pwa+eFaR9K3YC0YGq/1x0hCpKQrceYqpPVovQ1GOBejL1KsFL5tvdQDez63XTujtB2hGUg/1PnavUhP7m7APyj6O9HgviaqUtN4ejPRe9YZ/Iir+zLxCGb+pcVWuv9w3qQ13761Xj9arMpBYqdx5s50Va5+/VMBLoYNqYxYu02H4qQXhiMOWwvtZLu2kFRJLlJezJITsOufi5lWGvbXOl2H4ETEO1FvNWnh95RAvX+UiTl573JY6+UHOc74QdO5RVKjnqv5ifTIjLiDP4pQAv04l8FmEK+0J5IFXwqIYOuAFZly7XQkCy97UMHpUOHBSBklS4o8UwvPZCeqtHB0KaLuI4GMVkUWmkAgS3yGjr6HHtXo/GNtP99YiDm/QzZf3ba3lkXHvO7h1LZF42wNaOoL9yMbxImoUCpfbJsmzoBhz5bvDelSZzOP9eJJc82cL7YEYH1yr/8NWh62YPx+JoUNrNhb01a7bVyaq/RQHpgA9OCLNy2RFmNzXasZi3tyByTbm+Q1qK9yIYplu8nYDFkzBieVcbCehgxEDwOZuJs4NiOzwz19ir7OtNlQQ6/hxe2njV7lhuSKX0Vgq8p4eWtFazYxZz/ABUvSSFDvy/oCryJNee/9lMKySsb26Ux++12waHghrrbTbdU3p5SsOXnqZdNxtnI1BRNk/tXA3cbGcnBHauckX+TPEnm868XDrFF27ADgG6GWLTezPSbRbdgaNAbkl72URgr7AYJ3HXAd9DSCixqOd7pbPBgUF7Znm/tZPzC8FWtPl+xFE8019koWtPSz8Do861TQeZCpFnIa5OFr9paGpvmRA/jxh33ifajTinUV77FF5Lz5RCvzH/kOOf3JVyvDEywLoK3mMtiyf/pAFXdIvK+7ZeZN+3DY0lSdWHlymdTyGfNekwH5ko+8nx/aVOrtVlzKWxjxVBzKPgv5Kwe+kVKv0sbJGcLEOpfbqp28eMf+HRj4xWODOcs7FTZTO99NRuWllmKk4uiH1zwK9aY6sjcVFYZm93t03OXwclrFBU+YhBVRECa0xCaO5qzbFKJHCP1VR8n3/WmiCxYmB/joXSxIjPzvQFU7HcPvLiTpq+HrY8fBIfkQsAGd/U5F7ZEr+CaPCXs73xp5467IzYT32wXr7xgr9dlb/ojbOvGPiPlBOqjpO1u99EfxyuwkEEeZGUgQqRnmeaAppEEdqaVF6yDnKplosGM9G9eq6mPgl2dCwTg1+XCut1L9TWoQ5NlKGxf/pG7/Qh/gduvh9wmpcwQp1Inu2qvZcAHL4UsunMbZiBVnvGQLvJ7Mlo93wH83pSF01/NWKlpcLL3952KuW3J7b5hEMjW1UoZxkSKqkwXRusIkZn5K/eMH5Y5MPeWBtOz9KpATFCbOdY0LTrTrIirRqu96aHNs56fKYOgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nbdz1PTKZsMzxfTFZsuDCA",
      "input": {
        "note": "The right wrist view has the lemon just ahead of the jaws and slightly left, with the pear beyond it. Descending onto the lemon first and levelling the pitch.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.235,
          "right_y": 0.265,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 19 steps (1.9s)",
      "tool_use_id": "toolu_01Nbdz1PTKZsMzxfTFZsuDCA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.4908, -0.0139, -0.0277, 0.9989, 1.243, 1.8198, 0.7692, -0.1692, 0.8909, 0.934, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0037 left_pitch=-0.1457 left_roll=0.005 left_gripper=0.9989 right_x=0.23 right_y=0.261 right_z=0.0151 right_yaw=0.0418 right_pitch=-0.0657 right_roll=-0.1557 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.7846, 6.9265, 1.7705, -0.0611, -0.0513, -0.0122, 0.6359, -7.3368, 4.1368, 1.0427, 0.7839, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09b970876913c9552afeabde4dd7632cc60fb8f506e5b4ca9bc0917010afaa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff36c1d70a8f03dd32e1f6fc5bae38a4a48abcb4f66aa6175a3c510b92d005ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:161c5a2faaeb433c11d3399c62ed885d374d5ea588199bffd630290c859dabea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 6.076 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]: [-0.0219, 0.8322, 0.6132, -0.4759, -0.0139, -0.0277, 0.9989, -0.0189, 1.2945, 1.2598, -1.0477, -0.0154, -0.2089, 0.9965]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1251 left_roll=0.0046 left_gripper=0.9989 right_x=0.3107 right_y=0.0004 right_z=0.1997 right_yaw=0.1165 right_pitch=-0.5132 right_roll=-0.0974 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.5795, 6.9538, 1.6777, -0.0513, -0.0659, -0.0122, -0.1709, -5.3128, 5.7641, 1.1551, -0.1441, -0.0171, 0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4763, -0.0139, -0.0277, 0.9989, 1.0698, 1.6192, 1.2797, -1.0462, 0.4229, 0.8989, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1255 left_roll=0.0046 left_gripper=0.9989 right_x=0.2171 right_y=0.253 right_z=0.1236 right_yaw=0.0318 right_pitch=-0.5458 right_roll=-0.1269 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.2103, 6.9812, 1.619, -0.0464, -0.0415, -0.0122, 0.294, -7.0085, 7.9385, 0.5055, 0.4322, 0.1587, -0.0024]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.4908, -0.0139, -0.0277, 0.9989, 1.243, 1.8198, 0.7692, -0.1692, 0.8909, 0.934, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0037 left_pitch=-0.1457 left_roll=0.005 left_gripper=0.9989 right_x=0.23 right_y=0.261 right_z=0.0151 right_yaw=0.0418 right_pitch=-0.0657 right_roll=-0.1557 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.7846, 6.9265, 1.7705, -0.0611, -0.0513, -0.0122, 0.6359, -7.3368, 4.1368, 1.0427, 0.7839, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a09b970876913c9552afeabde4dd7632cc60fb8f506e5b4ca9bc0917010afaa8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff36c1d70a8f03dd32e1f6fc5bae38a4a48abcb4f66aa6175a3c510b92d005ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:161c5a2faaeb433c11d3399c62ed885d374d5ea588199bffd630290c859dabea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2gcKEAgSGAI4AUIIdGhpbmtpbmcSDJWPzoP7YE9qMJVSVBoMUULU9B5bxu9CzOjwIjC+/5FELoPeM6nnHrkeED2YExZ2h+qB//skSxQNFV9HjlEakvJAhjeeKkxfPVvCQCQq9wZmFExwAis0iFqlYxl6aeRv7kMVh0KjtQs+0Ngc6N3NXiuUUPogBUoKTnqosRk5KFdbtjw3barF1/ivymFBhHDOhMAH5LJ1gwxiPqZqmQ63s3guorGO4lAEYSQoN67bS9Xm4yOblNp9UKThauGEgOm85vaqS2Ya5LlCoLUKSuuXIQlV4vKJ7mdBrsFL6tIHxmDlOp8nOuAoBdpqZM+JJltLwWlseiyE6DrkSPisV5lX/GTUkf4pNUaVptakQrp92MrRz2WZ4+PeV9rMnCRkfi+UUr9C5fbOHRAZPuS7tLKiuDAH19vb1MhzlbYHAbjFW/UztTODzs1qAe351prLr5DT3RT6cYGh8nf04r3Sgy2EXGk6WNSQNi8u+uqp0BEpuXA+/PlqiQ+2u7SS1NQjMm0ltOTUW/WoPvuA9KdUUb+jWq5WRP5Y9HzkbQIkTMde8qVkMTvsr4zRHiX/KYEEQGlUmvlRcfmgljp6bRLqnNmeCfHbgSh+W7b1fnbsPbVmJL+Gg7fv2Et+z1VaDC/IOatAYWZksVIf2SpX7qEfkx/znndT+LeWUE5hdn4CJ7KtmYTZXg3K1p8nLjdvDBrh/ZHR0uP1hRlbnAPnhdMwpuAkvbJwDv3YAbtGgI103N/VhqJcl+TKu54/Ncc8f0kgFHOBjSKmCGvHHhmWsgbGucdKEeqwYoPPP5YobXILI6jyXpPXX3RPeIiJD+A9/SE03y50QXrGjMDDgCHyjZGIT0u9kn+C7YAd84mKpG/i9T/kPMg+/t92qSltvi8OiZ97F+moL+AgxWBLh0Ubqwa3XSvGodukAQUct1AJr4eYgutDOxCwHakrmh+YnDkm2D2R/WIwe+70+UFIVlXB1sq4RyZQiAir6W9gD8fEpa77qpOl9FpMg2GnxqTBtJlfvZ0T4eWowcKMz8B5hipuu4uJW03EDg2pGGSSTtaQCUi4A10zdFoW1RJZmgQtDVMqlJMdkpAJx8z6eomHL3RBNiWYv3AMBL0nd2Kqxt6GXQPbtfFjjSHPcsKWqEaLhpbjlYRvVlZ3JHux/iMlVsq5+H6cjLSrvUj8v+CnuDjBNEZMbujTI+BddFPLGGy7gt55IEStw6iH98A0NR23g8Utx6wuAKbnPR8T5X0nUv/+r/NLp4nWSWbBwprPU0Z0DH27iSGQwYCAkZqP64hNcxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011c2Jsx7JSXUS76uyc3T62d",
      "input": {
