adhoc

completed
2026-09-22T20:15:32.679589+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
246.3 s
total steps
217
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: large white bowl far-left, blue bowl centre-right, dark plum, lemon and pear in a row. Right wrist cam shows the pear just ahead and slightly left, so I'm moving the right arm a little forward and left above it.
move_to
right_x0.3400right_y0.0300right_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]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0204, -0.0124, 0.9993] state[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993 state[joint_eff]: [-0.4444, -1.6205, 9.5932, 1.7753, -0.1392, 0.149, -0.0855, -0.2667, -1.5932, 9.1692, 1.873, -0.0317, -0.0366, -0.0855] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.03, "right_z": 0.12}, "note": "Scene: large white bowl far-left, blue bowl centre-right, dark plum, lemon and pear in a row. Right wrist cam shows the pear just ahead and slightly left, so I'm moving the right arm a little forward and left above it."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePear is centred just ahead of the jaws, slightly left. Advancing ~2 cm, 1 cm left and descending to grasp its body.
move_to
right_x0.3600right_y0.0400right_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, 0.8059, 0.6147, -0.3866, -0.0139, -0.0307, 0.9993, 0.1356, 1.1091, 0.4786, 0.0116, 0.1001, 0.0525, 0.9993] state[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1803 left_yaw=-0.0016 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9993 right_x=0.3349 right_y=0.0315 right_z=0.1099 right_yaw=0.0218 right_pitch=-0.0466 right_roll=-0.0158 right_gripper=0.9993 state[joint_eff]: [0.1983, -1.7299, 6.9538, 1.7998, -0.0415, -0.0562, -0.0122, -0.212, -3.8632, 6.735, 2.0928, 0.1587, 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": 0.36, "right_y": 0.04, "right_z": 0.03}, "note": "Pear is centred just ahead of the jaws, slightly left. Advancing ~2 cm, 1 cm left and descending to grasp its body."})
tool
executing move_to over 6 steps (0.6s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
Pear fills the view between the jaws. Closing.
agent notePear is centred between the open jaws at low height; closing the gripper on 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, 0.8108, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.1581, 1.5486, 0.3653, 0.5201, 0.1005, 0.0525, 0.9993] state[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0278 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3539 right_y=0.0421 right_z=0.0206 right_yaw=0.0436 right_pitch=-0.0905 right_roll=-0.0211 right_gripper=0.9993 state[joint_eff]: [-0.0068, -1.5248, 7.0085, 1.8779, -0.0269, -0.0513, -0.0122, -0.2803, -5.7231, 4.8068, 2.0342, 0.1734, 0.0855, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
Pear fills the view between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear is centred between the open jaws at low height; closing the gripper on it."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteEmpty close (0.009): the pear is further out than the jaws. Opening and lifting a bit 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, 0.8108, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.1577, 1.5486, 0.3653, 0.5117, 0.0963, 0.0521, 0.009] state[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0359 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3526 right_y=0.0425 right_z=0.0189 right_yaw=0.0469 right_pitch=-0.0992 right_roll=-0.0198 right_gripper=0.009 state[joint_eff]: [-0.1299, -1.3333, 6.9812, 1.8193, -0.0269, -0.0659, -0.0122, -0.0342, -5.094, 5.1624, 1.7216, 0.0708, -0.0464, 0.6911] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.06}, "note": "Empty close (0.009): the pear is further out than the jaws. Opening and lifting a bit before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 31
top_cam
camera top_cam step 31
left_cam
camera left_cam step 31
right_cam
camera right_cam step 31
assistant
agent notePear sits a few cm beyond the jaws, well centred. Advancing ~5 cm forward and descending to its body.
