adhoc

completed
2026-09-22T20:30:54.437280+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
259.5 s
total steps
309
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl left, dark plum, lemon, blue bowl and pear on the right. Right wrist cam shows the pear just ahead and slightly left; moving the right arm forward/left above it to check alignment.
move_to
right_x0.3600right_y0.0400right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0223, 0.7998, 0.6132, -0.3828, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0235, -0.0124, 0.9993] state[eef_state]: left_x=0.2959 left_y=-0.0005 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.294, -1.4154, 9.5795, 1.8486, -0.1099, 0.149, -0.0806, -0.335, -1.5111, 9.265, 1.8535, -0.0073, -0.0757, -0.0904] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.04, "right_z": 0.14}, "note": "Scene: white bowl left, dark plum, lemon, blue bowl and pear on the right. Right wrist cam shows the pear just ahead and slightly left; moving the right arm forward/left above it to check alignment."})
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 at the bottom of the right wrist view, roughly under the fingertips. Descending to grasp its body.
move_to
right_x0.3500right_y0.0500right_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, 0.8021, 0.6147, -0.3977, -0.0177, -0.0307, 0.9993, 0.1684, 1.1805, 0.5934, -0.0441, 0.1192, 0.0708, 0.9992] state[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.179 left_yaw=0.0039 left_pitch=-0.0156 left_roll=0.0013 left_gripper=0.9993 right_x=0.353 right_y=0.0423 right_z=0.1257 right_yaw=0.026 right_pitch=-0.0564 right_roll=-0.0154 right_gripper=0.9992 state[joint_eff]: [-0.0889, -1.4564, 6.9402, 1.8926, -0.0073, -0.0464, -0.0122, -0.1299, -4.6291, 7.2684, 2.0879, 0.1294, 0.1587, -0.022] 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": 0.35, "right_y": 0.05, "right_z": 0.03}, "note": "Pear is centred on the jaw column at the bottom of the right wrist view, roughly under the fingertips. 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 sits between the jaws. Closing.
agent noteThe pear fills the view between the right jaws; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.408, -0.0177, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1341, 0.0711, 0.9992] state[eef_state]: left_x=0.2931 left_y=0.0003 left_z=0.1759 left_yaw=0.0039 left_pitch=-0.0297 left_roll=0.0017 left_gripper=0.9993 right_x=0.3455 right_y=0.0517 right_z=0.0229 right_yaw=0.0503 right_pitch=-0.0905 right_roll=-0.0293 right_gripper=0.9992 state[joint_eff]: [-0.0205, -1.306, 6.9949, 1.8437, -0.0415, -0.0513, -0.0122, -0.1162, -5.2581, 4.7521, 1.9512, 0.1343, 0.1636, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
Pear sits between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "The pear fills the view between the right jaws; closing to grasp it."})
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 noteGripper settled at 0.65 (~6 cm), pear is held. Lifting it clear before carrying to the blue bowl.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4118, -0.0181, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1295, 0.0673, 0.6456] state[eef_state]: left_x=0.2925 left_y=0.0004 left_z=0.1751 left_yaw=0.0042 left_pitch=-0.0335 left_roll=0.002 left_gripper=0.9993 right_x=0.3454 right_y=0.0525 right_z=0.0229 right_yaw=0.0562 right_pitch=-0.091 right_roll=-0.0295 right_gripper=0.6456 state[joint_eff]: [0.0615, -1.3197, 6.9949, 1.7949, -0.0317, -0.0269, -0.0122, -0.0068, -4.8068, 4.9026, 1.6484, 0.0171, -0.0269, 1.033] 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_z": 0.18}, "note": "Gripper settled at 0.65 (~6 cm), pear is held. Lifting it clear before carrying to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent notePear lifted. Blue bowl is ahead-left in the wrist view; carrying the pear over it.
move_to
right_x0.4000right_y0.1300right_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, 0.8116, 0.6147, -0.4236, -0.0181, -0.0307, 0.9993, 0.2066, 1.1343, 0.7773, -0.3721, 0.1257, 0.0597, 0.6525] state[eef_state]: left_x=0.2912 left_y=0.0004 left_z=0.1712 left_yaw=0.0042 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9993 right_x=0.3385 right_y=0.052 right_z=0.1585 right_yaw=0.0632 right_pitch=-0.153 right_roll=-0.0421 right_gripper=0.6525 state[joint_eff]: [-0.0068, -1.7983, 6.9812, 1.79, -0.0415, -0.022, -0.0122, -0.4444, -4.8889, 9.6205, 1.8291, 0.022, -0.0024, 1.033] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.13, "right_z": 0.18}, "note": "Pear lifted. Blue bowl is ahead-left in the wrist view; carrying the pear over it."})
tool
executing move_to over 7 steps (0.7s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteTop view shows the gripper over the blue bowl. Lowering the pear toward the bowl before releasing.
move_to
right_y0.1400right_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, 0.8127, 0.6147, -0.4271, -0.0181, -0.0307, 0.9993, 0.4282, 1.4792, 1.0821, -0.4393, 0.2615, 0.1844, 0.6525] state[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1702 left_yaw=0.0043 left_pitch=-0.0556 left_roll=0.0025 left_gripper=0.9993 right_x=0.3871 right_y=0.1305 right_z=0.1569 right_yaw=0.0967 right_pitch=-0.2314 right_roll=-0.0707 right_gripper=0.6525 state[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.7216, -0.0513, -0.0513, -0.0122, -0.335, -7.2, 9.265, 1.8291, 0.3004, 0.2173, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.14, "right_z": 0.1}, "note": "Top view shows the gripper over the blue bowl. Lowering the pear toward the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteWrist view shows the blue bowl mostly ahead of the pear, so nudging forward ~3 cm to centre the pear over the bowl.
move_to
right_x0.4100right_z0.0900
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, 0.8127, 0.6147, -0.4282, -0.0177, -0.0307, 0.9993, 0.4519, 1.5429, 0.939, -0.2806, 0.2653, 0.1848, 0.6525] state[eef_state]: left_x=0.2906 left_y=0.0003 left_z=0.1699 left_yaw=0.0039 left_pitch=-0.0568 left_roll=0.0024 left_gripper=0.9993 right_x=0.3793 right_y=0.1366 right_z=0.1002 right_yaw=0.1128 right_pitch=-0.2758 right_roll=-0.0896 right_gripper=0.6525 state[joint_eff]: [-0.0615, -1.3197, 7.1863, 1.6923, -0.0317, -0.0317, -0.0122, 0.3897, -6.2974, 6.5299, 1.7314, 0.2662, 0.1685, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_z": 0.09}, "note": "Wrist view shows the blue bowl mostly ahead of the pear, so nudging forward ~3 cm to centre the pear over the bowl."})
tool
executing move_to over 3 steps (0.3s)
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 noteArm didn't advance forward — pear likely snagging the bowl rim. Raising and moving forward to get over the bowl centre.
move_to
right_x0.4200right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4309, -0.0177, -0.0307, 0.9993, 0.4553, 1.5692, 0.9184, -0.2504, 0.2653, 0.1844, 0.6525] state[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1694 left_yaw=0.0039 left_pitch=-0.0595 left_roll=0.0024 left_gripper=0.9993 right_x=0.3782 right_y=0.1376 right_z=0.0868 right_yaw=0.1148 right_pitch=-0.2916 right_roll=-0.0957 right_gripper=0.6525 state[joint_eff]: [-0.2393, -1.2923, 6.9812, 1.7216, -0.0464, -0.0513, -0.0171, 0.294, -7.9111, 6.735, 1.8095, 0.2515, 0.188, 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_x": 0.42, "right_z": 0.13}, "note": "Arm didn't advance forward \u2014 pear likely snagging the bowl rim. Raising and moving forward to get over the bowl centre."})
tool
executing move_to over 4 steps (0.4s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteArm is holding position with the pear surrounded by the blue bowl in the wrist view; releasing the pear into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8185, 0.6144, -0.4446, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2398, 0.2657, 0.1841, 0.6525] state[eef_state]: left_x=0.2885 left_y=0.0005 left_z=0.165 left_yaw=0.0043 left_pitch=-0.0793 left_roll=0.0032 left_gripper=0.9993 right_x=0.3795 right_y=0.1382 right_z=0.0877 right_yaw=0.1156 right_pitch=-0.2833 right_roll=-0.0932 right_gripper=0.6525 state[joint_eff]: [-0.3214, -1.7709, 7.241, 1.7998, -0.0513, -0.0317, -0.0122, -0.1026, -7.8974, 6.9812, 1.6386, 0.2369, 0.1685, 1.033] camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Arm is holding position with the pear surrounded by the blue bowl in the wrist view; releasing the pear into the bowl."})
tool
executing move_to over 4 steps (0.4s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteWrist view looks odd — the blue bowl appears tipped over the pear. Raising and backing the right arm away to see the scene from the top camera.
move_to
right_z0.2000right_x0.3300right_y0.0500
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, 0.8185, 0.614, -0.4465, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2356, 0.2657, 0.1917, 0.9957] state[eef_state]: left_x=0.2881 left_y=0.0005 left_z=0.1644 left_yaw=0.0043 left_pitch=-0.0816 left_roll=0.0032 left_gripper=0.9993 right_x=0.3802 right_y=0.1385 right_z=0.0884 right_yaw=0.1117 right_pitch=-0.279 right_roll=-0.0864 right_gripper=0.9957 state[joint_eff]: [-0.1709, -1.1692, 7.0085, 1.6874, -0.0171, -0.0659, -0.0122, -0.0752, -7.6513, 6.8581, 1.6825, 0.2369, 0.1245, -0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.33, "right_y": 0.05}, "note": "Wrist view looks odd \u2014 the blue bowl appears tipped over the pear. Raising and backing the right arm away to see the scene from the top camera."})
tool
executing move_to over 8 steps (0.8s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent notePear fell back upright on the table, just in front (base-side) of the blue bowl, which is further forward at the limit of reach. Hovering above the pear to regrasp it.
move_to
right_x0.3700right_y0.0800right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.82, 0.614, -0.4503, -0.0181, -0.0311, 0.9993, 0.2031, 1.211, 1.0164, -0.6697, 0.1219, 0.0135, 0.9964] state[eef_state]: left_x=0.2876 left_y=0.0005 left_z=0.1633 left_yaw=0.0045 left_pitch=-0.0869 left_roll=0.0031 left_gripper=0.9993 right_x=0.3351 right_y=0.0507 right_z=0.1841 right_yaw=0.0846 right_pitch=-0.2887 right_roll=-0.0907 right_gripper=0.9964 state[joint_eff]: [-0.1983, -1.4974, 7.1726, 1.7265, -0.0269, -0.0708, -0.0122, -0.212, -4.6974, 9.1145, 1.5507, -0.022, -0.0513, 0.0513] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.08, "right_z": 0.12}, "note": "Pear fell back upright on the table, just in front (base-side) of the blue bowl, which is further forward at the limit of reach. Hovering above the pear to regrasp it."})
tool
executing move_to over 5 steps (0.5s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent notePear is slightly ahead and left of the jaws in the wrist view; descending with a small left/forward correction to grasp it.
move_to
right_x0.3700right_y0.1000right_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, 0.8219, 0.614, -0.4534, -0.0177, -0.0311, 0.9993, 0.2802, 1.4025, 0.9073, -0.4706, 0.1532, 0.046, 0.9964] state[eef_state]: left_x=0.2873 left_y=0.0004 left_z=0.1621 left_yaw=0.0042 left_pitch=-0.0919 left_roll=0.003 left_gripper=0.9993 right_x=0.3515 right_y=0.0768 right_z=0.1076 right_yaw=0.1104 right_pitch=-0.384 right_roll=-0.1109 right_gripper=0.9964 state[joint_eff]: [-0.1573, -1.5385, 7.0632, 1.7118, -0.022, -0.0415, -0.0122, 0.3214, -5.9282, 6.6803, 1.7021, 0.1197, 0.2857, -0.0073] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.1, "right_z": 0.03}, "note": "Pear is slightly ahead and left of the jaws in the wrist view; descending with a small left/forward correction to grasp it."})
tool
executing move_to over 6 steps (0.6s)
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 notePear fills the space between the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8238, 0.614, -0.4545, -0.0181, -0.0311, 0.9993, 0.3378, 1.6253, 0.8021, -0.2138, 0.1684, 0.0711, 0.9964] state[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1614 left_yaw=0.0045 left_pitch=-0.0949 left_roll=0.0033 left_gripper=0.9993 right_x=0.3569 right_y=0.0978 right_z=0.0266 right_yaw=0.1335 right_pitch=-0.4502 right_roll=-0.124 right_gripper=0.9964 state[joint_eff]: [-0.335, -1.4974, 6.9402, 1.6825, -0.0415, -0.0562, -0.0122, 0.1573, -7.0496, 5.1487, 1.4579, 0.149, 0.2027, -0.0171] 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_gripper": 0.0}, "note": "Pear fills the space between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 84
top_cam
camera top_cam step 84
left_cam
camera left_cam step 84
right_cam
camera right_cam step 84
assistant
agent noteClose came up empty (0.01); the pear sits just ahead of the fingertips. Opening and lifting slightly before advancing.
move_to
right_gripper1.0000right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8238, 0.614, -0.4679, -0.0177, -0.0307, 0.9993, 0.3374, 1.6455, 0.7933, -0.2146, 0.1627, 0.0673, 0.0118] state[eef_state]: left_x=0.2851 left_y=0.0005 left_z=0.1588 left_yaw=0.004 left_pitch=-0.1083 left_roll=0.0037 left_gripper=0.9993 right_x=0.3519 right_y=0.0969 right_z=0.0165 right_yaw=0.1377 right_pitch=-0.4806 right_roll=-0.1274 right_gripper=0.0118 state[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.8046, -0.0317, -0.0269, -0.0122, -0.0068, -8.6359, 6.2974, 1.1697, 0.1929, 0.0269, 1.0525] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 84): [image omitted: streamed camera frame] camera 'left_cam' (step 84): [image omitted: streamed camera frame] camera 'right_cam' (step 84): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.06}, "note": "Close came up empty (0.01); the pear sits just ahead of the fingertips. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
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 notePear is ~5 cm ahead of the jaws; the wrist had tilted back, so resetting pitch to 0 and advancing to straddle the pear.
move_to
right_x0.4000right_y0.1000right_z0.0300right_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, 0.8238, 0.614, -0.4694, -0.0181, -0.0307, 0.9993, 0.3374, 1.5784, 0.8696, -0.3943, 0.1596, 0.0597, 0.9958] state[eef_state]: left_x=0.2849 left_y=0.0005 left_z=0.1585 left_yaw=0.0044 left_pitch=-0.1098 left_roll=0.004 left_gripper=0.9993 right_x=0.3452 right_y=0.0951 right_z=0.044 right_yaw=0.1414 right_pitch=-0.5171 right_roll=-0.1367 right_gripper=0.9958 state[joint_eff]: [-0.3487, -1.388, 6.9402, 1.6874, -0.0171, -0.0415, -0.0122, -0.2256, -8.4444, 8.3761, 1.0525, 0.0171, 0.0317, -0.1832] approver: 10 step(s) modified (delta_clamped ×10). 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_x": 0.4, "right_y": 0.1, "right_z": 0.03, "right_pitch": 0.0}, "note": "Pear is ~5 cm ahead of the jaws; the wrist had tilted back, so resetting pitch to 0 and advancing to straddle the pear."})
tool
executing move_to over 18 steps (1.8s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent notePear is now right between the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8238, 0.614, -0.4759, -0.0181, -0.0307, 0.9993, 0.3374, 1.7382, 0.5426, 0.5262, 0.2096, -0.004, 0.9969] state[eef_state]: left_x=0.2839 left_y=0.0006 left_z=0.1573 left_yaw=0.0044 left_pitch=-0.1163 left_roll=0.0041 left_gripper=0.9993 right_x=0.3886 right_y=0.1012 right_z=0.0158 right_yaw=0.159 right_pitch=-0.088 right_roll=-0.1357 right_gripper=0.9969 state[joint_eff]: [-0.294, -1.2103, 6.9949, 1.7021, -0.0415, -0.0513, -0.0122, -0.2803, -6.7077, 4.2325, 2.1612, 0.2222, -0.0269, 0.0952] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear is now right between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent notePear grasped (0.74). Lifting high so the pear clears the blue bowl rim, which is ahead-left.
move_to
right_z0.2200right_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, 0.8238, 0.614, -0.4759, -0.0177, -0.0307, 0.9993, 0.3374, 1.7447, 0.5392, 0.5751, 0.2085, -0.0086, 0.7401] state[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1573 left_yaw=0.0041 left_pitch=-0.1163 left_roll=0.0039 left_gripper=0.9993 right_x=0.3936 right_y=0.1032 right_z=0.0216 right_yaw=0.1629 right_pitch=-0.0502 right_roll=-0.1319 right_gripper=0.7401 state[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6777, -0.0366, -0.0415, -0.0122, -0.0752, -7.5145, 4.9709, 1.2039, 0.0024, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_pitch": 0.0}, "note": "Pear grasped (0.74). Lifting high so the pear clears the blue bowl rim, which is ahead-left."})
tool
executing move_to over 13 steps (1.3s)
step 135
top_cam
camera top_cam step 135
left_cam
camera left_cam step 135
right_cam
camera right_cam step 135
assistant
agent notePear lifted; the blue bowl is left of and slightly ahead of the gripper in both views. Carrying the pear over it.
move_to
right_x0.4200right_y0.1800right_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, 0.8249, 0.614, -0.4763, -0.0177, -0.0307, 0.9993, 0.3386, 1.3365, 0.9592, -0.2558, 0.2054, -0.0196, 0.7457] state[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1569 left_yaw=0.0041 left_pitch=-0.1178 left_roll=0.0039 left_gripper=0.9993 right_x=0.3924 right_y=0.1038 right_z=0.1907 right_yaw=0.1725 right_pitch=-0.0538 right_roll=-0.1395 right_gripper=0.7457 state[joint_eff]: [-0.1026, -1.306, 6.9675, 1.6288, -0.0122, -0.0562, -0.0122, -0.0752, -7.9521, 9.7573, 1.8193, 0.1929, 0.0073, 1.033] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 135): [image omitted: streamed camera frame] camera 'left_cam' (step 135): [image omitted: streamed camera frame] camera 'right_cam' (step 135): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.18, "right_z": 0.2, "right_pitch": 0.0}, "note": "Pear lifted; the blue bowl is left of and slightly ahead of the gripper in both views. Carrying the pear over it."})
tool
executing move_to over 7 steps (0.7s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe arm now hides the blue bowl in the top view, meaning it's directly over it. Lowering the pear to just above the rim.
move_to
right_z0.1000right_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, 0.8318, 0.614, -0.4835, -0.0181, -0.0307, 0.9993, 0.5316, 1.5337, 1.0966, -0.2642, 0.3344, 0.0536, 0.7499] state[eef_state]: left_x=0.283 left_y=0.0006 left_z=0.1537 left_yaw=0.0044 left_pitch=-0.1319 left_roll=0.0046 left_gripper=0.9993 right_x=0.4057 right_y=0.1755 right_z=0.1737 right_yaw=0.2179 right_pitch=-0.0953 right_roll=-0.1747 right_gripper=0.7499 state[joint_eff]: [-0.2256, -1.9487, 6.9128, 1.6972, -0.0366, -0.0317, -0.0122, 0.212, -7.1179, 9.6205, 1.9853, 0.2222, 0.3004, 1.033] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1, "right_pitch": 0.0}, "note": "The arm now hides the blue bowl in the top view, meaning it's directly over it. Lowering the pear to just above the rim."})
tool
executing move_to over 5 steps (0.5s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe arm sagged back to x≈0.39, so the pear sits just in front of the blue bowl (bowl visible ahead in the wrist view). Raising and pushing further forward over the bowl.
move_to
right_x0.4500right_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, 0.8322, 0.614, -0.4915, -0.0177, -0.0307, 0.9993, 0.5396, 1.6257, 0.8051, 0.0628, 0.3443, 0.0402, 0.7535] state[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1521 left_yaw=0.0041 left_pitch=-0.1403 left_roll=0.0045 left_gripper=0.9993 right_x=0.3867 right_y=0.1663 right_z=0.075 right_yaw=0.2227 right_pitch=-0.1482 right_roll=-0.2091 right_gripper=0.7535 state[joint_eff]: [-0.1299, -1.3333, 6.8991, 1.6825, -0.0366, -0.0562, -0.0122, -0.0479, -7.4325, 6.8444, 2.1661, 0.3492, -0.1001, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_z": 0.13, "right_pitch": 0.0}, "note": "The arm sagged back to x\u22480.39, so the pear sits just in front of the blue bowl (bowl visible ahead in the wrist view). Raising and pushing further forward over the bowl."})
tool
executing move_to over 5 steps (0.5s)
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 pear is now over the blue bowl (bowl surrounds it in the wrist view and top view). 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, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4644, 1.6886, 0.9512, 0.0757, 0.3058, -0.0357, 0.7569] state[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4344 right_y=0.1622 right_z=0.1074 right_yaw=0.2228 right_pitch=-0.0711 right_roll=-0.2177 right_gripper=0.7569 state[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.5946, -0.0122, -0.0611, -0.0122, -0.4991, -7.6923, 9.0598, 1.9951, 0.105, 0.0171, 0.9597] approver: 1 step(s) modified (delta_clamped). 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": 1.0}, "note": "The pear is now over the blue bowl (bowl surrounds it in the wrist view and top view). Releasing."})
tool
executing move_to over 3 steps (0.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent notePear is in the blue bowl. Next the lemon, which lies ~9 cm left of where the pear was; moving the right arm above it.
move_to
right_x0.3900right_y0.2000right_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, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4599, 1.6928, 0.9657, 0.0853, 0.2989, -0.0536, 0.9957] state[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4396 right_y=0.1637 right_z=0.1132 right_yaw=0.2337 right_pitch=-0.0548 right_roll=-0.2235 right_gripper=0.9957 state[joint_eff]: [-0.335, -1.2239, 7.1043, 1.6093, -0.0806, -0.0464, -0.0122, -0.4855, -8.1709, 8.6632, 1.8974, 0.1245, -0.0024, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.2, "right_z": 0.13, "right_pitch": 0.0}, "note": "Pear is in the blue bowl. Next the lemon, which lies ~9 cm left of where the pear was; moving the right arm above it."})
tool
executing move_to over 4 steps (0.4s)
step 159
top_cam
camera top_cam step 159
left_cam
camera left_cam step 159
right_cam
camera right_cam step 159
assistant
agent noteRight arm didn't respond to the last target (stalled). Raising straight up and resetting wrist orientation to unstick it.
move_to
right_z0.1800right_yaw0.0000right_roll0.0000right_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, 0.614, -0.4942, -0.0181, -0.0307, 0.9993, 0.4595, 1.6928, 0.9657, 0.0856, 0.2985, -0.0536, 0.9964] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.143 left_roll=0.0049 left_gripper=0.9993 right_x=0.4397 right_y=0.1636 right_z=0.1132 right_yaw=0.2336 right_pitch=-0.0544 right_roll=-0.2232 right_gripper=0.9964 state[joint_eff]: [-0.0205, -1.4291, 6.9128, 1.6337, -0.0415, -0.0513, -0.0122, -0.3487, -7.9795, 8.6496, 1.9902, 0.1099, -0.0073, 0.0562] camera 'top_cam' (step 159): [image omitted: streamed camera frame] camera 'left_cam' (step 159): [image omitted: streamed camera frame] camera 'right_cam' (step 159): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18, "right_yaw": 0.0, "right_roll": 0.0, "right_pitch": 0.0}, "note": "Right arm didn't respond to the last target (stalled). Raising straight up and resetting wrist orientation to unstick it."})
tool
executing move_to over 5 steps (0.5s)
step 164
top_cam
camera top_cam step 164
left_cam
camera left_cam step 164
right_cam
camera right_cam step 164
assistant
agent notePear is in the bowl. Based on the pear/bowl positions, the lemon is about 15 cm left of the pear's old spot; moving the right arm above it.
move_to
right_x0.3700right_y0.2500right_z0.1500right_yaw0.0000right_roll0.0000right_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, 0.614, -0.4946, -0.0181, -0.0307, 0.9993, 0.4816, 1.6882, 1.0409, -0.0345, 0.3408, 0.0235, 0.9964] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.1433 left_roll=0.0049 left_gripper=0.9993 right_x=0.439 right_y=0.1668 right_z=0.1253 right_yaw=0.1791 right_pitch=-0.0784 right_roll=-0.1967 right_gripper=0.9964 state[joint_eff]: [-0.3214, -1.388, 6.9128, 1.6239, -0.0562, -0.0562, -0.0122, 0.5675, -13.6, 10.4274, 2.1807, 0.2369, 0.3053, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 164): [image omitted: streamed camera frame] camera 'left_cam' (step 164): [image omitted: streamed camera frame] camera 'right_cam' (step 164): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.15, "right_yaw": 0.0, "right_roll": 0.0, "right_pitch": 0.0}, "note": "Pear is in the bowl. Based on the pear/bowl positions, the lemon is about 15 cm left of the pear's old spot; moving the right arm above it."})
tool
executing move_to over 7 steps (0.7s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteLemon is at the bottom of the right wrist view, centred on the jaws with its long axis radial; descending to grasp across its width.
move_to
right_x0.3800right_y0.2500right_z0.0100right_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, 0.8333, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8127, 1.6665, 1.05, -0.1719, 0.6006, 0.4362, 0.9964] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1513 left_yaw=0.0042 left_pitch=-0.1445 left_roll=0.0046 left_gripper=0.9993 right_x=0.3669 right_y=0.2476 right_z=0.1292 right_yaw=0.0815 right_pitch=-0.0566 right_roll=-0.068 right_gripper=0.9964 state[joint_eff]: [-0.0615, -1.347, 6.9538, 1.5849, -0.0317, -0.022, -0.0122, 0.1983, -8.4034, 9.5248, 1.5214, 0.4176, 0.1343, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.25, "right_z": 0.01, "right_pitch": 0.0}, "note": "Lemon is at the bottom of the right wrist view, centred on the jaws with its long axis radial; descending to grasp across its width."})
tool
executing move_to over 8 steps (0.8s)
step 179
assistant
agent noteLemon sits between the jaws at table level; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8017, 1.9789, 0.8562, 0.3367, 0.6056, 0.4, 0.9964] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3738 right_y=0.2467 right_z=0.0073 right_yaw=0.0864 right_pitch=-0.054 right_roll=-0.0985 right_gripper=0.9964 state[joint_eff]: [-0.212, -1.4974, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122, -0.335, -9.1966, 4.2462, 1.7509, 0.3248, -0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_gripper": 0.0}, "note": "Lemon sits between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 189
assistant
agent noteLemon grasped (0.50). Lifting it and carrying it over the blue bowl, which is ahead-right of the gripper.
move_to
right_x0.4500right_y0.1700right_z0.1800right_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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8021, 1.9934, 0.8478, 0.3656, 0.6056, 0.4, 0.5047] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3736 right_y=0.2468 right_z=0.0031 right_yaw=0.087 right_pitch=-0.0494 right_roll=-0.0945 right_gripper=0.5047 state[joint_eff]: [-0.0479, -1.2923, 7.159, 1.5751, -0.0415, -0.0513, -0.0122, -0.1299, -10.2769, 5.4222, 1.1844, 0.1636, 0.022, 1.0232] 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_x": 0.45, "right_y": 0.17, "right_z": 0.18, "right_pitch": 0.0}, "note": "Lemon grasped (0.50). Lifting it and carrying it over the blue bowl, which is ahead-right of the gripper."})
tool
executing move_to over 12 steps (1.2s)
step 201
assistant
Gripper is over the blue bowl; releasing the lemon from ~15 cm (lemon bottom ~10 cm).
agent noteTop view shows the right gripper directly over the blue bowl with the lemon; releasing it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.5064, 1.6901, 1.1263, -0.1089, 0.395, 0.1623, 0.508] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4449 right_y=0.1731 right_z=0.1488 right_yaw=0.0857 right_pitch=-0.0468 right_roll=-0.113 right_gripper=0.508 state[joint_eff]: [-0.1983, -1.3607, 7.1043, 1.6093, -0.022, -0.0366, -0.0122, -0.5675, -11.4393, 9.2103, 1.7411, 0.1734, -0.0415, 0.6422] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 201): [image omitted: streamed camera frame] camera 'left_cam' (step 201): [image omitted: streamed camera frame] camera 'right_cam' (step 201): [image omitted: streamed camera frame]
assistant
Gripper is over the blue bowl; releasing the lemon from ~15 cm (lemon bottom ~10 cm).
move_to({"targets": {"right_gripper": 1.0}, "note": "Top view shows the right gripper directly over the blue bowl with the lemon; releasing it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 206
assistant
agent noteThe lemon bounced out of the small blue bowl (only the pear is in it) and rolled back near its original spot. Going straight back down to regrasp it there.
move_to
right_x0.3750right_y0.2500right_z0.0100right_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, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.506, 1.6814, 1.1328, -0.1326, 0.3874, 0.149, 0.9956] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4427 right_y=0.1731 right_z=0.1509 right_yaw=0.0985 right_pitch=-0.0572 right_roll=-0.1229 right_gripper=0.9956 state[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5751, -0.0317, -0.0269, -0.0171, -0.1436, -7.665, 6.2291, 1.8193, 0.1636, 0.0708, -0.1441] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.25, "right_z": 0.01, "right_pitch": 0.0}, "note": "The lemon bounced out of the small blue bowl (only the pear is in it) and rolled back near its original spot. Going straight back down to regrasp it there."})
tool
executing move_to over 10 steps (1.0s)
step 216
assistant
agent noteThe lemon actually rolled far left and now sits just ahead of the left gripper (bottom of left wrist view). Descending the left arm onto it, and lifting the right arm clear.
move_to
left_x0.3000left_y-0.0100left_z0.0100left_pitch0.0000right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.807, 1.98, 0.8448, 0.3653, 0.6102, 0.3252, 0.9963] state[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3729 right_y=0.2482 right_z=0.008 right_yaw=0.129 right_pitch=-0.0443 right_roll=-0.1517 right_gripper=0.9963 state[joint_eff]: [-0.1162, -1.4291, 6.9538, 1.6484, -0.0464, -0.0366, -0.0122, 0.1573, -8.6769, 4.4103, 1.0134, -0.0317, -0.0708, 0.0611] camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.3, "left_y": -0.01, "left_z": 0.01, "left_pitch": 0.0, "right_z": 0.15}, "note": "The lemon actually rolled far left and now sits just ahead of the left gripper (bottom of left wrist view). Descending the left arm onto it, and lifting the right arm clear."})
tool
executing move_to over 10 steps (1.0s)
step 226
assistant
agent noteLemon is at the bottom edge of the left wrist view, i.e. right under the fingertips; closing the left gripper.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0879, 1.3964, 0.091, 0.6327, -0.0738, -0.0566, 0.9987, 0.8078, 1.6905, 1.0721, -0.1699, 0.6052, 0.3218, 0.9964] state[eef_state]: left_x=0.2894 left_y=-0.0088 left_z=-0.002 left_yaw=-0.0005 left_pitch=-0.1013 left_roll=0.0182 left_gripper=0.9987 right_x=0.3726 right_y=0.2495 right_z=0.1284 right_yaw=0.1346 right_pitch=-0.0611 right_roll=-0.1632 right_gripper=0.9964 state[joint_eff]: [-0.3897, -2.7145, 2.1128, 0.2955, -0.0269, -0.0464, -0.0806, -0.4034, -10.1538, 8.5949, 1.4628, 0.2662, -0.0269, -0.0073] camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Lemon is at the bottom edge of the left wrist view, i.e. right under the fingertips; closing the left gripper."})
tool
executing move_to over 10 steps (1.0s)
step 236
assistant
agent noteLemon grasped by the left arm (0.43). The blue bowl is just past the left arm's cross-over limit, so carrying the lemon as far right as allowed, toward the bowl's rim.
move_to
left_x0.4500left_y-0.4000left_z0.1200left_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]: [-0.0875, 1.4002, 0.0788, 0.6632, -0.0853, -0.057, 0.4294, 0.8078, 1.6821, 1.0786, -0.1989, 0.6052, 0.3222, 0.9964] state[eef_state]: left_x=0.2891 left_y=-0.0067 left_z=-0.0008 left_yaw=0.0097 left_pitch=-0.0862 left_roll=0.0236 left_gripper=0.4294 right_x=0.3706 right_y=0.2473 right_z=0.13 right_yaw=0.1338 right_pitch=-0.0721 right_roll=-0.1717 right_gripper=0.9964 state[joint_eff]: [-0.2256, -3.494, 5.1214, 1.3309, 0.0464, -0.0415, 1.2332, -0.0205, -7.3368, 6.0239, 1.7118, 0.1832, -0.0269, -0.0122] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.4, "left_z": 0.12, "left_pitch": 0.0}, "note": "Lemon grasped by the left arm (0.43). The blue bowl is just past the left arm's cross-over limit, so carrying the lemon as far right as allowed, toward the bowl's rim."})
tool
executing move_to over 35 steps (3.5s)
step 271
assistant
agent noteThe two arms are in contact over the blue bowl (high joint efforts). Retracting the right arm to its home to separate them.