        "note": "The lemon has dropped to the bottom edge of the wrist view, so it should be between the fingertips at table level. Closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011c2Jsx7JSXUS76uyc3T62d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.4919, -0.0139, -0.0273, 0.9989, 1.2434, 1.8309, 0.7628, -0.1513, 0.8974, 0.9318, 0.6305]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0039 left_pitch=-0.1468 left_roll=0.0053 left_gripper=0.9989 right_x=0.2304 right_y=0.2602 right_z=0.0122 right_yaw=0.0411 right_pitch=-0.0601 right_roll=-0.1594 right_gripper=0.6305\nstate[joint_eff]: [-0.0205, -1.4564, 6.9538, 1.6288, -0.0659, -0.0269, -0.0122, -0.1436, -8.294, 5.053, 0.6374, 0.2857, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6064c6914397318e2d7eef134847544d921bbd1bb4b11b4f5ab262d522d6b790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c6fc86ecb5adff213d791f23ac536a5d0109eb07f0bd238b752a0e18e372249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bfc40395a590a15f449f6a5118b3300619b472c20f71b12552dd3f1a019d92c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 5.125 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]: [-0.0219, 0.8322, 0.6132, -0.4763, -0.0139, -0.0277, 0.9989, 1.0698, 1.6192, 1.2797, -1.0462, 0.4229, 0.8989, 0.9966]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0037 left_pitch=-0.1255 left_roll=0.0046 left_gripper=0.9989 right_x=0.2171 right_y=0.253 right_z=0.1236 right_yaw=0.0318 right_pitch=-0.5458 right_roll=-0.1269 right_gripper=0.9966\nstate[joint_eff]: [-0.1026, -1.2103, 6.9812, 1.619, -0.0464, -0.0415, -0.0122, 0.294, -7.0085, 7.9385, 0.5055, 0.4322, 0.1587, -0.0024]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.4908, -0.0139, -0.0277, 0.9989, 1.243, 1.8198, 0.7692, -0.1692, 0.8909, 0.934, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0037 left_pitch=-0.1457 left_roll=0.005 left_gripper=0.9989 right_x=0.23 right_y=0.261 right_z=0.0151 right_yaw=0.0418 right_pitch=-0.0657 right_roll=-0.1557 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.7846, 6.9265, 1.7705, -0.0611, -0.0513, -0.0122, 0.6359, -7.3368, 4.1368, 1.0427, 0.7839, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.4919, -0.0139, -0.0273, 0.9989, 1.2434, 1.8309, 0.7628, -0.1513, 0.8974, 0.9318, 0.6305]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0039 left_pitch=-0.1468 left_roll=0.0053 left_gripper=0.9989 right_x=0.2304 right_y=0.2602 right_z=0.0122 right_yaw=0.0411 right_pitch=-0.0601 right_roll=-0.1594 right_gripper=0.6305\nstate[joint_eff]: [-0.0205, -1.4564, 6.9538, 1.6288, -0.0659, -0.0269, -0.0122, -0.1436, -8.294, 5.053, 0.6374, 0.2857, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6064c6914397318e2d7eef134847544d921bbd1bb4b11b4f5ab262d522d6b790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c6fc86ecb5adff213d791f23ac536a5d0109eb07f0bd238b752a0e18e372249",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfc40395a590a15f449f6a5118b3300619b472c20f71b12552dd3f1a019d92c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgSGAI4AUIIdGhpbmtpbmcSDIKbnQlOX5UTiCCzxhoMqiO7Q4uZYQD9QM2xIjCyC9hHWVyIgV3ikMiprnsb378vAF09Fbt4xgViXii/f8GuwIIR4m5RA2NR2JyCv5Yq6AkP0+zCrR+mefgUeE1NI94FDLqjTJcLbB07LzXkat217B5Qby3aZuGl0usDlX6fM/Mr08Z0WN074WjR9z8VtQcuKNA6y2tuJmKEKDG443nVrib/FWM5d0AY2I+ezes0yLWGZmAdi+yYvCf7YR4t+unToIGKLcwZjcHHyx7GgjF5n3w+zgr/9PhQGc3tqaf15OTb0864yx3ymKYTOqlYQFP6h7HaX5VBHqQYNT0UDb4TZjTY7SfEyS3UKVJM0+Vie1poPua5AIzyA/iMT2cXVYiUu+qCytGA8li/crJdbQzMdHh/jg9pJceteFubRoU5tjILcKQr0fmysEMtiDAMw+khMCz+IE/5CBveTIP6bohngVaSExIAIup9ssed1qaovNkWZalgeSDwwr5FzPEsx4H6nAmERJpzY2wwh5alCWRp84OzedPXZo/vMItyQ6fn2tnt8edb+Th+ZiVWQTar9MqLGBtAidxqWd8r+f5IXVt+s4BWgucRvl64aLVQMawduH6zjtz19qNvliTleBNT4G9WCeUjpBEqgasUoxMZRUO+jA2OANioNJSZK42FLsQJgJLD8ySQrAx+XQ0c/3cPWmN9DP8fQQM8px63VmMDUZuJeE8pCwGrBM4fO31Jqo+ne85Q4B4mXcs5LfvkQdQjhcJnIlbeEJOxaOQZipjF0v7mlTO1xurIQqrOJ2Roi8hrtOp1c2aogaBL+qV+eHZczOmN8euasBloAKTG1rdAWWgGZl6bqSXMl31zFZMcZuxkt2dtCJe0fghwoe1zsZnlMswinkmtj7aglJrXfuLXiO3n8E41FAIHOcedN0V+7Nv22U0XTqhIeIB+tRXsL5Or1whnihv3wcVcKRWMRNWDpjDzNt+euQiO1o8UhX71uP8ROYkzNT0EbdC3k4cstBwcp68gwki47MErynZptBEnn1eoEWHQA1UbhbcAcEwxvJbYePRV0YsBulGEmEOaHL73JjYS2XZ/4zv7WyuPZFILCTb/l660UdGqAx+0/g4s9lzOwYiMeUVFIF3ddligLxVfBjQ2RVi+B/0eQvXU67pdJqo5wMUkLL+OuDPWzM6vyhp/k53z5R4OiPK8istcrClqmWFsSjq5m07Cxg2ZQqcCj/3Rg5RRrR8hmdbvhSby/MMTRvQsjzmUuk7h8+bIl2NA+5GuhoiVM2y7ju0c2TZVBIYmkD3BECLDbwLjAsv2BfmP/VTPaDbwDizDWd11rQawTbIuQH7/q0yM/e0/zkYSEeGVnOB1EtvBNfDvszpaybzAnFILsQm8tgWyhkyvzFHUbO3Om3wS2ErhK1nqC7DtLl4bL+VfXf8+aBY9+itTBKkOdnAw4T4wt72JXS8hZWVsmRytsIzKVAlG3kAiS8Z0tSXmwSP1IOWqvbbP+Edv/AqRcLmPKxHYJ2rnNJeHW/+T3ICag+qtsZFLOVBsRXf4r3P4kYuiP/2bb4PJk2CkPHyRJwRzlJ0zg5fwe6KLhFJQ64T7qnVyiCBZ8l2yEwf1u8bf2oCvrDvjwXYsowfmmGOMYvJgOisaqXEKT9fRUqcXa+zjRYo52gSYVDaBzsEzC2EPBBn5f4KLfaEqRuwVO7y8TjsM8UvDcUF6X2u9m1DKUL4NeZyUR/DVV0N/k7yeBKIuVhZ332q9R2cgsG/D+2eGekfspFdkUO0NOBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E7cYXErnQMmzh6xrWfRi3d",
      "input": {
        "note": "Gripper settled at 0.63 (~6 cm), so the lemon is held. Carrying it high towards the blue bowl at the back right.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.45,
          "right_y": 0.17,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01E7cYXErnQMmzh6xrWfRi3d",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6132, -0.4942, -0.0139, -0.0273, 0.9989, 0.5407, 1.6501, 1.2289, -0.2539, 0.4988, 0.1631, 0.6305]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1493 left_yaw=-0.0039 left_pitch=-0.151 left_roll=0.0054 left_gripper=0.9989 right_x=0.4403 right_y=0.17 right_z=0.1892 right_yaw=0.033 right_pitch=-0.0159 right_roll=-0.1656 right_gripper=0.6305\nstate[joint_eff]: [-0.0342, -1.5658, 6.9812, 1.6239, -0.0611, -0.022, -0.0122, -0.4718, -7.5145, 8.6632, 1.6044, 0.1832, 0.1099, 0.4811]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fb977f07ba4097d12b23b091893836ddce564fd62d944a98018748c3e8930d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e67bcbf7c13a98286f5199ce0693f2b9a9ff3eee0b85b561b60df96251e8acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:928377369293da9bad8f81c39632afaf5a506122512e4cd8ae4c0397ed0abe8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 4.737 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]: [-0.0219, 0.8379, 0.6132, -0.4908, -0.0139, -0.0277, 0.9989, 1.243, 1.8198, 0.7692, -0.1692, 0.8909, 0.934, 0.9966]\nstate[eef_state]: left_x=0.282 left_y=-0.0001 left_z=0.1504 left_yaw=-0.0037 left_pitch=-0.1457 left_roll=0.005 left_gripper=0.9989 right_x=0.23 right_y=0.261 right_z=0.0151 right_yaw=0.0418 right_pitch=-0.0657 right_roll=-0.1557 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.7846, 6.9265, 1.7705, -0.0611, -0.0513, -0.0122, 0.6359, -7.3368, 4.1368, 1.0427, 0.7839, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.4919, -0.0139, -0.0273, 0.9989, 1.2434, 1.8309, 0.7628, -0.1513, 0.8974, 0.9318, 0.6305]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0039 left_pitch=-0.1468 left_roll=0.0053 left_gripper=0.9989 right_x=0.2304 right_y=0.2602 right_z=0.0122 right_yaw=0.0411 right_pitch=-0.0601 right_roll=-0.1594 right_gripper=0.6305\nstate[joint_eff]: [-0.0205, -1.4564, 6.9538, 1.6288, -0.0659, -0.0269, -0.0122, -0.1436, -8.294, 5.053, 0.6374, 0.2857, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6132, -0.4942, -0.0139, -0.0273, 0.9989, 0.5407, 1.6501, 1.2289, -0.2539, 0.4988, 0.1631, 0.6305]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1493 left_yaw=-0.0039 left_pitch=-0.151 left_roll=0.0054 left_gripper=0.9989 right_x=0.4403 right_y=0.17 right_z=0.1892 right_yaw=0.033 right_pitch=-0.0159 right_roll=-0.1656 right_gripper=0.6305\nstate[joint_eff]: [-0.0342, -1.5658, 6.9812, 1.6239, -0.0611, -0.022, -0.0122, -0.4718, -7.5145, 8.6632, 1.6044, 0.1832, 0.1099, 