move_to
right_x0.4000right_y0.0450right_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, 0.8116, 0.6147, -0.4187, -0.0139, -0.0307, 0.9993, 0.157, 1.3838, 0.4206, 0.2592, 0.0963, 0.0429, 0.9954] state[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1721 left_yaw=-0.0016 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3454 right_y=0.0411 right_z=0.0455 right_yaw=0.0507 right_pitch=-0.1315 right_roll=-0.0305 right_gripper=0.9954 state[joint_eff]: [-0.335, -1.4154, 7.1453, 1.8046, -0.022, -0.0366, -0.0171, -0.1436, -5.7915, 7.9795, 1.79, -0.0171, 0.0806, -0.1294] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 31): [image omitted: streamed camera frame] camera 'left_cam' (step 31): [image omitted: streamed camera frame] camera 'right_cam' (step 31): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.045, "right_z": 0.03}, "note": "Pear sits a few cm beyond the jaws, well centred. Advancing ~5 cm forward and descending to its body."})
tool
executing move_to over 5 steps (0.5s)
step 36
top_cam
camera top_cam step 36
left_cam
camera left_cam step 36
right_cam
camera right_cam step 36
assistant
agent notePear now fills the space between the jaws; closing on 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, 0.8135, 0.6147, -0.4236, -0.0139, -0.0307, 0.9993, 0.1455, 1.665, 0.5732, 0.3363, 0.0765, 0.0326, 0.9964] state[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0016 left_pitch=-0.0534 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3876 right_y=0.0468 right_z=0.0164 right_yaw=0.0609 right_pitch=-0.1842 right_roll=-0.0299 right_gripper=0.9964 state[joint_eff]: [-0.2803, -1.1966, 6.9949, 1.7802, -0.0513, -0.0513, -0.0171, -0.841, -6.4752, 7.2684, 1.7949, 0.0562, -0.0806, 0.0806] camera 'top_cam' (step 36): [image omitted: streamed camera frame] camera 'left_cam' (step 36): [image omitted: streamed camera frame] camera 'right_cam' (step 36): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear now fills the space between the jaws; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteGripper settled at 0.64 (~6 cm), so the pear is held. Lifting it clear before carrying to the blue bowl.
move_to
right_z0.1700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6147, -0.4244, -0.0139, -0.0307, 0.9993, 0.144, 1.6646, 0.5728, 0.3328, 0.0734, 0.0257, 0.6355] state[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0016 left_pitch=-0.0549 left_roll=-0.0001 left_gripper=0.9993 right_x=0.387 right_y=0.0466 right_z=0.0158 right_yaw=0.0657 right_pitch=-0.1879 right_roll=-0.0331 right_gripper=0.6355 state[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, -0.253, -6.6393, 5.1077, 1.58, -0.022, 0.0122, 1.033] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Gripper settled at 0.64 (~6 cm), so the pear is held. Lifting it clear before carrying to the blue bowl."})
tool
executing move_to over 10 steps (1.0s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent notePear is lifted; the blue bowl appears ahead-left in the wrist view and ~13 cm left in the overhead. Carrying the pear over the bowl.
move_to
right_x0.4200right_y0.1600right_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, 0.8146, 0.6147, -0.4252, -0.0135, -0.0307, 0.9993, 0.1448, 1.3632, 0.9516, -0.4248, 0.0734, 0.0151, 0.6389] state[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.17 left_yaw=-0.0019 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3766 right_y=0.0454 right_z=0.1447 right_yaw=0.071 right_pitch=-0.2653 right_roll=-0.0468 right_gripper=0.6389 state[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7021, -0.0171, -0.0317, -0.0122, -0.3077, -7.159, 9.4154, 1.7216, -0.0122, 0.0513, 1.0379] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.16, "right_z": 0.18}, "note": "Pear is lifted; the blue bowl appears ahead-left in the wrist view and ~13 cm left in the overhead. Carrying the pear over the bowl."})
tool
executing move_to over 10 steps (1.0s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent noteThe gripper with pear is over the blue bowl in the overhead view. Lowering so the pear drops in gently.
move_to
right_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, 0.8146, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4675, 1.6634, 1.3418, -0.6334, 0.2615, 0.2367, 0.6389] state[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0016 left_pitch=-0.0618 left_roll=0.0001 left_gripper=0.9993 right_x=0.4072 right_y=0.1584 right_z=0.158 right_yaw=0.0972 right_pitch=-0.3418 right_roll=-0.075 right_gripper=0.6389 state[joint_eff]: [-0.2393, -1.347, 6.9949, 1.7167, -0.0757, -0.0464, -0.0171, -0.1299, -8.8274, 9.7573, 1.6337, 0.2808, 0.1978, 1.0379] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "The gripper with pear is over the blue bowl in the overhead view. Lowering so the pear drops in gently."})
tool
executing move_to over 4 steps (0.4s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteWrist view shows the blue bowl just ahead of the pear rather than under it, so I'm shifting ~5 cm forward while staying above the rim.