move_to
right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.828, 2.2696, 1.8427, -0.4126, -0.7403, -0.6495, 0.4331, 0.5549, 1.6447, 1.0969, -0.0483, 0.7567, 0.2577, 0.9964] state[eef_state]: left_x=0.477 left_y=-0.3381 left_z=0.1182 left_yaw=0.1085 left_pitch=-0.0125 left_roll=0.013 left_gripper=0.4331 right_x=0.4397 right_y=0.1341 right_z=0.1876 right_yaw=-0.2033 right_pitch=0.1418 right_roll=-0.1658 right_gripper=0.9964 state[joint_eff]: [-8.9504, -7.9385, 14.0103, 1.619, -0.5006, 0.0562, 1.0281, 20.3692, -4.9436, 5.4222, -0.0269, -2.1661, 0.2759, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 271): [image omitted: streamed camera frame] camera 'left_cam' (step 271): [image omitted: streamed camera frame] camera 'right_cam' (step 271): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.2, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "The two arms are in contact over the blue bowl (high joint efforts). Retracting the right arm to its home to separate them."})
tool
executing move_to over 12 steps (1.2s)
step 283
assistant
agent noteArms separated. The blue bowl (with pear) is just right of the lemon in the left wrist view; shifting the left arm right to its limit over the bowl.
move_to
left_x0.4700left_y-0.4000left_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]: [-0.8268, 2.2551, 1.8397, -0.4217, -0.733, -0.6594, 0.4331, 0.0044, 0.852, 0.7052, -0.384, 0.0883, 0.0357, 0.9964] state[eef_state]: left_x=0.4757 left_y=-0.337 left_z=0.1232 left_yaw=0.1101 left_pitch=-0.0155 left_roll=-0.0003 left_gripper=0.4331 right_x=0.3097 right_y=-0.0106 right_z=0.2098 right_yaw=-0.093 right_pitch=0.041 right_roll=-0.0159 right_gripper=0.9964 state[joint_eff]: [-0.335, -12.0547, 6.8855, 1.4969, -0.4078, 0.022, 1.033, -0.0752, -1.6205, 6.188, 1.9267, -0.1441, -0.0806, -0.0171] approver: 8 step(s) modified (delta_clamped ×8). camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.47, "left_y": -0.4, "left_z": 0.1}, "note": "Arms separated. The blue bowl (with pear) is just right of the lemon in the left wrist view; shifting the left arm right to its limit over the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 289
assistant
agent noteThe lemon is now over the left part of the blue bowl's interior, next to the pear; releasing it low so it drops in.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9073, 2.4928, 2.1284, -0.5625, -0.7662, -0.7429, 0.4386, 0.0048, 0.8585, 0.6952, -0.4168, 0.0742, 0.0113, 0.9964] state[eef_state]: left_x=0.4683 left_y=-0.3944 left_z=0.0826 left_yaw=0.0985 left_pitch=-0.0448 left_roll=0.0192 left_gripper=0.4386 right_x=0.3051 right_y=-0.0081 right_z=0.1964 right_yaw=-0.0675 right_pitch=-0.0089 right_roll=-0.0335 right_gripper=0.9964 state[joint_eff]: [-0.5675, -15.3231, 9.2513, 1.0916, -0.5055, -0.1001, 1.0281, -0.3487, -2.1265, 7.9248, 2.0391, 0.1245, 0.1978, -0.0171] camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "The lemon is now over the left part of the blue bowl's interior, next to the pear; releasing it low so it drops in."})
tool
executing move_to over 6 steps (0.6s)
step 295
assistant
agent noteLemon released next to the pear at the bowl's left edge. Lifting the left arm away so the top camera can see the bowl.
move_to
left_z0.2000left_x0.3500left_y-0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9112, 2.5034, 2.1353, -0.5789, -0.7666, -0.7567, 0.9948, 0.0048, 0.8597, 0.6952, -0.4206, 0.0738, 0.0143, 0.9964] state[eef_state]: left_x=0.4658 left_y=-0.3949 left_z=0.0771 left_yaw=0.1032 left_pitch=-0.0552 left_roll=0.0253 left_gripper=0.9948 right_x=0.3047 right_y=-0.008 right_z=0.1953 right_yaw=-0.0688 right_pitch=-0.0138 right_roll=-0.0311 right_gripper=0.9964 state[joint_eff]: [0.1436, -15.5692, 6.2427, 1.4432, -0.3785, 0.1001, 0.0317, -0.0479, -1.5521, 7.0085, 1.7998, -0.0171, -0.0757, -0.0122] camera 'top_cam' (step 295): [image omitted: streamed camera frame] camera 'left_cam' (step 295): [image omitted: streamed camera frame] camera 'right_cam' (step 295): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.35, "left_y": -0.25}, "note": "Lemon released next to the pear at the bowl's left edge. Lifting the left arm away so the top camera can see the bowl."})
tool
executing move_to over 13 steps (1.3s)
step 308
assistant
agent noteThe task is only partly done. The pear and the lemon are in the blue bowl; the left wrist camera shows both inside it. The dark plum is still on the table between the two bowls, and I never poured into the large white bowl because I ran out of calls. Setbacks: the first pear placement snagged the bowl, and I had to grasp the pear again. The first lemon drop from about 15 cm bounced out, and I had to pick it up again with the left arm. The two arms also bumped into each other over the blue bowl; I separated them by pulling the right arm back.
done
hindsight- The blue bowl sat at about right-arm (x 0.45, y 0.165), which is left-arm y ≈ -0.49, outside the left arm's y limit of -0.4. The large white bowl is at about left-arm (0.45, -0.2), which is right-arm y ≈ 0.45, outside the right arm's limit of 0.4. So each bowl is mainly reachable by the arm on its own side, and fruit on the far side needs a handover: drop it near the centre line (y≈-0.33 left / +0.33 right). - The blue bowl is small and shallow, about 12 cm across. A lemon dropped from about 10 cm above the rim bounced out and rolled 30+ cm. Lower fruit to about 3 cm above the rim before opening. - The right arm's pitch drifts back to -0.4 or -0.5 during moves unless you command pitch 0 every time. Sometimes the arm ignored a move entirely; resending with yaw, roll and pitch all set to 0 got it moving again. - Carrying low, the pear hooked the bowl rim and the arm stalled at x≈0.38 while commanded to 0.41. Carry at z≥0.18, then descend. - With the tool vertical, a fruit sitting at the bottom edge of the wrist image was right under the fingertips and the grasp worked. A fruit about 1/3 up from the bottom was about 4 cm ahead, and closing there came up empty. - Top camera: around the blue bowl area, 6 cm of x is about 30 px of image-y, and 6.5 cm of y is about 13 px of image-x. - Never move both arms near the centre line together; they collided. - Budget: plan about 5 calls per fruit and about 5 for the pour, and skip the pre-hover step when the wrist view already shows the object.
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]: [-0.9142, 1.7115, 1.3823, -0.6197, -0.7631, -0.7605, 0.9956, 0.0048, 0.8612, 0.6952, -0.4316, 0.0738, 0.0143, 0.9964] state[eef_state]: left_x=0.358 left_y=-0.2587 left_z=0.1904 left_yaw=0.1002 left_pitch=-0.0586 left_roll=0.0224 left_gripper=0.9956 right_x=0.3033 right_y=-0.008 right_z=0.1926 right_yaw=-0.0689 right_pitch=-0.0263 right_roll=-0.032 right_gripper=0.9964 state[joint_eff]: [-0.7316, -9.7983, 6.4342, 1.3895, -0.4615, -0.0708, 0.0757, -0.0479, -1.4427, 7.1179, 1.8535, -0.0269, -0.0317, -0.0171] camera 'top_cam' (step 308): [image omitted: streamed camera frame] camera 'left_cam' (step 308): [image omitted: streamed camera frame] camera 'right_cam' (step 308): [image omitted: streamed camera frame]
assistant
done({"summary": "The task is only partly done. The pear and the lemon are in the blue bowl; the left wrist camera shows both inside it. The dark plum is still on the table between the two bowls, and I never poured into the large white bowl because I ran out of calls. Setbacks: the first pear placement snagged the bowl, and I had to grasp the pear again. The first lemon drop from about 15 cm bounced out, and I had to pick it up again with the left arm. The two arms also bumped into each other over the blue bowl; I separated them by pulling the right arm back.", "hindsight": "- The blue bowl sat at about right-arm (x 0.45, y 0.165), which is left-arm y \u2248 -0.49, outside the left arm's y limit of -0.4. The large white bowl is at about left-arm (0.45, -0.2), which is right-arm y \u2248 0.45, outside the right arm's limit of 0.4. So each bowl is mainly reachable by the arm on its own side, and fruit on the far side needs a handover: drop it near the centre line (y\u2248-0.33 left / +0.33 right).\n- The blue bowl is small and shallow, about 12 cm across. A lemon dropped from about 10 cm above the rim bounced out and rolled 30+ cm. Lower fruit to about 3 cm above the rim before opening.\n- The right arm's pitch drifts back to -0.4 or -0.5 during moves unless you command pitch 0 every time. Sometimes the arm ignored a move entirely; resending with yaw, roll and pitch all set to 0 got it moving again.\n- Carrying low, the pear hooked the bowl rim and the arm stalled at x\u22480.38 while commanded to 0.41. Carry at z\u22650.18, then descend.\n- With the tool vertical, a fruit sitting at the bottom edge of the wrist image was right under the fingertips and the grasp worked. A fruit about 1/3 up from the bottom was about 4 cm ahead, and closing there came up empty.\n- Top camera: around the blue bowl area, 6 cm of x is about 30 px of image-y, and 6.5 cm of y is about 13 px of image-x.\n- Never move both arms near the centre line together; they collided.\n- Budget: plan about 5 calls per fruit and about 5 for the pour, and skip the pre-hover step when the wrist view already shows the object."})
tool
done: The task is only partly done. The pear and the lemon are in the blue bowl; the left wrist camera shows both inside it. The dark plum is still on the table between the two bowls, and I never poured into the large white bowl because I ran out of calls. Setbacks: the first pear placement snagged the bowl, and I had to grasp the pear again. The first lemon drop from about 15 cm bounced out, and I had to pick it up again with the left arm. The two arms also bumped into each other over the blue bowl; I separated them by pulling the right arm back.
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 · 15.51 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]: [-0.0223, 0.7998, 0.6132, -0.3828, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0235, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0005 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.4154, 9.5795, 1.8486, -0.1099, 0.149, -0.0806, -0.335, -1.5111, 9.265, 1.8535, -0.0073, -0.0757, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7cc124b18d5d5cafb762c3a8459b3b0f4ee7dd068693be81a85e19ae8447bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45df0be2a99a0893617187845a65ad82fff60451183c6071af500dd36bcbb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0e1f6bb9982529698a68dabc8fa07543f23d17457e39027c7ae8f4fdc7e6abe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 6.58 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]: [-0.0223, 0.7998, 0.6132, -0.3828, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0235, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0005 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.4154, 9.5795, 1.8486, -0.1099, 0.149, -0.0806, -0.335, -1.5111, 9.265, 1.8535, -0.0073, -0.0757, -0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b7cc124b18d5d5cafb762c3a8459b3b0f4ee7dd068693be81a85e19ae8447bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b45df0be2a99a0893617187845a65ad82fff60451183c6071af500dd36bcbb2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0e1f6bb9982529698a68dabc8fa07543f23d17457e39027c7ae8f4fdc7e6abe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y3XTnprkviCCCUxVoYnr1B",
      "input": {
        "note": "Scene: white bowl left, dark plum, lemon, blue bowl and pear on the right. Right wrist cam shows the pear just ahead and slightly left; moving the right arm forward/left above it to check alignment.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.04,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Y3XTnprkviCCCUxVoYnr1B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.3977, -0.0177, -0.0307, 0.9993, 0.1684, 1.1805, 0.5934, -0.0441, 0.1192, 0.0708, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.179 left_yaw=0.0039 left_pitch=-0.0156 left_roll=0.0013 left_gripper=0.9993 right_x=0.353 right_y=0.0423 right_z=0.1257 right_yaw=0.026 right_pitch=-0.0564 right_roll=-0.0154 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.4564, 6.9402, 1.8926, -0.0073, -0.0464, -0.0122, -0.1299, -4.6291, 7.2684, 2.0879, 0.1294, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f930a15d8fd7df95ddbc01d50a6949fc2c49c38489064dbdf4e6e5dbeb3ffa6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e1a4d6c827779add7addf54134c634f11fe4b1f1e1ecaa57cb49bac053776f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8b84a0d2ff6323b9a966c955a65c52833bd7c29dc452075c7d0575329f826425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 3.62 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]: [-0.0223, 0.7998, 0.6132, -0.3828, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0235, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0005 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.4154, 9.5795, 1.8486, -0.1099, 0.149, -0.0806, -0.335, -1.5111, 9.265, 1.8535, -0.0073, -0.0757, -0.0904]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.3977, -0.0177, -0.0307, 0.9993, 0.1684, 1.1805, 0.5934, -0.0441, 0.1192, 0.0708, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.179 left_yaw=0.0039 left_pitch=-0.0156 left_roll=0.0013 left_gripper=0.9993 right_x=0.353 right_y=0.0423 right_z=0.1257 right_yaw=0.026 right_pitch=-0.0564 right_roll=-0.0154 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.4564, 6.9402, 1.8926, -0.0073, -0.0464, -0.0122, -0.1299, -4.6291, 7.2684, 2.0879, 0.1294, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f930a15d8fd7df95ddbc01d50a6949fc2c49c38489064dbdf4e6e5dbeb3ffa6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:97e1a4d6c827779add7addf54134c634f11fe4b1f1e1ecaa57cb49bac053776f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8b84a0d2ff6323b9a966c955a65c52833bd7c29dc452075c7d0575329f826425",
        "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+woKEAgSGAI4AUIIdGhpbmtpbmcSDHuOijfBwvOxEFXm3xoMf9IQXfcwWjX9/0iVIjA7rib5d5dDNGm4KT6V3kLU2MosWS0CL0eapBAhnFE3DAX3LXDKY+s2SYllCbEGR/kqmApNcKtc0lGjRTZPCDlUbdikDq0ExHaGnKRjX4UGkGhXwOUK1qCAbXUSmakvcPXye4EphfaBtwf6EUhpLLbJiXrM9yVpHod0udqAoZtZBDvuUsyXsykv6m4KUvcqEF61bNJLgOcUaRaaU2uKrc/26zo+ZMgXmOjF0yJ9BOVz21Y+843Y0qu+J48W1tt6QbHztOx3zgE1CKM7UUEgfDhlS/H937FRitV7KPtDn6uSRBg5UPinFdGKe/MkJQb4DFcXWnVV1aIh+f6r6UBR2++e6EEBro08jgltQwh8g6V0PI1SLTdBghRBP4hFT8T/MYgEJLQOrL8MMHoGptN4uNvrlx3JZTHQO2LuBT0lo2g1atwkUEWrfViO61iAO00eH1SgNRv8VWp+m9GhN/q9E6iPAARpEDBEBM6DsT4qGB4BlbUemT6rKEimwdqQN865GkUSjuu8qyXmNhI/xMsGrkf8t0vJRZLOu2L2PSBCNDNirTOUTuI+PCjSNpHgnQOUFuNnugZuZlB9YI6/7v+B4X+qvSz534SAPDanc5bMsCfAiWV+vmpsaJLCTIDg6qIJv6cbHwgBCW/q/VZVC/U3RDiwDYMXVGoyABLp8NrQDlUpoc2IvOYEQYerecHrt3uXDd0cJCmrAa/VELsch0SilnHvky0qg11tltTZucvNTVbhqGaomBJH6dGNPRuG9t7/xgEosSIgjkNOzqhZA0hjkBvFyten1U77/dmvzr1wSO9AlQ/ZAU0F6ImFQFysJ1DMQuCJfJouq8UP77sVzZ91U1sQ5zMgXru3qZGpoeKYbAudkEZAH9PSWlYryCYau2rwPOObgbc/5CqR/8meA6Exdop8GoKkhCdPWaFCL4CDbmQCUSWCMI6YonhKCZ4Z82Qu47QGCSAoKkGsNzWEkJPWW1TCuBhMHSQOKL3n7z7XqJ7UGdXSoWKV9INJY/g61wMWJXoUdx7vOWK5KyzmCL55zPqbK6HT/StqKLBS7YhTd/+pySFfthg9nK9Nyb/sFKmSPDpyUzGTol9XXuGmo9TrA5ZStvMXvR811CsQxSDC1Ftl7/wCOEueB5N1LIKtkn1wxkhWCy2vxAa44nzBfLvXQzhlJmLHv700pdSc2M4Fc9tgyM1uB0SJ6MgxRp2He0n6U5Xik+s5c0YEI8H+sFH6BZahJX4iRkrm0+WK5ujjKkgLO33/EmJBEdLKocZMYjDUjf8hAF5Lkk7uC5CCUrQktOj48u5avxHoymYAPciXdZxHPx6qV4Tdjd8mHbFb5wG15GNy38WWv5N9H/FME1ODotMnT/VBIjQoylG0+TaX73RnsQyjFJYgfd6Q7nHDZqU+2zcBXSh4u5QPYZXClhmY+w1U+qEnYyqYQNT/cRe4BZq8PO6z6g0zcEkwMz7f44Fdsr1sy01vmLUqClSYV+dBggCbjkbi9/0K5jdAug73N02hKT8v0ySESO2cBw3DQ2nHt8aFyFk2XKJ0jx0I9AEVj/rkgxSvgAA0VECs587kNAnscymHurZ2G0NMUc3RAcIxmsF5YZgdhvvCyVHMH/vVq+8Vj0hKBQ+e/wO2jIBSVgg5J3CsAbajXl/Fy2abjFd5hp4L92gKfjCe7UNvz+3s+XybyyJ5xKA7S5jOlGA9z5+wKxXju//TBNCW55nJJcth7gpHSvjjSwR/O3vSkh+ClTR0Nl0dZrz+JQWgXiQhYqhiYeU7xLcJ5fSegz1hqDY5ZT6C0QFgQXMQqzZM0xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014gc4zH3tYq9k4c9CwH8y2Z",
      "input": {
        "note": "Pear is centred on the jaw column at the bottom of the right wrist view, roughly under the fingertips. Descending to grasp its body.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.05,
          "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_014gc4zH3tYq9k4c9CwH8y2Z",
      "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, 0.8059, 0.6147, -0.408, -0.0177, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1341, 0.0711, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0003 left_z=0.1759 left_yaw=0.0039 left_pitch=-0.0297 left_roll=0.0017 left_gripper=0.9993 right_x=0.3455 right_y=0.0517 right_z=0.0229 right_yaw=0.0503 right_pitch=-0.0905 right_roll=-0.0293 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.306, 6.9949, 1.8437, -0.0415, -0.0513, -0.0122, -0.1162, -5.2581, 4.7521, 1.9512, 0.1343, 0.1636, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22518388af4de6f29858fc8e18e1bf005504128cd6a117da961f39e7833aceb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9aeb3d1220fa3c5ff46feb1cd6d531cedfe70ce2a91b0c7afb7017b7684a2e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f8a12b66d5bea1bf27677c35af3dc48bd13cda6c8e9b0344ec2557abfbb94d9",
        "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 · 4.678 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]: [-0.0223, 0.7998, 0.6132, -0.3828, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6182, -0.3874, -0.0235, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2959 left_y=-0.0005 left_z=0.182 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.001 right_z=0.1832 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.294, -1.4154, 9.5795, 1.8486, -0.1099, 0.149, -0.0806, -0.335, -1.5111, 9.265, 1.8535, -0.0073, -0.0757, -0.0904]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6147, -0.3977, -0.0177, -0.0307, 0.9993, 0.1684, 1.1805, 0.5934, -0.0441, 0.1192, 0.0708, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.179 left_yaw=0.0039 left_pitch=-0.0156 left_roll=0.0013 left_gripper=0.9993 right_x=0.353 right_y=0.0423 right_z=0.1257 right_yaw=0.026 right_pitch=-0.0564 right_roll=-0.0154 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.4564, 6.9402, 1.8926, -0.0073, -0.0464, -0.0122, -0.1299, -4.6291, 7.2684, 2.0879, 0.1294, 0.1587, -0.022]",
      "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, 0.8059, 0.6147, -0.408, -0.0177, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1341, 0.0711, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0003 left_z=0.1759 left_yaw=0.0039 left_pitch=-0.0297 left_roll=0.0017 left_gripper=0.9993 right_x=0.3455 right_y=0.0517 right_z=0.0229 right_yaw=0.0503 right_pitch=-0.0905 right_roll=-0.0293 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.306, 6.9949, 1.8437, -0.0415, -0.0513, -0.0122, -0.1162, -5.2581, 4.7521, 1.9512, 0.1343, 0.1636, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22518388af4de6f29858fc8e18e1bf005504128cd6a117da961f39e7833aceb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9aeb3d1220fa3c5ff46feb1cd6d531cedfe70ce2a91b0c7afb7017b7684a2e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f8a12b66d5bea1bf27677c35af3dc48bd13cda6c8e9b0344ec2557abfbb94d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear sits between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UGCNRF1QbtfgsCrWRSTUtK",
      "input": {
        "note": "The pear fills the view between the right jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01UGCNRF1QbtfgsCrWRSTUtK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4118, -0.0181, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1295, 0.0673, 0.6456]\nstate[eef_state]: left_x=0.2925 left_y=0.0004 left_z=0.1751 left_yaw=0.0042 left_pitch=-0.0335 left_roll=0.002 left_gripper=0.9993 right_x=0.3454 right_y=0.0525 right_z=0.0229 right_yaw=0.0562 right_pitch=-0.091 right_roll=-0.0295 right_gripper=0.6456\nstate[joint_eff]: [0.0615, -1.3197, 6.9949, 1.7949, -0.0317, -0.0269, -0.0122, -0.0068, -4.8068, 4.9026, 1.6484, 0.0171, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3955729c156cc8426ea5d20a1e4ba4474c3abe6a497079412efe4ecff0d88cb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc2ee053b9f408d22867e372d2b04bb88bb2efb4110a82db89a87e6398a5628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bcc7303e31dafec4da14da4b3ee2cad7a61e8fdb79938dee86bb67579a5a81e9",
        "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 · 3.853 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, 0.8021, 0.6147, -0.3977, -0.0177, -0.0307, 0.9993, 0.1684, 1.1805, 0.5934, -0.0441, 0.1192, 0.0708, 0.9992]\nstate[eef_state]: left_x=0.2942 left_y=0.0003 left_z=0.179 left_yaw=0.0039 left_pitch=-0.0156 left_roll=0.0013 left_gripper=0.9993 right_x=0.353 right_y=0.0423 right_z=0.1257 right_yaw=0.026 right_pitch=-0.0564 right_roll=-0.0154 right_gripper=0.9992\nstate[joint_eff]: [-0.0889, -1.4564, 6.9402, 1.8926, -0.0073, -0.0464, -0.0122, -0.1299, -4.6291, 7.2684, 2.0879, 0.1294, 0.1587, -0.022]",
      "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, 0.8059, 0.6147, -0.408, -0.0177, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1341, 0.0711, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0003 left_z=0.1759 left_yaw=0.0039 left_pitch=-0.0297 left_roll=0.0017 left_gripper=0.9993 right_x=0.3455 right_y=0.0517 right_z=0.0229 right_yaw=0.0503 right_pitch=-0.0905 right_roll=-0.0293 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.306, 6.9949, 1.8437, -0.0415, -0.0513, -0.0122, -0.1162, -5.2581, 4.7521, 1.9512, 0.1343, 0.1636, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4118, -0.0181, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1295, 0.0673, 0.6456]\nstate[eef_state]: left_x=0.2925 left_y=0.0004 left_z=0.1751 left_yaw=0.0042 left_pitch=-0.0335 left_roll=0.002 left_gripper=0.9993 right_x=0.3454 right_y=0.0525 right_z=0.0229 right_yaw=0.0562 right_pitch=-0.091 right_roll=-0.0295 right_gripper=0.6456\nstate[joint_eff]: [0.0615, -1.3197, 6.9949, 1.7949, -0.0317, -0.0269, -0.0122, -0.0068, -4.8068, 4.9026, 1.6484, 0.0171, -0.0269, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3955729c156cc8426ea5d20a1e4ba4474c3abe6a497079412efe4ecff0d88cb6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adc2ee053b9f408d22867e372d2b04bb88bb2efb4110a82db89a87e6398a5628",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bcc7303e31dafec4da14da4b3ee2cad7a61e8fdb79938dee86bb67579a5a81e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuggKEAgSGAI4AUIIdGhpbmtpbmcSDHWwcRS4PRCEN7hr2hoM1ZAoh3VSxfD87ywOIjCNTtGTZ+zpJGvt+Rfe9Pb+wukpH+K6Y/aJ4/tkVay/ZCNCFe5h1fuVSxJPWtKXSbQq1wc9pE0iQYaauNVNJCkb+UclzvLiWvMaVJZz+a4YBA+TqSK5+4s+7aQ0lqR2TTDVh12Q9ZPxvp7/xegB+BQixaidIRkxItUhi/FlSzpLoeIVBJVHHYhCN5EdigQfr86zVOtKns6NlL3brB/pQii6K2Np/DZiRVlekdGHTr1hW/lzynd2nklB5Tp2CppnQP2uZmrTY14JzJcx3SjQAAK+9il2fMlKAvT7yst6SUuKaEyM13nKWuQdc/tZyKhmlog1pPbjC4u6oggZpdvsRDK5+CaPc+zbxeStCSYv58QLprdfnoJmRFnJlsZvMycMJeC1zzGTSDoT+Uh/FMmK22JgUbHM4a78/hOythfYwqNTO+AYn6nOVKUBhiy5/tyC8gtuEn1X9AuiQVoTI9LAbJnhO6LBN8w2Th7WFgWUEfRGn10ulG0QqGDtwcWEIfIfwBY6m25OgPkagjynEzuuullf8N8JuZNeRdJyWMHav/0nSP8NkjCIk7Iap6JXs32b84wX+dAeA0im+xSgUuMfIanJ+1jBNopEd0u618mMbmpCbpPzzFEUYqnw0Xsm2uF7Fgq2dtu3ZQSnX1OfDbjQcTnTWVPWY8a7P3EtAdcwjqiAGSDSd7NTph1R6Duh06LQrEZWhBUI7RljtIyTZayvXnaDhzqWxPGyrVC859xwtWmZ2mEUH9bpKKkg5qOlE2Ntuaoxv1OPFMHqd0KMN3EGXcfHdtDOm/qWV6hMTV6rP09q/4VPNKVfJbzmhnft0CuCdFe2CDTqtLv/BzaULO308nAkYZgRVX/Tv5NF1B7WDKBRTpYSeesRAssKmoQwN0dj9FAumkgYtgTUodYykvgmEhCSV+m0c7SaZFZdNpRoAZLCpLGfec9G56MFBuUzYUBfO3qgMmAtbJB2tDqTZOSDzMzT4PgDdwmmjfNXafXJ/7FbbVGE5ltBS4IF+iMR5Sk8OcWITKR1niVwRnV5fVlPjJLuBrJ/h8pwx1lsrPygZnzr7RlGot2tOCVNPD0RBJPOaPwoPwI3rM/12zM+rV2iy9EEYWHfe+bB4wvfYU9eUtkNtoCng9a3IvPjk/gYtkquXN8xmEV4iDs07/R8MLBrcwiJSij78rEs3r92ymJ7uA2suYpyxU9p6X3FoZaV0+3YUIxOmIBzzECS/0K6FcF5VhrrsPDSpfeDTwM3G5dUlhVPycXZ7xh2EFhursRafizXkOywx5Z0bwO/iTtQjsLHw1cxUrp1XGfBIjK0C5oXYsBkNmcsYOEehBBXK9AfUA1f+IM2cWvCk3RG9T5M5ko70e6gNt7TXkOQbbou8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012JQoUZndiHNaHZHFEireu1",
      "input": {