0.4811]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fb977f07ba4097d12b23b091893836ddce564fd62d944a98018748c3e8930d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e67bcbf7c13a98286f5199ce0693f2b9a9ff3eee0b85b561b60df96251e8acc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:928377369293da9bad8f81c39632afaf5a506122512e4cd8ae4c0397ed0abe8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQgKEAgSGAI4AUIIdGhpbmtpbmcSDAWwYZSdN4t1LRf3GRoMyKWdImOhw9mTbq0vIjBF62QoE7FXNgsJi2MFSpGJW5Di76hLCctl/Nl7Sl7EVsaAce4S7MGLCbWjucO8n10q4gfsbM9MsBTFLayYuxBVtMpMXo/KA117cGyMmflzVslUmdEh5IV/O3xIY7MkmBgVY60TYfEUoGe0nl/tbWsY3CFOS84FnFGgkLxivPbDLGMOXN68iYnX14g0Av3f9EwJBLkwvhznxdjW7i4MqjAosauFxFV8MDa2LyAAtnKy1geqK7F0mHVFrdLq2GATD4q/RKk7VdOnrVOwuk+NBYNuxXg4Z1Q4BOAG6afQVbnClNdUADNr0R+eMeNbPzCmzzIH4DjjweP9eq140+Hor648Gcco2+L1tM0A5qDNpEVqaqMpY2k4xyf3qZrvpatvsq2/7sS+Btmre4ZTN2mQ07pK2dfl52VHUus4cKQICDQBWShuvbtyXrQ7p7iSjLnFIz3ZfjuX8RlyeXBmZxkTmXXMA0q7YVss/JprALrL3web0a+qoeBz5c8nS5oIMhDRh6yw0I9kHmgPAUUJLYl5T/GMgiA61JfiOmDkG0rufEFKmEZb7LS0MlnMIyw3rv2lYs/xak8FDmS3Lane0Aiy60auLLZE5+ECPKQbnyKussAw6kWc/G+zSn197yY3XNGDaMjRCXh+c3B1DBYLaCM9GCqJPzCoDawHkKubwYWcRiW5HapzslYLCeOI+CkxRHDWWrlWsZpZ3z+EBur8klDKveepPUQrvgEG8MZda7+hoUZEtuRGIa1hyaI+HwAzSQrjrI8sWW5H/bsjXh/vQz0zeMwpXFhNRNNz4CJjJC3cmaQjXsyOVsh2ulfYh4272TQ1MKvjj3/w9uO56+JsWKX28YFsa0BoksbuVhRXn8eTPK2BjkJimlRs4atMxAieD+W09QegsnceoDGOvknx2M4tkUyNeYo334raLJc5NO3tEvhqOg7Ia11eq7hzHoDCBribDbE/s9ZgPfT64/nRZRZU1TYfS72OfI2by9i1gxAAcGSGvwPTKg6/O+Rc2COvdnrkHgBBFEyrLE9Jpmq4kszCo+NziPx40ErtgNTU7LHPegEGa49f+c0Mhqs155IjDjX7OH/0PGo73AttG2Nl9wAUnuo7+Ini99/1ySxl16nNRj5+TgHCtdJouhsKpmjRBqqq4AEtocA0UA6RYpyIgsq2g30JOeVeT8Z/6Sx7/t9vEM3jBUo8K8RVTZ+gxdTnuGQObxQJx1F1A4YMxYMAadkl83KtHQsdGV1CM61KVDszEUsVbDSSlJ0wVg7UKPksirQzRFkSY7OnB8ALt0gK8MFQ43kokH8Km8pB3PUDXF2FY3MLBx+X3SpDgLTh+2JWeM2Cg//lSz5nOsO9MW2CP7A9lpSQXoj9BJeyIQSkJhxUut5RKQcnvJR5GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LajqJAnaoyaAWwK8Skq5xi",
      "input": {
        "note": "The wrist view shows the blue bowl centred but several centimetres ahead of the jaws. Advancing about 6 cm so the lemon ends up over it.",
        "targets": {
          "right_x": 0.51,
          "right_y": 0.16,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LajqJAnaoyaAWwK8Skq5xi",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8448, 0.6132, -0.4953, -0.0139, -0.0273, 0.9989, 0.4408, 1.8618, 1.3655, -0.2394, 0.4129, 0.0875, 0.6316]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1478 left_yaw=-0.0039 left_pitch=-0.1571 left_roll=0.0055 left_gripper=0.9989 right_x=0.4916 right_y=0.1575 right_z=0.1455 right_yaw=0.0402 right_pitch=-0.1019 right_roll=-0.2032 right_gripper=0.6316\nstate[joint_eff]: [-0.1846, -1.7573, 7.0906, 1.5995, -0.0415, -0.0171, -0.0122, -0.6906, -9.7162, 9.265, 1.9951, 0.1685, 0.1197, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f5afa54adde1e3e14ac140ea48d9e2e05200c0b17e33d2cdcf401b2c7d1929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91839b517f7fa21dfed455c4ed9a25f46cb73d254b954618b062834a33dc5bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a80a33b1b97e1c74363ae475a14d45ee6ad1eaa778d97c25159c95f0b712bc8",
        "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 · 4.555 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]: [-0.0219, 0.8379, 0.6132, -0.4919, -0.0139, -0.0273, 0.9989, 1.2434, 1.8309, 0.7628, -0.1513, 0.8974, 0.9318, 0.6305]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0039 left_pitch=-0.1468 left_roll=0.0053 left_gripper=0.9989 right_x=0.2304 right_y=0.2602 right_z=0.0122 right_yaw=0.0411 right_pitch=-0.0601 right_roll=-0.1594 right_gripper=0.6305\nstate[joint_eff]: [-0.0205, -1.4564, 6.9538, 1.6288, -0.0659, -0.0269, -0.0122, -0.1436, -8.294, 5.053, 0.6374, 0.2857, -0.0513, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6132, -0.4942, -0.0139, -0.0273, 0.9989, 0.5407, 1.6501, 1.2289, -0.2539, 0.4988, 0.1631, 0.6305]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1493 left_yaw=-0.0039 left_pitch=-0.151 left_roll=0.0054 left_gripper=0.9989 right_x=0.4403 right_y=0.17 right_z=0.1892 right_yaw=0.033 right_pitch=-0.0159 right_roll=-0.1656 right_gripper=0.6305\nstate[joint_eff]: [-0.0342, -1.5658, 6.9812, 1.6239, -0.0611, -0.022, -0.0122, -0.4718, -7.5145, 8.6632, 1.6044, 0.1832, 0.1099, 0.4811]\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 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8448, 0.6132, -0.4953, -0.0139, -0.0273, 0.9989, 0.4408, 1.8618, 1.3655, -0.2394, 0.4129, 0.0875, 0.6316]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1478 left_yaw=-0.0039 left_pitch=-0.1571 left_roll=0.0055 left_gripper=0.9989 right_x=0.4916 right_y=0.1575 right_z=0.1455 right_yaw=0.0402 right_pitch=-0.1019 right_roll=-0.2032 right_gripper=0.6316\nstate[joint_eff]: [-0.1846, -1.7573, 7.0906, 1.5995, -0.0415, -0.0171, -0.0122, -0.6906, -9.7162, 9.265, 1.9951, 0.1685, 0.1197, 0.6764]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11f5afa54adde1e3e14ac140ea48d9e2e05200c0b17e33d2cdcf401b2c7d1929",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91839b517f7fa21dfed455c4ed9a25f46cb73d254b954618b062834a33dc5bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a80a33b1b97e1c74363ae475a14d45ee6ad1eaa778d97c25159c95f0b712bc8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wcKEAgSGAI4AUIIdGhpbmtpbmcSDJiCZarTNlLOkqHfkxoM21FtSoVFKFABK9fdIjCh/w35NEK1bmawa5131urLFmGy/zuAYhSqzdwFJopUsUATdRmuGzp9peYcUTuinTUqiAcuPMSnzmVUmVV6mHhAsaidOxtRQC2HyusrtyiU3ZZ+2BfygrCdr0MdSDGVYa7YT1J1jVuLbpI2zYkaU9FVQe2vvnpozqsAN5S1mkjAbc9Cd9XVAWr3ca+mSaO+bOfkUH1JvWzcTQFdVFjyeYrJFOHxpCcq9yh4xky3yG9ppx0Q3o5/Ow8l75C1K4AYZR9Di87oi0qHbkJDs/gHIcO+jFsktj0AKIF4Q5aUvUEjUKChX3nEAXfa9eKDH5rsuP11cydufZlbcfwa60UqYVJniXN/yB74uiDFtiAEFxRDwR1aLQdirsSzwTvbWZ/WmaHnVjhq3MxMGLBf/2uMdqqlQPJBL1+SBfC2UOfB3QA/ArWWWAVdI1Y3dQ3K43ohZ7CWr//VwxWOQBjeJKsHFcuPi3RYqVHy1aF8GemZ9ABKcl+GpZxUGX7+UPpFg4MQrhEbUgQ/2Sjvgv9rnXNut9K/pSP9U3zVNdAxqorNI/QM8jAyMipZ9QIRSS/iNdvHGFJ0AnbAfleViBL1+yWsKzCaxgJe9Rz4d/wivvx37FG8uiaFru4qKgDslx84bGvjigX7QiOckvtbBr59JpKV4fLZXp1DTyIiGhKxwPXXPVy0llvYGKW2SaZ4YvAsQk3tStFgRi6PsCghavIrW71qhPlno+bQtpmNop5WNL4X5MYJeH3Nj6Yb83JRbInldKv1bL4MwzcbuBF4SZZU5O7t0qSd5CwHScKMLHs/CRi0ZBio7esHt+Her7GcsaPU81jjteVKb88zYGc59WIsSfyHrQgVjXpBWiLmJpgTVYFbGYX6QROSFL0UoEHOrK13c2OtMKp2JdDc9+scG6mAZa2d2W7eP8PGcRM8rh149JQRKCBB9lm/PoWTaP77efbSTetWxWyYpdQFZjvQQChcVNGuZa/ESGnr7N9T/1WQ8arUn4piFTqHbbP3FkhNd3jWt5tk2Cs/la4nPkCpePTQtBkY8+Cn3hgoa9jQjwbkfkUj3sm7LR5aqSqUwkpccE2C4fii0JLk0zSzx6p5PFKvdfr3eg6K3MIik8SW+z5M518nXPVBo1Kk2U35675x0qS7IydAKjnLSS9lKt80FukVfrhXvAEiRsPF9ewYDsk7bIBqtgMl55FOSM4+tusIJP1TlkHkY1UEchaWhjQGsEFJDavTisEez6UU1Pu2zcZMBTkql8ARpOLrR1PR3me7+/qLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Et9Fd978ETUyzkhnPQcdnx",
      "input": {
        "note": "The bowl's near rim now lines up with the jaws, but its centre is still a few centimetres ahead. Advancing another ~4 cm.",
        "targets": {
          "right_x": 0.535,