move_to
right_x0.4500right_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, 0.8146, 0.6147, -0.432, -0.0139, -0.0307, 0.9993, 0.4683, 1.6978, 1.1679, -0.4854, 0.2569, 0.2325, 0.6389] state[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0016 left_pitch=-0.0629 left_roll=0.0001 left_gripper=0.9993 right_x=0.3954 right_y=0.1537 right_z=0.0973 right_yaw=0.0958 right_pitch=-0.3996 right_roll=-0.0973 right_gripper=0.6389 state[joint_eff]: [-0.3077, -1.2376, 6.9812, 1.6679, -0.0415, -0.0464, -0.0122, -0.2393, -8.0205, 7.0359, 1.7363, 0.1392, 0.0269, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_z": 0.13}, "note": "Wrist view shows the blue bowl just ahead of the pear rather than under it, so I'm shifting ~5 cm forward while staying above the rim."})
tool
executing move_to over 5 steps (0.5s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe blue bowl now shows just under/left of the pear in both views. Nudging 2 cm left and lowering to release into it.
move_to
right_y0.1750right_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, 0.8143, 0.6147, -0.4355, -0.0139, -0.0307, 0.9993, 0.4118, 1.8427, 1.4353, -0.6296, 0.2207, 0.1787, 0.6389] state[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0016 left_pitch=-0.066 left_roll=0.0002 left_gripper=0.9993 right_x=0.4383 right_y=0.1532 right_z=0.1157 right_yaw=0.0993 right_pitch=-0.4333 right_roll=-0.106 right_gripper=0.6389 state[joint_eff]: [-0.3487, -1.3197, 7.0085, 1.6874, -0.0415, -0.0366, -0.0171, -0.6359, -9.5795, 8.6359, 1.3065, 0.1392, -0.0122, 1.0281] camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.175, "right_z": 0.09}, "note": "The blue bowl now shows just under/left of the pear in both views. Nudging 2 cm left and lowering to release into it."})
tool
executing move_to over 2 steps (0.2s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteDescent stopped at ~0.107 m, likely the pear resting on the bowl. Opening to release it into the blue 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, 0.8146, 0.6147, -0.4419, -0.0135, -0.0307, 0.9993, 0.4343, 1.8652, 1.433, -0.6147, 0.2325, 0.1917, 0.6389] state[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1667 left_yaw=-0.0019 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4377 right_y=0.1621 right_z=0.1071 right_yaw=0.1022 right_pitch=-0.4388 right_roll=-0.1124 right_gripper=0.6389 state[joint_eff]: [-0.1573, -1.3197, 7.0359, 1.7558, -0.0415, -0.0562, -0.0171, 1.4974, -7.4735, 5.6821, 1.326, 0.1392, -0.0122, 1.0232] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Descent stopped at ~0.107 m, likely the pear resting on the bowl. Opening to release it into the blue bowl."})
tool
executing move_to over 4 steps (0.4s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent notePear is now sitting in the blue bowl. Lifting the right arm clear before going to the lemon.
move_to
right_z0.1600right_x0.3800
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, 0.8146, 0.6147, -0.4427, -0.0135, -0.0307, 0.9993, 0.4332, 1.9057, 1.4029, -0.6281, 0.2283, 0.1822, 0.9957] state[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0019 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4268 right_y=0.1573 right_z=0.0769 right_yaw=0.0963 right_pitch=-0.5199 right_roll=-0.1449 right_gripper=0.9957 state[joint_eff]: [-0.2667, -1.1419, 7.159, 1.663, -0.0269, -0.0464, -0.0122, -0.1573, -13.1897, 8.7043, 1.1697, 0.1392, 0.0122, -0.022] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16, "right_x": 0.38}, "note": "Pear is now sitting in the blue bowl. Lifting the right arm clear before going to the lemon."})
tool
executing move_to over 6 steps (0.6s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteLemon is ~8-9 cm to the left of the right gripper in both views. Moving above it and lowering, resetting wrist pitch to level.
move_to
right_x0.3800right_y0.2450right_z0.0800right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.4469, -0.0139, -0.0307, 0.9993, 0.4889, 1.747, 1.4654, -0.8719, 0.2352, 0.2066, 0.9964] state[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0016 left_pitch=-0.0778 left_roll=0.0004 left_gripper=0.9993 right_x=0.3852 right_y=0.1623 right_z=0.1405 right_yaw=0.1261 right_pitch=-0.537 right_roll=-0.1476 right_gripper=0.9964 state[joint_eff]: [-0.294, -1.3197, 6.9675, 1.7509, -0.0708, -0.0513, -0.0122, 0.0479, -10.3316, 8.6222, 0.9011, 0.2466, 0.2125, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.245, "right_z": 0.08, "right_pitch": 0.0}, "note": "Lemon is ~8-9 cm to the left of the right gripper in both views. Moving above it and lowering, resetting wrist pitch to level."})
tool
executing move_to over 18 steps (1.8s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteLemon is at the bottom-centre of the wrist view, just ahead of the jaws. Nudging slightly forward/left and descending to grasp it.