        "note": "Gripper settled at 0.65 (~6 cm), pear is held. Lifting it clear before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012JQoUZndiHNaHZHFEireu1",
      "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, 0.8116, 0.6147, -0.4236, -0.0181, -0.0307, 0.9993, 0.2066, 1.1343, 0.7773, -0.3721, 0.1257, 0.0597, 0.6525]\nstate[eef_state]: left_x=0.2912 left_y=0.0004 left_z=0.1712 left_yaw=0.0042 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9993 right_x=0.3385 right_y=0.052 right_z=0.1585 right_yaw=0.0632 right_pitch=-0.153 right_roll=-0.0421 right_gripper=0.6525\nstate[joint_eff]: [-0.0068, -1.7983, 6.9812, 1.79, -0.0415, -0.022, -0.0122, -0.4444, -4.8889, 9.6205, 1.8291, 0.022, -0.0024, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cf9d2b6d3981df8c14fc668b91e0e77985487c45f76dbfa4e209dc2f26e4058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36c554ec70fda8cb3c2687eeb54becc3b79719f4b47e87fa37f5071f0a3c6e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8421e47191954e2597299a1bc77e7ee452687226c1e330e42e29cfa4dd65cf40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 5 attempt 0 · /messages · status 200 · 4.966 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, 0.8059, 0.6147, -0.408, -0.0177, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1341, 0.0711, 0.9992]\nstate[eef_state]: left_x=0.2931 left_y=0.0003 left_z=0.1759 left_yaw=0.0039 left_pitch=-0.0297 left_roll=0.0017 left_gripper=0.9993 right_x=0.3455 right_y=0.0517 right_z=0.0229 right_yaw=0.0503 right_pitch=-0.0905 right_roll=-0.0293 right_gripper=0.9992\nstate[joint_eff]: [-0.0205, -1.306, 6.9949, 1.8437, -0.0415, -0.0513, -0.0122, -0.1162, -5.2581, 4.7521, 1.9512, 0.1343, 0.1636, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4118, -0.0181, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1295, 0.0673, 0.6456]\nstate[eef_state]: left_x=0.2925 left_y=0.0004 left_z=0.1751 left_yaw=0.0042 left_pitch=-0.0335 left_roll=0.002 left_gripper=0.9993 right_x=0.3454 right_y=0.0525 right_z=0.0229 right_yaw=0.0562 right_pitch=-0.091 right_roll=-0.0295 right_gripper=0.6456\nstate[joint_eff]: [0.0615, -1.3197, 6.9949, 1.7949, -0.0317, -0.0269, -0.0122, -0.0068, -4.8068, 4.9026, 1.6484, 0.0171, -0.0269, 1.033]",
      "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, 0.8116, 0.6147, -0.4236, -0.0181, -0.0307, 0.9993, 0.2066, 1.1343, 0.7773, -0.3721, 0.1257, 0.0597, 0.6525]\nstate[eef_state]: left_x=0.2912 left_y=0.0004 left_z=0.1712 left_yaw=0.0042 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9993 right_x=0.3385 right_y=0.052 right_z=0.1585 right_yaw=0.0632 right_pitch=-0.153 right_roll=-0.0421 right_gripper=0.6525\nstate[joint_eff]: [-0.0068, -1.7983, 6.9812, 1.79, -0.0415, -0.022, -0.0122, -0.4444, -4.8889, 9.6205, 1.8291, 0.022, -0.0024, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cf9d2b6d3981df8c14fc668b91e0e77985487c45f76dbfa4e209dc2f26e4058",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b36c554ec70fda8cb3c2687eeb54becc3b79719f4b47e87fa37f5071f0a3c6e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8421e47191954e2597299a1bc77e7ee452687226c1e330e42e29cfa4dd65cf40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSlwcKEAgSGAI4AUIIdGhpbmtpbmcSDIMdZe3zmxQj08Uf8xoMb/3XTdcH+c93tY5eIjBSK8g+nap73buUM/MCxYsik7JjWiojQERh12ZzENxBPyELTJh0Mgpsjfgx7dfbdaQqtAYsiWlOCxiOIGySqTylwe5Rx6VD401TzLQd7gDbqZ4YCXTWXJMP+U8PQRvXdAlu28uJeAeacwxxMx6yDP+IVvVxWP+C4ZDidu2/0loFgiXIr8OcYhtbHCs8riuawGCvdL/M5ZAjvU6XK3+bkz9ESyN/gh33RlkgrqGGXgQzKVImdhgl769Btn+8VJocHj3UYCg2IZ0AZts2f9S7dr2ax2jI3m2JJcrHIyVatAGophgJdMNGYO/QFgGUeGCvhHXYgpfqXe2BZg3AdbmoHtY8D8bW0pH6gcgEkj03WmtgC2YQev3zD1/lGnjGcbhooElJLkkjQt7fCh2Bpg6bCCGIvVi+SB/bu0Cq0CxRF/jSRSMreE71F6y1yXpww7lx1wCn1/K/0DgXVII4BM1XOdvut4tkegsT37FdZrE9HKOxlKXLNe298ZRti9dBzIbI+dpE/tT2whtUmjlqglEu8X49o6pXH30W9imcFVQGwLKoVgYHZDJ/5JO8q0tJwImdjeUVz+nMtmPmc35rLt/uV+KzZibFP9N28IjGSDiFlyqI1DX2FQb3/AK9s3g/ab2dDTbMDhiq3WrzYcu1yy6f3pUrNfhrgGKcdiUltS7aKmdu6VrMRWX5Vj03WfaTUfhMLmOJUqcjiajdYOK/lqZDAccO4z/hs+yPDA5VSZk4KNtfJFChY6sXkkQgNN6NMoPoVlkmZeUrumYkMPTuZb2QxrLWWo60gt2rN5YRaXtzmUVzm/chVBHhUPyNXuqu86R+Vkow/x4KMGuQeGpTSKVg8aFXAga0UlR9nhiF0aKH5NhciyDMjAdNJjQ0MFh3nvO9Njw7EH99FTBpBqTYFQ9kdqoSFuGT/4RyLTr2FwwFCEZRGDJGr9aFelkJHKakfgX5ZVh3xqL8oKV8BNSWKEzgDkXKkrbeKlvLFlSvJU9VGQSwmhSeZYOvz+gWPZfH3/Fukz5u4mWy/6klCpqGMK3cmvJEBxX0pECF9MktIKNQ8vzsw8R7n01qmwtLMxY1kRbSAf2MBSFxYGqAkjS/R/roWkTzXRjLLQV4pSUe8BOPJyjLxRkYObbg+9B6RoXi+rrSyvegEAtquh3TGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BiZJu4PzqdZYjqm3tvLihR",
      "input": {
        "note": "Pear lifted. Blue bowl is ahead-left in the wrist view; carrying the pear over it.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.13,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BiZJu4PzqdZYjqm3tvLihR",
      "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, 0.8127, 0.6147, -0.4271, -0.0181, -0.0307, 0.9993, 0.4282, 1.4792, 1.0821, -0.4393, 0.2615, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1702 left_yaw=0.0043 left_pitch=-0.0556 left_roll=0.0025 left_gripper=0.9993 right_x=0.3871 right_y=0.1305 right_z=0.1569 right_yaw=0.0967 right_pitch=-0.2314 right_roll=-0.0707 right_gripper=0.6525\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.7216, -0.0513, -0.0513, -0.0122, -0.335, -7.2, 9.265, 1.8291, 0.3004, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3be2f8b2d15e3376aaea8422705d6902693f06884f4abd8026d3b1b9f9e7678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab13c0d1ddc3954a79cb4a40d4b07e6d145abcf3a4a861aca27afeba16115e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:554e9c3666b884a2d444dcbb0b3190f5cc322a92bab663960f4bf24e344f5982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 6 attempt 0 · /messages · status 200 · 4.103 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, 0.8059, 0.6147, -0.4118, -0.0181, -0.0307, 0.9993, 0.2058, 1.5093, 0.3466, 0.4957, 0.1295, 0.0673, 0.6456]\nstate[eef_state]: left_x=0.2925 left_y=0.0004 left_z=0.1751 left_yaw=0.0042 left_pitch=-0.0335 left_roll=0.002 left_gripper=0.9993 right_x=0.3454 right_y=0.0525 right_z=0.0229 right_yaw=0.0562 right_pitch=-0.091 right_roll=-0.0295 right_gripper=0.6456\nstate[joint_eff]: [0.0615, -1.3197, 6.9949, 1.7949, -0.0317, -0.0269, -0.0122, -0.0068, -4.8068, 4.9026, 1.6484, 0.0171, -0.0269, 1.033]",
      "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, 0.8116, 0.6147, -0.4236, -0.0181, -0.0307, 0.9993, 0.2066, 1.1343, 0.7773, -0.3721, 0.1257, 0.0597, 0.6525]\nstate[eef_state]: left_x=0.2912 left_y=0.0004 left_z=0.1712 left_yaw=0.0042 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9993 right_x=0.3385 right_y=0.052 right_z=0.1585 right_yaw=0.0632 right_pitch=-0.153 right_roll=-0.0421 right_gripper=0.6525\nstate[joint_eff]: [-0.0068, -1.7983, 6.9812, 1.79, -0.0415, -0.022, -0.0122, -0.4444, -4.8889, 9.6205, 1.8291, 0.022, -0.0024, 1.033]\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 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, 0.8127, 0.6147, -0.4271, -0.0181, -0.0307, 0.9993, 0.4282, 1.4792, 1.0821, -0.4393, 0.2615, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1702 left_yaw=0.0043 left_pitch=-0.0556 left_roll=0.0025 left_gripper=0.9993 right_x=0.3871 right_y=0.1305 right_z=0.1569 right_yaw=0.0967 right_pitch=-0.2314 right_roll=-0.0707 right_gripper=0.6525\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.7216, -0.0513, -0.0513, -0.0122, -0.335, -7.2, 9.265, 1.8291, 0.3004, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3be2f8b2d15e3376aaea8422705d6902693f06884f4abd8026d3b1b9f9e7678",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab13c0d1ddc3954a79cb4a40d4b07e6d145abcf3a4a861aca27afeba16115e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:554e9c3666b884a2d444dcbb0b3190f5cc322a92bab663960f4bf24e344f5982",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3wgKEAgSGAI4AUIIdGhpbmtpbmcSDJJgcD4VjUPXh1Xb8hoMQlXOXvBLSjQg7gX8IjAKp07okxLYBEn8AI46poWtdpea8wxsEtUremWxqzftkIm8wJD6IwpqVQv/gUDkgiQq/AftmFry1pQqnbEGHvLf/35Cf9v5uB7CmWaYts95LPOJie+vQHajrbXU/Rr5XTHRAKnl7wIHiFu1i15eIrkUC0I6EUKmSeHhY/fHaWjo7T67uWa1VH1PXuF9RQWyeOy4WdvkzfgVzVEz7YsiO44v1v6jmcQFczKJ2791o2XxxvJxKLcPXrHxQ4w7OY47TTY6gDhsVgu/PHknINZVxWdVCtmsqZMMiH4kjnzLoR/DdiniEePUBrvdV4/AdwVjXrnWNSjGtOa/EwPbh+hrQXzYtLbAyTB35j69+8wIa7fg7FBpkfH70/JJQuDsc8ksmyEQg2/6SAU9q/3X9oXx7l9ZThZjsTCkEAKNuNjzeHZ3cPW3QUI2ElRqsDcgHEbuYgLDeO2fP/JDBod5FDLfcVTJ/si4LhPuqbEjeQgAt+2+w2SBYnuWr65zovhhONBSCKIIP1/rXHMY8Y/nhTk+QNtD0o1+OdV6Wlng6EjVe2CHlFO+TGZDTFLSCZky8qxy6H8icB85sU+zupXnl1sISrpNQ878EV436geJ7pJ9jw8lZLNUxGa6xxuKqEFzXpmWqa3zmbSh0Ddqt5vXoT3dw2S14yXNaHnJY0iQ4OKCICM5dAxxdoQvK53Ej1xRuZ/T8KmWwc/NXye7lheeJITLEzlMCjFYkeRrmo45q2/24SiJMyl53lYrV0GdBLR9SD0lrFGafqYwqTliztUwcdsgSRZaCgD3UMjyt9rKCKjF2XGuguq4eahN5h05tgD2uPrKiO6qJe5QnXIcRy895mop+uNxFwzsJgMDUg8X5hL/+uVRhVCZkIk5F2V/gZNMwahYMGbEa5z7sK63A0lOhFHAAwAxQfPbquSIP1HLKy/5touoQTBETPWrd4IJQNZfE6VujA1mqUkrDAZUsJ+1DOtDRpdgI3tmht8Wg1Qv1bgLwjWNiZ84cb1vfnxmNROQt6Qn7QXVq44mrYL/hcJ1fS5tJbEL6BFATC5ywt15/FJAzZjBSL49TSAXlApQgRKMD9x0HA0agPs5hti9dFwDZj/6cxl06bzhO+lgkYdqaii+d8XF7/VNFjoT213TgDuMWCw2DqzsNk4MNrlAAXEiKqo3W+OlrCZjIlC5cZc+Qks2uD6zwiUjJh2xeo8aGc7/2W0mOer6osnlTSWM/fJzNyTE4nJMLpuYUFg6SqhYy8IH2M8zCvV53n+0H5yUIp/vi2uaDVtJXtyvhFvqZFDK9uv5TJeScB+tlj2GNYjyiQQGEHBXTPj+/NtEPo16SxC9+vkPObMqZFhhI6QlO/Sz5FjcbA0Jxnv+viWfachWj3c5U2+0wu7eyTFG4HzjDLzNE8zOLNc1sZOAgut7GrPJw7CDTugYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RbkvvFyN6x9ArAY2PGsE6x",
      "input": {
        "note": "Top view shows the gripper over the blue bowl. Lowering the pear toward the bowl before releasing.",
        "targets": {
          "right_y": 0.14,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01RbkvvFyN6x9ArAY2PGsE6x",
      "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, 0.8127, 0.6147, -0.4282, -0.0177, -0.0307, 0.9993, 0.4519, 1.5429, 0.939, -0.2806, 0.2653, 0.1848, 0.6525]\nstate[eef_state]: left_x=0.2906 left_y=0.0003 left_z=0.1699 left_yaw=0.0039 left_pitch=-0.0568 left_roll=0.0024 left_gripper=0.9993 right_x=0.3793 right_y=0.1366 right_z=0.1002 right_yaw=0.1128 right_pitch=-0.2758 right_roll=-0.0896 right_gripper=0.6525\nstate[joint_eff]: [-0.0615, -1.3197, 7.1863, 1.6923, -0.0317, -0.0317, -0.0122, 0.3897, -6.2974, 6.5299, 1.7314, 0.2662, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c03ac496ee4506ed37fe18ef9e1b01ab024e2484067982b5ca17946b7ae8d9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f59bf5943ac32f00f201baa075f23466688ca05d25f6ccef5b289d05dad51d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b6f27018ceec89106b512f53aa6432e16a0c58f06eb6fdca4899ca588b79ab1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 3.67 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, 0.8116, 0.6147, -0.4236, -0.0181, -0.0307, 0.9993, 0.2066, 1.1343, 0.7773, -0.3721, 0.1257, 0.0597, 0.6525]\nstate[eef_state]: left_x=0.2912 left_y=0.0004 left_z=0.1712 left_yaw=0.0042 left_pitch=-0.0511 left_roll=0.0024 left_gripper=0.9993 right_x=0.3385 right_y=0.052 right_z=0.1585 right_yaw=0.0632 right_pitch=-0.153 right_roll=-0.0421 right_gripper=0.6525\nstate[joint_eff]: [-0.0068, -1.7983, 6.9812, 1.79, -0.0415, -0.022, -0.0122, -0.4444, -4.8889, 9.6205, 1.8291, 0.022, -0.0024, 1.033]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8127, 0.6147, -0.4271, -0.0181, -0.0307, 0.9993, 0.4282, 1.4792, 1.0821, -0.4393, 0.2615, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1702 left_yaw=0.0043 left_pitch=-0.0556 left_roll=0.0025 left_gripper=0.9993 right_x=0.3871 right_y=0.1305 right_z=0.1569 right_yaw=0.0967 right_pitch=-0.2314 right_roll=-0.0707 right_gripper=0.6525\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.7216, -0.0513, -0.0513, -0.0122, -0.335, -7.2, 9.265, 1.8291, 0.3004, 0.2173, 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 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, 0.8127, 0.6147, -0.4282, -0.0177, -0.0307, 0.9993, 0.4519, 1.5429, 0.939, -0.2806, 0.2653, 0.1848, 0.6525]\nstate[eef_state]: left_x=0.2906 left_y=0.0003 left_z=0.1699 left_yaw=0.0039 left_pitch=-0.0568 left_roll=0.0024 left_gripper=0.9993 right_x=0.3793 right_y=0.1366 right_z=0.1002 right_yaw=0.1128 right_pitch=-0.2758 right_roll=-0.0896 right_gripper=0.6525\nstate[joint_eff]: [-0.0615, -1.3197, 7.1863, 1.6923, -0.0317, -0.0317, -0.0122, 0.3897, -6.2974, 6.5299, 1.7314, 0.2662, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c03ac496ee4506ed37fe18ef9e1b01ab024e2484067982b5ca17946b7ae8d9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f59bf5943ac32f00f201baa075f23466688ca05d25f6ccef5b289d05dad51d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6f27018ceec89106b512f53aa6432e16a0c58f06eb6fdca4899ca588b79ab1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwgKEAgSGAI4AUIIdGhpbmtpbmcSDDSrSFQtTHFkB5hgsxoMj6EEWCwGaLJhf4oHIjCZyeH1niqgjZ8zZChk/Y0B5fGlFyCkudZT0Q/e2nSX6DYTadin0f+gqPcK7Pagr3MqzAeJcAkpHn/7ybZd3R8o2IZ0GUnQHYajG2ngtt3CTlhDf57itVkgfBDpC0x70WmK7GdqCb53oZVl/0s9+H81ODSbL8NZMIgIAnpdCuk9ACIhV6yCvIp9rbQN9zboVHJ7ysCJn7wGxCCZU9ftqwNgZE9si2wWWAD2t6MeOr9aEwXqyJveTdudpc8foiUB/EPYtqszgrbxgHko6RsDro/UYmFPe8MgdbdXMoBHnom925/KKnQ+3FiFal0WABGxxQGOjzcE1yPH00JFIwIGHydQUzqb3uE/bkSZo7zjW3WlrFFRXtYgck98yqkhqiEDFums3fCf47CGFFSBr5n8jsIV/47h6jHHAGHhDiEyeLs4f558V9jQQtOTay7P8DdEwoykN0ajX4BERuwm8bR3zkfJa9/7VGbmYi5WWr75C0DxBAK1fCtjXiC3YatTLWcmZz0hzfRM5uPYgdW7IAU+/24kcHEFhvWkQyM/jHsF5e82oi15rVCSwhpidQj433ps1t+ODkMpt95J3liTQp0LqvCWzrbB0RO2wsF1Bwgo6CldzRBbJEXSXcy1vPZtqj4n40f6akJYkWWnBLUy0l0bLlNUPF3WE3FYlWdG0weKsMtFOwVMw9F4BpeK7fHxbmTJ8JYW1PwvjcE6i/l2dwXI+2kkjdQIxgnJSVloTmQJWHZ2M9rY61d8/hTq7WiEEGWxWxCXCvQpcGZna+cUzNKaka1F0bAjS0h6o67ss7Wh+r/wjdT1UNa5N0jltr3asBGOqsto2UCGG00tLgYdKnrPhpz79ER75tSYfOIQEELUJVPSqgR5mbZhDpb4hrlt5Qrzph5Gv77GpGOdEgOIddqFwx6+D6pD6nRINOqGTDHTFo3mu1UB2F5BZxXrSdI3eCoZ5HJ6O+dhAlscB2QbT8Ao20KzsWNhW6qpTP6RFwPE9qCA2wSsLSa9Mnbz5G1/fJw0S9hX2v50fDvaS2kP0jjy1dQf+JdlWByptFg/ebw/vTIufqWi7x2yPs1HQnowoeJ3p9VZjaULLK2E2C2wc6WfJ1thYjOCIC4uEzPBlYoPy3/rD1d2OcU5xkBSixysOTIYOmMaXg9zDg14aY9jyDnzIOxdOyZAuiyQVxgeKJx8lqQDRA7o0FQUdAnG4My1IekNJukopOcKTYNmbRvQcvH0r4Za5TkDBZgzexdxPQB4VNz+2BskIxFRXnMJNvTmbVZkVmYEvQgj6s/1Ge61LFzKL+7iOmyDrnl7ojP87E3dsFihWCNzlLxk1h6Du3zAmH0FKZUTqtApETrX+MBBl0Th9CkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011f92FFm9h2g3Cvwhj6T23x",
      "input": {
        "note": "Wrist view shows the blue bowl mostly ahead of the pear, so nudging forward ~3 cm to centre the pear over the bowl.",
        "targets": {
          "right_x": 0.41,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011f92FFm9h2g3Cvwhj6T23x",
      "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, 0.8127, 0.6147, -0.4309, -0.0177, -0.0307, 0.9993, 0.4553, 1.5692, 0.9184, -0.2504, 0.2653, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1694 left_yaw=0.0039 left_pitch=-0.0595 left_roll=0.0024 left_gripper=0.9993 right_x=0.3782 right_y=0.1376 right_z=0.0868 right_yaw=0.1148 right_pitch=-0.2916 right_roll=-0.0957 right_gripper=0.6525\nstate[joint_eff]: [-0.2393, -1.2923, 6.9812, 1.7216, -0.0464, -0.0513, -0.0171, 0.294, -7.9111, 6.735, 1.8095, 0.2515, 0.188, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:042bd41e72ae05444fb46efe28c78e35987d2c483c12e6731eb94d2c1d5cdf57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df2f5d5854c70ce536f3f778c702673d8e405b104fda2a5e3bac859770dc33cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d0ee441050d169d6d4ab1ef107b54128d96566cbc07dd2082208363d9eae1c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.22 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, 0.8127, 0.6147, -0.4271, -0.0181, -0.0307, 0.9993, 0.4282, 1.4792, 1.0821, -0.4393, 0.2615, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2908 left_y=0.0004 left_z=0.1702 left_yaw=0.0043 left_pitch=-0.0556 left_roll=0.0025 left_gripper=0.9993 right_x=0.3871 right_y=0.1305 right_z=0.1569 right_yaw=0.0967 right_pitch=-0.2314 right_roll=-0.0707 right_gripper=0.6525\nstate[joint_eff]: [-0.0205, -1.4154, 6.9812, 1.7216, -0.0513, -0.0513, -0.0122, -0.335, -7.2, 9.265, 1.8291, 0.3004, 0.2173, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4282, -0.0177, -0.0307, 0.9993, 0.4519, 1.5429, 0.939, -0.2806, 0.2653, 0.1848, 0.6525]\nstate[eef_state]: left_x=0.2906 left_y=0.0003 left_z=0.1699 left_yaw=0.0039 left_pitch=-0.0568 left_roll=0.0024 left_gripper=0.9993 right_x=0.3793 right_y=0.1366 right_z=0.1002 right_yaw=0.1128 right_pitch=-0.2758 right_roll=-0.0896 right_gripper=0.6525\nstate[joint_eff]: [-0.0615, -1.3197, 7.1863, 1.6923, -0.0317, -0.0317, -0.0122, 0.3897, -6.2974, 6.5299, 1.7314, 0.2662, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4309, -0.0177, -0.0307, 0.9993, 0.4553, 1.5692, 0.9184, -0.2504, 0.2653, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1694 left_yaw=0.0039 left_pitch=-0.0595 left_roll=0.0024 left_gripper=0.9993 right_x=0.3782 right_y=0.1376 right_z=0.0868 right_yaw=0.1148 right_pitch=-0.2916 right_roll=-0.0957 right_gripper=0.6525\nstate[joint_eff]: [-0.2393, -1.2923, 6.9812, 1.7216, -0.0464, -0.0513, -0.0171, 0.294, -7.9111, 6.735, 1.8095, 0.2515, 0.188, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:042bd41e72ae05444fb46efe28c78e35987d2c483c12e6731eb94d2c1d5cdf57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:df2f5d5854c70ce536f3f778c702673d8e405b104fda2a5e3bac859770dc33cd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 47):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0ee441050d169d6d4ab1ef107b54128d96566cbc07dd2082208363d9eae1c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSxAcKEAgSGAI4AUIIdGhpbmtpbmcSDPG9/aFXBg/6A3kk5RoMdBuzqCMsoCGp4QX3IjBtNs0gqAHTuy26ZFlNIDIvOugDIxhxbUuCIF9Q2uAyAAcgwQRYKRibrGmFC9nkBUUq4QaUGQ6CfOqxvrA4iWJ3zNmoUAjDbxxtG1TGD/knmP1a2NphChVhLNQmdo7E/bfT59vKqtFiXdQ+95auuwDiZqshQGmUgKUWVQ3pAWRtfP8Ub+tDLV7At3ziGfHqFWF1kUnNp5IoWCmaHAPhePkdx0dxtYBMipTT474vac7sumBV7ch95hTrRRDreBZXUu8QXvmVTk/mPDx4ExAOgy12v68Dj44WCKqGX/iffSvRb+XU1shpsg5si14dv9YN3o9jGxdgXSfWt1Dp7LuLZsDPjoEX16mRECLjqnGDGyol89zPls1JnXVNZGM3sOB67e6C2VWUFsY1/Nz9MxJJhFWTo+qvU5CCtYQ41jBml1yrXTVWZDMXEM77Yk2N1+NXjk7NHJLA6+obQH0Y8ORiYUPp+V8SDqv9t6EOfdj1DmnXFvieRXhdWu8WR9zKutX8w2PJ5u8pLEHrkHcbctxg81lhjwyUXmPz7WJFml+PjeRqvqIBCoihCi1zmFq/xk8MhaVUq9ohm8NHf9R7LRKLWjssXlVPDfKXi//P1gOjpEQ99j+sRZZCLYyj7kAY+BzsHXNp/st7t+mCLlrGaJpHuJfGXarB/GsHe0U8moeptPsJfQ/FdFc/6KZ2h1YASet4EvGksxcj/kwpCP16PHF+Ne3MsuFEuZAjmQke0bSrDgz6LDy7Mn50CF1HvhlTw/2LJQ8XWyEEu9cBsrBau4hbjBnVLUl0lAvsSHFqsrUQ4vKWc113xRn1eg7CEia6PKPuKrqW91w63/HD59i/lOFmMqcLSrLnMc5ZdRwxw8k1dxc1GDOtkDZy4y+oEf+OV2QqWT2ifdPpX3kH6bXDkTrYTaOk9uKlC3INcnyOZRyLO8VVYIfSAQ4XHSrQ0K5WT+erayAi5w/DphCJsKXn0OVH6fubGCd8jeLISpXaW/rjcBSyhrpculeFRbPC9WGImj7nrptRz0csLxgWHQ7KHh+nIO0RlZCJaYkFW64/zlDIw4BVLzBA9Fa0/r+8pXXC8fErwnpoTQLipli+Nu39ZSZpyXMLBdVv9fxKkI9DQr7Mf3wYmwQqhrzMmRlnjExmxPWykp1B4/fK6bYJD3ewGKnfJVAZpyhp19ImFX3TosMEWLhVF5L3j0Pffs5aLaDy40b6588kJEsbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XrfQNuUdrJ558zan3Y3EVV",
      "input": {
        "note": "Arm didn't advance forward — pear likely snagging the bowl rim. Raising and moving forward to get over the bowl centre.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XrfQNuUdrJ558zan3Y3EVV",
      "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, 0.8185, 0.6144, -0.4446, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2398, 0.2657, 0.1841, 0.6525]\nstate[eef_state]: left_x=0.2885 left_y=0.0005 left_z=0.165 left_yaw=0.0043 left_pitch=-0.0793 left_roll=0.0032 left_gripper=0.9993 right_x=0.3795 right_y=0.1382 right_z=0.0877 right_yaw=0.1156 right_pitch=-0.2833 right_roll=-0.0932 right_gripper=0.6525\nstate[joint_eff]: [-0.3214, -1.7709, 7.241, 1.7998, -0.0513, -0.0317, -0.0122, -0.1026, -7.8974, 6.9812, 1.6386, 0.2369, 0.1685, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c657bf3c4933a2038eee3c9643fb4293331fe349811402d153945426ebe11ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12fb87c76c81d3d4dd20281c9cb58247f55048d9960d736c8daa09e132607a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:226183b612c6426cf0cdcbae63aed1556a6087e72b84ced41b17d8b57034e7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.305 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, 0.8127, 0.6147, -0.4282, -0.0177, -0.0307, 0.9993, 0.4519, 1.5429, 0.939, -0.2806, 0.2653, 0.1848, 0.6525]\nstate[eef_state]: left_x=0.2906 left_y=0.0003 left_z=0.1699 left_yaw=0.0039 left_pitch=-0.0568 left_roll=0.0024 left_gripper=0.9993 right_x=0.3793 right_y=0.1366 right_z=0.1002 right_yaw=0.1128 right_pitch=-0.2758 right_roll=-0.0896 right_gripper=0.6525\nstate[joint_eff]: [-0.0615, -1.3197, 7.1863, 1.6923, -0.0317, -0.0317, -0.0122, 0.3897, -6.2974, 6.5299, 1.7314, 0.2662, 0.1685, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6147, -0.4309, -0.0177, -0.0307, 0.9993, 0.4553, 1.5692, 0.9184, -0.2504, 0.2653, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1694 left_yaw=0.0039 left_pitch=-0.0595 left_roll=0.0024 left_gripper=0.9993 right_x=0.3782 right_y=0.1376 right_z=0.0868 right_yaw=0.1148 right_pitch=-0.2916 right_roll=-0.0957 right_gripper=0.6525\nstate[joint_eff]: [-0.2393, -1.2923, 6.9812, 1.7216, -0.0464, -0.0513, -0.0171, 0.294, -7.9111, 6.735, 1.8095, 0.2515, 0.188, 1.033]",
      "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, 0.8185, 0.6144, -0.4446, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2398, 0.2657, 0.1841, 0.6525]\nstate[eef_state]: left_x=0.2885 left_y=0.0005 left_z=0.165 left_yaw=0.0043 left_pitch=-0.0793 left_roll=0.0032 left_gripper=0.9993 right_x=0.3795 right_y=0.1382 right_z=0.0877 right_yaw=0.1156 right_pitch=-0.2833 right_roll=-0.0932 right_gripper=0.6525\nstate[joint_eff]: [-0.3214, -1.7709, 7.241, 1.7998, -0.0513, -0.0317, -0.0122, -0.1026, -7.8974, 6.9812, 1.6386, 0.2369, 0.1685, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c657bf3c4933a2038eee3c9643fb4293331fe349811402d153945426ebe11ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b12fb87c76c81d3d4dd20281c9cb58247f55048d9960d736c8daa09e132607a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:226183b612c6426cf0cdcbae63aed1556a6087e72b84ced41b17d8b57034e7d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5QgKEAgSGAI4AUIIdGhpbmtpbmcSDMTub3C5Eakj8ziFLxoMea0nrnR++Vq+pFYMIjCAIVMDgQ/gYYfgp00C3uI8JBfSyLLHO6gBoTZSnS4eY6rNQfu0WqyRmko4Klngm8Mqggjeg7D5tNS1/Q5GIPvq0Anlt5LefeVOQDfQfca49rt7izia4dXEEUzUsYnrZmOc0i0y1ScYVnhBdW9kb7H+ozVLHNrmYLCeZS0KJz7W3DolMujCXrI1sUjm5/YHAZXojXXhatLtWzacLs+Mh1VDUWl48o9M3L2Lr9CNXN4sCwMjqwemexanRQEmCJLKQJbcy3UozCtqgSkexVRlG4SJ384C1IQTv+xwApXbRkvm+Wy2/VwQcTSo9EfS8XtRtq00W2wIFajL2OvP0rIPdFADIR1xuKcQahGySSPfDMdSmsAUFdxHA38BrUerGiuztKN0EYU50qCGUOKUNQLv4PomzNk1Fwi0KVHCbozFQEqhk3H9lQp0FzWpLycEVFwMpZkW14ou8U2ve3ORXZedRb9Xik/w8T9bxW2hefnfAZVFjH/lfvH/lU3v8SqnYF+cMfgMOa5qn3aCPNVlXiRMJXQje/gGfC65RP5hxew4iq2poQPifWA270/d/0TuS6JTC9JswQ1b/PRXcO0PDbLw+jpEEHAzWn2mOP+pon1DzMb8eRauhCokI2ByxbAwN8X2wDlb+o1hekE82en6WMIVjRE++PbcVDVAZRha78eKJtTj5qNdrxpq56nafp6mdVUdPMXcRG5VHoGcACnFRwlmeiivIDuWgCbJF15bJnxPCGK34rtKgnuAJIUnBw1kUegYnZgQ2tp0gFSO8OPggvfiEDG246l5DeuY7sm3hBm0CJwQ9LJKzhc1JW8QhtsOCANXe1a7B649EID5m/VCLtD1DTIPt8ASiMHUNid/k6Phn1ZoHKXzi6UsEO5ge4fWUgFMT6CPkw9Gpkx2C1VeIle37wCIvl6QcshxcUa3TbxsK1hbsR+RIuh+IOMae0lZ+KoavBaWrufEBySszK7h9Q/dj2jnQXat2hQAMae3I/vdIMKojMqTTCaC9b68BnBB/gbfQCba/Q+kLXUJWpnq9n+Pjzh3hmRgI4Lq83WBeF9d+eIwAlyZXDc413tB70qTw+XTcP4WxejPHBYRx394HZozHFgnVzGVOM1tGY9Pu10rhCZsM+Bw+rd/mcXlBfafGx4mbRan82oxK8olgSckEIPEO2gHq6M89IR+5k1kMlEIEZ1NsxPGvFiXKU1T1h991YbSWXtz0Z7HIYtWhbvBEu0ycjSE3I/t+qDlS0g2AiFaMoqCH/tQPXMvDs2Gd809Gmkfz3hdFOxByeQN+w+kJHlZOJcBXPc5r/SlM2/0e57xDhzek3WnplDmhAA5T4xCsaeQfof2mX8Do8CUR4t+pGEh2JWMsNMr83FBOG9h6hhO7Jv+KxO8d5HfWStlZeRBA5jsnlysDXFLdo24F4cj2i7CKeoXAeY90TIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AcZWu3jXksHqoBS1VeH2AG",
      "input": {
        "note": "Arm is holding position with the pear surrounded by the blue bowl in the wrist view; releasing the pear into the bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01AcZWu3jXksHqoBS1VeH2AG",