          "right_y": 0.155,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Et9Fd978ETUyzkhnPQcdnx",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0277, 0.9989, 0.4061, 1.9934, 1.5253, -0.3019, 0.3763, 0.0509, 0.6341]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0036 left_pitch=-0.1583 left_roll=0.0052 left_gripper=0.9989 right_x=0.5224 right_y=0.1579 right_z=0.1328 right_yaw=0.0532 right_pitch=-0.1471 right_roll=-0.2208 right_gripper=0.6341\nstate[joint_eff]: [-0.1026, -1.6068, 6.9538, 1.5556, -0.0513, -0.0464, -0.0122, -0.8137, -11.6034, 9.1419, 1.6923, 0.149, 0.022, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511b0bc3441d94b20af4643c1bc6c244b0650e7a0438bcbe0c922e8ad218cdec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7996fb0d1c193af2d6f63b464dba00e5972614165ac0ff0a4558f9b2627b942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:300fca74838b0ed53627347f89c7244e174aaf1faf4a7b96b3833470b6a22068",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 7.768 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]: [-0.0219, 0.8398, 0.6132, -0.4942, -0.0139, -0.0273, 0.9989, 0.5407, 1.6501, 1.2289, -0.2539, 0.4988, 0.1631, 0.6305]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1493 left_yaw=-0.0039 left_pitch=-0.151 left_roll=0.0054 left_gripper=0.9989 right_x=0.4403 right_y=0.17 right_z=0.1892 right_yaw=0.033 right_pitch=-0.0159 right_roll=-0.1656 right_gripper=0.6305\nstate[joint_eff]: [-0.0342, -1.5658, 6.9812, 1.6239, -0.0611, -0.022, -0.0122, -0.4718, -7.5145, 8.6632, 1.6044, 0.1832, 0.1099, 0.4811]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8448, 0.6132, -0.4953, -0.0139, -0.0273, 0.9989, 0.4408, 1.8618, 1.3655, -0.2394, 0.4129, 0.0875, 0.6316]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1478 left_yaw=-0.0039 left_pitch=-0.1571 left_roll=0.0055 left_gripper=0.9989 right_x=0.4916 right_y=0.1575 right_z=0.1455 right_yaw=0.0402 right_pitch=-0.1019 right_roll=-0.2032 right_gripper=0.6316\nstate[joint_eff]: [-0.1846, -1.7573, 7.0906, 1.5995, -0.0415, -0.0171, -0.0122, -0.6906, -9.7162, 9.265, 1.9951, 0.1685, 0.1197, 0.6764]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0277, 0.9989, 0.4061, 1.9934, 1.5253, -0.3019, 0.3763, 0.0509, 0.6341]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0036 left_pitch=-0.1583 left_roll=0.0052 left_gripper=0.9989 right_x=0.5224 right_y=0.1579 right_z=0.1328 right_yaw=0.0532 right_pitch=-0.1471 right_roll=-0.2208 right_gripper=0.6341\nstate[joint_eff]: [-0.1026, -1.6068, 6.9538, 1.5556, -0.0513, -0.0464, -0.0122, -0.8137, -11.6034, 9.1419, 1.6923, 0.149, 0.022, 0.6227]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:511b0bc3441d94b20af4643c1bc6c244b0650e7a0438bcbe0c922e8ad218cdec",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f7996fb0d1c193af2d6f63b464dba00e5972614165ac0ff0a4558f9b2627b942",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:300fca74838b0ed53627347f89c7244e174aaf1faf4a7b96b3833470b6a22068",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzgcKEAgSGAI4AUIIdGhpbmtpbmcSDEjZ73JdYIS1w4Iz9hoMhHvkP/UBq6uMUWC+IjBd+XR1293Dv+1oQfp33UHlt3WjSNABjFFFFwDerzX6MSu2jVzUmrSSh0eY1l7IdBcq6wYrlPeaTrKx+JDs4p7hYUBT29voFfa/aaUFwF0I0CNEMbD0S33a1naSKz4W+19IzvMAJQ8cXnYMRAiBYpvxsgUsdNjAWD6JjofZPGPvfpAYOarOPFKziqGtOviR3UxoWgTsJbzUZFA2155MXpOqxNdGF3C0doeXrslkJPuZUQPlLChNYHANzjzWH8wKvMMMPXHpK+qvjrw3+hxpwnRYllIiEZn8VSP0lQYJ/67slGIGsn4H2W92QJIMY4o9IU9F/lu8kpAtLx6hN4UddDLylBJ7Jldys4UJ/qz9OPM+0REy0l7vetBj0JrNOkFJkwAj00DvNCSQjvW8OF68JkdzyK4se06ea2tWr2A+H4Ssa4MWnKiP+S+lXzrSJ963zFVjruHo++Sbwe8cHacdrq8VfjC89AmMwRZn3Y9OVhpLx4n1TcRGmcqjdAxsO+esCTJz80uKD311hPlG297pyOQjXEhzWcpQlDZOfFTCTJerSKVsPJcVI8YYjQQFSl4gJzR5ipR3CKkp1dCG5d/maQufjQCST6/6BdUSiH9Bu9kNtP9xCw3p9ixhu6PrbqDCVoxY/4bI8Bx4judnLr7drmAdKUcR+zyXpWRUrzgzFcvVgx5Xn8C3TJy9AyXYpsl+GqtMl9XVG5pVpkifQLHpU812fptQO8gPYUxeSLIHLpxcH5qnf6Av+c2LpQdRqY7BaPgO1OBogmMBEh7nGXf6F0KLlBqcrZLvFS7zPBKvOc6tcWoJAgUOSXKAjbRHU9wERPTDkJmQDHoeSeext/i7FbtoE9aHJmBr6wF5/lgCLVxzDXpX8HdTK4vOOwL7UWhhBUC/4CltQxGVRGnJQQNgPAK/ca1jTNKrwSIVCB7iMKlmIsDhbL6T8MdQX5Fg5A3mSgA7NThXY/s7FYRBxywWxgA4W8sMCCu6njrW3jLaTVhUa+VYE/pVFXpCzugfdQ4kH0utwvAZ3fvCJClOR3xZI9vcpTjXWVhQv1+OEZy+2AjttddI4zIur+ijOc9eNOWMt+d0RaN0wUAzo3NGV3YxyKGkbAtFL3SzDkc9zYzSq1+qfULILbv1f5kd33pGF30+QoooNUPrEIs9SFY0psACpSEx4APHyBayT/luhaT9tgBMrQI2nFIELnVsJzgUigQPAuyKLHAC0VKTLDn5eHDnhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018bYjRfBVj1x8qGRmAAULhe",
      "input": {
        "note": "The blue bowl fills the lower wrist view directly under the jaws. Releasing the lemon into it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018bYjRfBVj1x8qGRmAAULhe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6132, -0.4946, -0.0139, -0.0273, 0.9989, 0.3962, 2.0068, 1.5398, -0.3187, 0.3683, 0.0406, 0.9958]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0039 left_pitch=-0.1587 left_roll=0.0055 left_gripper=0.9989 right_x=0.5245 right_y=0.1543 right_z=0.1286 right_yaw=0.0545 right_pitch=-0.1649 right_roll=-0.2287 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -1.4564, 6.9538, 1.5751, -0.0415, -0.0317, -0.0122, -0.6359, -11.9043, 9.4838, 1.7607, 0.1832, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1deccb53fd374eb137bc19a9c0ba0e31cb93e490dc70a11f67e5591dfaae0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a6cba0cca6c657eb86e91aadc4b5dee92f67e81d8c021ad932ceaca62bda76d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d36019d72e1c0081db1df79cd00a046112af5a23e6d5692868bfcfb39bd8e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 23 attempt 0 · /messages · status 200 · 6.421 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]: [-0.0219, 0.8448, 0.6132, -0.4953, -0.0139, -0.0273, 0.9989, 0.4408, 1.8618, 1.3655, -0.2394, 0.4129, 0.0875, 0.6316]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1478 left_yaw=-0.0039 left_pitch=-0.1571 left_roll=0.0055 left_gripper=0.9989 right_x=0.4916 right_y=0.1575 right_z=0.1455 right_yaw=0.0402 right_pitch=-0.1019 right_roll=-0.2032 right_gripper=0.6316\nstate[joint_eff]: [-0.1846, -1.7573, 7.0906, 1.5995, -0.0415, -0.0171, -0.0122, -0.6906, -9.7162, 9.265, 1.9951, 0.1685, 0.1197, 0.6764]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0277, 0.9989, 0.4061, 1.9934, 1.5253, -0.3019, 0.3763, 0.0509, 0.6341]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0036 left_pitch=-0.1583 left_roll=0.0052 left_gripper=0.9989 right_x=0.5224 right_y=0.1579 right_z=0.1328 right_yaw=0.0532 right_pitch=-0.1471 right_roll=-0.2208 right_gripper=0.6341\nstate[joint_eff]: [-0.1026, -1.6068, 6.9538, 1.5556, -0.0513, -0.0464, -0.0122, -0.8137, -11.6034, 9.1419, 1.6923, 0.149, 0.022, 0.6227]\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]: [-0.0219, 0.8471, 0.6132, -0.4946, -0.0139, -0.0273, 0.9989, 0.3962, 2.0068, 1.5398, -0.3187, 0.3683, 0.0406, 0.9958]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0039 left_pitch=-0.1587 left_roll=0.0055 left_gripper=0.9989 right_x=0.5245 right_y=0.1543 right_z=0.1286 right_yaw=0.0545 right_pitch=-0.1649 right_roll=-0.2287 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -1.4564, 6.9538, 1.5751, -0.0415, -0.0317, -0.0122, -0.6359, -11.9043, 9.4838, 1.7607, 0.1832, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce1deccb53fd374eb137bc19a9c0ba0e31cb93e490dc70a11f67e5591dfaae0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a6cba0cca6c657eb86e91aadc4b5dee92f67e81d8c021ad932ceaca62bda76d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d36019d72e1c0081db1df79cd00a046112af5a23e6d5692868bfcfb39bd8e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SYxrLXapsLsE3U4YFqbLAg",
      "input": {
        "note": "The lemon is in the blue bowl (yellow showing at its rim in the overhead view). Next target is the pear at the table centre, around right-frame (0.37, 0.24), so I'm flying over it.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.37,