move_to
right_x0.3850right_y0.2500right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.45, -0.0139, -0.0307, 0.9993, 0.786, 1.7729, 0.9218, 0.0685, 0.5812, 0.2813, 0.9965] state[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0015 left_pitch=-0.0809 left_roll=0.0005 left_gripper=0.9993 right_x=0.3728 right_y=0.2411 right_z=0.0726 right_yaw=0.155 right_pitch=-0.0716 right_roll=-0.177 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.3197, 6.9675, 1.6874, -0.0464, -0.0269, -0.0122, 0.3624, -7.4872, 5.7231, 1.7411, 0.4029, 0.1197, -0.0073] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.25, "right_z": 0.02}, "note": "Lemon is at the bottom-centre of the wrist view, just ahead of the jaws. Nudging slightly forward/left and descending to grasp it."})
tool
executing move_to over 4 steps (0.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteLemon is centred at the bottom of the wrist view but likely still slightly ahead of the fingertips; advancing 2 cm before closing.
move_to
right_x0.4050
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.815, 0.6147, -0.4507, -0.0139, -0.0307, 0.9993, 0.7815, 1.9499, 0.9138, 0.21, 0.5716, 0.2771, 0.9965] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0015 left_pitch=-0.082 left_roll=0.0005 left_gripper=0.9993 right_x=0.3789 right_y=0.2463 right_z=0.0164 right_yaw=0.1574 right_pitch=-0.1112 right_roll=-0.2004 right_gripper=0.9965 state[joint_eff]: [-0.3214, -1.388, 6.9675, 1.7021, -0.0415, -0.0415, -0.0122, -0.0615, -10.0308, 5.012, 1.6972, 0.2564, -0.0317, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405}, "note": "Lemon is centred at the bottom of the wrist view but likely still slightly ahead of the fingertips; advancing 2 cm before closing."})
tool
executing move_to over 3 steps (0.3s)
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 noteForward nudge didn't track (likely dragging on the table); raising 1.5 cm while advancing 2 cm to put the lemon between the jaws.
move_to
right_x0.4050right_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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.9104, 0.2436, 0.5713, 0.2771, 0.9965] state[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0015 left_pitch=-0.0854 left_roll=0.0006 left_gripper=0.9993 right_x=0.3807 right_y=0.2482 right_z=0.0135 right_yaw=0.1586 right_pitch=-0.0999 right_roll=-0.1919 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.3333, 6.9675, 1.6972, -0.0415, -0.0269, -0.0122, -0.2667, -9.7026, 5.1624, 1.6825, 0.2564, -0.0952, -0.0171] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.405, "right_z": 0.03}, "note": "Forward nudge didn't track (likely dragging on the table); raising 1.5 cm while advancing 2 cm to put the lemon between the jaws."})
tool
executing move_to over 2 steps (0.2s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe right arm isn't tracking small moves near the table; lifting to 8 cm to free it before re-approaching the lemon.
move_to
right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4671, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.252, 0.5674, 0.2768, 0.9965] state[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0015 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.9993 right_x=0.3813 right_y=0.2496 right_z=0.0144 right_yaw=0.1621 right_pitch=-0.0951 right_roll=-0.1853 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.4974, 7.1453, 1.7949, -0.0366, -0.0269, -0.0171, -0.253, -9.7573, 5.2444, 1.6728, 0.2515, -0.0757, -0.0171] camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08}, "note": "The right arm isn't tracking small moves near the table; lifting to 8 cm to free it before re-approaching the lemon."})
tool
executing move_to over 5 steps (0.5s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteRight arm is not responding (joints unchanged); resending a full pose with orientation reset to level in case the IK is stuck on the drifted orientation.