      "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, 0.8185, 0.614, -0.4465, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2356, 0.2657, 0.1917, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0005 left_z=0.1644 left_yaw=0.0043 left_pitch=-0.0816 left_roll=0.0032 left_gripper=0.9993 right_x=0.3802 right_y=0.1385 right_z=0.0884 right_yaw=0.1117 right_pitch=-0.279 right_roll=-0.0864 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -1.1692, 7.0085, 1.6874, -0.0171, -0.0659, -0.0122, -0.0752, -7.6513, 6.8581, 1.6825, 0.2369, 0.1245, -0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2232020e7c2b1628d48a828a9330e3a5dc04da56a9537512c2113c086eee94b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1b4608dff1a23bf0c8277d8e6c63039f2d03acbb5cc209e0f7921d990c4935",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a4cfd7359b752a69b47431db887df49719f2c694c9000ad81c60f76f3dcb6b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 10.57 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, 0.8127, 0.6147, -0.4309, -0.0177, -0.0307, 0.9993, 0.4553, 1.5692, 0.9184, -0.2504, 0.2653, 0.1844, 0.6525]\nstate[eef_state]: left_x=0.2902 left_y=0.0004 left_z=0.1694 left_yaw=0.0039 left_pitch=-0.0595 left_roll=0.0024 left_gripper=0.9993 right_x=0.3782 right_y=0.1376 right_z=0.0868 right_yaw=0.1148 right_pitch=-0.2916 right_roll=-0.0957 right_gripper=0.6525\nstate[joint_eff]: [-0.2393, -1.2923, 6.9812, 1.7216, -0.0464, -0.0513, -0.0171, 0.294, -7.9111, 6.735, 1.8095, 0.2515, 0.188, 1.033]",
      "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, 0.8185, 0.6144, -0.4446, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2398, 0.2657, 0.1841, 0.6525]\nstate[eef_state]: left_x=0.2885 left_y=0.0005 left_z=0.165 left_yaw=0.0043 left_pitch=-0.0793 left_roll=0.0032 left_gripper=0.9993 right_x=0.3795 right_y=0.1382 right_z=0.0877 right_yaw=0.1156 right_pitch=-0.2833 right_roll=-0.0932 right_gripper=0.6525\nstate[joint_eff]: [-0.3214, -1.7709, 7.241, 1.7998, -0.0513, -0.0317, -0.0122, -0.1026, -7.8974, 6.9812, 1.6386, 0.2369, 0.1685, 1.033]",
      "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, 0.8185, 0.614, -0.4465, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2356, 0.2657, 0.1917, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0005 left_z=0.1644 left_yaw=0.0043 left_pitch=-0.0816 left_roll=0.0032 left_gripper=0.9993 right_x=0.3802 right_y=0.1385 right_z=0.0884 right_yaw=0.1117 right_pitch=-0.279 right_roll=-0.0864 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -1.1692, 7.0085, 1.6874, -0.0171, -0.0659, -0.0122, -0.0752, -7.6513, 6.8581, 1.6825, 0.2369, 0.1245, -0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2232020e7c2b1628d48a828a9330e3a5dc04da56a9537512c2113c086eee94b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef1b4608dff1a23bf0c8277d8e6c63039f2d03acbb5cc209e0f7921d990c4935",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a4cfd7359b752a69b47431db887df49719f2c694c9000ad81c60f76f3dcb6b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS/wkKEAgSGAI4AUIIdGhpbmtpbmcSDLObOKLqq6dxXfpuThoMdZckZYEOrOHMxoYEIjDhTOWSBL7OXEraU4OOT5PVjJGEyiZ79HdwmNWJBdLnf9KSUT1yHAlozERk74fWX6wqnAnhsY4thpTMS+pGIqC+4TmO/96kdcEvoZYj3odPO5QywL5fiaBL9/QPbLbeMXHqkViooJ1RgJQjd9+GRFfqLjh4AYPqzwGvwP3TVrI5l91CL3KiGtY671p7OdC4PQ+5RbhCk1ebpI0GFNYQXWa5IDm8ZvwjzMqHyUA8i5jI1WjApnKem4eVFiz/TVd6kTO2VMLD128tGsDBXKgPdCNw/4yCjfHP/8iBArCLZJoQItR+fRapW/klZnS/mj0roT8HYmpc3/bBmKgQsli0rru8JpR3S1RmOypuuEWEbVqDiNjYSSXZeSyNMeWa+gS/MM/vBI2w1Ptst1dBEUadQsW0yb9e4iFExrU4PVsYg5vsTIrXrnBvgL1sFdskzCHa+iaO0H6mQcYxCWb1fqWgAqghcmmwp2RtPWIdts0kXbfoSeDLkFCZ67SALzr93yj/7XF2i5jFvEcOcpHvkkcVjKBcewaJ1zeb7Sm6gCWHReD2vclfy606Zcl59Lj+fpX7HqE03hJ9EJ9MaxPqHbrCrVUsax4y+BRytiESebVbFuX2HfL9lG6gJPCDQ3w3yirV9HoxUQvnUTk6AL7nM2QlHiE73ry2HEdT6xoBUy98G8kMqZQlId119Ij32jDF3gUYiHoz9I2C0cq1/honvAgP2S4aa4UQZc6OfkB4l9aZEVlaGmWwSV+8oVJQ1VW/biZt2ZsBo7V/i9tOsQ2U1gYt9wfkU0jHyUZqmgsByx3qF5Vzac4/iQD4OTv7TKPxR5vtiJMkujc1TeMmdYch5Fi6BrFIN5LPOXN3p6JsdVqps0aPH4/flc8j4BsV5/5q6yqG9RbFL7kLRWjJjoSMtIPU/Lk6wy13VhkqAdK2YLTAXL0YVerH1o24btk4yRO7wENa5Y1V1MA5dl8NxHFI8jbvd37v6YO0jEW5DXZGuEOF62L4PK89WzeTlJypmBFSAgaDenPF4HSCv1nZlMrai+sn1nwpkBg5cFXPwRPQgwE02dIF799sp2k69KPFJ4B6ywws4ilCpO2yBsKNtWvicVmWF7gGleDP74XkoDqtiN9aIH1LedxTtrBH8JFzWzZtygNW2Z4orZ2ekBrfiA/XoVmAhFsifQHBAM4UttYWdBjOcUZV0Ph64zC9HIit5o3HXcd+JLl6k5S1bZ/jqD6JyF3McHkQFXF+W/kFadHDknyqmivCBROT3uFkciiCFFZfFc/IHW/xqZnflN1Lz1EwrVKNZbQ/fL5m9g0hIfm4Wiwszvt1/yQ5qKp+sybg3+kML3tK4KKa2YELMX8/xyAQaZkJd0oaOUrvf9Eb2s3pw45IKGgAVRF8FP0kmqGIEYxa5eQ5crEgfgNnHNsGIQk3bK3veTsik12udVnXiwoSTk7oRw4XubHiEQdCcyyi2eY40KC+tGavjXSbQN7V+mDuhI+MSmQLuK9WN6iS0bgabBqWo+noCJBJ8hty4dtC4sjhdJ+gle0zSRBh3jmFRGlnoFXI1K7gfBRIbf5C775ziUFkkolWSYlP2gxW6Jec1M9pw1mHF/u45rxnkYJC/by4uyy56rDYfHbkMeZ/Xs1V5co34u0+GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011EAMgzyzgkKtU1rSu2gtgv",
      "input": {
        "note": "Wrist view looks odd — the blue bowl appears tipped over the pear. Raising and backing the right arm away to see the scene from the top camera.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_011EAMgzyzgkKtU1rSu2gtgv",
      "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, 0.614, -0.4503, -0.0181, -0.0311, 0.9993, 0.2031, 1.211, 1.0164, -0.6697, 0.1219, 0.0135, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0005 left_z=0.1633 left_yaw=0.0045 left_pitch=-0.0869 left_roll=0.0031 left_gripper=0.9993 right_x=0.3351 right_y=0.0507 right_z=0.1841 right_yaw=0.0846 right_pitch=-0.2887 right_roll=-0.0907 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 7.1726, 1.7265, -0.0269, -0.0708, -0.0122, -0.212, -4.6974, 9.1145, 1.5507, -0.022, -0.0513, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44bd2f8632d0aef81ea2dc83d6c537eae70b0365c9065720b0bf90ec89c6fb18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8b143b74165923f88060c3642dc240256b7a755c654cec8e0b870d39714a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:50b518fd7c4769c6b0ae01d98a55a7cb7b93570e573efa5dad8daa1a297e66b8",
        "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 · 4.055 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, 0.8185, 0.6144, -0.4446, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2398, 0.2657, 0.1841, 0.6525]\nstate[eef_state]: left_x=0.2885 left_y=0.0005 left_z=0.165 left_yaw=0.0043 left_pitch=-0.0793 left_roll=0.0032 left_gripper=0.9993 right_x=0.3795 right_y=0.1382 right_z=0.0877 right_yaw=0.1156 right_pitch=-0.2833 right_roll=-0.0932 right_gripper=0.6525\nstate[joint_eff]: [-0.3214, -1.7709, 7.241, 1.7998, -0.0513, -0.0317, -0.0122, -0.1026, -7.8974, 6.9812, 1.6386, 0.2369, 0.1685, 1.033]",
      "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, 0.8185, 0.614, -0.4465, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2356, 0.2657, 0.1917, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0005 left_z=0.1644 left_yaw=0.0043 left_pitch=-0.0816 left_roll=0.0032 left_gripper=0.9993 right_x=0.3802 right_y=0.1385 right_z=0.0884 right_yaw=0.1117 right_pitch=-0.279 right_roll=-0.0864 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -1.1692, 7.0085, 1.6874, -0.0171, -0.0659, -0.0122, -0.0752, -7.6513, 6.8581, 1.6825, 0.2369, 0.1245, -0.2125]\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, 0.614, -0.4503, -0.0181, -0.0311, 0.9993, 0.2031, 1.211, 1.0164, -0.6697, 0.1219, 0.0135, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0005 left_z=0.1633 left_yaw=0.0045 left_pitch=-0.0869 left_roll=0.0031 left_gripper=0.9993 right_x=0.3351 right_y=0.0507 right_z=0.1841 right_yaw=0.0846 right_pitch=-0.2887 right_roll=-0.0907 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 7.1726, 1.7265, -0.0269, -0.0708, -0.0122, -0.212, -4.6974, 9.1145, 1.5507, -0.022, -0.0513, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44bd2f8632d0aef81ea2dc83d6c537eae70b0365c9065720b0bf90ec89c6fb18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d8b143b74165923f88060c3642dc240256b7a755c654cec8e0b870d39714a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50b518fd7c4769c6b0ae01d98a55a7cb7b93570e573efa5dad8daa1a297e66b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U89wQtU2XXGPQn3wqkHAKd",
      "input": {
        "note": "Pear fell back upright on the table, just in front (base-side) of the blue bowl, which is further forward at the limit of reach. Hovering above the pear to regrasp it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.08,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01U89wQtU2XXGPQn3wqkHAKd",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.614, -0.4534, -0.0177, -0.0311, 0.9993, 0.2802, 1.4025, 0.9073, -0.4706, 0.1532, 0.046, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=0.0004 left_z=0.1621 left_yaw=0.0042 left_pitch=-0.0919 left_roll=0.003 left_gripper=0.9993 right_x=0.3515 right_y=0.0768 right_z=0.1076 right_yaw=0.1104 right_pitch=-0.384 right_roll=-0.1109 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.5385, 7.0632, 1.7118, -0.022, -0.0415, -0.0122, 0.3214, -5.9282, 6.6803, 1.7021, 0.1197, 0.2857, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffdd07fbdf36342fbf297b3b7513ced1ec30982ec36395be9d018fd09076eb8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375b3daa5d6e5f028be0735a992e2e96c7bc3e43c5274221f7b878f32395eef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1bc207e8daa394a4a212f5c2eb3f291420ba77a9fcc43f1023f833f2a74124ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 2.97 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, 0.8185, 0.614, -0.4465, -0.0181, -0.0307, 0.9993, 0.4553, 1.5692, 0.9165, -0.2356, 0.2657, 0.1917, 0.9957]\nstate[eef_state]: left_x=0.2881 left_y=0.0005 left_z=0.1644 left_yaw=0.0043 left_pitch=-0.0816 left_roll=0.0032 left_gripper=0.9993 right_x=0.3802 right_y=0.1385 right_z=0.0884 right_yaw=0.1117 right_pitch=-0.279 right_roll=-0.0864 right_gripper=0.9957\nstate[joint_eff]: [-0.1709, -1.1692, 7.0085, 1.6874, -0.0171, -0.0659, -0.0122, -0.0752, -7.6513, 6.8581, 1.6825, 0.2369, 0.1245, -0.2125]\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, 0.614, -0.4503, -0.0181, -0.0311, 0.9993, 0.2031, 1.211, 1.0164, -0.6697, 0.1219, 0.0135, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0005 left_z=0.1633 left_yaw=0.0045 left_pitch=-0.0869 left_roll=0.0031 left_gripper=0.9993 right_x=0.3351 right_y=0.0507 right_z=0.1841 right_yaw=0.0846 right_pitch=-0.2887 right_roll=-0.0907 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 7.1726, 1.7265, -0.0269, -0.0708, -0.0122, -0.212, -4.6974, 9.1145, 1.5507, -0.022, -0.0513, 0.0513]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.614, -0.4534, -0.0177, -0.0311, 0.9993, 0.2802, 1.4025, 0.9073, -0.4706, 0.1532, 0.046, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=0.0004 left_z=0.1621 left_yaw=0.0042 left_pitch=-0.0919 left_roll=0.003 left_gripper=0.9993 right_x=0.3515 right_y=0.0768 right_z=0.1076 right_yaw=0.1104 right_pitch=-0.384 right_roll=-0.1109 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.5385, 7.0632, 1.7118, -0.022, -0.0415, -0.0122, 0.3214, -5.9282, 6.6803, 1.7021, 0.1197, 0.2857, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffdd07fbdf36342fbf297b3b7513ced1ec30982ec36395be9d018fd09076eb8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:375b3daa5d6e5f028be0735a992e2e96c7bc3e43c5274221f7b878f32395eef8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1bc207e8daa394a4a212f5c2eb3f291420ba77a9fcc43f1023f833f2a74124ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwcKEAgSGAI4AUIIdGhpbmtpbmcSDD2CNX0y/tlHNkMVNxoMMJ2h2dWCWbMDYewOIjACn1WuEWw1ciaeJwBoGeYj4j0r6bQPNZAuVZhwgnvDAIQbPyvfbbNKt9E4YM13fksq3AYz1dvpxrXi8ZK6lzd3XSjmpLy77LDYl83YN9x1nfOYqS+r+hcnPH/BqXHYWOnrobesUQEkGcxaYjgjJ+HvkV8p1soX4xkIjOT4ENfaSxglAxJO2TQRe2TpiBPHxRun0hWPFkJ26acCH8fVE8MVk6L6m/V0waVZSGSaGCIHXn09Fm/YG6WBRI6noveBXI9hVuZvJDiQKJiYb3WsidOhPvI2xXMFNaEKtDfTnc7JxX7IMymiuU4nbH56PbQHLGi/XPVwc68AQDtODH/hob0dqVae0Kf/nQSCaHHB/0h3SgJjJQnxH86pZTSXheV4m4xLSAnTjykdwgf/i/f2seDS5iCp/TkdZ5oLdbAt4T3J9cAPDvou4zP1flAwaVjBgXEoCnxcIpxOJgEl5iy8O1W+2+zGRZDQFCVgVZ5FDUUZt1qkA8Cv9hW9LiEPK19DqtEgE1iE3HLSgSC5XWjxoK2lzBjKWbvLdEG4wbCHsBX02iNR4SUvoH3tFK2/skdNt63Ah3E57x28xLAXZsrvCXsf6nnzCcZxXyWVb7rD3QCB/ObPOODfdiGoQgb9IFzuNRjEYsiSIQ1QpP6KUzxTk3s7YGTlc0WSErpNqPhiLuVB4q3RFPlTu7H+5Bav0bfFQnvCXpXWrEhpjR/1tAx6VOyGyl9abxn5yMxG2PzWuwjeRJUfKrP/fboMekrgWkflWlIWsmK+G6jYxpbzIkzJRVqIVreUKlU71kwnKWXw1L1SpCMUySsyVvCQ58SQ8dP9w7HFI1evTe2FZ0Ppr/sNXXA4+sDFiHwtmhRIZD2M2GHVphnz99pSwwucvYQjTAXTHPteBJTZ22qaeKAOb/E7t5/nBUrjerLeAzOIOjczT+3v3Qvg8xK9grDGjqe3arbkoZuKEPyybg27dHvKujir7xyQbzpengBLTeqPkBkmOdFzbkGr5/VwRmAfi+gpYJflXYWU8yKg7G5ACVlKi1eTLagjAzYw7gaxKDLm67aKIuIpLzV+OwLJBS+CQUcCcs7yrr5nhvw5bUJVtkg/ZOSyKKikvTSfrp3vXFtS0GtFAzh+Fm/qvc4MCut2gItOL0uhtUI+/ObrQY2a7diWs/NQFw6NZqO4l2TTfO0nPWXYIO6u2CqK8vz4bQtyzkjIZFXEcBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013HUBJYXCaThXCTZ99XHPnN",
      "input": {
        "note": "Pear is slightly ahead and left of the jaws in the wrist view; descending with a small left/forward correction to grasp it.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.1,
          "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_013HUBJYXCaThXCTZ99XHPnN",
      "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, 0.8238, 0.614, -0.4545, -0.0181, -0.0311, 0.9993, 0.3378, 1.6253, 0.8021, -0.2138, 0.1684, 0.0711, 0.9964]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1614 left_yaw=0.0045 left_pitch=-0.0949 left_roll=0.0033 left_gripper=0.9993 right_x=0.3569 right_y=0.0978 right_z=0.0266 right_yaw=0.1335 right_pitch=-0.4502 right_roll=-0.124 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.6825, -0.0415, -0.0562, -0.0122, 0.1573, -7.0496, 5.1487, 1.4579, 0.149, 0.2027, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacbcfba0b10ca42d060bfdd1dd2a2dcf3d8ae664447dfc2cec9c17726e81e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59ca600bab78dfb4dd92329494f24c2174c5d5d0b8b52a975179d88b0a0e85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b211f395e05325ed53e200d27aa2805c3de6b92c5e67d0c0d4ee45b92b025d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.897 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, 0.614, -0.4503, -0.0181, -0.0311, 0.9993, 0.2031, 1.211, 1.0164, -0.6697, 0.1219, 0.0135, 0.9964]\nstate[eef_state]: left_x=0.2876 left_y=0.0005 left_z=0.1633 left_yaw=0.0045 left_pitch=-0.0869 left_roll=0.0031 left_gripper=0.9993 right_x=0.3351 right_y=0.0507 right_z=0.1841 right_yaw=0.0846 right_pitch=-0.2887 right_roll=-0.0907 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 7.1726, 1.7265, -0.0269, -0.0708, -0.0122, -0.212, -4.6974, 9.1145, 1.5507, -0.022, -0.0513, 0.0513]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.614, -0.4534, -0.0177, -0.0311, 0.9993, 0.2802, 1.4025, 0.9073, -0.4706, 0.1532, 0.046, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=0.0004 left_z=0.1621 left_yaw=0.0042 left_pitch=-0.0919 left_roll=0.003 left_gripper=0.9993 right_x=0.3515 right_y=0.0768 right_z=0.1076 right_yaw=0.1104 right_pitch=-0.384 right_roll=-0.1109 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.5385, 7.0632, 1.7118, -0.022, -0.0415, -0.0122, 0.3214, -5.9282, 6.6803, 1.7021, 0.1197, 0.2857, -0.0073]",
      "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, 0.8238, 0.614, -0.4545, -0.0181, -0.0311, 0.9993, 0.3378, 1.6253, 0.8021, -0.2138, 0.1684, 0.0711, 0.9964]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1614 left_yaw=0.0045 left_pitch=-0.0949 left_roll=0.0033 left_gripper=0.9993 right_x=0.3569 right_y=0.0978 right_z=0.0266 right_yaw=0.1335 right_pitch=-0.4502 right_roll=-0.124 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.6825, -0.0415, -0.0562, -0.0122, 0.1573, -7.0496, 5.1487, 1.4579, 0.149, 0.2027, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eacbcfba0b10ca42d060bfdd1dd2a2dcf3d8ae664447dfc2cec9c17726e81e7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c59ca600bab78dfb4dd92329494f24c2174c5d5d0b8b52a975179d88b0a0e85d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b211f395e05325ed53e200d27aa2805c3de6b92c5e67d0c0d4ee45b92b025d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N8NnsSZDjkfCk89xMrRewu",
      "input": {
        "note": "Pear fills the space between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01N8NnsSZDjkfCk89xMrRewu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.614, -0.4679, -0.0177, -0.0307, 0.9993, 0.3374, 1.6455, 0.7933, -0.2146, 0.1627, 0.0673, 0.0118]\nstate[eef_state]: left_x=0.2851 left_y=0.0005 left_z=0.1588 left_yaw=0.004 left_pitch=-0.1083 left_roll=0.0037 left_gripper=0.9993 right_x=0.3519 right_y=0.0969 right_z=0.0165 right_yaw=0.1377 right_pitch=-0.4806 right_roll=-0.1274 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.8046, -0.0317, -0.0269, -0.0122, -0.0068, -8.6359, 6.2974, 1.1697, 0.1929, 0.0269, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cc93dd64a5eb9c838f06e59b28fa4ba0e3567724c7dedd66a7cca77d1983d43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ca84ad4ab9c4bd4ea973621671d4d6e486d36842a057382ba9e038256d4871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:23e3500c98fbdfb395d6ef29bba9c219b83c081e29eff50b20b92c4dfd68c696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.266 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, 0.8219, 0.614, -0.4534, -0.0177, -0.0311, 0.9993, 0.2802, 1.4025, 0.9073, -0.4706, 0.1532, 0.046, 0.9964]\nstate[eef_state]: left_x=0.2873 left_y=0.0004 left_z=0.1621 left_yaw=0.0042 left_pitch=-0.0919 left_roll=0.003 left_gripper=0.9993 right_x=0.3515 right_y=0.0768 right_z=0.1076 right_yaw=0.1104 right_pitch=-0.384 right_roll=-0.1109 right_gripper=0.9964\nstate[joint_eff]: [-0.1573, -1.5385, 7.0632, 1.7118, -0.022, -0.0415, -0.0122, 0.3214, -5.9282, 6.6803, 1.7021, 0.1197, 0.2857, -0.0073]",
      "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, 0.8238, 0.614, -0.4545, -0.0181, -0.0311, 0.9993, 0.3378, 1.6253, 0.8021, -0.2138, 0.1684, 0.0711, 0.9964]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1614 left_yaw=0.0045 left_pitch=-0.0949 left_roll=0.0033 left_gripper=0.9993 right_x=0.3569 right_y=0.0978 right_z=0.0266 right_yaw=0.1335 right_pitch=-0.4502 right_roll=-0.124 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.6825, -0.0415, -0.0562, -0.0122, 0.1573, -7.0496, 5.1487, 1.4579, 0.149, 0.2027, -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 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, 0.8238, 0.614, -0.4679, -0.0177, -0.0307, 0.9993, 0.3374, 1.6455, 0.7933, -0.2146, 0.1627, 0.0673, 0.0118]\nstate[eef_state]: left_x=0.2851 left_y=0.0005 left_z=0.1588 left_yaw=0.004 left_pitch=-0.1083 left_roll=0.0037 left_gripper=0.9993 right_x=0.3519 right_y=0.0969 right_z=0.0165 right_yaw=0.1377 right_pitch=-0.4806 right_roll=-0.1274 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.8046, -0.0317, -0.0269, -0.0122, -0.0068, -8.6359, 6.2974, 1.1697, 0.1929, 0.0269, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cc93dd64a5eb9c838f06e59b28fa4ba0e3567724c7dedd66a7cca77d1983d43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78ca84ad4ab9c4bd4ea973621671d4d6e486d36842a057382ba9e038256d4871",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 84):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23e3500c98fbdfb395d6ef29bba9c219b83c081e29eff50b20b92c4dfd68c696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS+wcKEAgSGAI4AUIIdGhpbmtpbmcSDFxt62s04No+bnummRoMCa14DbA9v/DNfAk7IjDdfeghvFJ1yyt6+1Mm1gnmrZXr350tMplBtVmeTA1HV6ezFE12p+D8myKCXKHvQtQqmAccZhKUkH4K7KJ5VPfMKk7X/YiCnwpYi/vLFnM6uykBhHQIE3k+vQQsML18M+eOymrIgcH1sMG2C46grhK7Ouzn4CcU1vrpmRK6b1UjPNGHJ/px3qsEitfDH+yjxGGYFiv2tGfvLH/GU2bmPArvo/Y6URnheds3ISglsdyuu3C1TxfclrnnQ5XK8bc8iQYWYF2xCd4bQsUAlONu92yDbo/vnu4pp7AAD8u5oT0lioHdclTCAMHAd2GpWQCuOtEaNwrzGGcw2ocpkdiXT7lzDX/PMcqZMgg4/L1GKp94UXNt7HqjkVUOhwnclfJUTcjtdWvi4Zn1JfiYSvQtP4ZAaUWvbtbhMrZfhOGQFYzReJkwB3jzU8lqaIO/BFKhTGtGDiKsrNqhOcw7r+Sw+mmDefjbURWPrELpOkJtX6T/gzjFC7NtzkH+SxaFHGGRhSYxy2WJlzv4dplGzpG9/Esh0liHG13QrRQggHN1ZMVJGkbz+Uv0iizkxsIQLA4ARUpXyO0xFz8GC9wHyqneul4OhDtEadZ1v6oMKiNZeqyCYi10Rm6iFveeBgb3g0FjyTWdXHdYuYk6W3TJ9LzwSCSx++zaLhB6oxVcKM1xuxQ4hD0VxCiiziOWOZrKIMhXRNGA3+hNnKbfmPELmU/l75mhLXgF8zcptOTeKlzydFmFrLT+OxXjpfxByyvaC1ConUikACw/9bSxMmrJL6IGP1TN/6fCcjeXfB8hOEol0Mc7rypCklD3Ncj6vnz6R3oraqt1+aDMJDdzkkLrBZTEVhsP0NB9iK1TkMzbeAHELGXFJPY+jkL+KQjqk46noX7J+0R8eeC/7swsvqRE0OXEZEHyU803CJp7ER5YJsMRG+ZDSvtL3xaFeW8vXKTkN62n11hrWQ5l9ZCZVw0ClsqmeBtMauvvL/2QeKomthnsP4alMknUiZCLL6IjV5b/K7wCGl55DFYAfLl/vLTGzNgLmwbBhIEDBwxbYTtHxVV3QNhiuRqdZOblIJHRQZMq92cgQW98VQQr9Zi8Cg3ZaG+VUOKquoUkZKqrBsm6KPPHPkdoH5G6G7U968XyD3VX2oN6nw8xzutwuuPXM/0im6BgYK7kc+1cagVguTaW2DAD79MLy5oQjwt8YRFzEhBiQo3yH5QI/OCVXJfxGJwhDWgB6MXbvVpkX/dYKvlKwG/Lx6ZmQU+dsArQX/s/MTdTvaK7UZRzLUP6UO7qlO5QNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W7XCVPR6sdvWwJ6jXggAum",
      "input": {
        "note": "Close came up empty (0.01); the pear sits just ahead of the fingertips. Opening and lifting slightly before advancing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W7XCVPR6sdvWwJ6jXggAum",
      "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, 0.8238, 0.614, -0.4694, -0.0181, -0.0307, 0.9993, 0.3374, 1.5784, 0.8696, -0.3943, 0.1596, 0.0597, 0.9958]\nstate[eef_state]: left_x=0.2849 left_y=0.0005 left_z=0.1585 left_yaw=0.0044 left_pitch=-0.1098 left_roll=0.004 left_gripper=0.9993 right_x=0.3452 right_y=0.0951 right_z=0.044 right_yaw=0.1414 right_pitch=-0.5171 right_roll=-0.1367 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.388, 6.9402, 1.6874, -0.0171, -0.0415, -0.0122, -0.2256, -8.4444, 8.3761, 1.0525, 0.0171, 0.0317, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d9e43aa80a7adf32b2e18678b071616f589d8f5b51e6b68fbdcd28babed1ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90847a6c06ce5bca43282139b2cfcdc93e9b381b1624c0c67fc0f8d8238f50c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d05452c701d96a601dcf8582ac18f31731ece3ee6713a0d1e905276a8ae0662a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.608 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, 0.8238, 0.614, -0.4545, -0.0181, -0.0311, 0.9993, 0.3378, 1.6253, 0.8021, -0.2138, 0.1684, 0.0711, 0.9964]\nstate[eef_state]: left_x=0.2872 left_y=0.0005 left_z=0.1614 left_yaw=0.0045 left_pitch=-0.0949 left_roll=0.0033 left_gripper=0.9993 right_x=0.3569 right_y=0.0978 right_z=0.0266 right_yaw=0.1335 right_pitch=-0.4502 right_roll=-0.124 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.4974, 6.9402, 1.6825, -0.0415, -0.0562, -0.0122, 0.1573, -7.0496, 5.1487, 1.4579, 0.149, 0.2027, -0.0171]\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, 0.8238, 0.614, -0.4679, -0.0177, -0.0307, 0.9993, 0.3374, 1.6455, 0.7933, -0.2146, 0.1627, 0.0673, 0.0118]\nstate[eef_state]: left_x=0.2851 left_y=0.0005 left_z=0.1588 left_yaw=0.004 left_pitch=-0.1083 left_roll=0.0037 left_gripper=0.9993 right_x=0.3519 right_y=0.0969 right_z=0.0165 right_yaw=0.1377 right_pitch=-0.4806 right_roll=-0.1274 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.8046, -0.0317, -0.0269, -0.0122, -0.0068, -8.6359, 6.2974, 1.1697, 0.1929, 0.0269, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.614, -0.4694, -0.0181, -0.0307, 0.9993, 0.3374, 1.5784, 0.8696, -0.3943, 0.1596, 0.0597, 0.9958]\nstate[eef_state]: left_x=0.2849 left_y=0.0005 left_z=0.1585 left_yaw=0.0044 left_pitch=-0.1098 left_roll=0.004 left_gripper=0.9993 right_x=0.3452 right_y=0.0951 right_z=0.044 right_yaw=0.1414 right_pitch=-0.5171 right_roll=-0.1367 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.388, 6.9402, 1.6874, -0.0171, -0.0415, -0.0122, -0.2256, -8.4444, 8.3761, 1.0525, 0.0171, 0.0317, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d9e43aa80a7adf32b2e18678b071616f589d8f5b51e6b68fbdcd28babed1ef1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a90847a6c06ce5bca43282139b2cfcdc93e9b381b1624c0c67fc0f8d8238f50c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 94):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d05452c701d96a601dcf8582ac18f31731ece3ee6713a0d1e905276a8ae0662a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAgKEAgSGAI4AUIIdGhpbmtpbmcSDFTw2m91Ugax+CkMZhoM/bWL2vvSLypRIxRJIjAuf5NIRGlGwchSmL8qcVPkX4T7sxtsYIfn0nhans8YcoJKXlBiNrbR7DyTa8n7snEqqQcsQMWPAGyuEshr9lBniTOBbNciqh7GX8TKlOqi75TGExw9LHdEYfkNV1MKwupPiXGbDU9DTxkU24CKmQRgRrPkpAtg3AojakzEBXqHc2RRz4pZlC5Uk3J290subcsN8ko7y5bGbJPx28xwtf3hW+0kWIqnt6ehSCUht/NVxFTfVNm0C+oPQ8OpwBQjAEbTod/2x7XaHyswjEgArhYg7QkF0dJVPJGsQYTXZmKIXWAv35sscB+BRIHMED9Ra0GcG8xDEBahZwyZAJB5k9AEv0OS9OhP7zY8XBW8oP/kCsJFzyUR/5ROJUnWwETNhb/cUkQQr+0dk8vdutj8GUrGJ1cxkHKE0nLoFfY8645rXFj33bRWF32UNbrcoEltlZtucoqicQZM1TaLxgV2m4YpSmiAbvl3EKLPXcAqenDeNC5KWIJm6NHjEI8IPtdFJZNlDAzmhN7W74RgT9zuOjoIWAdDb8SyxkB0NRYhH5F+lxNG0Hh5LiXspkeBQXgTqNZuOpMdcMUDuedKR8agLrYQzh9A0oA+H/+L4GPtr9FHA8o4Lup6CuH4TF5RrBA3E4LkrbaX7yLCkkHp/w5RuuUZSF8736mxzxKCiksFKzpMuLILUabEg/2Xs04sSAQ/O2x1E/XmyD7/TbdrIudaiqbbg/+2hMzfTBWgbOWzrjNsDkUVWfEJhN05Rf7hboRgYQbGsWm2mO3gpxJQcLuFIs+kTC/GdY98Tz7V5IK5vWefPhRrDEYFyeSc6o6k4d+Ecuw2JHRTkoCgdKv25uLub4hHHH5pbPgsAFGXK8mVIVga9htBOloRzz94ox39USUXKQQJYoeAR4nda6ipSYmHsoW6+19pitun0BuFMrV2B27GvD46YyzyevOYQeWXiV0+R8f1LS98MTYqr5f6X2W1xEhUKCIHAY33cMzw707dLH/Utld8z7u5dFtKUfC1d6qCASFdcNz84P4naxE0gHyqeCwKCcEFopAMwXDpVjwCDyWL8EAso+lukdv+a0ifRT90txsNy3qTVqF6VU8VZG7jMdW+9H4Yqdy9c9aVUif+f+CmnTT/G4EJ8dqx7xtd4cN9U1yA1xsQOVo82TI8+8YsfQoWJNdWCFs41Seq7Qcb+0r5yK6+mdtBjVCp0+Hh9ZjT6gUGtF4UTJZLIkwihX2haRNXeDS3NBNEyjAQr4fhFCyYVM9hT0DXNi0awA7VJB0TEV52ftRCI3yJVVHS9eMYcxpOun2M5XwRtnDR/IeSGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011a3d7BEasMFkUte7XRRHdj",