          "right_y": 0.24,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01SYxrLXapsLsE3U4YFqbLAg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6128, -0.4984, -0.0139, -0.0277, 0.9989, 0.8227, 1.7313, 1.0588, -0.1841, 0.6758, 0.2844, 0.9966]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.145 left_yaw=-0.0036 left_pitch=-0.1686 left_roll=0.0054 left_gripper=0.9989 right_x=0.3691 right_y=0.2406 right_z=0.11 right_yaw=0.1119 right_pitch=-0.0806 right_roll=-0.2713 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.935, 6.9402, 1.6825, -0.0269, -0.0513, -0.0171, 1.4291, -10.6188, 6.8308, 1.619, 0.3639, 0.1783, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b4aeed34cbbf3cef1f43b9246740bcfd80cb75873fdb2958e28d7509ea15f4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a97937c0a1fd92a7cb1468051ce72a7651c60fadc696e1613b2335919340776c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:13e56b780deb2d842e6e3db6188c2cbb89677bb3fbf1fe22983afa69da0a4b63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 4.594 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]: [-0.0219, 0.8463, 0.6132, -0.495, -0.0139, -0.0277, 0.9989, 0.4061, 1.9934, 1.5253, -0.3019, 0.3763, 0.0509, 0.6341]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1475 left_yaw=-0.0036 left_pitch=-0.1583 left_roll=0.0052 left_gripper=0.9989 right_x=0.5224 right_y=0.1579 right_z=0.1328 right_yaw=0.0532 right_pitch=-0.1471 right_roll=-0.2208 right_gripper=0.6341\nstate[joint_eff]: [-0.1026, -1.6068, 6.9538, 1.5556, -0.0513, -0.0464, -0.0122, -0.8137, -11.6034, 9.1419, 1.6923, 0.149, 0.022, 0.6227]\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]: [-0.0219, 0.8471, 0.6132, -0.4946, -0.0139, -0.0273, 0.9989, 0.3962, 2.0068, 1.5398, -0.3187, 0.3683, 0.0406, 0.9958]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0039 left_pitch=-0.1587 left_roll=0.0055 left_gripper=0.9989 right_x=0.5245 right_y=0.1543 right_z=0.1286 right_yaw=0.0545 right_pitch=-0.1649 right_roll=-0.2287 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -1.4564, 6.9538, 1.5751, -0.0415, -0.0317, -0.0122, -0.6359, -11.9043, 9.4838, 1.7607, 0.1832, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6128, -0.4984, -0.0139, -0.0277, 0.9989, 0.8227, 1.7313, 1.0588, -0.1841, 0.6758, 0.2844, 0.9966]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.145 left_yaw=-0.0036 left_pitch=-0.1686 left_roll=0.0054 left_gripper=0.9989 right_x=0.3691 right_y=0.2406 right_z=0.11 right_yaw=0.1119 right_pitch=-0.0806 right_roll=-0.2713 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.935, 6.9402, 1.6825, -0.0269, -0.0513, -0.0171, 1.4291, -10.6188, 6.8308, 1.619, 0.3639, 0.1783, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b4aeed34cbbf3cef1f43b9246740bcfd80cb75873fdb2958e28d7509ea15f4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a97937c0a1fd92a7cb1468051ce72a7651c60fadc696e1613b2335919340776c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13e56b780deb2d842e6e3db6188c2cbb89677bb3fbf1fe22983afa69da0a4b63",
        "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/gkKEAgSGAI4AUIIdGhpbmtpbmcSDK5UjNsCQzPhaTtI1xoM6jyOWMtLZLUhpkiJIjDwMeo9ZStlJs4kNxVI5Lv9tXkvlCw8MLTvYEab6wwtgmUAZc6oiLUQbmdEqHyRS4sqmwmCqVrQQ2GbIBqExvC7d+R/VIcVRZx4TT/S6RyKZDbf01yEpWbUrM9y6/XmUuK4yXEb3u+HNK7B2xCb4CqQYLElvYgx6lsPYLPUEF99mgOduswLeW3RXGjHoUhsgc0lFrR4RytHnvNRffKdUWi0uzyCbSCHUVFcOgkeZTPcNiMZMb4op76tRVaT78a5WrPg6jQziP+j2fe4UGBVu5jbWrC8e6JBYZsCUY7+5dQvbDeWC+kADebbUwp/R2oOAuXRbrNLR4NqaWAMkQiVbCPbmG0l2pBG+RivUjRBbWEtx5wTofE8JTxOQvF5WP8BIbFg1nb/giBhGpwN45bTp4nP6+WMGFX3X3J0SwbsTrgS+2a6Ai2HAEhktB+NH24auUpQv4ARSLytm6PGN3g4bTLsBbRtshB76f/zzMLziTfh3yrmhvxAWFYLspegaEVbUCmFD7ZdYpLSRN9tEad4R291HyBLXNhlva2NeVJagb764+6Fy3dLdij+I3O+TkAyx4bOE4KDz8RAvJXBZ+VHO5e+hAyCNJhtuPQiU1iFv7HapkrS9RlrYr/V22l70JJEsmTusIMciFUmqkuWFIktpsN4RrsDz4QP1mlfHT11j7j7G6XvIcjZ4cyg0+NEXm1gpOxRO3aucYK4g1bJ4vMLod0WD56q+O8vY9uQXYaaP8y+NNcjXy9g+/I6oi+oC2q3G/pH6ggXbSc0HcTOr4rOeD1ND+0JckSNJK6fvjpkLwPBj36xMwj6pHHkjnRWhRJaYyAmoxDCXAyqHOSEwDMG+oCVQ226zipNL0MTS6yqTRQW+XrINkPZ0NJFIRpZcYnnQGSySFOZ+btHF6cOK2jU8OdBd/A/Cn+xBzgdjlmeUu/CRI59BCNoRIFNFxKr8KWtL0cFN/HAgjP22pA6mzeovhoCNAWf2eUxJ0Ecq9MsUp3FheQNyCqLkX2QlKRaiOuaksv9L12nzl/rPnfbHBGTtTStqVBmO3wgnbY4DJ8Pix4Xl5U1HFc/nE0qyM4u6tqoBdh1IKXbpoCuPYi2lFLxUXuPlNPqB2+iy3yV+3qfydj+ySQPpIKiYZ4gH/cXY6KqS+QW7Tgqk+cntlhPFFybnVAuFsp9saNGmMSDeeHcjbFmkW1GXF1BYPodvgJwY0fV5CiS239m/brt9afVcb76kWbDD7ebMLXorBVeAeE6DxoDuKsggpwdZ+rbnCCtLskAXcxuahJTs4jgwAEpoiwckOvqAQkBtY8JIJjstAYJNj45nUZJxDglZD9uqIW4PbBZqkza+eVzpwMKOGxgt7hzxTsuRgwVyrMX478vuktzgqtUdVQVeEE8Y1obslVGIIxZZwLiTK4JgG8Cb2zCUAgPyg9J+cVNyrN81lAT+X70S1zWOaKh5ZVVQBs3AMZM7hvVUvEb6AMqP9r8FlodFGCisgwpSm+rhBqC7KyLQu2oJIZNVgE9fT8pNbT6HH96lnrbpnzLgnmz5ROcTrlwlVmVjBby2GBOPyKtD7X9xtD0QQy45lY2Tu5GfyrlsU/V2WHqutmcvahJ/a+ZwsB9wlj6ZL/eqZreluMA9OkjHqyi4LQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CyjyAqB3Xefx6P83GfuK3H",
      "input": {
        "note": "The lemon bounced out of the blue bowl and is now next to the pear, both just under the jaws. Descending onto the pear, which sits slightly left.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.252,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01CyjyAqB3Xefx6P83GfuK3H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6128, -0.4988, -0.0139, -0.0277, 0.9989, 0.8303, 1.9289, 0.9821, 0.0456, 0.6762, 0.2955, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1449 left_yaw=-0.0036 left_pitch=-0.169 left_roll=0.0054 left_gripper=0.9989 right_x=0.3714 right_y=0.2478 right_z=0.0326 right_yaw=0.1107 right_pitch=-0.1125 right_roll=-0.2922 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.5248, 6.8991, 1.5556, -0.0659, -0.0171, -0.0122, 0.1846, -8.5812, 4.4786, 1.4628, 0.3053, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70ce61e47741300f7344d51820c64f6b0fa526941af7921ff97d3fe5b8fd7997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306fe2f908b08a0dffd2ded214e1d64d8595bbfceef10f8fa8c35f3e8a52fc9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ab9b3dd129972f3959d9c5b246f7059d3fc21fae6f052eaf38b9dd48447285a0",
        "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 · 3.145 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]: [-0.0219, 0.8471, 0.6132, -0.4946, -0.0139, -0.0273, 0.9989, 0.3962, 2.0068, 1.5398, -0.3187, 0.3683, 0.0406, 0.9958]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0039 left_pitch=-0.1587 left_roll=0.0055 left_gripper=0.9989 right_x=0.5245 right_y=0.1543 right_z=0.1286 right_yaw=0.0545 right_pitch=-0.1649 right_roll=-0.2287 right_gripper=0.9958\nstate[joint_eff]: [-0.253, -1.4564, 6.9538, 1.5751, -0.0415, -0.0317, -0.0122, -0.6359, -11.9043, 9.4838, 1.7607, 0.1832, 0.0611, -0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6128, -0.4984, -0.0139, -0.0277, 0.9989, 0.8227, 1.7313, 1.0588, -0.1841, 0.6758, 0.2844, 0.9966]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.145 left_yaw=-0.0036 left_pitch=-0.1686 left_roll=0.0054 left_gripper=0.9989 right_x=0.3691 right_y=0.2406 right_z=0.11 right_yaw=0.1119 right_pitch=-0.0806 right_roll=-0.2713 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.935, 6.9402, 1.6825, -0.0269, -0.0513, -0.0171, 1.4291, -10.6188, 6.8308, 1.619, 0.3639, 0.1783, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6128, -0.4988, -0.0139, -0.0277, 0.9989, 0.8303, 1.9289, 0.9821, 0.0456, 0.6762, 0.2955, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1449 left_yaw=-0.0036 left_pitch=-0.169 left_roll=0.0054 left_gripper=0.9989 right_x=0.3714 right_y=0.2478 right_z=0.0326 right_yaw=0.1107 right_pitch=-0.1125 right_roll=-0.2922 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.5248, 6.8991, 1.5556, -0.0659, -0.0171, -0.0122, 0.1846, -8.5812, 4.4786, 1.4628, 0.3053, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70ce61e47741300f7344d51820c64f6b0fa526941af7921ff97d3fe5b8fd7997",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:306fe2f908b08a0dffd2ded214e1d64d8595bbfceef10f8fa8c35f3e8a52fc9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab9b3dd129972f3959d9c5b246f7059d3fc21fae6f052eaf38b9dd48447285a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQgKEAgSGAI4AUIIdGhpbmtpbmcSDFpVsPm/k1M/iAFTDhoMn16hpDrKT2y+rP4lIjCADhOdQzKCjI9W2RnHAedUJPShwO06WMNm03ytsVTt6GTr/GtW0iJMFbeiSrh7P9sqxgelySyBged2svt8Cyp1ALp3k6HrCydy+pJN/4yWzSLG2qclKz1dmufqOS7mrRMKWFcb+F6VZjOHQ0IFhD9aDLjO53zHaaj/yF2kVgY0gw7u6Fd/aTaTZHsPz/3GD4jSQDAK1FEYHDmAdFZ7htORmFXngfo1fT51lv8J3nmYVBeLCLCMS0Rb2zFidZ9tkzaRrlUvM0wcUFduDcDdaizJCqsjMpiojiWwX6aeNqVTtvtTUEWg9wzsS+563waQLuxB9fjEmAvKRnPllmEIR1SYuXaa5PF4SpJMF+g9oyO2zxKIJIc+KDQ03dmLX+OCORfJn5mmWXxZmgz/4pHuq0mQs4KwrRJC5127lgFTkCc3fXOQgB4JLju0effxo+zc3KRKadwr6bpkP8extE51MWq7NNPzQe1FEu9IFeGP7f5W+qUR5zO+tgADbmKl9JGKZl6Qlj01u31GJp8TXYLwypZxdRnw3KQV7EwJ0B+TXBvnIRI4/Sx4UVJHnuFjmKV4jLMIrpnKKIySFuE2O2a2nTePcP2WFomYhlDhuNKYEY/5C1YJuDOxSFLZSkEQ/+F8TlxQ4EhU/KOUj1O210sPNHQbarsX+fO92CO8osQa2GuUo2vwSrkdvYU161kGEsNHIw2jTZThlzCZtS/dKuDKMH5tXP6ck3a7CLh4WJvo1e9fVIDEhlPNSqQxHNSyuNb8Yv7WpAaVO0QtYxS/7OVdaR/4vrtBeD8dnglFjAaBNI/ScOG3iYJ3y4qzcyLcodGt1t2OqC1Ka2BBELxUQTPZq97QVdfg+cDQMijlDq1P55i0FIrZTyPZx5tdGP3xAD6283Lym3d751veMozlCWrnqgH0/wPl6QaKf0hbN2xJfqNE6Muc2tvahRT1smsTSCVN0zD+xD8b84o89UpT/NS9UpCJG/IXveMyk7zZXBziq42nKD8yRmESFbT9PmOYlffQMiLTocU0sA32z0+jLwkNPH4HeGUT/bMwns+SUc5bpV3phw80K3Sq4o4ftYEzcpTfNi4nVfB5OC5Ny92BysvGV/kw3eL1mwme1OUYVtYPiYU15BGePNj8CBRRIbzhy2rBPI60bSyG8bNkxo9ds92ykPL9WcgFt0/Ery19+UEjWCWe4wkAxQw5NKrvWDdkSD2sKjCwyxZk78xyMmuXeh770NM/nciS2ph8GbnpHARuJeTrmQRCroW4m5cVl10rcdSiMXl2+9i5VGXnzR63trv5oVbmH/9lVH9Dd4MsLNLn4Ikt5xftP6w/QpdvUWPaW4/TcUOLerqCEdmkhKMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UrK9jdYxKEKUiyY5tA5b7Q",
      "input": {
        "note": "The pear sits between the jaws at the bottom of the wrist view, which means it is still a little ahead of the fingertips. Advancing ~3 cm and going lower before closing.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.25,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UrK9jdYxKEKUiyY5tA5b7Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8536, 0.6128, -0.4992, -0.0139, -0.0277, 0.9989, 0.7895, 2.0125, 1.0237, 0.099, 0.651, 0.2623, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1446 left_yaw=-0.0036 left_pitch=-0.1701 left_roll=0.0055 left_gripper=0.9989 right_x=0.3905 right_y=0.2468 right_z=0.0155 right_yaw=0.1056 right_pitch=-0.1215 right_roll=-0.2955 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.5795, 6.9265, 1.5946, -0.0415, -0.0366, -0.0171, -0.4444, -8.8, 7.0222, 0.9011, 0.149, -0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe830a2e5f505cd1dd91be9880d19f0f821067839246f67450031b66c604450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afee76da624a6752a3ccae6fc153af88eeb268d1910118e3602e4e87bd84b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ced8d5df9d0e603e8dc74ba24ddeb1622036e6622cba7575571a06c6cc64361e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 26 attempt 0 · /messages · status 200 · 5.388 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]: [-0.0219, 0.8528, 0.6128, -0.4984, -0.0139, -0.0277, 0.9989, 0.8227, 1.7313, 1.0588, -0.1841, 0.6758, 0.2844, 0.9966]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.145 left_yaw=-0.0036 left_pitch=-0.1686 left_roll=0.0054 left_gripper=0.9989 right_x=0.3691 right_y=0.2406 right_z=0.11 right_yaw=0.1119 right_pitch=-0.0806 right_roll=-0.2713 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.935, 6.9402, 1.6825, -0.0269, -0.0513, -0.0171, 1.4291, -10.6188, 6.8308, 1.619, 0.3639, 0.1783, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6128, -0.4988, -0.0139, -0.0277, 0.9989, 0.8303, 1.9289, 0.9821, 0.0456, 0.6762, 0.2955, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1449 left_yaw=-0.0036 left_pitch=-0.169 left_roll=0.0054 left_gripper=0.9989 right_x=0.3714 right_y=0.2478 right_z=0.0326 right_yaw=0.1107 right_pitch=-0.1125 right_roll=-0.2922 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.5248, 6.8991, 1.5556, -0.0659, -0.0171, -0.0122, 0.1846, -8.5812, 4.4786, 1.4628, 0.3053, -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 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8536, 0.6128, -0.4992, -0.0139, -0.0277, 0.9989, 0.7895, 2.0125, 1.0237, 0.099, 0.651, 0.2623, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1446 left_yaw=-0.0036 left_pitch=-0.1701 left_roll=0.0055 left_gripper=0.9989 right_x=0.3905 right_y=0.2468 right_z=0.0155 right_yaw=0.1056 right_pitch=-0.1215 right_roll=-0.2955 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.5795, 6.9265, 1.5946, -0.0415, -0.0366, -0.0171, -0.4444, -8.8, 7.0222, 0.9011, 0.149, -0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:afe830a2e5f505cd1dd91be9880d19f0f821067839246f67450031b66c604450",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9afee76da624a6752a3ccae6fc153af88eeb268d1910118e3602e4e87bd84b0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 214):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ced8d5df9d0e603e8dc74ba24ddeb1622036e6622cba7575571a06c6cc64361e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FhYb5u5x3sDiQRMb2kBq5m",
      "input": {
        "note": "The pear is between the jaws at table level with the lemon to its right. Closing on the pear.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FhYb5u5x3sDiQRMb2kBq5m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8547, 0.6128, -0.5022, -0.0139, -0.0277, 0.9989, 0.7757, 2.0254, 1.0378, 0.1127, 0.6498, 0.2428, 0.8516]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1438 left_yaw=-0.0036 left_pitch=-0.1743 left_roll=0.0055 left_gripper=0.9989 right_x=0.3979 right_y=0.2456 right_z=0.0161 right_yaw=0.104 right_pitch=-0.1135 right_roll=-0.3005 right_gripper=0.8516\nstate[joint_eff]: [-0.1026, -1.4974, 6.8855, 1.6581, -0.0513, -0.0513, -0.0171, 0.0068, -9.1419, 6.5299, 1.4042, 0.1783, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a3306d564892fd9bd4f61c025b78558eb61d0841facf5ba424bc4976b1bf482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3bc1940bd69b9847313a9accd108e86cf22aec195fdf284689338c66335642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cb4b1f40687e10896bc9e1a5c8a71ec3a2d380f47f29d82ccfb72e173128d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.317 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]: [-0.0219, 0.8528, 0.6128, -0.4988, -0.0139, -0.0277, 0.9989, 0.8303, 1.9289, 0.9821, 0.0456, 0.6762, 