      "input": {
        "note": "Pear is ~5 cm ahead of the jaws; the wrist had tilted back, so resetting pitch to 0 and advancing to straddle the pear.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.4,
          "right_y": 0.1,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_011a3d7BEasMFkUte7XRRHdj",
      "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, 0.8238, 0.614, -0.4759, -0.0181, -0.0307, 0.9993, 0.3374, 1.7382, 0.5426, 0.5262, 0.2096, -0.004, 0.9969]\nstate[eef_state]: left_x=0.2839 left_y=0.0006 left_z=0.1573 left_yaw=0.0044 left_pitch=-0.1163 left_roll=0.0041 left_gripper=0.9993 right_x=0.3886 right_y=0.1012 right_z=0.0158 right_yaw=0.159 right_pitch=-0.088 right_roll=-0.1357 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -1.2103, 6.9949, 1.7021, -0.0415, -0.0513, -0.0122, -0.2803, -6.7077, 4.2325, 2.1612, 0.2222, -0.0269, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87ddef35ecf12728b0e5c708c7a32f721a8f55b4b7392dd5f81997d5ae79fccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b43041c3b7c657503efcd3fa19f31ae84cda5bf3bd4a1d311a12a9f48dd36286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c78f34703ff8e027e647f8dd188b01fd78ddd557f66bbd7e061c5d9339f93d9",
        "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 · 4.782 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, 0.8238, 0.614, -0.4679, -0.0177, -0.0307, 0.9993, 0.3374, 1.6455, 0.7933, -0.2146, 0.1627, 0.0673, 0.0118]\nstate[eef_state]: left_x=0.2851 left_y=0.0005 left_z=0.1588 left_yaw=0.004 left_pitch=-0.1083 left_roll=0.0037 left_gripper=0.9993 right_x=0.3519 right_y=0.0969 right_z=0.0165 right_yaw=0.1377 right_pitch=-0.4806 right_roll=-0.1274 right_gripper=0.0118\nstate[joint_eff]: [-0.0615, -1.1692, 6.9265, 1.8046, -0.0317, -0.0269, -0.0122, -0.0068, -8.6359, 6.2974, 1.1697, 0.1929, 0.0269, 1.0525]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.614, -0.4694, -0.0181, -0.0307, 0.9993, 0.3374, 1.5784, 0.8696, -0.3943, 0.1596, 0.0597, 0.9958]\nstate[eef_state]: left_x=0.2849 left_y=0.0005 left_z=0.1585 left_yaw=0.0044 left_pitch=-0.1098 left_roll=0.004 left_gripper=0.9993 right_x=0.3452 right_y=0.0951 right_z=0.044 right_yaw=0.1414 right_pitch=-0.5171 right_roll=-0.1367 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.388, 6.9402, 1.6874, -0.0171, -0.0415, -0.0122, -0.2256, -8.4444, 8.3761, 1.0525, 0.0171, 0.0317, -0.1832]\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 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, 0.8238, 0.614, -0.4759, -0.0181, -0.0307, 0.9993, 0.3374, 1.7382, 0.5426, 0.5262, 0.2096, -0.004, 0.9969]\nstate[eef_state]: left_x=0.2839 left_y=0.0006 left_z=0.1573 left_yaw=0.0044 left_pitch=-0.1163 left_roll=0.0041 left_gripper=0.9993 right_x=0.3886 right_y=0.1012 right_z=0.0158 right_yaw=0.159 right_pitch=-0.088 right_roll=-0.1357 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -1.2103, 6.9949, 1.7021, -0.0415, -0.0513, -0.0122, -0.2803, -6.7077, 4.2325, 2.1612, 0.2222, -0.0269, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87ddef35ecf12728b0e5c708c7a32f721a8f55b4b7392dd5f81997d5ae79fccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b43041c3b7c657503efcd3fa19f31ae84cda5bf3bd4a1d311a12a9f48dd36286",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c78f34703ff8e027e647f8dd188b01fd78ddd557f66bbd7e061c5d9339f93d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ChSK1dcGbxnr4uAPaZLk6U",
      "input": {
        "note": "Pear is now right between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ChSK1dcGbxnr4uAPaZLk6U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8238, 0.614, -0.4759, -0.0177, -0.0307, 0.9993, 0.3374, 1.7447, 0.5392, 0.5751, 0.2085, -0.0086, 0.7401]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1573 left_yaw=0.0041 left_pitch=-0.1163 left_roll=0.0039 left_gripper=0.9993 right_x=0.3936 right_y=0.1032 right_z=0.0216 right_yaw=0.1629 right_pitch=-0.0502 right_roll=-0.1319 right_gripper=0.7401\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6777, -0.0366, -0.0415, -0.0122, -0.0752, -7.5145, 4.9709, 1.2039, 0.0024, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f37f9759f6f1c275adc54009eb84245225d6f72220c01f8373b837b72525bc75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f95551b7a26bbf996a6ed4617e18d2daa07104316187fb96ef03ce6097fc6a14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7fcd2db8e4b60e595030ab2cda3eca31ad624e197e0ff0b4fa7bbc6404c3ae34",
        "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 · 4.767 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, 0.8238, 0.614, -0.4694, -0.0181, -0.0307, 0.9993, 0.3374, 1.5784, 0.8696, -0.3943, 0.1596, 0.0597, 0.9958]\nstate[eef_state]: left_x=0.2849 left_y=0.0005 left_z=0.1585 left_yaw=0.0044 left_pitch=-0.1098 left_roll=0.004 left_gripper=0.9993 right_x=0.3452 right_y=0.0951 right_z=0.044 right_yaw=0.1414 right_pitch=-0.5171 right_roll=-0.1367 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.388, 6.9402, 1.6874, -0.0171, -0.0415, -0.0122, -0.2256, -8.4444, 8.3761, 1.0525, 0.0171, 0.0317, -0.1832]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8238, 0.614, -0.4759, -0.0181, -0.0307, 0.9993, 0.3374, 1.7382, 0.5426, 0.5262, 0.2096, -0.004, 0.9969]\nstate[eef_state]: left_x=0.2839 left_y=0.0006 left_z=0.1573 left_yaw=0.0044 left_pitch=-0.1163 left_roll=0.0041 left_gripper=0.9993 right_x=0.3886 right_y=0.1012 right_z=0.0158 right_yaw=0.159 right_pitch=-0.088 right_roll=-0.1357 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -1.2103, 6.9949, 1.7021, -0.0415, -0.0513, -0.0122, -0.2803, -6.7077, 4.2325, 2.1612, 0.2222, -0.0269, 0.0952]",
      "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, 0.8238, 0.614, -0.4759, -0.0177, -0.0307, 0.9993, 0.3374, 1.7447, 0.5392, 0.5751, 0.2085, -0.0086, 0.7401]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1573 left_yaw=0.0041 left_pitch=-0.1163 left_roll=0.0039 left_gripper=0.9993 right_x=0.3936 right_y=0.1032 right_z=0.0216 right_yaw=0.1629 right_pitch=-0.0502 right_roll=-0.1319 right_gripper=0.7401\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6777, -0.0366, -0.0415, -0.0122, -0.0752, -7.5145, 4.9709, 1.2039, 0.0024, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f37f9759f6f1c275adc54009eb84245225d6f72220c01f8373b837b72525bc75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f95551b7a26bbf996a6ed4617e18d2daa07104316187fb96ef03ce6097fc6a14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fcd2db8e4b60e595030ab2cda3eca31ad624e197e0ff0b4fa7bbc6404c3ae34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQStQgKEAgSGAI4AUIIdGhpbmtpbmcSDNRRgZdK90UjxgzDuhoM1lyMemjsN+WYJjsmIjAJW3sRoN0ZzimcYdFNgROgcn6kV76HcIPrq0aoWS1IvEY7VLl85la7kPwuTchs1J4q0gcO3ID/YvlsihLuiK+wkPamjowY980uIntnrbfI0rqMGngJrQuNVbX5iQrC0mlx55wyBGVdeuPG3VQ8TEbSYu4WovOuKGqxoKMoI64QE6LF4FodqausfkO5RhG4KA4zvafuyHqC/X8ufZuJlURGrKxoU8AOEvPEGOiH16mJ+jWoUZkhAm0COO9/4PrqI9rhnS6OHGYqfsVE7Bqst0SPgdapsRL7hgyPfHzrirUciyWtfvauerYREKcXvJu+13cZiecZdIaNDnBFPEBcBSqk4bDTLNbG4Tu/NX3SxA940/dN0B3Sl96PlwatLGUGoYX0gE1Ltr2Pb9x+7ATJNB8TRXF7SZ23wcwvwBSNVb06a3uQbJDsXKZaJnmNCbmqhA6hE1Jt3EFcXvqEGR94vgvLU36cCxK9BpAsAMI/2wS7ksvlxqwHg5YLQxKPTsBdJf7J4aLc5l8u7EoHbSC/Gz9OGZeKudYffgIfV6Bm9a6d7yHPzNUguuXbr8cFYyKOV77aCNTmXtJ3b0+drlpFBWm+TtllU5jsttTqnQJ2CNNUKkrtRERrOIe8eDmsZPpkltLNMK9hskdaKyzPaI3XDF+FymVDwTP/j1N/xrQZgkAeC+FNs7ljeziqFrlsnK3fagv0ByPmhpELOduea2hWp35jFLDXcCu9LeYXT1IYJawZ3FvWY/WWtrACuskcGwuq//D4xmcmgkMOOpa4yp6q71gRJMvYnkPS42Fkis2LAttfBjYERxLZd5jVzg8zAMQ18QygKJ0u/sKjh5Nd6uSCcHNYDfyZgxP/DFkV9HBbyojgDubLYZj430BLnXMDlW7QaOizFFO9A1xhKhNvw0Mxabf4a6xQCFvZQK4C4GZoqffHMzFHtg6sXA5H0cjWMotWdj4LPBfqFdNX8r0m+EVUCxCcF92iAyf5XAKyp8WdvGFZiQ2GVtNgVnIvENw6t3cX3c+4iDCPjc7CKFg2me3VHCcFtPheGxT9x8Gy/rlJr30QSKdQOfG9MTjt81FkFQ6SRw+ftCTmjf9XMC4U57SvJdECGQ2jvpjGwOH6eR2TJOJGxcBAK6UXFDHu7Yc4FqY6OBhET+POKB8Ie17Bk9BhOYWBzzAEYam1O2j5LS+iDd2HAFIgs1oIBfWtalZf963ydlxXarf6mRcV/scknsyDGCvh83qfpG9ux01Eemc16lTVmlvESmW+4mcEcw23DVbu65bfmzQHezoL6jFS8fDdI2N1fn4bnBVke8hruE46U65uHxa2Z7ueaNqyHNVcsXyMtPB/3jKNVdk1VlROUFE2+Tj3toUJfw0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LA9UYsyKsJLhXDuFgkudH6",
      "input": {
        "note": "Pear grasped (0.74). Lifting high so the pear clears the blue bowl rim, which is ahead-left.",
        "targets": {
          "right_pitch": 0.0,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01LA9UYsyKsJLhXDuFgkudH6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.614, -0.4763, -0.0177, -0.0307, 0.9993, 0.3386, 1.3365, 0.9592, -0.2558, 0.2054, -0.0196, 0.7457]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1569 left_yaw=0.0041 left_pitch=-0.1178 left_roll=0.0039 left_gripper=0.9993 right_x=0.3924 right_y=0.1038 right_z=0.1907 right_yaw=0.1725 right_pitch=-0.0538 right_roll=-0.1395 right_gripper=0.7457\nstate[joint_eff]: [-0.1026, -1.306, 6.9675, 1.6288, -0.0122, -0.0562, -0.0122, -0.0752, -7.9521, 9.7573, 1.8193, 0.1929, 0.0073, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0625aa3fb3f00cf6e1ec7ab783974962dcdf8f6af4959b02db0e6b1a986dc1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1dec0b54130aaf4965c1631f5bbebaeb725240d73f9729e8bd8842e25bfe708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:39e5006be827eb1094ab5e26f7fe7e1d1189c2c5f5784855d3c0969408fd43bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 4.74 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, 0.8238, 0.614, -0.4759, -0.0181, -0.0307, 0.9993, 0.3374, 1.7382, 0.5426, 0.5262, 0.2096, -0.004, 0.9969]\nstate[eef_state]: left_x=0.2839 left_y=0.0006 left_z=0.1573 left_yaw=0.0044 left_pitch=-0.1163 left_roll=0.0041 left_gripper=0.9993 right_x=0.3886 right_y=0.1012 right_z=0.0158 right_yaw=0.159 right_pitch=-0.088 right_roll=-0.1357 right_gripper=0.9969\nstate[joint_eff]: [-0.294, -1.2103, 6.9949, 1.7021, -0.0415, -0.0513, -0.0122, -0.2803, -6.7077, 4.2325, 2.1612, 0.2222, -0.0269, 0.0952]",
      "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, 0.8238, 0.614, -0.4759, -0.0177, -0.0307, 0.9993, 0.3374, 1.7447, 0.5392, 0.5751, 0.2085, -0.0086, 0.7401]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1573 left_yaw=0.0041 left_pitch=-0.1163 left_roll=0.0039 left_gripper=0.9993 right_x=0.3936 right_y=0.1032 right_z=0.0216 right_yaw=0.1629 right_pitch=-0.0502 right_roll=-0.1319 right_gripper=0.7401\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6777, -0.0366, -0.0415, -0.0122, -0.0752, -7.5145, 4.9709, 1.2039, 0.0024, -0.0024, 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 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.614, -0.4763, -0.0177, -0.0307, 0.9993, 0.3386, 1.3365, 0.9592, -0.2558, 0.2054, -0.0196, 0.7457]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1569 left_yaw=0.0041 left_pitch=-0.1178 left_roll=0.0039 left_gripper=0.9993 right_x=0.3924 right_y=0.1038 right_z=0.1907 right_yaw=0.1725 right_pitch=-0.0538 right_roll=-0.1395 right_gripper=0.7457\nstate[joint_eff]: [-0.1026, -1.306, 6.9675, 1.6288, -0.0122, -0.0562, -0.0122, -0.0752, -7.9521, 9.7573, 1.8193, 0.1929, 0.0073, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0625aa3fb3f00cf6e1ec7ab783974962dcdf8f6af4959b02db0e6b1a986dc1ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1dec0b54130aaf4965c1631f5bbebaeb725240d73f9729e8bd8842e25bfe708",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 135):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39e5006be827eb1094ab5e26f7fe7e1d1189c2c5f5784855d3c0969408fd43bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAgKEAgSGAI4AUIIdGhpbmtpbmcSDAltQU8KU+RTq4j2yxoMQauTBnNtio5aI2lFIjDk33fylGK9XQ4ya10bqoG6MhSKU4yDQwW3a+Q5Ic4qjDeaGNFUWzRcorFzb59RUiQq1QczEUnbw+LBcmatKTeDe54yCBeKWSBPn2u5BXMzx8Uwg/OGt1p+tRyZ0MPSNTp+vQhSeHlq3ogeOS5Mqmdjf5WNtsoWbMcDxdq/MHz+KJpX2EpPZgbXG/CpFMf3RpXrssuZaMCCPq7GmEgx3LuDKbwwraiRTEOuJ4Gz92kx/W3wxvZ0a7jL16qeASQFoEMP9X7qKJPbuxcTUmHkCKFkgCIBfW4LGAqwD+E3AgHiCJBBgCjCC5OeOZQxPzY7XDFhcx8bE6kdBusTm4aaUMB73s4HIKkwmmngqyG531cQlwfaQRXwLJJVwW1BER6ovS6YxXO+aOhhrTkBSEoqVQw9kCHvTbOjslAAVMubXoYrcMdbczhZMoj727EZEtD9a3l1Ufq21rk/vqyWCtOmkhnxdDpFOe27qSqLDTom8heGxeJpKD1jPqqqOjt+NAKSaeIBa3YI/58cfWpDjZ1Sxc0IdS38G2pHUE14FQLQ77V2+ZAL/22GzUvPsNYTZpRKoY31uELj4V9NzUddPiAZR1QDExWKSwfM0D2ljOMN3Ky63JRQMqjQ1gO17osTt30+Os/iuV/Kauo98yvlMdsIuHOQfo495GD4VAhIQ/EzOETw4JY7Tvtt79PtfPuYiFvkz/KBpYtzACUABMtGGFkhU1Of2vlzNUDBC1YeaE5lARz9oSEJoMBHkvebTG/RUczEVy/Sd9mtFK3lPXLDy8H08AZSbFFPx+vkTRTi+K6nYaxvCpIwl8ZREpCahn2Kt+pPJkI+1ZOurv3wRmUKF9gXnpvKKI2fBfFsYgsSqb/314N5A+jcdUweRX9TpPiHRipq3pXM18cXZ443LB4bolwOfnLWFVNeesol3237odnq8l9tFjJ8JnfJ716MFoknlduv5AQSfJsisRQG/riHlb7V1ERWiqY3HrPGsCQwWpzb/k9Q/AwLHMQNjjqn009md9xQXgRl2RQqATw7t+zmJU9L4vk2i/HJ/IInDGj9ouJVUWfk0PLKRZqFkKsgvDF9Ix1zfJqJnYKfN7K7F1t5hRuDrrDz+wv4ovOxgwq1N18VafrD1fe6QwTg6kVXc0bcupUZWEZkZtRguodCDwHpH0nIJT8aUK+JtWrb7T4EWgyUR0qYhu1dLKFzHS1hbTWUf4OjSVZJzAcYEw5R1nWM+fF0MsxWDQzCKm7sVIZ8ahuf1vHADeYLkB+ZQ3UsgrevYt11hIEsnBMrgfAeM5CPc0ZMrsekYQvw3Y+zraV3GY1nH8ONFWn9wBxiuYYihMNxs/vFJzUduRNeAkidZQE6GVF6625PN/BGgoY+0xoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XTiAVEAnbFTFVtmwYSxuRR",
      "input": {
        "note": "Pear lifted; the blue bowl is left of and slightly ahead of the gripper in both views. Carrying the pear over it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.18,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01XTiAVEAnbFTFVtmwYSxuRR",
      "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, 0.8318, 0.614, -0.4835, -0.0181, -0.0307, 0.9993, 0.5316, 1.5337, 1.0966, -0.2642, 0.3344, 0.0536, 0.7499]\nstate[eef_state]: left_x=0.283 left_y=0.0006 left_z=0.1537 left_yaw=0.0044 left_pitch=-0.1319 left_roll=0.0046 left_gripper=0.9993 right_x=0.4057 right_y=0.1755 right_z=0.1737 right_yaw=0.2179 right_pitch=-0.0953 right_roll=-0.1747 right_gripper=0.7499\nstate[joint_eff]: [-0.2256, -1.9487, 6.9128, 1.6972, -0.0366, -0.0317, -0.0122, 0.212, -7.1179, 9.6205, 1.9853, 0.2222, 0.3004, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c75f035c5325f2e9cd143b9522b3860ac6d9b27bd912f4c94a95f70350d2f8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36de677be3479630a107e4ce69168242a49600679e2bf4f690abe943a2e92191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2325ec2fb215c061d447bb5f17e1cbf1a0471018547bc6875b2909edb1b8e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 4.365 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, 0.8238, 0.614, -0.4759, -0.0177, -0.0307, 0.9993, 0.3374, 1.7447, 0.5392, 0.5751, 0.2085, -0.0086, 0.7401]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1573 left_yaw=0.0041 left_pitch=-0.1163 left_roll=0.0039 left_gripper=0.9993 right_x=0.3936 right_y=0.1032 right_z=0.0216 right_yaw=0.1629 right_pitch=-0.0502 right_roll=-0.1319 right_gripper=0.7401\nstate[joint_eff]: [-0.0752, -1.2376, 6.9265, 1.6777, -0.0366, -0.0415, -0.0122, -0.0752, -7.5145, 4.9709, 1.2039, 0.0024, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.614, -0.4763, -0.0177, -0.0307, 0.9993, 0.3386, 1.3365, 0.9592, -0.2558, 0.2054, -0.0196, 0.7457]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1569 left_yaw=0.0041 left_pitch=-0.1178 left_roll=0.0039 left_gripper=0.9993 right_x=0.3924 right_y=0.1038 right_z=0.1907 right_yaw=0.1725 right_pitch=-0.0538 right_roll=-0.1395 right_gripper=0.7457\nstate[joint_eff]: [-0.1026, -1.306, 6.9675, 1.6288, -0.0122, -0.0562, -0.0122, -0.0752, -7.9521, 9.7573, 1.8193, 0.1929, 0.0073, 1.033]\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 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, 0.8318, 0.614, -0.4835, -0.0181, -0.0307, 0.9993, 0.5316, 1.5337, 1.0966, -0.2642, 0.3344, 0.0536, 0.7499]\nstate[eef_state]: left_x=0.283 left_y=0.0006 left_z=0.1537 left_yaw=0.0044 left_pitch=-0.1319 left_roll=0.0046 left_gripper=0.9993 right_x=0.4057 right_y=0.1755 right_z=0.1737 right_yaw=0.2179 right_pitch=-0.0953 right_roll=-0.1747 right_gripper=0.7499\nstate[joint_eff]: [-0.2256, -1.9487, 6.9128, 1.6972, -0.0366, -0.0317, -0.0122, 0.212, -7.1179, 9.6205, 1.9853, 0.2222, 0.3004, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c75f035c5325f2e9cd143b9522b3860ac6d9b27bd912f4c94a95f70350d2f8a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36de677be3479630a107e4ce69168242a49600679e2bf4f690abe943a2e92191",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2325ec2fb215c061d447bb5f17e1cbf1a0471018547bc6875b2909edb1b8e8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDCj9zDATl+9cG2nV2xoMNCNf+Z4qk5T0YnmfIjDEOt+xevCq5eDf2Vk7xQ7UbWgEw6QFa+L3pp7qujg1pMqa4O8QuGQqBwLFDcvcPpAqrQcxeL1DA2TUsxhK3savhGKo5Aa+cwo5h80DPjcS2iJ1YiuvckJ9XIUmJymB5AtXl99OKQwFIWxIvLXgarT8E3UtPNke9HssgJYyauYKwPAdfNW8EPth+Gigu92/EG5ZFQgorbxvJ5YPZ9KjNJqGO+ktxsJecLruLZpHzfCzRMJ8Pn6AJep6QoPgiJn3IWHxWLCB2HC7r6zHr3Qb0kdl5nUzlUEmz0vcQARuZsG16Ck242yG5RcProFHgkH4x9pJxPOB8mHKC1oH5XG+A3pZecbn48Pn3kMzizDf6x4QihpWldg0Wqqbo1rD8tQBTDinoX6TI8hPSuaqeHs/ynJgRLjHLpa8ZU/+3y0+e5FUpUSrHPKZdPxhFvFRk9LIz2kkUzjgLXyLeEBSc/xNCLjRiBvCkXOzSyzsk4mP7e5wGh0GqM5avYJGMsr1u8erdcFSx5mKro73+BeGLuxgvgRRowR3GBQWydI4X7IBYRfSpVk80ojJhsvpi/vNpCO1kgUcKskz4KgogGem1T9/rRVHxnNFYAyTYm7VsSSism7uGo0iul73dLVAgrGzlaRlFgx/UvgIgvVnubZ4kno0aoxUqaVIyFNMkEeinkPbo5y+A716SWExuYIzTSX/00KBcjY+h0PXGzZ8sKDQhrWCN67Xzk2HQB9CO2FpBumfjZk1/vN7cYwzgj/Hi1sPeteAGIUYeBbr+0GAZ6rbfKvWkE2e3aqP/VCAY40pjlmDe61p18FVRft3NrieDv0ebexKicM1MsrRH6dYUSp57axI9I28VjMj/seHlHPmK2nixYAg2jxRGoT8T0gnjlQYEVpubCGdToDdazGUesIZRGfsiry8MtoUdMB/oCatsNEyJ0sHeL3MtzSs1iznGDry4gM7/jmCYScCR1ElZkJaBQrUg0uzJ8sw7qNWx74LFzWhoiBCt7za3iiwr7aH4AXKUfKJyvCPIlODEBH9oJ5wzAaAvjH89iu0Kh5Trm51kC3N+AkSqGvwX41w1U662//fgpkdJ/ehz6FRhU9S+1YxKABxpu0bP9XGbtNjo633VVKlMzbsLckrutzy+w2zT50vVYpqQhGW6URR74ZrN2zfQla/cSyA8xBepxyzXLQkeU5X5lm1C/LtpWfORzx4+im2nU3QVy3OHI6MGI5XugVUlwKYD/pSwIlcV682UZc4zbKOtl/ikMeHlf1+I0PpxfKrAqDgzNt9XLou4VJgF5NfnYC+UYBA99nC88ZCz2rsr8+DHpxr/hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Di97dRN1hzHmkV6sr9Njin",
      "input": {
        "note": "The arm now hides the blue bowl in the top view, meaning it's directly over it. Lowering the pear to just above the rim.",
        "targets": {
          "right_pitch": 0.0,
          "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_01Di97dRN1hzHmkV6sr9Njin",
      "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, 0.614, -0.4915, -0.0177, -0.0307, 0.9993, 0.5396, 1.6257, 0.8051, 0.0628, 0.3443, 0.0402, 0.7535]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1521 left_yaw=0.0041 left_pitch=-0.1403 left_roll=0.0045 left_gripper=0.9993 right_x=0.3867 right_y=0.1663 right_z=0.075 right_yaw=0.2227 right_pitch=-0.1482 right_roll=-0.2091 right_gripper=0.7535\nstate[joint_eff]: [-0.1299, -1.3333, 6.8991, 1.6825, -0.0366, -0.0562, -0.0122, -0.0479, -7.4325, 6.8444, 2.1661, 0.3492, -0.1001, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d1028ec3977253402a99df3eb0dbd94553e53f82df350fe8868efe98fd6985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d6d6d813a58bca5e70fea573387fa90c5e4a1fca4112adf4b3135491c1d837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e1bc5d2c32dad8d67acd8eb009d87e0930b91f9da6935d7f3b0699f9e2e00b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 5.003 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, 0.8249, 0.614, -0.4763, -0.0177, -0.0307, 0.9993, 0.3386, 1.3365, 0.9592, -0.2558, 0.2054, -0.0196, 0.7457]\nstate[eef_state]: left_x=0.2839 left_y=0.0005 left_z=0.1569 left_yaw=0.0041 left_pitch=-0.1178 left_roll=0.0039 left_gripper=0.9993 right_x=0.3924 right_y=0.1038 right_z=0.1907 right_yaw=0.1725 right_pitch=-0.0538 right_roll=-0.1395 right_gripper=0.7457\nstate[joint_eff]: [-0.1026, -1.306, 6.9675, 1.6288, -0.0122, -0.0562, -0.0122, -0.0752, -7.9521, 9.7573, 1.8193, 0.1929, 0.0073, 1.033]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8318, 0.614, -0.4835, -0.0181, -0.0307, 0.9993, 0.5316, 1.5337, 1.0966, -0.2642, 0.3344, 0.0536, 0.7499]\nstate[eef_state]: left_x=0.283 left_y=0.0006 left_z=0.1537 left_yaw=0.0044 left_pitch=-0.1319 left_roll=0.0046 left_gripper=0.9993 right_x=0.4057 right_y=0.1755 right_z=0.1737 right_yaw=0.2179 right_pitch=-0.0953 right_roll=-0.1747 right_gripper=0.7499\nstate[joint_eff]: [-0.2256, -1.9487, 6.9128, 1.6972, -0.0366, -0.0317, -0.0122, 0.212, -7.1179, 9.6205, 1.9853, 0.2222, 0.3004, 1.033]",
      "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, 0.8322, 0.614, -0.4915, -0.0177, -0.0307, 0.9993, 0.5396, 1.6257, 0.8051, 0.0628, 0.3443, 0.0402, 0.7535]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1521 left_yaw=0.0041 left_pitch=-0.1403 left_roll=0.0045 left_gripper=0.9993 right_x=0.3867 right_y=0.1663 right_z=0.075 right_yaw=0.2227 right_pitch=-0.1482 right_roll=-0.2091 right_gripper=0.7535\nstate[joint_eff]: [-0.1299, -1.3333, 6.8991, 1.6825, -0.0366, -0.0562, -0.0122, -0.0479, -7.4325, 6.8444, 2.1661, 0.3492, -0.1001, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6d1028ec3977253402a99df3eb0dbd94553e53f82df350fe8868efe98fd6985",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2d6d6d813a58bca5e70fea573387fa90c5e4a1fca4112adf4b3135491c1d837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e1bc5d2c32dad8d67acd8eb009d87e0930b91f9da6935d7f3b0699f9e2e00b65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsggKEAgSGAI4AUIIdGhpbmtpbmcSDOhfGdhYCd5FIUi3fxoMvlnvbIcN1VZ4mQ0PIjBm6hkS5MOrQylYYLGwUpny4pW8YDEabdKA5lYmT4/mY4H75wv7HwK8zYJslfxdQtIqzwer0SeuXw/fBckhgR/kRRqx94/Am2lmTo9M/804wNnE6iwdmo+qWBXRP95/mju8Yxl8aEU7SiJGTfH1Z4EdLeDoB6hhRDqbA/FVBhwJMeRRUM73nLvm3BE8Hku0HX4Zyc19C4X2oSXODIx45Blsy+CCmsIYBFsSqpyxJfTXYrKHfM4GnSj+aJiAi87p1/IQPZ6RkXrVoWjSrwW2XMDP7RnN7vrco4FqPa6Likjzi43dxzz2NN4ZXZ6dhEjeIRO97KDmQcXShMKilrkCPxEPnHcdt8yJ6FGTWi0OUwE0BEJ7w7W+/iebP9ou4ILMwsZgAU3xZJhjkYfoxfjIdoIPo1OE0k4uYR+YpLCyPm75kGWVyg499TB+YhYA6zAdsf7cuxkcBYT8P8V4aLfMkoZ0/mPG1JMXT94uwduCoRR4kB8hApf5l0uiYI43He5eGbjjsjwAyMOI7+10FtHitm3tQEuEz6aaBnlWB7R0uFxGYJX7Pj5jO2O1Zly8toJPlNAcjZGGfMnItm5yr2vgy9tyCnCQ381viuBKyYAA5CYFAlPzjuNR/TueA/Up/wEv5C2nE9aibN96dB/OeoaW0JHkz2vMyuyvTBujHvwFwZCTXSvPfmm6mxYa1GOn0CxDxUtExw14o+gEctJt8wrL48BZUbYhw+3riuCbW4OHqIJuI6m0KT6yqDqIcJQXjrK75kgQGFGmlNfTxSRMk/ArPqGx+D7gGadDBHQbeIQ1qzOjoAwnUyzz2+s8DGu1Q5gbtn6ozRDm2gR76u/zIQ2hlRjzrfbRolBvo9qnr3pTCDAfwUOADNhwXf8trcMhfIu5g/4JJaOBQOIWUWkedU9Es+AQ3PfxW1uxR9EXZie9hoBk+Tp5gbBAstE8/BH+b9YVKlmaCc9aBMDPBqz/qo0gmfqNMLF9g7Z937Ao5UNOtOn4DBKCj0u94TBqJ4EGcEM/S7bSMenIeX4ROaLfnO+05k39/DqRjAm21r5+5wUrmLB0wwjX1sOjbavekeSbxlEuSdZ9InikSa/RpI6T227d+eVSNTmT8tvy7wTr0HLEySpkMXPsN0PoyDOTznhDI40D8BDWO4b9yaTOtHexm17VWM0xuy82hAuYnKf0HngrfIBPLPl8508egrSLXUIXzJ1m/cj68Hp6hUS+EM9iGI/HmjsYY1JKxcc3DIipUcDXKgApVRf7Dv86UyRTnAjRjI3uyQz1VwqULECrtMXC7qmuzs6Bs27CYhgOd7xRdD7TNgeAia18ExrgxptR8+bNnsR0o+UcyEOlNtSKrBRr7dnY2lG7I28YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W8q6YjTEiaPYMNK9FmJ74q",
      "input": {
        "note": "The arm sagged back to x≈0.39, so the pear sits just in front of the blue bowl (bowl visible ahead in the wrist view). Raising and pushing further forward over the bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.45,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01W8q6YjTEiaPYMNK9FmJ74q",