0.2955, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1449 left_yaw=-0.0036 left_pitch=-0.169 left_roll=0.0054 left_gripper=0.9989 right_x=0.3714 right_y=0.2478 right_z=0.0326 right_yaw=0.1107 right_pitch=-0.1125 right_roll=-0.2922 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.5248, 6.8991, 1.5556, -0.0659, -0.0171, -0.0122, 0.1846, -8.5812, 4.4786, 1.4628, 0.3053, -0.0611, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8536, 0.6128, -0.4992, -0.0139, -0.0277, 0.9989, 0.7895, 2.0125, 1.0237, 0.099, 0.651, 0.2623, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1446 left_yaw=-0.0036 left_pitch=-0.1701 left_roll=0.0055 left_gripper=0.9989 right_x=0.3905 right_y=0.2468 right_z=0.0155 right_yaw=0.1056 right_pitch=-0.1215 right_roll=-0.2955 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.5795, 6.9265, 1.5946, -0.0415, -0.0366, -0.0171, -0.4444, -8.8, 7.0222, 0.9011, 0.149, -0.1294, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8547, 0.6128, -0.5022, -0.0139, -0.0277, 0.9989, 0.7757, 2.0254, 1.0378, 0.1127, 0.6498, 0.2428, 0.8516]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1438 left_yaw=-0.0036 left_pitch=-0.1743 left_roll=0.0055 left_gripper=0.9989 right_x=0.3979 right_y=0.2456 right_z=0.0161 right_yaw=0.104 right_pitch=-0.1135 right_roll=-0.3005 right_gripper=0.8516\nstate[joint_eff]: [-0.1026, -1.4974, 6.8855, 1.6581, -0.0513, -0.0513, -0.0171, 0.0068, -9.1419, 6.5299, 1.4042, 0.1783, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a3306d564892fd9bd4f61c025b78558eb61d0841facf5ba424bc4976b1bf482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d3bc1940bd69b9847313a9accd108e86cf22aec195fdf284689338c66335642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cb4b1f40687e10896bc9e1a5c8a71ec3a2d380f47f29d82ccfb72e173128d49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAkKEAgSGAI4AUIIdGhpbmtpbmcSDHTujTIKNN+SiT31XBoMP15L3qx++RGeGx+JIjDvV6hs3M1CC6wwS/WbPYX7T5hFTiHj8RAH/OWEd18QxoM3FAMDFLF1t2j1T4Is4ioqwQiSkEe+N2C5mNyGzJIMej2MiQtBhq/zVrdEN28IYi5AUj1+8gCPUoNWFIjkNHxuFGnxfZCR9npcwaTuEhxQr/rR5tM665vUY3U+LOv8otq2VqL3SNoIA6DchYIDl97y07QpFhPBOkwxjyCcmjHwtAsJLAHA4KDcNZZGyXMkJQ33oxIwvEx0TrPDAKGZNk37/nO8HQ6V7kcNMYgYXi2Lf8Ze6xze9Vcmscepr55oPekTLrl165Ht1vYAVwgJ50MAdMNKbQJF4xlDeSgiu+84Kg/VCfSW4o+KwIbRn1YBihtEcQ4DXRfO7XF+lfIl4LeU5w3lM3jAuMqmJ/b7kfukY/rV3gs8Kiehbpw5C7WBaZwP9758MabVu2ApoJMH0Y4Ud4+Qm1MsetiVoujFr9onIrOiiVjRNoZpmFNm3fIrSvAeFN+By6bfXhRP0sME7DXrmqT92X62omRHQBsONAt2qBbJbPc7eK5iIoVEk0bgr/yClidTMxVUXVKfsk++K6my2hSZmVjk+pHA6+ngM3aSlJcR777B7q0KHUa4SClre21fFoNOi1ACtG5d0X9uYJHhAHcN7/+8SvzmSuRcplks7WLl9112k0565loA7kOhoBvzdETzbh5QF1oOPmbRs2ivN8+YpV90KmfGPjYM2jfdTjKiZQKbGNLzTMpeqvb/cxagoZB0oGdQu4wFFNi54oKyYK1+jjihtqKO2h5QhcZGepvAo9mqnOUhPIieoEHIqr8m8D6S8enWTnRsyerggtrPr9impTabWztz8+OovwgKkE0bKgLIplExLvvE9Zne92gW64PzVsmXR6QoIC+k3BIwC1exD6wWsqSY236bEpZVM8JGbAWlyIWi7pXcNxA6D9FOQAYiO64v5mxTMlcdkwdUvxu+tUzILa1IzCngMZjUiuMpsHdfvg01T7HujUVowsn86TP02FS7oJt97TkHf6K/onm6+NRzlNgkdSLYhiqrWL1N43sNbpmzJSDx1G+/D0A4l2ZDLyvtbHN8ND1D0cEiWpe1z6cnhjDfJf8vkpxeZLVnZVTPlyLvO9ixQ4q2Kzw8Bl2KN7nM4Mz1W70jbcdK0pzO0rSrQNtqyuXqtWzKtMtXhKFDt8tWbWS689J/Bgs+UEuIsQDkQBQdt3bBEj7OVSvl10Bj1Pf5Lp6EOcuxL3h3nMsBoAc4bnGB1iESprVoqUXi64L1PoUtummN5dVT+xtCQ4/QZIiv9fQ6NgCUwr0e2PqZftc3oFSVeEhNq6Jg+a/mZoytcI1ET7a10irPHpQur2nCEcCxJULostBcXsOlCGVGF9HQOT+1F0puSvRgeqew/HyaKv9AQxVKjQ58HX5uKS5Z6wx6zOSBNpPOi+P+95+1E842ssSEceINWdTM+q6+jsO2RsvIuPgXM7MbWJYYPpdR1EUi9oG+F/ZVFSYUfjaOchwp6owSSp5v13kf/z0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VwvMMXYtSbgbmF28E3zx6c",
      "input": {
        "note": "Gripper settled at 0.85, so the pear is held. Carrying it high to the blue bowl, where the last drop landed around right-frame (0.52, 0.155).",
        "targets": {
          "right_x": 0.52,
          "right_y": 0.155,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VwvMMXYtSbgbmF28E3zx6c",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8581, 0.6132, -0.514, -0.0139, -0.0277, 0.9989, 0.4225, 1.945, 1.4956, -0.3225, 0.4015, -0.0441, 0.8549]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1409 left_yaw=-0.0035 left_pitch=-0.1892 left_roll=0.0058 left_gripper=0.9989 right_x=0.5103 right_y=0.1576 right_z=0.1432 right_yaw=0.0993 right_pitch=-0.1561 right_roll=-0.3104 right_gripper=0.8549\nstate[joint_eff]: [-0.3214, -1.8393, 7.1179, 1.6484, -0.0562, -0.0415, -0.0122, -0.2256, -11.7402, 9.0188, 1.6825, 0.2027, 0.105, 1.0085]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52abf6a81b9a2c1b2a1dc36cc587bca9bb7d0538f7c79e55b9dc74e0c669dd8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb72ec9b94d5457ef9f8ad1c3c0e0f2a930e1dd6adb5d1d26d1aaf72877b30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a0f9da9067abc960c71fb6d7838b69abb28f44f14e184fbfcd035a0edab1009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.502 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]: [-0.0219, 0.8536, 0.6128, -0.4992, -0.0139, -0.0277, 0.9989, 0.7895, 2.0125, 1.0237, 0.099, 0.651, 0.2623, 0.9966]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1446 left_yaw=-0.0036 left_pitch=-0.1701 left_roll=0.0055 left_gripper=0.9989 right_x=0.3905 right_y=0.2468 right_z=0.0155 right_yaw=0.1056 right_pitch=-0.1215 right_roll=-0.2955 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.5795, 6.9265, 1.5946, -0.0415, -0.0366, -0.0171, -0.4444, -8.8, 7.0222, 0.9011, 0.149, -0.1294, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8547, 0.6128, -0.5022, -0.0139, -0.0277, 0.9989, 0.7757, 2.0254, 1.0378, 0.1127, 0.6498, 0.2428, 0.8516]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1438 left_yaw=-0.0036 left_pitch=-0.1743 left_roll=0.0055 left_gripper=0.9989 right_x=0.3979 right_y=0.2456 right_z=0.0161 right_yaw=0.104 right_pitch=-0.1135 right_roll=-0.3005 right_gripper=0.8516\nstate[joint_eff]: [-0.1026, -1.4974, 6.8855, 1.6581, -0.0513, -0.0513, -0.0171, 0.0068, -9.1419, 6.5299, 1.4042, 0.1783, -0.022, 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]: [-0.0219, 0.8581, 0.6132, -0.514, -0.0139, -0.0277, 0.9989, 0.4225, 1.945, 1.4956, -0.3225, 0.4015, -0.0441, 0.8549]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1409 left_yaw=-0.0035 left_pitch=-0.1892 left_roll=0.0058 left_gripper=0.9989 right_x=0.5103 right_y=0.1576 right_z=0.1432 right_yaw=0.0993 right_pitch=-0.1561 right_roll=-0.3104 right_gripper=0.8549\nstate[joint_eff]: [-0.3214, -1.8393, 7.1179, 1.6484, -0.0562, -0.0415, -0.0122, -0.2256, -11.7402, 9.0188, 1.6825, 0.2027, 0.105, 1.0085]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52abf6a81b9a2c1b2a1dc36cc587bca9bb7d0538f7c79e55b9dc74e0c669dd8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb72ec9b94d5457ef9f8ad1c3c0e0f2a930e1dd6adb5d1d26d1aaf72877b30c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 