      "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, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4644, 1.6886, 0.9512, 0.0757, 0.3058, -0.0357, 0.7569]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4344 right_y=0.1622 right_z=0.1074 right_yaw=0.2228 right_pitch=-0.0711 right_roll=-0.2177 right_gripper=0.7569\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.5946, -0.0122, -0.0611, -0.0122, -0.4991, -7.6923, 9.0598, 1.9951, 0.105, 0.0171, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9758f6a49df5970b37cd26b63f5c5a758bccc6f6fbc303e0972f92330e18188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d38779e11a95662b7902646d132814b669f0268c2dbfc3d7ab529308fa1bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd6f395078223ed86bed69422951af12f76635e0df114d7f2f6c724ca17e6bc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 5.373 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, 0.8318, 0.614, -0.4835, -0.0181, -0.0307, 0.9993, 0.5316, 1.5337, 1.0966, -0.2642, 0.3344, 0.0536, 0.7499]\nstate[eef_state]: left_x=0.283 left_y=0.0006 left_z=0.1537 left_yaw=0.0044 left_pitch=-0.1319 left_roll=0.0046 left_gripper=0.9993 right_x=0.4057 right_y=0.1755 right_z=0.1737 right_yaw=0.2179 right_pitch=-0.0953 right_roll=-0.1747 right_gripper=0.7499\nstate[joint_eff]: [-0.2256, -1.9487, 6.9128, 1.6972, -0.0366, -0.0317, -0.0122, 0.212, -7.1179, 9.6205, 1.9853, 0.2222, 0.3004, 1.033]",
      "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, 0.8322, 0.614, -0.4915, -0.0177, -0.0307, 0.9993, 0.5396, 1.6257, 0.8051, 0.0628, 0.3443, 0.0402, 0.7535]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1521 left_yaw=0.0041 left_pitch=-0.1403 left_roll=0.0045 left_gripper=0.9993 right_x=0.3867 right_y=0.1663 right_z=0.075 right_yaw=0.2227 right_pitch=-0.1482 right_roll=-0.2091 right_gripper=0.7535\nstate[joint_eff]: [-0.1299, -1.3333, 6.8991, 1.6825, -0.0366, -0.0562, -0.0122, -0.0479, -7.4325, 6.8444, 2.1661, 0.3492, -0.1001, 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 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, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4644, 1.6886, 0.9512, 0.0757, 0.3058, -0.0357, 0.7569]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4344 right_y=0.1622 right_z=0.1074 right_yaw=0.2228 right_pitch=-0.0711 right_roll=-0.2177 right_gripper=0.7569\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.5946, -0.0122, -0.0611, -0.0122, -0.4991, -7.6923, 9.0598, 1.9951, 0.105, 0.0171, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9758f6a49df5970b37cd26b63f5c5a758bccc6f6fbc303e0972f92330e18188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35d38779e11a95662b7902646d132814b669f0268c2dbfc3d7ab529308fa1bc1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd6f395078223ed86bed69422951af12f76635e0df114d7f2f6c724ca17e6bc7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDETLHPw0VVhwxRvuhhoM1M53Sa4w/2uW8ykmIjBm1DKuZvSYHe3el/R1VrAzxMRJb3T8XGrWxmn05lHaLR84agQvx9FdAegsW7dl2FMqpAaeUn8Drzy3oA/P9MenIasjR6Bxt18UyG2aEeXghPSxypbbeBZhyZyz4i9oS9J9+OlXi+sMNiPCtl0q5mrL3KcJyzWw02z6XeUHGrnkPE35Gb8bLA1h44cenDPTFt+copC5GM4VIOLcvRjdBiWmcKDNgPTj7Ac9K8qX1ggCJO381Le+01f9TAUFuqvIk8pQKnjEI3xmezQ77qYitnG0rec+ZH4dbVB4TRFFv4gMn/GRvoDxLf3q0c3Ab1rUfdHLaEJY1Sce/LOZ/nEGyE6FWxNPuslfHKYW/d1cX0xv+pRquojInrmK5xBWG2P1+nn6IQBltned3VRj/rWIJUxvruZV37cdHjAuf5KZqphLgLWWgUw6yy9Ksc+y0/43vydqtDCPY8M5/GoAooh2aVlTWQSCOoA0lTgQr8q4W7uFkrWnxWBtiSu7oHVVYxQAiKAdgiqoqUavWvnX9g44knIe4hxuq+nG/JrCz1vrwrfzNKM1B77oxP/Rok8g4yb4uOC/Mfay1obNirZwnWXUXLJ+aZUmRs9SxS4KxQIh8Un/wR8MaegN9aLo9439o5FTrWuAvhzBszVY6gzWZbxlwxDhu0UaP3M62jytgkT6TWdF3BrYXP21+N41LQVlIaFQVcH8pocchpsHC0bhMf0XGbsmkflXId1IOp7w8Py9/Z0DTvBndpiGHUr7j++eHTAfzrjpFQrdKW1qVkXqlzMvWe70ryrLLcmViqkf+y6IbB2VoQD8n76Cida+Khqsrlcw2oplqB/38h4OVi0uL1Fx/dZwZE4i1uWLpgHrF7upgSbw5lvV4p/HlW0/eQBTHGLZCYYAmZAdB/u4a6siafvl5M77450jXHBBAXdVwrK8VvJFesQ4hXaw86g66t8UWfMGPCjIo+XQbXe0uxAk5i7dmsFV5kLttXmiYBXVFiz2cAQ5/Gz4SA7BEDhckDWzky3PcSGP39xcMukXmI3iHNaR5ZY2nf1I4jI+NFCDGe5EffFIaMJx7lRToY4mcyiUVenabXS6AcxosW9nGQurK2tcIJ7Rbb6HnQdI56cFKdhOhQx+/ciJqKsCa/oYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FgJJJhYwHJ5jJoeSpiY4Gt",
      "input": {
        "note": "The pear is now over the blue bowl (bowl surrounds it in the wrist view and top view). Releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FgJJJhYwHJ5jJoeSpiY4Gt",
      "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, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4599, 1.6928, 0.9657, 0.0853, 0.2989, -0.0536, 0.9957]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4396 right_y=0.1637 right_z=0.1132 right_yaw=0.2337 right_pitch=-0.0548 right_roll=-0.2235 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.2239, 7.1043, 1.6093, -0.0806, -0.0464, -0.0122, -0.4855, -8.1709, 8.6632, 1.8974, 0.1245, -0.0024, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc33fd50a5879140e5dd8af9310d7a92e1add6630e7c09d4698435258b89ed11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:477e59a131c8e8c072968b98521c4eb935106a8d57b479598dc13cfe76948df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fa31a813f250284b18018c3e5c234e167add634679fbd8909c91a8b0d4bb728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 3.7 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, 0.8322, 0.614, -0.4915, -0.0177, -0.0307, 0.9993, 0.5396, 1.6257, 0.8051, 0.0628, 0.3443, 0.0402, 0.7535]\nstate[eef_state]: left_x=0.2818 left_y=0.0005 left_z=0.1521 left_yaw=0.0041 left_pitch=-0.1403 left_roll=0.0045 left_gripper=0.9993 right_x=0.3867 right_y=0.1663 right_z=0.075 right_yaw=0.2227 right_pitch=-0.1482 right_roll=-0.2091 right_gripper=0.7535\nstate[joint_eff]: [-0.1299, -1.3333, 6.8991, 1.6825, -0.0366, -0.0562, -0.0122, -0.0479, -7.4325, 6.8444, 2.1661, 0.3492, -0.1001, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4644, 1.6886, 0.9512, 0.0757, 0.3058, -0.0357, 0.7569]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4344 right_y=0.1622 right_z=0.1074 right_yaw=0.2228 right_pitch=-0.0711 right_roll=-0.2177 right_gripper=0.7569\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.5946, -0.0122, -0.0611, -0.0122, -0.4991, -7.6923, 9.0598, 1.9951, 0.105, 0.0171, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4599, 1.6928, 0.9657, 0.0853, 0.2989, -0.0536, 0.9957]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4396 right_y=0.1637 right_z=0.1132 right_yaw=0.2337 right_pitch=-0.0548 right_roll=-0.2235 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.2239, 7.1043, 1.6093, -0.0806, -0.0464, -0.0122, -0.4855, -8.1709, 8.6632, 1.8974, 0.1245, -0.0024, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc33fd50a5879140e5dd8af9310d7a92e1add6630e7c09d4698435258b89ed11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:477e59a131c8e8c072968b98521c4eb935106a8d57b479598dc13cfe76948df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fa31a813f250284b18018c3e5c234e167add634679fbd8909c91a8b0d4bb728",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkgkKEAgSGAI4AUIIdGhpbmtpbmcSDBABQ99AJjZFWg22wBoM7Jk6VlcxIUaJuQABIjA308e/TR5N+zTBvuSmRA7XjB/PO9cKTIl9YvXpNujyfWMioI3YAoRypxIPNZd4ZhcqrwgyTM5Hf7j3OG+3frGK8XXATGsqvWJdS+KOtRF7F60UgNlbdCLJjtBwy9g/j4MIT3ZHvVawmY4pVNAAdzx+8JSOkHOVKm7f/VuuijOCb8bi3T9D/pM837jsJXMhRYZY3pyqeDEZOSqw66NDz6V3ISnpKFJ/hvZuHHD7Cix3bEIrH6So+xLqhaNOumk00ilpMXquShodY6jLfVjJqL2d0SgB1Gsq+CBS1ogtiDlMkzwcw3ixySN8cVvRv/w68X6SFsO+d6KEBDO6oTeGurLG3cmQro+8uS1VO25qsci6h3K845Qoi6B3vZ7R3KAEBkUP4xupLXN0Kp76AHqBqeV9Qx/u6Zr8i62pd2snigKkHiicOL6sVu5Ei19c4AAujvmru1Hm5XdTtEglwEgzpxSiIEk8BnRiUv1Pj1A7DyykomjZrZpPTOEXc2gtyASjAXb7zyR8iQPLxI882zrs8IJXZnSTUq4YDr6i0/KmlC3v/xaSxrk5qad6uMAYVpBT+YyFZA0d86Ju7nFxy3MFp5OWDn7lyhJqov24+fcffXLtlZSrYgArk6HvFM9U7kdlk4U3Rn/WivfUbrwUnW8yy/hzsHH3Xc2hlVuD/k5lQh7gqQTj3+eeysgt+cNTSqnqc6AjiVkM8SQ6mvhLj12WAnABr2pFLwTwKTh8Jxzdg4x3A8rvdVujNMeFs0nqg1ESIhM+rBACaN+4Zrll/WlYgO6j4BLeaZ4Fnn+tqdZW/0Cs46AmOivnmjz5Gs+YNpJf/IrkeDom/42/YXPb7lQs4XBr4tcroGqE909ttLxeNQ6WwZPwGLR0nx8q5tfyFYmvoX0XUEYFoBXhUxRTnSMIXWcSb9Jtpf44TuHh5gkSR8L97YQ5s9NPQQ3pjf5C9K01XQTEdgJ/n2ObXR9saaUnzKRV6OmevyVcJBn007C3u+SxgMAoJHlJFs4IRiovgSMrdx3sCvY7AbvXTFB8cwkB1go/u7OCgutlB+QxCBCAzOSAx6A+bMf4qyi6GhldO6QqdSE0P0LsA7uXajle40oqNByYSjyuagBmqXeavxy8Gh5MlzOFeNAtZxQjVAGZ8zFemm8jp72xCDLsjQKgZ1QOeW7XYIniS7cLfHNLJ5Y7VFFz4ks8JNfYnpMdflimELVF2Zi7c5R+OvSlShA+edD8cSVr96ipCmALAF1vH963X7TU9i2AApqqCUvTDmzWyGnU82O0dNC9J4Imzd1O38nIf6NqBEEvjnFSncTaECuP6XyfazdRnBZjwpPHkqNjGIPHEv3H6qFIKdyDb3AxFkS12igJ5Mn68tWEnddzE7iUgfd0ejc1647+bsQGlqbWvuBH8A95zsS8MzYFmnxLS0Wbk4w1+8vY248apV/niPZ4Toyhdx8rxTvZwPVpCJL78eaXJJdYdXPdiHlPpB6uTxyY+NR6rGcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VqZQSkkvzYhbMvvSKcypuP",
      "input": {
        "note": "Pear is in the blue bowl. Next the lemon, which lies ~9 cm left of where the pear was; moving the right arm above it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.39,
          "right_y": 0.2,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01VqZQSkkvzYhbMvvSKcypuP",
      "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, 0.614, -0.4942, -0.0181, -0.0307, 0.9993, 0.4595, 1.6928, 0.9657, 0.0856, 0.2985, -0.0536, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.143 left_roll=0.0049 left_gripper=0.9993 right_x=0.4397 right_y=0.1636 right_z=0.1132 right_yaw=0.2336 right_pitch=-0.0544 right_roll=-0.2232 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.4291, 6.9128, 1.6337, -0.0415, -0.0513, -0.0122, -0.3487, -7.9795, 8.6496, 1.9902, 0.1099, -0.0073, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5657678a10da651c78d8136d15b13287fc615fca211cf4de4bf287f64cd326da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f21b9bf8807f021bb527f1d6745dfd611cacb8e707dd2875f4340bbf7fe33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b1e1dae02177595c6f38c534403cf4846125e616260b5f642a109eabb16adb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 8.537 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, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4644, 1.6886, 0.9512, 0.0757, 0.3058, -0.0357, 0.7569]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4344 right_y=0.1622 right_z=0.1074 right_yaw=0.2228 right_pitch=-0.0711 right_roll=-0.2177 right_gripper=0.7569\nstate[joint_eff]: [-0.1983, -1.4154, 6.9538, 1.5946, -0.0122, -0.0611, -0.0122, -0.4991, -7.6923, 9.0598, 1.9951, 0.105, 0.0171, 0.9597]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4599, 1.6928, 0.9657, 0.0853, 0.2989, -0.0536, 0.9957]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4396 right_y=0.1637 right_z=0.1132 right_yaw=0.2337 right_pitch=-0.0548 right_roll=-0.2235 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.2239, 7.1043, 1.6093, -0.0806, -0.0464, -0.0122, -0.4855, -8.1709, 8.6632, 1.8974, 0.1245, -0.0024, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8322, 0.614, -0.4942, -0.0181, -0.0307, 0.9993, 0.4595, 1.6928, 0.9657, 0.0856, 0.2985, -0.0536, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.143 left_roll=0.0049 left_gripper=0.9993 right_x=0.4397 right_y=0.1636 right_z=0.1132 right_yaw=0.2336 right_pitch=-0.0544 right_roll=-0.2232 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.4291, 6.9128, 1.6337, -0.0415, -0.0513, -0.0122, -0.3487, -7.9795, 8.6496, 1.9902, 0.1099, -0.0073, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5657678a10da651c78d8136d15b13287fc615fca211cf4de4bf287f64cd326da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91f21b9bf8807f021bb527f1d6745dfd611cacb8e707dd2875f4340bbf7fe33b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 159):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b1e1dae02177595c6f38c534403cf4846125e616260b5f642a109eabb16adb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0AcKEAgSGAI4AUIIdGhpbmtpbmcSDJZr3aipyqSBpHyplRoMAezbov+JamVK9POuIjDYHyR1ynpiJTRkGW4VU6YFLl8Vri4dL5rEMM7FOagq1OM9vWWuuWoK2bPEFGFOj64q7QbWolPetJobvloLGDraV5EvnlHg9OsJPmP5B7jMmMGksTv5JLANV4gC2GAKNGDPnPmpyViyhVoyVslCdiCBQRNFIufhhXFwOwZJ5iImeUsDKXdVTF/FzzNV9HsQi8bADr1JZ6ECFDB4G1V6TVRzddIoj/fXcITkafyUP2fBQSv2phf0Obt/p+WxHmfbQRu4oUwdTrmiS69YkaJARwnUfAt54TO5JskhFkw//KYAQmSTmk96aazOQ8BsS8dhg5Z7wy2bGHLQxPVRwp64ZI70V+6hzCfB39UKaM+Pu4aJRh85H4h0ctEjVkYiwb681tJRle8X0c4DTarejIEMT0+zFMMDAeh+/8eDxe2eMwI9S6rcGZLZfJp+j6ADd/hDxwhI+BCQk4XHUJZ9AGPov9Za/Md8ZglbmVbZHSODBuZCq2lGuDYXhaVtkWVkHYb0QKep+j6Gjt7l2npeI/Tt5YGd0Z96ZxsRkjtNIPjMhPuZ5IOealuxPUIr1jlwcEwu0lwR9BaeGm4u7lbWsVZZuqVsyu8TY6oNFztLdMfiYpB5YfbmJ+Ud3X5Bc8+ieEh6KfIIcLb+q86u10A5E50TbzR/ApdQeYVaNPXExInftqt2GlEfUYiFso2ku50VCT7PJmnDO3pZFz3eERYuca3FfcS+Qih07HtFjALezHZr/B2N4KzZAfWnaamFxh6UPTC8mbGCVBzlkLgo1EgAvhfzH5oZpUURDzsJFCNDCQ6t2V/5ic69AtqWiri6lF+sJwVjaavmb1owOw0I8uactkICh13H2fEHFmMhkgXXU+IjoTcqkDpyfLSvJ/tt92NLvuRIDIMNYFGQAlkrPRDKNXDSNm4w1W3hvYcluL3bqqNHrkkzIxR7VAHFjpFq0i2wmLqQwCzwB2f82MeV0iTK5LKEgJydDgqrXnB46IuFwnbkDt7qEEDkTRysl37w6D7vYtIjczHKTRsoOKEwvTHv144WZ00d/MpHOGIBV7JQMZyY9Y0KFFi+fUehg4PGWbK7M9N0iqTEynd2WEg3sVf7De2yqEicrkmvoxNFIb1pSbLdzY+R+94Zl/RfHvcngaLRerzr5Tn48ftPJQ0uMLsGvwaCOrzwzimIhXOK2xstdSDLNMTHjYhemxduDEn+W9cOOYphzwNmYCqRig6F+nQ4u3H9cZISGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EgA4nKFUdDqcf9BNt3nxET",
      "input": {
        "note": "Right arm didn't respond to the last target (stalled). Raising straight up and resetting wrist orientation to unstick it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EgA4nKFUdDqcf9BNt3nxET",
      "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, 0.614, -0.4946, -0.0181, -0.0307, 0.9993, 0.4816, 1.6882, 1.0409, -0.0345, 0.3408, 0.0235, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.1433 left_roll=0.0049 left_gripper=0.9993 right_x=0.439 right_y=0.1668 right_z=0.1253 right_yaw=0.1791 right_pitch=-0.0784 right_roll=-0.1967 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -1.388, 6.9128, 1.6239, -0.0562, -0.0562, -0.0122, 0.5675, -13.6, 10.4274, 2.1807, 0.2369, 0.3053, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07f9a8d9c16a5307fd535df827c264f84b0504c9049684f42557015bfcdb457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebf29aa43803393b6d51ed6f58f74b4d710d9eb35e1972a5251e7ac4ab88c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1c7d7fd837334de617dc7c4468ff3a22bf2f56c771201642446ac272a7d766bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 4.317 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, 0.8322, 0.614, -0.4938, -0.0181, -0.0307, 0.9993, 0.4599, 1.6928, 0.9657, 0.0853, 0.2989, -0.0536, 0.9957]\nstate[eef_state]: left_x=0.2814 left_y=0.0006 left_z=0.1517 left_yaw=0.0045 left_pitch=-0.1426 left_roll=0.0048 left_gripper=0.9993 right_x=0.4396 right_y=0.1637 right_z=0.1132 right_yaw=0.2337 right_pitch=-0.0548 right_roll=-0.2235 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -1.2239, 7.1043, 1.6093, -0.0806, -0.0464, -0.0122, -0.4855, -8.1709, 8.6632, 1.8974, 0.1245, -0.0024, -0.149]\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, 0.8322, 0.614, -0.4942, -0.0181, -0.0307, 0.9993, 0.4595, 1.6928, 0.9657, 0.0856, 0.2985, -0.0536, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.143 left_roll=0.0049 left_gripper=0.9993 right_x=0.4397 right_y=0.1636 right_z=0.1132 right_yaw=0.2336 right_pitch=-0.0544 right_roll=-0.2232 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.4291, 6.9128, 1.6337, -0.0415, -0.0513, -0.0122, -0.3487, -7.9795, 8.6496, 1.9902, 0.1099, -0.0073, 0.0562]",
      "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, 0.8322, 0.614, -0.4946, -0.0181, -0.0307, 0.9993, 0.4816, 1.6882, 1.0409, -0.0345, 0.3408, 0.0235, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.1433 left_roll=0.0049 left_gripper=0.9993 right_x=0.439 right_y=0.1668 right_z=0.1253 right_yaw=0.1791 right_pitch=-0.0784 right_roll=-0.1967 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -1.388, 6.9128, 1.6239, -0.0562, -0.0562, -0.0122, 0.5675, -13.6, 10.4274, 2.1807, 0.2369, 0.3053, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e07f9a8d9c16a5307fd535df827c264f84b0504c9049684f42557015bfcdb457",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eebf29aa43803393b6d51ed6f58f74b4d710d9eb35e1972a5251e7ac4ab88c30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 164):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c7d7fd837334de617dc7c4468ff3a22bf2f56c771201642446ac272a7d766bd",
        "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_012VtToKMNEGgMduUSAosWfY",
      "input": {
        "note": "Pear is in the bowl. Based on the pear/bowl positions, the lemon is about 15 cm left of the pear's old spot; moving the right arm above it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.25,
          "right_yaw": 0.0,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_012VtToKMNEGgMduUSAosWfY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8333, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8127, 1.6665, 1.05, -0.1719, 0.6006, 0.4362, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1513 left_yaw=0.0042 left_pitch=-0.1445 left_roll=0.0046 left_gripper=0.9993 right_x=0.3669 right_y=0.2476 right_z=0.1292 right_yaw=0.0815 right_pitch=-0.0566 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.5849, -0.0317, -0.022, -0.0122, 0.1983, -8.4034, 9.5248, 1.5214, 0.4176, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54cf4bceb223d3729d36a3b5023cda84bb9b54b96704be3b1419c4ca0ab8fd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bdbec500ecb47b493c4211c8e2efb4f1810b4333a6d5ee77f6a1eef1d7467b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d71081117bfeabc2f8cf024a5619a88c30b8fbad9e7723b6b66dabc55b7dba6",
        "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 · 3.074 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, 0.8322, 0.614, -0.4942, -0.0181, -0.0307, 0.9993, 0.4595, 1.6928, 0.9657, 0.0856, 0.2985, -0.0536, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.143 left_roll=0.0049 left_gripper=0.9993 right_x=0.4397 right_y=0.1636 right_z=0.1132 right_yaw=0.2336 right_pitch=-0.0544 right_roll=-0.2232 right_gripper=0.9964\nstate[joint_eff]: [-0.0205, -1.4291, 6.9128, 1.6337, -0.0415, -0.0513, -0.0122, -0.3487, -7.9795, 8.6496, 1.9902, 0.1099, -0.0073, 0.0562]",
      "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, 0.8322, 0.614, -0.4946, -0.0181, -0.0307, 0.9993, 0.4816, 1.6882, 1.0409, -0.0345, 0.3408, 0.0235, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.1433 left_roll=0.0049 left_gripper=0.9993 right_x=0.439 right_y=0.1668 right_z=0.1253 right_yaw=0.1791 right_pitch=-0.0784 right_roll=-0.1967 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -1.388, 6.9128, 1.6239, -0.0562, -0.0562, -0.0122, 0.5675, -13.6, 10.4274, 2.1807, 0.2369, 0.3053, -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 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, 0.8333, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8127, 1.6665, 1.05, -0.1719, 0.6006, 0.4362, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1513 left_yaw=0.0042 left_pitch=-0.1445 left_roll=0.0046 left_gripper=0.9993 right_x=0.3669 right_y=0.2476 right_z=0.1292 right_yaw=0.0815 right_pitch=-0.0566 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.5849, -0.0317, -0.022, -0.0122, 0.1983, -8.4034, 9.5248, 1.5214, 0.4176, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:54cf4bceb223d3729d36a3b5023cda84bb9b54b96704be3b1419c4ca0ab8fd88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5bdbec500ecb47b493c4211c8e2efb4f1810b4333a6d5ee77f6a1eef1d7467b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d71081117bfeabc2f8cf024a5619a88c30b8fbad9e7723b6b66dabc55b7dba6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQgKEAgSGAI4AUIIdGhpbmtpbmcSDGq692rxMhFpIFlKpBoMli8Eq1ZqYPZN8mfcIjCsNPEZA0dhX821Gpi2YcFJ1M0mNDV8dkajhnfi9qNcjfbfAC0N8VHR/ZySleh/O/IqygdIvDOc9+j0WyLrkGjxuFsvrQ3O2532GCy5bA0CknpKVNoHshacji5eFbzLd/DkIKjzX7qmTZmjX747EvNoWAPVRXzel+oY5/Ok3xu1GARCKmITrupuUjYX+N1ztcTtji6xkyGvpthJX2Nb2w0HeGqJZcprULYHRfOXxKTjbIxZ5D9xOO2/piUCBtdXP5N68LoD2hYNdAkfiSs8YtyjQVsnON4T93hokvhdj7oO0RI0I6pQnOl4K9g/uJNVVywDSOCo/3tla5SxrYHmGGSG4JIa5CBkjButh6OF8KZ86P9kE/IHQ6lMAaIzrumgnGH6ODLM78RY3cFl6XitbiVZ3dCZDkC1lzu53uqKC08fOFp87YLAgYjNv0Njak6E0BkT4JTsgJHcO2hVifnNdF3cKc1+070RcEtYzSHZTnIZBg8CUtnqFCX89dUzZ33xEDJ54/FCBK9srBFwt67KagLN/yNY5y78jqbxhaW9DldBAiojo+3yix1FkQv0rUHnOGGEyxj8OKlw/eLtF46U4ynv3CLw8LLbbI9p1AMR5hXe3FTMZ2LzIlpBve12Sm2O04P6b8GkfiUwORraBTLtT8ZOutV3D7AoYgQZIi9KHBP5OTFWIkvhaB2CGCFnNvLf2v3kotQ7/tzRGA6rrd77PURRGFQwMycEiavXHet8m6i9WjTIOLvGLUZFRw+l/9uT+evZvSS5iwu+jRR5uWNIpmq+Gva6yGJXc1dxKQZsuc7fIQweGPWzGcvf7qpWED1Cr27dutZzmNXLJ4KaP1pdMglbuIoRLxt80IDHQXf6VpnCMv9AU9HLx/YRefoeDPRI6MsczKptd5hsJEEjPx91U9ZbTwKi9TDaH8gPjNeKfiXSUK5Fvkw8g3HkARWhWcLG5ccHtI5l/82AURfqCfCFwjJoYsOwTMXnPr3/2TFIxTCMDPwdTAp2SCWQdIPY1hL/K2NAHIR9H5QkFMUeWwHPnfjIN2Hy4Oon8l2TM4eomGw3PkRdhcL3X8ac8EtH9H/93JBmrofpRIUmEdFyM0bo62YuYSTQrh77Uopi+mOpGkvKwaZ7TxsxdaQw+7rkVQjRROr1ZTl1+qw1nb0e70+RDUqOXC9s3TtIUpZh5f3ifKccVlbp88zv3wj+5/VOctcLPurUUmK7u9B3T4hgckUWG+L97W4NOdpdpuIzEcxBommAoES7xJiuq9ZTu7ufnNypA4eJRK9sj2Vaaeag72p/B4LZd9nzvsKfuunFb+mQYtzK1uuP8NSIUSvUdfbAppG0IhPFa2DMkSTI95/0BfkLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019QFJCfgjPWifxFg2vRcPmJ",
      "input": {
        "note": "Lemon is at the bottom of the right wrist view, centred on the jaws with its long axis radial; descending to grasp across its width.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.25,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_019QFJCfgjPWifxFg2vRcPmJ",
      "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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8017, 1.9789, 0.8562, 0.3367, 0.6056, 0.4, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3738 right_y=0.2467 right_z=0.0073 right_yaw=0.0864 right_pitch=-0.054 right_roll=-0.0985 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.4974, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122, -0.335, -9.1966, 4.2462, 1.7509, 0.3248, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c238468763d03d1eac24b62cd06a8808cc964299ce13b740efb6fc65381aff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3effe758098e74f8ac0c2c6f580befcf2f3a1aa49175300910f0d277684d90a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3403b833b9b02a3d6cfff8f78c5d3e6eabe41d89c827f4e4d93905d0d907aa5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 5.712 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, 0.8322, 0.614, -0.4946, -0.0181, -0.0307, 0.9993, 0.4816, 1.6882, 1.0409, -0.0345, 0.3408, 0.0235, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1516 left_yaw=0.0045 left_pitch=-0.1433 left_roll=0.0049 left_gripper=0.9993 right_x=0.439 right_y=0.1668 right_z=0.1253 right_yaw=0.1791 right_pitch=-0.0784 right_roll=-0.1967 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -1.388, 6.9128, 1.6239, -0.0562, -0.0562, -0.0122, 0.5675, -13.6, 10.4274, 2.1807, 0.2369, 0.3053, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8333, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8127, 1.6665, 1.05, -0.1719, 0.6006, 0.4362, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1513 left_yaw=0.0042 left_pitch=-0.1445 left_roll=0.0046 left_gripper=0.9993 right_x=0.3669 right_y=0.2476 right_z=0.1292 right_yaw=0.0815 right_pitch=-0.0566 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.5849, -0.0317, -0.022, -0.0122, 0.1983, -8.4034, 9.5248, 1.5214, 0.4176, 0.1343, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8017, 1.9789, 0.8562, 0.3367, 0.6056, 0.4, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3738 right_y=0.2467 right_z=0.0073 right_yaw=0.0864 right_pitch=-0.054 right_roll=-0.0985 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.4974, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122, -0.335, -9.1966, 4.2462, 1.7509, 0.3248, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c238468763d03d1eac24b62cd06a8808cc964299ce13b740efb6fc65381aff2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3effe758098e74f8ac0c2c6f580befcf2f3a1aa49175300910f0d277684d90a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3403b833b9b02a3d6cfff8f78c5d3e6eabe41d89c827f4e4d93905d0d907aa5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4QYKEAgSGAI4AUIIdGhpbmtpbmcSDICVURZryueJI+XKVRoMkcpSApZURJ1yrahGIjAmFy0G4K/XF4cDv9BpzR59vcgQI4zl2f3FKWDTcCUg1PULuiAZnErP/GQ9W880/Iwq/gUZT/ApiBHdi2wcPNHw7ymrNtaU6IiZvmVOLA5TQDK2mjP7wpifN2MrRd5h+e8cqpoSt566IINm2GmIaSmr96xr6EeFUHTmTDiust6pvxg2/cB0Wo+rdoyjBIfPlaMCSB2GiLl8k3ECKVbDWujVrFItZ0/xG/NKpu+ZohVv5VT+6jM/GatBY8byctpcbCIFvR6FPr/DzpVGBUuEWgc+gk66FFI25aa72z89NiZbjNg7/ALh6skc7JfqpDG8rInrq2LpK8lgcbZhXRl1x46y5KYMKb1hBfiEdFCoKZADJM4fy5E5jiDFL/8CPpPhyaDH2uGYQmW7gzNp2xVyRdW/zVDZdnae4ABwlXnfuyKOsiJcej8l+7OM8u6LJ6VB9Iz58akTC0eCwpRm7JPAkO48QzF2jzyFU5jqgYdiHgeA9gyqvp8mMDaZaX5uj2+b/w5abtmQjXmmr3CdFlvzT15QMA5q4dSc5LpdicjFC6s/gVh7fUQegy9U4wG9NcS6FFktP922cJ4hCri+WwR2jtkzFSC+DFKJtS5gEXFzs5CkWjCcAtS6b1zbpqI6FVmsae8N8NxIowH3hel/wjH03o7WLNJmltubXuEx4JzA2U7McwwxqsKG3ViiXv8FQuDBJ/tH2SD3WZ25qIWRGod96nogwMOEBkfahjNJsD9MinpovcAwzNtGozkCkSg+qHEzQ6yII70cZ0KbZdnbNFeAqk4yjUTIwNAY+agr9Y3Us2Ws2fxUGQK/exKT6GhYR7Ddlsci9LSve3GcTmM8KhFB1rWUymQ+FMohfqFEp9pAvXHd25CdyEJgSk47OcJyMqBlwlFaY/wCyfZATNezr4vD9S5877YytshYH4lWg8UksLJgNC8eP4/dRcnqhLyFrkbRXNnF++FskJHrSG4uPEIN98bLp47KcqSjXUwBR5e/ER2sHhQdG1efULX29Pv6vX0j3sqL18YidM50BgMhN3doRS7rPZAijk3/9pCO2arIf2ZoVFE7xNM9nqbgWo0V/5zhFedYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012NpXnaXG9RBpaJr8N7Q7Pj",
      "input": {
        "note": "Lemon sits between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_012NpXnaXG9RBpaJr8N7Q7Pj",
      "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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8021, 1.9934, 0.8478, 0.3656, 0.6056, 0.4, 0.5047]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3736 right_y=0.2468 right_z=0.0031 right_yaw=0.087 right_pitch=-0.0494 right_roll=-0.0945 right_gripper=0.5047\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.5751, -0.0415, -0.0513, -0.0122, -0.1299, -10.2769, 5.4222, 1.1844, 0.1636, 0.022, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29dcbff85ef69ab9758423e8bfb42c04a3c3ff89c571b96b0d09784cb2e731a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435e78833e35cfb64b7625e22ee5f4d7d9f16d30173d381941ed10655470b431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6e4539d391f4b744170e47b58b032a011f5d8bcffcbe40d8fd873b72405315f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 4.031 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, 0.8333, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8127, 1.6665, 1.05, -0.1719, 0.6006, 0.4362, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1513 left_yaw=0.0042 left_pitch=-0.1445 left_roll=0.0046 left_gripper=0.9993 right_x=0.3669 right_y=0.2476 right_z=0.1292 right_yaw=0.0815 right_pitch=-0.0566 right_roll=-0.068 right_gripper=0.9964\nstate[joint_eff]: [-0.0615, -1.347, 6.9538, 1.5849, -0.0317, -0.022, -0.0122, 0.1983, -8.4034, 9.5248, 1.5214, 0.4176, 0.1343, -0.0122]\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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8017, 1.9789, 0.8562, 0.3367, 0.6056, 0.4, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3738 right_y=0.2467 right_z=0.0073 right_yaw=0.0864 right_pitch=-0.054 right_roll=-0.0985 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.4974, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122, -0.335, -9.1966, 4.2462, 1.7509, 0.3248, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8021, 1.9934, 0.8478, 0.3656, 0.6056, 0.4, 0.5047]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3736 right_y=0.2468 right_z=0.0031 right_yaw=0.087 right_pitch=-0.0494 right_roll=-0.0945 right_gripper=0.5047\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.5751, -0.0415, -0.0513, -0.0122, -0.1299, -10.2769, 5.4222, 1.1844, 0.1636, 0.022, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29dcbff85ef69ab9758423e8bfb42c04a3c3ff89c571b96b0d09784cb2e731a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:435e78833e35cfb64b7625e22ee5f4d7d9f16d30173d381941ed10655470b431",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6e4539d391f4b744170e47b58b032a011f5d8bcffcbe40d8fd873b72405315f4",
        "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+wkKEAgSGAI4AUIIdGhpbmtpbmcSDJdV/ox2aTJU8hsD/xoMFbigOoZvzMz6oGp5IjDanFPxDA2Igos1O+7UhLY5TbzF6+3Seo885RZtVnq8oJMmU993UO2GgjZ+IF/4m0kqmAn4yfy4ZJ6OckXShDO1SPqRRqnOLRhLJTwucupWMfpAIh3BoYFO5MoBi2+OiWdWnHWxYgxV/OunYkw0RqkHj/0uWMYTUt/2L+BYrVP/kdz5RLffc/SLTf6waPTsKSG1lEhKAqwXcn3Bf22vfOOQ7apotjJC3aCYPNcckfP9DVdaoZ1EUmfOu8FY+82pXK5yuZ5c9nteLaj+W+oj+YbTrpEcL1dUA5LoKU88XGSG+oshPfusTUTQMcYetzZS/oLJS/B/nD1+eP6XNUD5OvW4aR/U7FYY1TfhFbbWMj9nZH/HOOZxjGvxbzUQfsEVCESHQDGUFny5VwEjbqZ97fC5VIrFVvLKe+6YrYXYjVKFbAulfGTDWFOQ7UcJHuYrhTRvvf5vRY4MqD9vdo/WO9J6SOv6C4OOAKqwE90fAlTSQIhH3uP8rR7QVSRowKtvGmOjZHvEn00+vXSeOEVfi3F8ev8S2rHJU8BwPSb8+jhhY3tHnVO6N+o2Yiz0ozIfYCLK5wNOyrdSbgvGIQpDrzhjnf46LGuZkMUfAAWaF5cdzL9a0wPmJmX9dZ7jPtLX1qeW1Jo1o3qOxiv8Nt2A5Ua8RllRXfx7m+o/sN4hbQXlbqrLx0kOARaGJi7JI8ZAP1UWNPnXlfYSiEwI/nkl8MBKuaOUM++AYwOwjc2v6JUGTPGJEr0C11AKCDtWcQVwxdNiJCdQ6yiCGH0SnbVvMTrixgesx2wa9feEWuxFbDARXLO2h7DH5u2KW3/xIzJGmoqDcgh3rmNEQuwvcTxL7AZFBw9fbP80pM1utNNcE2tvv0XTdYZUwO8wTtcTvZ/lhn7MzKxIFuMpYIhQtv1rzP3hj4tPnRGM0RidPwff4jjI9c+NJbE9j7QhNasKTQE8WlIl6Ab8uGLksLORcxoAg42BgIfdiYUNBwNpUR8XCyKsm9sy7y/c479lRjkQl2HaFdqBxGAazD55wctk8Ltx3dcgVrXN5th/al0a+xV6gcOgsuW6NNmnXARxim0DyuCvifV7m30p9ylr+tqaVNQM05uaSP2gla9WFpVCLTPtfxPefauHbrP6oehxu6nx/ps9Sefz1ajeK4mNUMBJBE18y8fBtQr6aRGxLjri+O2cBTTFsJxk+0Im/6LsxsRk8ZKSKY9v/656pfppGt1nD+treorIH9nhoZNFAQ/Hvr0t96RegkGbAtNTZrhhSDbOmezhIwW0KeyUKCC1jR24lXMBXu5jJmlf3L+Cqc+P6UBaQ5+A0qQHv98hRGmbGezmYnLYe+97iOHL2JX2+3BDh0fpGPOUrnFCg9FDLNo9pwYHHwaq3W0iledYxeoLovYRqKnjHq3V3FL/+MtJtt2c2ERohrcegIPxuDEkMUi/cvpvpAoQz2KfUMkgKWr41gUu7PhyqwNmCLmuqcLHDSwiAq0GeREcIPVpfhNFebC4id80J0nPwGSChfNs9Th66mnEGhMfMMaGYYeu+EpzCF5BeaQccMumuF/sg5DlcLZa6cU0ZuxQSw1sDBiRwTPA7RGtQG7+8mvTXdPnUroVWVi+UTfk1mD9f0NIPLyVnNc1LpMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012mAMzGnfePzZqESz9R5rDP",
      "input": {
        "note": "Lemon grasped (0.50). Lifting it and carrying it over the blue bowl, which is ahead-right of the gripper.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.45,
          "right_y": 0.17,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_012mAMzGnfePzZqESz9R5rDP",
      "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, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.5064, 1.6901, 1.1263, -0.1089, 0.395, 0.1623, 0.508]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4449 right_y=0.1731 right_z=0.1488 right_yaw=0.0857 right_pitch=-0.0468 right_roll=-0.113 right_gripper=0.508\nstate[joint_eff]: [-0.1983, -1.3607, 7.1043, 1.6093, -0.022, -0.0366, -0.0122, -0.5675, -11.4393, 9.2103, 1.7411, 0.1734, -0.0415, 0.6422]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb479cd56d8597f57de42ee1a5358cce7ca4733179cd7654e0c85caeacfea6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7f43849124a30ae78c117dbc45d604480795dba649b28e84ba6736ad08bb4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:62b8a2e72c96396cc0fff3ebfe08a52c45df99e596a7fb162d43401c0d7ae853",
        "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 · 8.437 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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8017, 1.9789, 0.8562, 0.3367, 0.6056, 0.4, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3738 right_y=0.2467 right_z=0.0073 right_yaw=0.0864 right_pitch=-0.054 right_roll=-0.0985 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.4974, 6.9128, 1.6288, -0.0513, -0.0171, -0.0122, -0.335, -9.1966, 4.2462, 1.7509, 0.3248, -0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8021, 1.9934, 0.8478, 0.3656, 0.6056, 0.4, 0.5047]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3736 right_y=0.2468 right_z=0.0031 right_yaw=0.087 right_pitch=-0.0494 right_roll=-0.0945 right_gripper=0.5047\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.5751, -0.0415, -0.0513, -0.0122, -0.1299, -10.2769, 5.4222, 1.1844, 0.1636, 0.022, 1.0232]",
      "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, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.5064, 1.6901, 1.1263, -0.1089, 0.395, 0.1623, 0.508]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4449 right_y=0.1731 right_z=0.1488 right_yaw=0.0857 right_pitch=-0.0468 right_roll=-0.113 right_gripper=0.508\nstate[joint_eff]: [-0.1983, -1.3607, 7.1043, 1.6093, -0.022, -0.0366, -0.0122, -0.5675, -11.4393, 9.2103, 1.7411, 0.1734, -0.0415, 0.6422]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb479cd56d8597f57de42ee1a5358cce7ca4733179cd7654e0c85caeacfea6d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7f43849124a30ae78c117dbc45d604480795dba649b28e84ba6736ad08bb4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 201):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62b8a2e72c96396cc0fff3ebfe08a52c45df99e596a7fb162d43401c0d7ae853",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Gripper is over the blue bowl; releasing the lemon from ~15 cm (lemon bottom ~10 cm).",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U9qV6R94NcH6F2QSbuAsq4",
      "input": {
        "note": "Top view shows the right gripper directly over the blue bowl with the lemon; releasing it into the bowl.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01U9qV6R94NcH6F2QSbuAsq4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.506, 1.6814, 1.1328, -0.1326, 0.3874, 0.149, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4427 right_y=0.1731 right_z=0.1509 right_yaw=0.0985 right_pitch=-0.0572 right_roll=-0.1229 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5751, -0.0317, -0.0269, -0.0171, -0.1436, -7.665, 6.2291, 1.8193, 0.1636, 0.0708, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663a67583668b11991b8aebb6fba4bea7ec49398271eef3f0955a90297f392e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea10907b630b9deb0d883e097239187794c3853833acc932d97d4f3be49ce5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:979d6aa3704f1ed9baf0f7a3132040cabdd63fd7c8fd65c64160e0a0c2f8566e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 5.545 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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.8021, 1.9934, 0.8478, 0.3656, 0.6056, 0.4, 0.5047]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3736 right_y=0.2468 right_z=0.0031 right_yaw=0.087 right_pitch=-0.0494 right_roll=-0.0945 right_gripper=0.5047\nstate[joint_eff]: [-0.0479, -1.2923, 7.159, 1.5751, -0.0415, -0.0513, -0.0122, -0.1299, -10.2769, 5.4222, 1.1844, 0.1636, 0.022, 1.0232]",
      "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, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.5064, 1.6901, 1.1263, -0.1089, 0.395, 0.1623, 0.508]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4449 right_y=0.1731 right_z=0.1488 right_yaw=0.0857 right_pitch=-0.0468 right_roll=-0.113 right_gripper=0.508\nstate[joint_eff]: [-0.1983, -1.3607, 7.1043, 1.6093, -0.022, -0.0366, -0.0122, -0.5675, -11.4393, 9.2103, 1.7411, 0.1734, -0.0415, 0.6422]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.506, 1.6814, 1.1328, -0.1326, 0.3874, 0.149, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4427 right_y=0.1731 right_z=0.1509 right_yaw=0.0985 right_pitch=-0.0572 right_roll=-0.1229 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5751, -0.0317, -0.0269, -0.0171, -0.1436, -7.665, 6.2291, 1.8193, 0.1636, 0.0708, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:663a67583668b11991b8aebb6fba4bea7ec49398271eef3f0955a90297f392e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ea10907b630b9deb0d883e097239187794c3853833acc932d97d4f3be49ce5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:979d6aa3704f1ed9baf0f7a3132040cabdd63fd7c8fd65c64160e0a0c2f8566e",
        "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/Q0KEAgSGAI4AUIIdGhpbmtpbmcSDL4FWx89aEM/K0NkyhoMDDV+FKbnFm8LJ+89IjDzrP6RuRxnypHu3yeLivwOxH12tpLpY6w2LLEG7ks133yHyJpu0DQpLKgqTtUUlywqmg3UikvdN7NWlv4Gk9SSBlhbO2pMBMSd2PWc6Yx0XhGexRQZaGeST7XjqCJ8shkQ/Gdq1OiRg19y/aF7ZP5WuCP+oeybxKwtjS1HccGA1eOeitchZZpgzn+4ahlPPvItoaa9d6u1ZjudhF1wPMAZI1hffziAL7xFWwdfgVYPKYGNmy6G4O1vwT1UCRqUL2OeKomk2Tk2ODjIjIWS8DlvB+AR2sx63aSwL1OSO4lwP3SDL7+CknAtA+FAP4s3BWqkYSrVyXlqKbi19cTem7/QoNFXUcp+LHy4544B6/ujUy8kVS/Be5ScyWkMm62/65g98cv8+uLhox6/Yc8o8xVBjvmA0bu6sK6UF6o36R8dbNhXojpYBB3a439moN38CFlGTa2EtxweVWc8eISCL2/GPmIZ+jAuwG9XOhDmKui035ThuYepim8rL/2uy2UcpvZ8+8grX/2Uu8Hdikj1hNLtp2/eWfAe+DGf9CT6fWAr0e6h5pStZXH/D767n3ABMOZFhaVH9gRmjyDl2GEO97iIHWMnnV+gMbjjFo8TqTwqhQJ6Bg1Stw+EcI4nC7I0rgIzJf+J8PBEV+s0wayo/1nEILV9/ETdDRwWDM4upFgijkFpMea8cn+tC28BCObQF5LnAV/FfckxfGeWTWwGTTN0IYHbfAXTKyug/Hvf4lBvIA9srPnw6ubc4KVMgnrFgZ82fjC/qeUrgZS1aD1Zr4takeV7e7oLJQiLOtehMR3wDS2BlsJcJo3tIS01eK/59tVukDMsGigVlwTtj0ZjPK3GaD7uQmhwF5wt5/tLliiWH45g4jnGeKOdf6mhuYQ0vKQT6XzGJKHMjHzL7SCflzwP3aEr5iGRthrKVxWSXl5HLxssv7/558YUgAS+xGkHPsDXCS0ywUAOoP9AIggAqRFeXWeMPS01ro5iegjAHBHUVRMnFNGxgcilwiw/vKtFKEsvdl3UaoPtgs7tPBnQI7N0lD/Nf7MqP5yVbKJHwUyjnjGssIA4GWBSOE0VMGcX7w0KtNBPE7D5VapJu8CrW0RR3Dj029DHwyEfYz559r+75RS592dDE7oCYz/YafG66ttpH8Rz5Y4MicC6SBn/02GCPuAhwgWOvOk0Au9tm6DbuJaBHXM/PzwCMOUfY0bbHSV3ys+14Bw7JU23gF24l1sbOMTZjDF9lc1rbTh9i20F/X3cd/r6gHzNe/KAOvnqCryrBeywQvozGuk8Y9BqMwvbcJIx/ptQRsJ4O9Xi4BtygSOTgB2af6oTp4Ih54qwZ2qOpaToKrOd8+afq091/hIMmciXoCIeCTnhDNPTbgCLh/Sl1Zq7Wl7lcZbaM/vyhdVO1vWWodF9theUK//B9CPhblIxrKgjIt33Ab3TeaFRiybUQQQoTyKOL4HItAQYGUZEqLiDIMVCVgPQz92mQDE+wGn2WGzufQkRjZQk6tNWaPSrz3l7YMUE8z2p+otsO/hYcoPPxnoS+M0fyJ+oU3I6PuuQi+CGmw33Lu3lkTGGOOyY1fXEd71CWHR0WAOjciY21XxtCFLMid9mE7Jt9O2UorMCq3Uty5WxB8sAEpDCb9vfcAYKd0l3Sh9U9DePm3fdr64cbxDpSLdJzxjGMzRMpeWcYTrVVylmn7kKfYzRUqjsRBoTFsS77SqAQ9aKEtyOmFeD61iNBrutrPpKXSGB+xB1pWIAf5ubsIr3cVDGyamZN1PMyKNwM9j5kory1kaKyi1ScOlGHiNPq+9DWtNsEfjtq8n8EMRE7AEn2svi/6xewTOHUEsecWdJ/ycQY+pUqwEwBaDap73VcXZvQifw8MdRzoZsGFQWeU6BmXqSFZlghJt75k8HLWpzdIquYzmIDyaJopkrnf25ZJtrVv5AYUlAiNEAD62umS4bInLGWqcuelz8oqf5/6cJ8k1UbWUTUtnAC+jR0lJzEXQkJAwSwDz3SmJ4UlTpXiZVknw30Lae7wB0fq5QxuudKYiPk4HG+UeGKei5diVEAeH3tXTYwlYIcwnIF7JeCnvnE3LaYqGHvR1/A9CszNvPH5JMCt4Z2Lh94z+e7J92rDO3KnjcJrGPJZrM8cPlNuhTCFy7zRi3gJJQ0zgUTBIZp09eiXvMCELB5XJmB77p0QZvXa9NoQgmiTuhkUwCvf6NYazR4+4NSWnXENh11cUs0IOGKE0ytzWtZpInIXKeKxJYG3Mv3JknFTCOyiw5Tmow8ePjGj0Xa15Z+bQvqdmATO1my2UWxj44eWWec5Z8Oco8GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YQpqo5w59E7upsAarBCBBe",
      "input": {
        "note": "The lemon bounced out of the small blue bowl (only the pear is in it) and rolled back near its original spot. Going straight back down to regrasp it there.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.375,
          "right_y": 0.25,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YQpqo5w59E7upsAarBCBBe",
      "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, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.807, 1.98, 0.8448, 0.3653, 0.6102, 0.3252, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3729 right_y=0.2482 right_z=0.008 right_yaw=0.129 right_pitch=-0.0443 right_roll=-0.1517 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4291, 6.9538, 1.6484, -0.0464, -0.0366, -0.0122, 0.1573, -8.6769, 4.4103, 1.0134, -0.0317, -0.0708, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeef3b84569044e1e2d58ca2f1ba606b89b1584a2da0d08399bde5631e15cdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c20732de683e0f92d04b0b1514b346d9f4176c02909d8d69e9496d40affb74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:75596e8eff749c1a9cd7208b033ab083b4bf3d7ac8516d24559d609d34872faa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 3.758 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.5064, 1.6901, 1.1263, -0.1089, 0.395, 0.1623, 0.508]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4449 right_y=0.1731 right_z=0.1488 right_yaw=0.0857 right_pitch=-0.0468 right_roll=-0.113 right_gripper=0.508\nstate[joint_eff]: [-0.1983, -1.3607, 7.1043, 1.6093, -0.022, -0.0366, -0.0122, -0.5675, -11.4393, 9.2103, 1.7411, 0.1734, -0.0415, 0.6422]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.506, 1.6814, 1.1328, -0.1326, 0.3874, 0.149, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4427 right_y=0.1731 right_z=0.1509 right_yaw=0.0985 right_pitch=-0.0572 right_roll=-0.1229 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5751, -0.0317, -0.0269, -0.0171, -0.1436, -7.665, 6.2291, 1.8193, 0.1636, 0.0708, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.807, 1.98, 0.8448, 0.3653, 0.6102, 0.3252, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3729 right_y=0.2482 right_z=0.008 right_yaw=0.129 right_pitch=-0.0443 right_roll=-0.1517 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4291, 6.9538, 1.6484, -0.0464, -0.0366, -0.0122, 0.1573, -8.6769, 4.4103, 1.0134, -0.0317, -0.0708, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeef3b84569044e1e2d58ca2f1ba606b89b1584a2da0d08399bde5631e15cdef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0c20732de683e0f92d04b0b1514b346d9f4176c02909d8d69e9496d40affb74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75596e8eff749c1a9cd7208b033ab083b4bf3d7ac8516d24559d609d34872faa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjAoKEAgSGAI4AUIIdGhpbmtpbmcSDEfrxBuoyvO+2YKUxhoMRbhJ5zqiZxKBqEFfIjBniQ0O21//cqHANPnF0+1P+0p8qKrLyTK6nAolWXeIFCB8WeiMsyeGyEh06nv0MEQqqQnDuq54vJLy5JrndKCwUXSIdSviv9wZYRKPvEfEVsGhFdI32x3hiENniPaMmnQFAs3eB6bkRVSD7blUmcUFifQ2VB51yO7zM4OPkq+tnywTL46W2Hd+5U07+lMYhyrUfr+S1BKvGrQJBeLjifYCJ10l2NY42HS67EF2lEPTDFnuljfKddypfz2s3h3fwp8VyZzAOVbalppswin6VsadXyLrIvi/Epkht2t+lWvqP0ytKgGNiBHixV3Cy0nhV89ozTRBUxNjJDPdeInEtetXoxuswvDm/CSCiiZGFgjvdlXN2RePAy29Di41eddHXorhBOKt1Go5Svk+Qf0ONwW1kBWLBwGCLDQKApL8aUKnlSJhxlPMtXetB/LTCf258w0TLIk8UV7dihcFhhMo2LNXfT0swBY5jQQh33TEwa/ZNo0RL+H4T0dyTuhD7gs19ql8+pFKIQPmNq65ghhX4Zl4y1Y7+Qn7CsOeLnfBu5ivGSVJAxcIhD5D1SE2kG7qLNFUYGWzue9jr6qia8B68UBOoZgHcWXFtpOR4OMaYlFS3wzTicRqLp+8tmUg1e7hC6ZPGhIJWOwhdqJfCHaa7nHrYiNGanK4ZoeEPzhxcKMhg7zErD/w7iFc/h8FxPBbRa1KAEj6GSFJQzi42vuutvBJhDB98pwCk4iPJ5x12fUJ3stgalytygWDKrQqdc+TTIe2hwJmkAG8D7sNIjhhgkRkgRVYVK/D/VwAjivFuLcyUH3mBiAlyhDtQU/pvHqs0ZkQzdR9Ngw6cprnVaCwES/XLbZ49WU7bernLjNL9IqcFAwR2S2TxF3HLCYQsomm8YgScy5a5HftgHfUANwChHqwQHGatJSB7S6rgVi9BGzLcr+GWM5G8sPxAT7rbytOlkOmtSZ4rKiTM9wp4G88qSOio0HDMdQXNRXRatiRsBD0+SfmqZF74BJtwuxQGVdpgbaSyA7ISObuij+hVDH3At09qSFU/tsK5nyVj2U++NbTYWEpwVZ0wqfZ2qCL16ZGXsS2N1Yy09+yV0PyZRuNru4mUzLOUPpnih4AWCqtV1RGcbebplH0Z/u4tXYTVbxckGsml7iy2n8YpO+DdP4B386CyVohTYQDB6eGwUgneIM1YEEq/kw9gnA8A0xmtrwj6I00hlyR2POR52IzpLDpgwL5l7LUnKTePMz3HluDf4MjYBCO/LgJZo+Gxm6M1EE2ivMRb+hHcdJfRi8NL87F1TlvJlTRIXvQFIad+SUsCOXA72ud7Uey356/UE9bdtdXVI+7q2+eZudpIIJFZOZ/lf7zmi1HFikfuos+BFajTMX7O8l0dqiauP/g3exYohSOiXRDQMrZT63Kf1xdyzLc/m9sm2LDT6rWmwfJ6f7+hv0rtNjmaSvEQZ17TBMtF78fUMq8YGCwb/lK9Rd0jgiMYQFUlGHlGX9kzfdZP8WMKkoKtwgbgFjrYCoQTp5VrrhJcL76cvUxTHXdr0zYTXV5Pzf0EySY0+O9G+4PUP3g3h6X+UgFMNhq1sTmC+FGCV47z8Xo+eZbOdnoT0GmxHhEEOtWqmcNEG7F9fcAQ5I1rQbWy6vVtsTABd8beo6hSBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017KckDLRy6rN6bN5k6sRp2n",
      "input": {
        "note": "The lemon actually rolled far left and now sits just ahead of the left gripper (bottom of left wrist view). Descending the left arm onto it, and lifting the right arm clear.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.3,
          "left_y": -0.01,
          "left_z": 0.01,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017KckDLRy6rN6bN5k6sRp2n",
      "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]: [-0.0879, 1.3964, 0.091, 0.6327, -0.0738, -0.0566, 0.9987, 0.8078, 1.6905, 1.0721, -0.1699, 0.6052, 0.3218, 0.9964]\nstate[eef_state]: left_x=0.2894 left_y=-0.0088 left_z=-0.002 left_yaw=-0.0005 left_pitch=-0.1013 left_roll=0.0182 left_gripper=0.9987 right_x=0.3726 right_y=0.2495 right_z=0.1284 right_yaw=0.1346 right_pitch=-0.0611 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -2.7145, 2.1128, 0.2955, -0.0269, -0.0464, -0.0806, -0.4034, -10.1538, 8.5949, 1.4628, 0.2662, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e974059c84c29d11b0bb984a0912af9c4a9c789b667c8100c2aba1f3e8c613",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e65e35de5eb03413c31f878a2e8368fea8603938a5f66a1fa96c8ab1b4211f9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e144dbf6a873032eeba81cb9ef60fdb89c66d7c5eb39a0159e6dc8f9b7043a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 10.75 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.495, -0.0177, -0.0307, 0.9993, 0.506, 1.6814, 1.1328, -0.1326, 0.3874, 0.149, 0.9956]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.151 left_yaw=0.0042 left_pitch=-0.1456 left_roll=0.0047 left_gripper=0.9993 right_x=0.4427 right_y=0.1731 right_z=0.1509 right_yaw=0.0985 right_pitch=-0.0572 right_roll=-0.1229 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.4291, 6.9128, 1.5751, -0.0317, -0.0269, -0.0171, -0.1436, -7.665, 6.2291, 1.8193, 0.1636, 0.0708, -0.1441]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.807, 1.98, 0.8448, 0.3653, 0.6102, 0.3252, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3729 right_y=0.2482 right_z=0.008 right_yaw=0.129 right_pitch=-0.0443 right_roll=-0.1517 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4291, 6.9538, 1.6484, -0.0464, -0.0366, -0.0122, 0.1573, -8.6769, 4.4103, 1.0134, -0.0317, -0.0708, 0.0611]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0879, 1.3964, 0.091, 0.6327, -0.0738, -0.0566, 0.9987, 0.8078, 1.6905, 1.0721, -0.1699, 0.6052, 0.3218, 0.9964]\nstate[eef_state]: left_x=0.2894 left_y=-0.0088 left_z=-0.002 left_yaw=-0.0005 left_pitch=-0.1013 left_roll=0.0182 left_gripper=0.9987 right_x=0.3726 right_y=0.2495 right_z=0.1284 right_yaw=0.1346 right_pitch=-0.0611 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -2.7145, 2.1128, 0.2955, -0.0269, -0.0464, -0.0806, -0.4034, -10.1538, 8.5949, 1.4628, 0.2662, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22e974059c84c29d11b0bb984a0912af9c4a9c789b667c8100c2aba1f3e8c613",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e65e35de5eb03413c31f878a2e8368fea8603938a5f66a1fa96c8ab1b4211f9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e144dbf6a873032eeba81cb9ef60fdb89c66d7c5eb39a0159e6dc8f9b7043a58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgggKEAgSGAI4AUIIdGhpbmtpbmcSDKTeZcF3svYU4BG8mBoM2xzNS2C3kgBU3PvxIjCG23qVM96gATYUQBVbHmSGJ1YwDUk2bAktF77GPbxGViRBJG/jA9pEYSJmYr90fwYqnwfEx8sKBHDAjuH2OFGflGzGd+PA9Wb8XmyVaY5TJaw02chJjyC3J22ZyGF3ztSOIKHbaXoGtLb543dNZ7Kq+cAZn/2F6tXy0l7ZfVHVhm2IsiVlc0Ui8R64mMu3BupLseY8QEqIDu8tqYT73OKemyatdJnLJwJW7OnNWO/lOF9VQSZKyYG7kDFK1fVJ18wJx3HffYFm2IKi2m6R7SN2d+aABNWouF/6UJLzvxWUMVzgidTXG/kDM7AezhgeFZEd4XbqykFEsP4uDbPoxUB4H7GICUOK1DBBclOr0o3QWrli5ORSOYa/P+kXttsAw8ef7j+KNXHhGE2rGhn33CxIrfZrgWmwCDDkmZhgvSgSaY84ZkmUPEhLyhwfeGTKqzbZ7h6vD0TWSuRq/by/5KDOwM5riV6yH6I0z16hU+DX7tdLF5IkswFLVOEK7iZ294O8YzRkcev3LTq0hM0cP20SR/XGjp4akl1cf84xHp4nAePZtUn7aXYKN/IgzZPZyAtcEd0BpoC5qer2z0y7XyaKseqPjfIrMADrAIcuXIr/Vfyx/faqvHgozc+t3/R1SQHAmRlACmTZRUH3LguhGLwACtKn6dXYFmbD33xRKxysGBUZGJwxA4l91A5g9PECKBmeq1w9FgXxyYA4uBJndQEf4x9it1iTssNBHTk8AqkAoZ0nNcrv2iHbTYonXfNDTI6ugw26f2dkZZ/X+BZcfg7/0eaFjlQSRRBC8JCaN0/J0hnRLbnRzLDG0Z405DrM/eQrkLCsDVXQW4YoNSckWhy7JLc9vSMuXGJDhQbFv2VIJgKnhjxIhhLCenfqwWMLKa5RS4tEq8tVt5ofkc5Kl8CTBikblV+oisIvpDGIFpjIT1+WVC+JTWq8jxaNCzSDXOu6zliLQvPRi175EnD/4xWNkvZLY04jrOp5EZn2pyrs+W0n9Regc8Dy43pV151wLjoEkNLLmrtqEmDwc4lR0oD65Fn+DaAf4TREtz0F112VFA8dgdlGnCdnBfcReGb8xJktk8hlp31vUiUZAPbEU2Wek53FVIB7j5TNdZsXpnbJkzBGjjs554dZ/1eLWSkBWQsOsdVWZNMlTdEGUOwDMJg8DBE/HamCyzrK265AlVbI5ymqsbdt4Uo94sMa87iLsuwmdtVhtaZLqM510qGssnx6d3nJBLk9yinxzp+5+EiDL5Gn5LasW4E86Y5KhUy2v5NMrfWiZD/H+oF+HVRkyxmvz1kYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013EdyUNC4e1vyBDmf2ZpJrf",
      "input": {
        "note": "Lemon is at the bottom edge of the left wrist view, i.e. right under the fingertips; closing the left gripper.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013EdyUNC4e1vyBDmf2ZpJrf",