234):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a0f9da9067abc960c71fb6d7838b69abb28f44f14e184fbfcd035a0edab1009",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQcKEAgSGAI4AUIIdGhpbmtpbmcSDMfyfP24Rt/yoYeYTBoMPfCEYfgIc6oNC0mLIjAyKn29XU7VGknKF3v16cXEvNDUCJodP14RYcbkVNH/6nAjXWHla5CJsVM+x2y9QEcq0gbJNl5WKY8kfYYzYrEy4peK1tX/CffpNYpv+o5vLHvXWy5bLrBUk7iDCMlmVCZXrwCkXK0jh7b/g4AAebHvU7/CGpGWo2coLZnV5ZGcjiGKcIXX5mksNL1oOz57VuTCi7C5lI5RPytHMnvxZ41gtuFAKxDaD78vvkzM6N5LaQXweFm1/OIPwWgkAg1poeRHPexNn+ncJ82HTVjs2h2VF6NF/LaV0lFFUxfd+paTCq/qaHB5+utfcmNQEFzVWNBb0j7Dr0rqKCerE64fdTYG2OjE8oEye5nj5rmXhTN1sjCiLLhlWmofAi4Z9b5mqkALvImHfxHKUoG7yTURHKBQXgOnr2kV0nON+8jfLdS5/JSfSZdwpen1gt8fxInswlu4WppkEjESBIlf6zfN2njnMzNG+GeML+NTGztfR42BwAE0ikqUxNqdNP4YHL+IzDW5HlWVTuXyKJZWD3ksQmVbejhdgpZbIgRQCwthgrmesaZfgJqEJn3w3afJQ/Co1vydLKcS+dcxHAMVZXORZsl7JPePRe7zC5niBLkiQZTk/UHGEcQ/MIzSe3yi0wBwkthPQ7cfvhQgUbcPwf7AtaRJvvmmrgNLldNLYF0qQJM11keXfqKFVrqxzvjPXpo/RV9iyajJ/x1pX02aroklLjCDdSBA8qdG5Ccr6lqE9K5thbsly/OoJFXuTraQLd/jeAvpwFuk5sXen5QsRR6w60p3BoN50Uumwct2i86bgwIcB5k9SzT1J/6ZvW2tiCnOe1UZBk9Yf8o/mQA+icN5gN1yZ2KCNhjQDfoZdtlZgkqgskwgh8p0/9YYYqmr8GdYtf9RDy12+EElwPYumfiR8DNii6zIog2kYoYAXwKOktBsAD7HykJPp806HQ+yLJqwExkM42pD9h9TcH+9990wxuOtpqotp3QiZ9MRr6cSHxKi+eZ2xiUsGDN4i93qEtK3GqQklTsqHloJhuh/GChnpCIC+weHzkl6O2UU9Z/JDlWlJnQ5AFL5fzR/Sj2Bq7X9QGCce2ZqcFqnqMrtEB65k8t8YCfLhCxNCjQDuynUnjh75kfwHto4EAIKknAlVm8Ooxoe2Ace1EDG9eVYSBUoYwXJ4ZBVx1V3ucHHSRN+dNPovYu9IV1jGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VVJ89DySMTZsNXnGXRH4Jb",
      "input": {
        "note": "The pear hangs over the near half of the blue bowl. Nudging forward and lowering so the drop is short and it stays in.",
        "targets": {
          "right_x": 0.535,
          "right_y": 0.155,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VVJ89DySMTZsNXnGXRH4Jb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8597, 0.6128, -0.5175, -0.0139, -0.0273, 0.9989, 0.4038, 2.0285, 1.5265, -0.2874, 0.3813, -0.0647, 0.8569]\nstate[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1398 left_yaw=-0.0037 left_pitch=-0.1945 left_roll=0.0062 left_gripper=0.9989 right_x=0.5258 right_y=0.1571 right_z=0.1175 right_yaw=0.1071 right_pitch=-0.1805 right_roll=-0.3176 right_gripper=0.8569\nstate[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.5751, -0.022, -0.0317, -0.0122, -0.8274, -11.3573, 6.1333, 1.7802, 0.1538, -0.0659, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b6d4199a1844af9ae2977c948b491c8b8067a08a6d835e3a7c4220441423c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ad9f15b6e267c0cf2c236a9cf1f8a92950732ed6dde92ca7d5751fd10be368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01f00ea55a9241e9911e2eec730c6e058a6ef1de818939e31e7cb2cad499d5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 16.8 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]: [-0.0219, 0.8547, 0.6128, -0.5022, -0.0139, -0.0277, 0.9989, 0.7757, 2.0254, 1.0378, 0.1127, 0.6498, 0.2428, 0.8516]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1438 left_yaw=-0.0036 left_pitch=-0.1743 left_roll=0.0055 left_gripper=0.9989 right_x=0.3979 right_y=0.2456 right_z=0.0161 right_yaw=0.104 right_pitch=-0.1135 right_roll=-0.3005 right_gripper=0.8516\nstate[joint_eff]: [-0.1026, -1.4974, 6.8855, 1.6581, -0.0513, -0.0513, -0.0171, 0.0068, -9.1419, 6.5299, 1.4042, 0.1783, -0.022, 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]: [-0.0219, 0.8581, 0.6132, -0.514, -0.0139, -0.0277, 0.9989, 0.4225, 1.945, 1.4956, -0.3225, 0.4015, -0.0441, 0.8549]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1409 left_yaw=-0.0035 left_pitch=-0.1892 left_roll=0.0058 left_gripper=0.9989 right_x=0.5103 right_y=0.1576 right_z=0.1432 right_yaw=0.0993 right_pitch=-0.1561 right_roll=-0.3104 right_gripper=0.8549\nstate[joint_eff]: [-0.3214, -1.8393, 7.1179, 1.6484, -0.0562, -0.0415, -0.0122, -0.2256, -11.7402, 9.0188, 1.6825, 0.2027, 0.105, 1.0085]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8597, 0.6128, -0.5175, -0.0139, -0.0273, 0.9989, 0.4038, 2.0285, 1.5265, -0.2874, 0.3813, -0.0647, 0.8569]\nstate[eef_state]: left_x=0.2782 left_y=-0.0001 left_z=0.1398 left_yaw=-0.0037 left_pitch=-0.1945 left_roll=0.0062 left_gripper=0.9989 right_x=0.5258 right_y=0.1571 right_z=0.1175 right_yaw=0.1071 right_pitch=-0.1805 right_roll=-0.3176 right_gripper=0.8569\nstate[joint_eff]: [-0.1846, -1.4838, 6.8855, 1.5751, -0.022, -0.0317, -0.0122, -0.8274, -11.3573, 6.1333, 1.7802, 0.1538, -0.0659, 1.0134]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e5b6d4199a1844af9ae2977c948b491c8b8067a08a6d835e3a7c4220441423c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ad9f15b6e267c0cf2c236a9cf1f8a92950732ed6dde92ca7d5751fd10be368",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01f00ea55a9241e9911e2eec730c6e058a6ef1de818939e31e7cb2cad499d5c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5AgKEAgSGAI4AUIIdGhpbmtpbmcSDAEBFtuy2qt6Z6FImhoMRF5oi7dbEDztdMmcIjB0cq2y0/n/LSfKPs260DBjgaIGXsdzVrnk3bVk9YIMf7HJjQo1WPOBc9XZXnCrCcMqgQhv6FhKTz/K+Lyj7XGI96wE1xYvHN8oUNvVZ13dNvM4/9CvsOqw8ayf4wwa79A8i80Tg60nrXRHBg6bUnxG26hmKukfhoGMHZcDWW6bfJYgmp3B9PRepNADNkkqElDpyDudF/jDKrMuGxq3pJQXLSq+ugFSpaWkf5F5C6uu6BMzYiGQgXuX/uBF1pb5hIheoY5BsWI+s4Af3R0EzCIN9OIDoguWzPUroHgqYOs3eCv8oDORtXVxam9O4DvM2cK4H+fs+W94OoIMY1mDP8IhaxViugAwbD3PKMCWXcmmYXU/6nMVAtf8vp+nMTRPKPltfEIOz9k38cZA+u2PVRD1anXH7isUY4yqg+W7xHfODwKG5AB5otVOr2U2Di7yeKuKSP1sYt9M4m1T5lAS5wyHdglxzHtGbEChtXM02X1KchhMxx1RdofIvXbANqOAW1w91FEJ2Fu+5S/49RlLpML5kGeB0lPIYAFn5EfJOUXvCcXfbXJ90cyDOkfTzn6eU3O3E1vwnChxRTHA9r4UN+9JBEY65xueV1Cu5GUxXwt4WzLh9skTtbMD7S3rtKy6cK+Xr1bQb2hROFqU+FvNA4zoAnuYdyCEagWMhGcQ/Bb01s/z1n+kUEqYs2usFQIh/nYJys0OFbOqPuUsHapBL+pgSjEYYBi3eGxDlT0eE6GWdEv0WuuvDsblFZaSYACbOreqNj1oMoRnoHs2sBinvEG2tZstg5YWHtHig3JWdP11mhd4A0rT7J5Nnnjo6LfrcyPmV0HqllNxwEUtvyusvS0uBeypv8QGGn9GKdyP9SHgPnoOZkMXOc/pJMsCsNrL2UOfA4vYh1tH5tUaB/5RJ4tmUTUWaGC8s/CmSLJNvPHZIVoL5//4Wwnk7GGnsHqpmk2bWLLEpQHArdoQNRBe/MALqUQdQtJNgWpTtNnC+fn2mu4Av2BUTJynKd7iR8K5Z/qpL/IJSJKvd4hJ2OAOVfGcKbu4w0FdcSkPG2qB+YbIwYjVbzQjD9ZmUQLUdp/YcGLRVv85TF58JZf1ZKbhaFtkyr7NjeBFmDkJ/Lm4+x7oLIdRyYis9u+gE96MlkYAg8+m3AaVwhcGnT0qTZcn/JOf5SwNv20hZ5IDsX170HpU19byL7Gr0pHJFvqed1c8803GBZCHdeIoaJSvYgYbJVkcPQNJahn2ZTbPqSHmK2urTs4mN5I78uarJoWis6WZM9Z4uymmRRQ98qi2HZ0OjLoEnPKMHk/qAS2Gc5zNf481yi/9lUZdp5QaEVEp/YKK+muwOs1aVtxTRYT15K6BbYTOIsiziS71HOiqElXby1yvQidVZSHmCG298pd5ySzKjAvhD03eLeEwiwfTLculpPNbQLvq3hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HMyEooLBDXxAAPQ2DYpNcn",
      "input": {
        "note": "The pear is low over the blue bowl; releasing.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01HMyEooLBDXxAAPQ2DYpNcn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8597, 0.6128, -0.5201, -0.0139, -0.0277, 0.9989, 0.3962, 2.0781, 1.5085, -0.2584, 0.3687, -0.0704, 0.994]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1393 left_yaw=-0.0035 left_pitch=-0.1972 left_roll=0.006 left_gripper=0.9989 right_x=0.5267 right_y=0.1552 right_z=0.0883 right_yaw=0.1107 right_pitch=-0.221 right_roll=-0.3242 right_gripper=0.994\nstate[joint_eff]: [-0.0889, -1.4974, 6.8855, 1.5849, -0.0415, -0.0513, -0.0122, -0.3487, -13.5316, 7.4325, 1.7363, 0.2125, 0.1245, 0.1734]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e0b527aa1338901a7b6d44270570f4b4b73162f122bdcf1829f55ed1d3aef13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70201fff3817b5ffa9b3ac1b5bf7cd1f11ac40c41e6aedefdef7f4a43a5c5ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d26492140159f11219f6f1acab16612ee6da90b636fc620b6905027439b3aa3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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