      "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]: [-0.0875, 1.4002, 0.0788, 0.6632, -0.0853, -0.057, 0.4294, 0.8078, 1.6821, 1.0786, -0.1989, 0.6052, 0.3222, 0.9964]\nstate[eef_state]: left_x=0.2891 left_y=-0.0067 left_z=-0.0008 left_yaw=0.0097 left_pitch=-0.0862 left_roll=0.0236 left_gripper=0.4294 right_x=0.3706 right_y=0.2473 right_z=0.13 right_yaw=0.1338 right_pitch=-0.0721 right_roll=-0.1717 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -3.494, 5.1214, 1.3309, 0.0464, -0.0415, 1.2332, -0.0205, -7.3368, 6.0239, 1.7118, 0.1832, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b653e521b2bbba040a3eb39bcb05fc4362e23715134051d4e1d8b22eb30b4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f70425ad60071f6f02b257a8b5e788af346cb1eb0551fdfc5a975f07730db324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e00e173c71203847f60aa9ab6ead21c11c93fe41790a2b5ed5214c7a0bf1fcba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 5.253 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.614, -0.4946, -0.0177, -0.0307, 0.9993, 0.807, 1.98, 0.8448, 0.3653, 0.6102, 0.3252, 0.9963]\nstate[eef_state]: left_x=0.2813 left_y=0.0006 left_z=0.1511 left_yaw=0.0042 left_pitch=-0.1453 left_roll=0.0047 left_gripper=0.9993 right_x=0.3729 right_y=0.2482 right_z=0.008 right_yaw=0.129 right_pitch=-0.0443 right_roll=-0.1517 right_gripper=0.9963\nstate[joint_eff]: [-0.1162, -1.4291, 6.9538, 1.6484, -0.0464, -0.0366, -0.0122, 0.1573, -8.6769, 4.4103, 1.0134, -0.0317, -0.0708, 0.0611]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0879, 1.3964, 0.091, 0.6327, -0.0738, -0.0566, 0.9987, 0.8078, 1.6905, 1.0721, -0.1699, 0.6052, 0.3218, 0.9964]\nstate[eef_state]: left_x=0.2894 left_y=-0.0088 left_z=-0.002 left_yaw=-0.0005 left_pitch=-0.1013 left_roll=0.0182 left_gripper=0.9987 right_x=0.3726 right_y=0.2495 right_z=0.1284 right_yaw=0.1346 right_pitch=-0.0611 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -2.7145, 2.1128, 0.2955, -0.0269, -0.0464, -0.0806, -0.4034, -10.1538, 8.5949, 1.4628, 0.2662, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0875, 1.4002, 0.0788, 0.6632, -0.0853, -0.057, 0.4294, 0.8078, 1.6821, 1.0786, -0.1989, 0.6052, 0.3222, 0.9964]\nstate[eef_state]: left_x=0.2891 left_y=-0.0067 left_z=-0.0008 left_yaw=0.0097 left_pitch=-0.0862 left_roll=0.0236 left_gripper=0.4294 right_x=0.3706 right_y=0.2473 right_z=0.13 right_yaw=0.1338 right_pitch=-0.0721 right_roll=-0.1717 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -3.494, 5.1214, 1.3309, 0.0464, -0.0415, 1.2332, -0.0205, -7.3368, 6.0239, 1.7118, 0.1832, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:12b653e521b2bbba040a3eb39bcb05fc4362e23715134051d4e1d8b22eb30b4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f70425ad60071f6f02b257a8b5e788af346cb1eb0551fdfc5a975f07730db324",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e00e173c71203847f60aa9ab6ead21c11c93fe41790a2b5ed5214c7a0bf1fcba",
        "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_01S8BbbHTp1mVBiraNfB7HfG",
      "input": {
        "note": "Lemon grasped by the left arm (0.43). The blue bowl is just past the left arm's cross-over limit, so carrying the lemon as far right as allowed, toward the bowl's rim.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.45,
          "left_y": -0.4,
          "left_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 35 steps (3.5s)",
      "tool_use_id": "toolu_01S8BbbHTp1mVBiraNfB7HfG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.828, 2.2696, 1.8427, -0.4126, -0.7403, -0.6495, 0.4331, 0.5549, 1.6447, 1.0969, -0.0483, 0.7567, 0.2577, 0.9964]\nstate[eef_state]: left_x=0.477 left_y=-0.3381 left_z=0.1182 left_yaw=0.1085 left_pitch=-0.0125 left_roll=0.013 left_gripper=0.4331 right_x=0.4397 right_y=0.1341 right_z=0.1876 right_yaw=-0.2033 right_pitch=0.1418 right_roll=-0.1658 right_gripper=0.9964\nstate[joint_eff]: [-8.9504, -7.9385, 14.0103, 1.619, -0.5006, 0.0562, 1.0281, 20.3692, -4.9436, 5.4222, -0.0269, -2.1661, 0.2759, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ded3bea21116689639b37e156d0a9dbe22c46dc78c301b9ed7a3825fd0335c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f91baee25ea6579abf91ac8e6fe9e3f0e6619d0d7e73f115b2a1ab1e85078b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:43afa6bb3bdf5960fa830772af096bf1179a9654a56b95429bd7d6b14d5d89fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 4.955 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0879, 1.3964, 0.091, 0.6327, -0.0738, -0.0566, 0.9987, 0.8078, 1.6905, 1.0721, -0.1699, 0.6052, 0.3218, 0.9964]\nstate[eef_state]: left_x=0.2894 left_y=-0.0088 left_z=-0.002 left_yaw=-0.0005 left_pitch=-0.1013 left_roll=0.0182 left_gripper=0.9987 right_x=0.3726 right_y=0.2495 right_z=0.1284 right_yaw=0.1346 right_pitch=-0.0611 right_roll=-0.1632 right_gripper=0.9964\nstate[joint_eff]: [-0.3897, -2.7145, 2.1128, 0.2955, -0.0269, -0.0464, -0.0806, -0.4034, -10.1538, 8.5949, 1.4628, 0.2662, -0.0269, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0875, 1.4002, 0.0788, 0.6632, -0.0853, -0.057, 0.4294, 0.8078, 1.6821, 1.0786, -0.1989, 0.6052, 0.3222, 0.9964]\nstate[eef_state]: left_x=0.2891 left_y=-0.0067 left_z=-0.0008 left_yaw=0.0097 left_pitch=-0.0862 left_roll=0.0236 left_gripper=0.4294 right_x=0.3706 right_y=0.2473 right_z=0.13 right_yaw=0.1338 right_pitch=-0.0721 right_roll=-0.1717 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -3.494, 5.1214, 1.3309, 0.0464, -0.0415, 1.2332, -0.0205, -7.3368, 6.0239, 1.7118, 0.1832, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.828, 2.2696, 1.8427, -0.4126, -0.7403, -0.6495, 0.4331, 0.5549, 1.6447, 1.0969, -0.0483, 0.7567, 0.2577, 0.9964]\nstate[eef_state]: left_x=0.477 left_y=-0.3381 left_z=0.1182 left_yaw=0.1085 left_pitch=-0.0125 left_roll=0.013 left_gripper=0.4331 right_x=0.4397 right_y=0.1341 right_z=0.1876 right_yaw=-0.2033 right_pitch=0.1418 right_roll=-0.1658 right_gripper=0.9964\nstate[joint_eff]: [-8.9504, -7.9385, 14.0103, 1.619, -0.5006, 0.0562, 1.0281, 20.3692, -4.9436, 5.4222, -0.0269, -2.1661, 0.2759, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ded3bea21116689639b37e156d0a9dbe22c46dc78c301b9ed7a3825fd0335c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f91baee25ea6579abf91ac8e6fe9e3f0e6619d0d7e73f115b2a1ab1e85078b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 271):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:43afa6bb3bdf5960fa830772af096bf1179a9654a56b95429bd7d6b14d5d89fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwoKEAgSGAI4AUIIdGhpbmtpbmcSDIQYrmB8OXgvvr+myhoM2D3H/M/p6LIJYVfFIjArfk9Iq+vwxFY1ZDV300FB24QSD9dpT0q+N4zrTwaMMMwcPGf4IDTlJAqfK7l2njQqpAlYbbkx3W6FT9zdAcuDEbST0v7aQvbfVtzcW+yGaiLbjJjLc8Bp9JU2xPH4BL9HL0uy4FNOkFjvU503z15jD+rgLNWCXlSub8NPVVtQJVUSNLSQV27OyYbvaTThLaal+RIAs843v89GWPohzLW1JzMARHqqkN7fV+rnOGXuLhcKWC+d3Ao3WHPzLCB12l9/du+MIQHZi87v+5ouiQJtlfnKRRrpGKWvba0kZ2OftuHZKLJYG+sY2PZW7VRQzh0Puv/wVNhFWjAmDMEgXZesfxvAttabKK+7blmlSeh46sMzx0H1AXjT4MpwMJo2+Sa89wxbc7dWqoMyrTrtHd+tjkl/2sZNY3AFp5EHMafLrxeuiSrL8H0D0xZ6qMRLWIJPkSgZE+3+0BXYPA/qq6WsqekhQfKbfKvR8H9DZ1Ds8ITAbG4XEQDR8WjKRdjVJLwDjIxFR6fOForGVMTuNbZD/DVnCxPhegRREsZD7pGX6GRE4pxD6omd90/ip7WH85OEoamYJdX3iDmAGM5mMGiEnChV7pICa/8rKdIPA7NQ+qNCk3Ieh5ztnZ3eq5dGm6OifhR+VodqUGEvH8g+Q57g3IYLqa2F/9FioO1TxUJar/lJ1g0tVC9b7F468sSf4u3FhplF7VrMvmW9C7R3sir89nZhKNIT9WiXpTaNhin2e0YfT8B4f0QRxfjahtNTs3582mnJusqfLqLmpKRcOtS9euKMyH9Ff41qPgXBgs+uCUPL3wSpzNR8471lVflZdJZjlkiER2asd0j4l7WNv7VEOw1rkxRfWgAES628JFYB5R+shuCTOh2fwgql8i0nLTZ6sukA+r3zTSm9fbPKljG78ZazrP2uyvE7apWPtAIVjXCP6TnEnA6x9Z5V+/TQ2ycBQkQVkrot66EFGDrbpxBJ8jRjGMhgLnlGfqFKz1DbDubPEhZp/Kb2cl0vtYOSXuMYWL2lOj7rXCiE8dTIHD9KqYDeMI5BNPF8oQ7sw/jPtSx08kE50tCuROCLfO7kJHNB+r/7oAviL5ZGma6U7QRDsJZQWR+siWX+PhAPS8K6HGjtTPKcw+JfcIKRqjUH5MSNA7bgeweqXgUztH/B3qp02Dgo5RL/T8Znm/DDvIEqunzg0HEddIfFYNMHnpIWk0RDg9hPRHD3t9SbFSBw1ONB0u1kYZ5QunDnhiDvYdVUP2ql/9gScWFg20JtstMHwLbiZN4VUvGwz/xBQVrDpXCxWx4ukgh+o19nvG1NqPcJ2e3LvgjoHQNGv/OH4sf1u0aYJM6w8zLPR6pwqpMFZEJUIUIxJShyH+NxA91lsLQtzhwg3FHq5m+kyQKaQTxBZWHY8MSBZD8ab0Eb1EBq5JAcdSog279mVy9NEuOH/IzvTF6lbgS3tAGmyrBAXoPdgqIRNtixQTIe5h0CB6jkVpPCiKUw59x/Ti+sOLtQ0Hg0UaLU3EnL7hdcfaV6jvNuUEBsNgWQQb4jbgbaud81IiQfrnUcslpMoU3eopCR/oDOubI+OArhkB/0zQKTgpZ/o9vlHzKLzZhcEVJNezI2cgAMXQUj2AImpnyIY1Nj+E+HQE2xnMQAZiwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cyw7siThfTi7f8mx4c34o3",
      "input": {
        "note": "The two arms are in contact over the blue bowl (high joint efforts). Retracting the right arm to its home to separate them.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_yaw": 0.0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01Cyw7siThfTi7f8mx4c34o3",
      "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]: [-0.8268, 2.2551, 1.8397, -0.4217, -0.733, -0.6594, 0.4331, 0.0044, 0.852, 0.7052, -0.384, 0.0883, 0.0357, 0.9964]\nstate[eef_state]: left_x=0.4757 left_y=-0.337 left_z=0.1232 left_yaw=0.1101 left_pitch=-0.0155 left_roll=-0.0003 left_gripper=0.4331 right_x=0.3097 right_y=-0.0106 right_z=0.2098 right_yaw=-0.093 right_pitch=0.041 right_roll=-0.0159 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -12.0547, 6.8855, 1.4969, -0.4078, 0.022, 1.033, -0.0752, -1.6205, 6.188, 1.9267, -0.1441, -0.0806, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6759b121566f0b30ff060d5c4e0eac77712c267a59af9b8736b853dfb12578e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e65efc11b0225446c36ec999c2469b51c189a61512a3f05d1e76151ce280c43d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a75eed01e6f221e4ce4756c4d2ac89c322068afaae48a63a9626965938981790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 4.331 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0875, 1.4002, 0.0788, 0.6632, -0.0853, -0.057, 0.4294, 0.8078, 1.6821, 1.0786, -0.1989, 0.6052, 0.3222, 0.9964]\nstate[eef_state]: left_x=0.2891 left_y=-0.0067 left_z=-0.0008 left_yaw=0.0097 left_pitch=-0.0862 left_roll=0.0236 left_gripper=0.4294 right_x=0.3706 right_y=0.2473 right_z=0.13 right_yaw=0.1338 right_pitch=-0.0721 right_roll=-0.1717 right_gripper=0.9964\nstate[joint_eff]: [-0.2256, -3.494, 5.1214, 1.3309, 0.0464, -0.0415, 1.2332, -0.0205, -7.3368, 6.0239, 1.7118, 0.1832, -0.0269, -0.0122]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.828, 2.2696, 1.8427, -0.4126, -0.7403, -0.6495, 0.4331, 0.5549, 1.6447, 1.0969, -0.0483, 0.7567, 0.2577, 0.9964]\nstate[eef_state]: left_x=0.477 left_y=-0.3381 left_z=0.1182 left_yaw=0.1085 left_pitch=-0.0125 left_roll=0.013 left_gripper=0.4331 right_x=0.4397 right_y=0.1341 right_z=0.1876 right_yaw=-0.2033 right_pitch=0.1418 right_roll=-0.1658 right_gripper=0.9964\nstate[joint_eff]: [-8.9504, -7.9385, 14.0103, 1.619, -0.5006, 0.0562, 1.0281, 20.3692, -4.9436, 5.4222, -0.0269, -2.1661, 0.2759, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8268, 2.2551, 1.8397, -0.4217, -0.733, -0.6594, 0.4331, 0.0044, 0.852, 0.7052, -0.384, 0.0883, 0.0357, 0.9964]\nstate[eef_state]: left_x=0.4757 left_y=-0.337 left_z=0.1232 left_yaw=0.1101 left_pitch=-0.0155 left_roll=-0.0003 left_gripper=0.4331 right_x=0.3097 right_y=-0.0106 right_z=0.2098 right_yaw=-0.093 right_pitch=0.041 right_roll=-0.0159 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -12.0547, 6.8855, 1.4969, -0.4078, 0.022, 1.033, -0.0752, -1.6205, 6.188, 1.9267, -0.1441, -0.0806, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6759b121566f0b30ff060d5c4e0eac77712c267a59af9b8736b853dfb12578e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e65efc11b0225446c36ec999c2469b51c189a61512a3f05d1e76151ce280c43d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a75eed01e6f221e4ce4756c4d2ac89c322068afaae48a63a9626965938981790",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuAkKEAgSGAI4AUIIdGhpbmtpbmcSDMhHd/6S8/lYfStHjBoMlldvO8agb9SOZyv8IjC/h5hKpj3w7144vdmZOoBEXwVg6fEcVqIbpK3azdzLNgNb3HD7mSIwsr9aUfLaI4Aq1QhlbetSOaeWnQsdwkRwLc4YGrDJk68L1/K5mODUjdTqYXK1/M3sRn5+XCodE3q8xL6PgGRJZ/kVRXoDofkuk+PIzG5w+rn78mMV+rQ0bjaISwMqdz2MDL3RPQqsllOkaG9TpA5sE23Fk9vV6GXxesqC4jYt1lsOBEhrZDYtV1ChJW5xfiRWhcKsscWbZtwRmn71WMUS6Yoyh5pxNzWZm1ojgU5c+4NpAmoUV6HdkNKwsIqfBP2xPrnNgquM4Dhju+Wz/xr7kNWvCe2hesTSqn5T1x1q9lr1ldB9Wpnp+vDDOlkUJIQlbvOTczhx7nyxqnUVdebWzlitqyP+LqstYUxe0H2Xq7D0/XJKkZ9GZuEQEgccD/hGscTYe/vEDhiQwN9uGF2bPtUauRDgRlAnjrcpmobW9xn/AiF9DKKEVQCOfXYe05Oq6nS+fdqynqqE8ZT+RSzqNycTJvrvY4l1tIL5eLdAay63k+kC2bQr5H6YhypPoMeEHgweCuE7MppZn0EicX2ARxmk6Sqp8Rj1L0wQdb9QdE3KJ4Gs2/wTlk2ReV4iz5GuIMuRgdSGSzm3+OhZou9bYLaXIPOD7+6KfXB2zmt2t5H+2RwpiljIyGBWzBygaXfN6wdf8HEgjP8bXseMiKMykAx27CBjc8qyKgZCBMjUqqpcD2oWkPDP6jwEczSTCXQOIeia/zzBLHUTQRU2tb0xvXaODwB171zYpsLl3FCoucteFhCjT9xqHZxNHqEhNxh570+guwDgYcOKdiEvhILRNdF3COw6pvBifHbCy4MW09DQn0Y2W5n2+r3lS9Xsu/2hrQhVCzbJG5t7em+k3xGqX0wLI+kYPLlolXSI4P9PGhdjQltXs4WcLdEw/twhfLG0q96IAxnOf8QHz8eC4w7tbI6m1TdFU538/uxKYKlBYBodDZaucSQguTwm+WGN/ewMatZ8Si9iN7YNS/uHgY4+FbegKZkTNgIZAKNINe7mgaFDVa55inbWOD2/LiTVDnTr33CJpzfoqK9zg09GwU4oyVgYdq+/VOoa0TYLVjTFLtNKbRhPROdR4qRdPFhDhtpTuFmfqddlpMcbSYvPCKcafecHaxp0uLKzViQso5QRz66Xzc+5/kjn3LIQA9CjaKNYe/EhQUrp5gdOnC2/DeWZc6JQA1IgigUPncNQGV29av6U881kzJ7PxVafkKQML9TmhmBa2Jftg9N5I5MToRy5/uXVkI3ELySLPL3ta8yWaWBL6GFTqEzZIiepx6e/bDkWfv/EXmOxKDFKXS9aijnFMxzPM4ZPPUNL3VtafrFDl9wNhcRTf2xSYF5uVrQc/4dQ9BqtlJX5ldUWud/dA0KZK8ewDHXTYe4/4r8/HNEgv/R1nMUoYqLhTRBqYUZxCNPkCSD7j3k4Y2RC5646ogHDDAEVTGd5fXhqYAG+b6A4tRQs6KM/8TgiggKg5rAFdyCFXqTnhQnAgyLVXwtUNML5FBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018sHm7iMFzgfdNCXCtLktGe",
      "input": {
        "note": "Arms separated. The blue bowl (with pear) is just right of the lemon in the left wrist view; shifting the left arm right to its limit over the bowl.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.4,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018sHm7iMFzgfdNCXCtLktGe",
      "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]: [-0.9073, 2.4928, 2.1284, -0.5625, -0.7662, -0.7429, 0.4386, 0.0048, 0.8585, 0.6952, -0.4168, 0.0742, 0.0113, 0.9964]\nstate[eef_state]: left_x=0.4683 left_y=-0.3944 left_z=0.0826 left_yaw=0.0985 left_pitch=-0.0448 left_roll=0.0192 left_gripper=0.4386 right_x=0.3051 right_y=-0.0081 right_z=0.1964 right_yaw=-0.0675 right_pitch=-0.0089 right_roll=-0.0335 right_gripper=0.9964\nstate[joint_eff]: [-0.5675, -15.3231, 9.2513, 1.0916, -0.5055, -0.1001, 1.0281, -0.3487, -2.1265, 7.9248, 2.0391, 0.1245, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f26a6d8d4a9bf58ff1950c5ab763a455298abbd0106f750e78737b2151b21b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:376e989a0b318dab2f94a69c233917e91dc272d93edc3c7840f3ed37debb1d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c96f01a53c9d68c2792717846bf19744856d0c35c584b04b6bd457c177f2afd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.092 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.828, 2.2696, 1.8427, -0.4126, -0.7403, -0.6495, 0.4331, 0.5549, 1.6447, 1.0969, -0.0483, 0.7567, 0.2577, 0.9964]\nstate[eef_state]: left_x=0.477 left_y=-0.3381 left_z=0.1182 left_yaw=0.1085 left_pitch=-0.0125 left_roll=0.013 left_gripper=0.4331 right_x=0.4397 right_y=0.1341 right_z=0.1876 right_yaw=-0.2033 right_pitch=0.1418 right_roll=-0.1658 right_gripper=0.9964\nstate[joint_eff]: [-8.9504, -7.9385, 14.0103, 1.619, -0.5006, 0.0562, 1.0281, 20.3692, -4.9436, 5.4222, -0.0269, -2.1661, 0.2759, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8268, 2.2551, 1.8397, -0.4217, -0.733, -0.6594, 0.4331, 0.0044, 0.852, 0.7052, -0.384, 0.0883, 0.0357, 0.9964]\nstate[eef_state]: left_x=0.4757 left_y=-0.337 left_z=0.1232 left_yaw=0.1101 left_pitch=-0.0155 left_roll=-0.0003 left_gripper=0.4331 right_x=0.3097 right_y=-0.0106 right_z=0.2098 right_yaw=-0.093 right_pitch=0.041 right_roll=-0.0159 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -12.0547, 6.8855, 1.4969, -0.4078, 0.022, 1.033, -0.0752, -1.6205, 6.188, 1.9267, -0.1441, -0.0806, -0.0171]\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 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9073, 2.4928, 2.1284, -0.5625, -0.7662, -0.7429, 0.4386, 0.0048, 0.8585, 0.6952, -0.4168, 0.0742, 0.0113, 0.9964]\nstate[eef_state]: left_x=0.4683 left_y=-0.3944 left_z=0.0826 left_yaw=0.0985 left_pitch=-0.0448 left_roll=0.0192 left_gripper=0.4386 right_x=0.3051 right_y=-0.0081 right_z=0.1964 right_yaw=-0.0675 right_pitch=-0.0089 right_roll=-0.0335 right_gripper=0.9964\nstate[joint_eff]: [-0.5675, -15.3231, 9.2513, 1.0916, -0.5055, -0.1001, 1.0281, -0.3487, -2.1265, 7.9248, 2.0391, 0.1245, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f26a6d8d4a9bf58ff1950c5ab763a455298abbd0106f750e78737b2151b21b06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:376e989a0b318dab2f94a69c233917e91dc272d93edc3c7840f3ed37debb1d68",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c96f01a53c9d68c2792717846bf19744856d0c35c584b04b6bd457c177f2afd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwgKEAgSGAI4AUIIdGhpbmtpbmcSDILnOW/Lf42+LSe9HxoMKcJm5BEZ1HML3yo5IjDaUwIam27O5bVVdVtk0vZvH+dAmHOzYmRrmqQ7dKepTOTTdn3Clsh860qpgchmN8Yq2AfyV3om1UhobzXXi0uIIAa1V/kpdgagGdSRuG8/DYQncz8Q9GesUoXL0ECXtgOkZTAi2BEn4UOrIk3fFbNaTglbciiWvRb/a0Sd4BQRKyu94lwZY01vGZ5mBHLZexRaj/YvHyPU//wpwqsTJf0lP0/LBk4NWbdMVFvTGO74pW8668ZVOLhaui/dqM9DgW+7S4AaUIi+A9qr7KQnAKZbSFdMAzo8JhUfvlJpolz5LXNRnCaZ5pG0GrfrHO6kSjHsxrNhjgQMz1/nCEodOgmFrV78dcSgQ+GL5lVktV3rJSkFKOCjkDzUPwd72invZMQ3I4Dv9DZDKsl9N7PsnfEwdhWG3v08GKZISFH+1dVCcejex3gbRTPDTHGVEh+YQ+Z9x8M/VdyUgxG5A0dn4Jj6eBDaH/tZ+ozVaRxKdGAgKOUg5SqBhZRD/bfgnwRH2s54uGNGauyJGwoHO3DnX/KAAX+3Sw+W/2GxT5PPexU5IhQziu6s1av2X3hTnbFvOZpO5x/SXWsnskzfHSPx+n590OP9Fd7IMmHcAHkvgPXmHQHDBck5z42WJ3NYAITkKmFdxQG3G/+3aQPoZIFsiKtGm7Nyw3vD04p7AkeMsCsRhN9bLZpiv0SNCQxZlgcc2+ZfYivkEzrxOWhj/IkjBiSWWBfz8o4s/SbGGPOljqpo+tTtXY1BWKH5b62t0yDAvLYL6VfgqGTx7VMDfXZq7DDffxXpxFhQRlqQ2H5fuL6hyMvCOvInnvtRpSdSbijgvsDLkIQLPA6sIpwW/5zkOXYVp9+DY2LIZu4Jp1STRRB3YP/oDam+N7bvFq/VYqt8ED3sCJsIcKq/VlxlbNkGp5WJ627afQTcWbZ8osVhKUmwzkAV4Vtu8yziV1Z6/M4bEb6NQDZh8xRf3JSEDAcmLf6B6GcIEqDZ/rl0E2E4TMfVikpokSAfT7a/CrOy4R7B5s9QCWEiaosI7udCDYHHSQLOwPNWNx26yyMuXxQNABrI/uXeY/WYMbx7v1Mt8So6gY432A71ROE2haBQ0Piq++LFdQYm8qXUU1rX+bd2JL6Vn9Ix06wL2Pinc/10/Hr88pj/uoL4hNjQzzK9bWa4V0anfkU8bBQcYbT8ffCIn5MUPtv67M+0z6iY7rCvC2mIt/WWg2kQFmml+ZRz1NZFSonFxusDAPB5QG92rQoYWSvBBiZKZWLlUJDPymlG5UT+wb976Tb1494OyFu7r8syYI/LkBlPtHFqk3b6ZDi7qJBNs7bHSy1P+DfzVYpuSJ4C7Uxes8h0hqhlaQZU2vHUoV4+N7WrbjjRCCXBidcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HxC5uKhuNd2uWgU61BpBmK",
      "input": {
        "note": "The lemon is now over the left part of the blue bowl's interior, next to the pear; releasing it low so it drops in.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01HxC5uKhuNd2uWgU61BpBmK",
      "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]: [-0.9112, 2.5034, 2.1353, -0.5789, -0.7666, -0.7567, 0.9948, 0.0048, 0.8597, 0.6952, -0.4206, 0.0738, 0.0143, 0.9964]\nstate[eef_state]: left_x=0.4658 left_y=-0.3949 left_z=0.0771 left_yaw=0.1032 left_pitch=-0.0552 left_roll=0.0253 left_gripper=0.9948 right_x=0.3047 right_y=-0.008 right_z=0.1953 right_yaw=-0.0688 right_pitch=-0.0138 right_roll=-0.0311 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -15.5692, 6.2427, 1.4432, -0.3785, 0.1001, 0.0317, -0.0479, -1.5521, 7.0085, 1.7998, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273a64455a144a0ede37dfdb174741a22125df2c643987a443cff096b0362a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:021a95d40da6a9e97cf2d169d8813ff60fc00d7bdf1695db0df5840948263247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f8bed2d143b33e84063a5c05810d3fda217a99fb45f5622a0a64460c86829a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 11.26 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8268, 2.2551, 1.8397, -0.4217, -0.733, -0.6594, 0.4331, 0.0044, 0.852, 0.7052, -0.384, 0.0883, 0.0357, 0.9964]\nstate[eef_state]: left_x=0.4757 left_y=-0.337 left_z=0.1232 left_yaw=0.1101 left_pitch=-0.0155 left_roll=-0.0003 left_gripper=0.4331 right_x=0.3097 right_y=-0.0106 right_z=0.2098 right_yaw=-0.093 right_pitch=0.041 right_roll=-0.0159 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -12.0547, 6.8855, 1.4969, -0.4078, 0.022, 1.033, -0.0752, -1.6205, 6.188, 1.9267, -0.1441, -0.0806, -0.0171]\napprover: 8 step(s) modified (delta_clamped ×8).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9073, 2.4928, 2.1284, -0.5625, -0.7662, -0.7429, 0.4386, 0.0048, 0.8585, 0.6952, -0.4168, 0.0742, 0.0113, 0.9964]\nstate[eef_state]: left_x=0.4683 left_y=-0.3944 left_z=0.0826 left_yaw=0.0985 left_pitch=-0.0448 left_roll=0.0192 left_gripper=0.4386 right_x=0.3051 right_y=-0.0081 right_z=0.1964 right_yaw=-0.0675 right_pitch=-0.0089 right_roll=-0.0335 right_gripper=0.9964\nstate[joint_eff]: [-0.5675, -15.3231, 9.2513, 1.0916, -0.5055, -0.1001, 1.0281, -0.3487, -2.1265, 7.9248, 2.0391, 0.1245, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9112, 2.5034, 2.1353, -0.5789, -0.7666, -0.7567, 0.9948, 0.0048, 0.8597, 0.6952, -0.4206, 0.0738, 0.0143, 0.9964]\nstate[eef_state]: left_x=0.4658 left_y=-0.3949 left_z=0.0771 left_yaw=0.1032 left_pitch=-0.0552 left_roll=0.0253 left_gripper=0.9948 right_x=0.3047 right_y=-0.008 right_z=0.1953 right_yaw=-0.0688 right_pitch=-0.0138 right_roll=-0.0311 right_gripper=0.9964\nstate[joint_eff]: [0.1436, -15.5692, 6.2427, 1.4432, -0.3785, 0.1001, 0.0317, -0.0479, -1.5521, 7.0085, 1.7998, -0.0171, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273a64455a144a0ede37dfdb174741a22125df2c643987a443cff096b0362a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:021a95d40da6a9e97cf2d169d8813ff60fc00d7bdf1695db0df5840948263247",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 295):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f8bed2d143b33e84063a5c05810d3fda217a99fb45f5622a0a64460c86829a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiQgKEAgSGAI4AUIIdGhpbmtpbmcSDMwDZ9Qc/eprREANMxoMSn6Iniuh55rEyS2bIjCGlUMV4ZSycyXWsZxulF5Y3OhABLkHlwYn2oESYDuA/o07nW+8ibBtxrt17XR9ip0qpgf6ygCuNjTvkXakzNRfZMSpIbMkoH7NT3ARSw3/Klo6s3U7DBOAEq1QLTazJGBGoVVeiootugq0uaA/d8L23Bxduq1paReXG2MQcEKK2xrP4rrxV2sTwL+hPydOyqKYHp5nhuyh89TNTpX0r8S+jiXQKSTAkep3CvacrvOLFBXYu+I7N2TevWbLbaJoDAzUT56Eq6+hNp9MqtYkaEBsw+TPfY8xpcfRPWTQnvAT5FLH10UDmlHGrvicMn+3hPJHdY9a1O1JC7upK94IZL7C+3AMetXONrxXb6mhGQCxeNrZIJc671r3lzL52Odrpa66+LAsQR/JFhwoORqjfiwl7eGwi1T4ZTZIOIxnZ1cC3glZdWsCYo9XT9zRA1LxYJr+XiNc/PUezm8PUq7GOXGB7KYvR9crR2Mt8p0reSA5G7nDRv7fxe2zJYiTObffeDPlwLd2tzu+TcfipqDUPusvFYE9kcA9eVeoN46QngPkcUNeiidrKeeQkXE9yQL+c0H46P88PzVc890VXvw/ywliZIxbp2s6np//wYeS3+DmRksd3bRmVMMGwk6urSoDNK8pcuF4axLQmfWFzgFp+hsJS8VorOV8cRjjcGyBNu49m/G5TchoT8PaPTYfhfCo/yTlSuT+Xzh7tgVwboAPY518mP3sLh7bAQ72rj8aiEEAihLB+8RGLfOS/gLuqFhsnAjn3QkTDEihhRIhFfV9fUYNN79v4Ixj72AS4m/0VlmjCdfRKiueM4KfJz7WlR8QPHgP40cHoYfCCWwO6EMe7zAmdjM/sLduvWACWc/4PBrqUBb2nNtwifGpv3Gp4pUxw1KpAq6CJ3lccry8tZPVYqx1gKb1yHiUfcBtUsfp/QMoPTqHt/MwtEw8QczqBKj0m8+ir6oyaJjkCaR7aadzC3rm3yL+nY0GbIXQc0ChlsPCwzg3FA5sm/wUg9uhhDknu8yw8zkaPgUVBheo2pDGAUn+l65Ca0TzdPYaT6EXInP3P6BrT8mqfvEuqIlWrHsQeeuw9HMBfEGvsCepHYhI542yqs7omvjJ36ruvDmuR0OkAVr20p40zch2EaenlygGIK10FAyrr6yKV3g7scS7zXhbzu8kwad3rwasNC3J6wx7kwvMs1/Meya2/hiY1RY4j7d8CiY4eF704RsXvMVzBFBSw6QBIASqRnF2X44CdOm/6pgx/u1OTQCU+mgfKwyZ3kQo6Tz6rmccRoc5snDc+RdbSIdAa/pSbx+IGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014A79bipQE8G95Jp5VnGeJH",
      "input": {
        "note": "Lemon released next to the pear at the bowl's left edge. Lifting the left arm away so the top camera can see the bowl.",
        "targets": {
          "left_x": 0.35,
          "left_y": -0.25,
          "left_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_014A79bipQE8G95Jp5VnGeJH",
      "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]: [-0.9142, 1.7115, 1.3823, -0.6197, -0.7631, -0.7605, 0.9956, 0.0048, 0.8612, 0.6952, -0.4316, 0.0738, 0.0143, 0.9964]\nstate[eef_state]: left_x=0.358 left_y=-0.2587 left_z=0.1904 left_yaw=0.1002 left_pitch=-0.0586 left_roll=0.0224 left_gripper=0.9956 right_x=0.3033 right_y=-0.008 right_z=0.1926 right_yaw=-0.0689 right_pitch=-0.0263 right_roll=-0.032 right_gripper=0.9964\nstate[joint_eff]: [-0.7316, -9.7983, 6.4342, 1.3895, -0.4615, -0.0708, 0.0757, -0.0479, -1.4427, 7.1179, 1.8535, -0.0269, -0.0317, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:947c00503a3cb7c4e0e27fab23d0fb3e007fd3dc288f70168aca942b5d7dadbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 308):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2672f0c051abe8e762ca004f02134f934ede76e4eaaad7ac843473ca651601f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 308):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cf3be1751a8b4b7e8a365f86f47c1a82495ddccd50c7300cc08691ce116d3941",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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