move_to
right_z0.0800right_yaw0.0000right_roll0.0000right_pitch0.0000right_x0.3700right_y0.2400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6147, -0.4694, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.2508, 0.5674, 0.2771, 0.9964] state[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0015 left_pitch=-0.1068 left_roll=0.001 left_gripper=0.9993 right_x=0.3812 right_y=0.2495 right_z=0.0142 right_yaw=0.1618 right_pitch=-0.096 right_roll=-0.1856 right_gripper=0.9964 state[joint_eff]: [-0.1983, -1.4974, 6.9265, 1.7021, -0.0806, -0.0562, -0.0122, -0.2803, -9.7573, 5.2034, 1.6728, 0.232, -0.0952, -0.0171] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.08, "right_yaw": 0.0, "right_roll": 0.0, "right_pitch": 0.0, "right_x": 0.37, "right_y": 0.24}, "note": "Right arm is not responding (joints unchanged); resending a full pose with orientation reset to level in case the IK is stuck on the drifted orientation."})
tool
executing move_to over 5 steps (0.5s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteArm is responsive again; the lemon sits just ahead of the jaws, centred, long axis pointing forward. Advancing 3 cm and descending so the jaws straddle it.
move_to
right_x0.4000right_y0.2430right_z0.0200right_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, 0.8215, 0.6147, -0.4751, -0.0139, -0.0307, 0.9993, 0.8101, 1.7966, 0.897, 0.141, 0.6186, 0.4477, 0.9965] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1584 left_yaw=-0.0015 left_pitch=-0.1129 left_roll=0.0011 left_gripper=0.9993 right_x=0.3707 right_y=0.2461 right_z=0.0677 right_yaw=0.0628 right_pitch=-0.0267 right_roll=-0.046 right_gripper=0.9965 state[joint_eff]: [-0.2393, -1.0598, 7.0085, 1.7363, -0.0513, -0.0464, -0.0122, 0.3897, -9.4838, 5.7231, 1.5507, 0.5104, 0.1978, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.243, "right_z": 0.02, "right_yaw": 0.0, "right_roll": 0.0, "right_pitch": 0.0}, "note": "Arm is responsive again; the lemon sits just ahead of the jaws, centred, long axis pointing forward. Advancing 3 cm and descending so the jaws straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteLemon now fills the bottom of the wrist view between the jaw tips; closing on 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, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.7616, 1.9968, 0.8978, 0.2832, 0.6098, 0.4725, 0.9965] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3867 right_y=0.2339 right_z=0.0051 right_yaw=0.0055 right_pitch=-0.0721 right_roll=-0.0603 right_gripper=0.9965 state[joint_eff]: [-0.2667, -1.265, 6.9402, 1.6435, -0.0562, -0.0464, -0.0122, -0.1983, -10.0991, 5.9692, 1.7558, 0.2662, -0.1538, -0.0122] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon now fills the bottom of the wrist view between the jaw tips; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 138
top_cam
camera top_cam step 138
left_cam
camera left_cam step 138
right_cam
camera right_cam step 138
assistant
agent noteGripper settled at 0.49 (~4.7 cm): lemon held. Lifting it before carrying to the blue bowl.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.757, 2.0056, 0.8978, 0.2913, 0.6052, 0.4709, 0.4932] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3877 right_y=0.233 right_z=0.0022 right_yaw=0.005 right_pitch=-0.0749 right_roll=-0.0597 right_gripper=0.4932 state[joint_eff]: [-0.0615, -1.388, 6.9402, 1.6777, -0.0513, -0.0806, -0.0122, 0.294, -10.2359, 4.8615, 1.3455, 0.2466, -0.0513, 1.0232] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 138): [image omitted: streamed camera frame] camera 'left_cam' (step 138): [image omitted: streamed camera frame] camera 'right_cam' (step 138): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14}, "note": "Gripper settled at 0.49 (~4.7 cm): lemon held. Lifting it before carrying to the blue bowl."})
tool
executing move_to over 9 steps (0.9s)
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 noteLemon lifted; the blue bowl with the pear is just ahead and slightly right in the wrist view. Moving over the bowl.
move_to
right_x0.4400right_y0.1950right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.757, 1.7405, 1.1103, -0.2111, 0.5964, 0.4633, 0.4929] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.0015 left_pitch=-0.1179 left_roll=0.0012 left_gripper=0.9993 right_x=0.387 right_y=0.2341 right_z=0.1152 right_yaw=0.014 right_pitch=-0.0978 right_roll=-0.0779 right_gripper=0.4929 state[joint_eff]: [-0.3624, -1.4564, 7.1453, 1.6093, -0.0464, -0.0464, -0.0122, -0.212, -10.7829, 8.7043, 1.4921, 0.3443, 0.0757, 0.7204] approver: 4 step(s) modified (delta_clamped ×4). 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": 0.44, "right_y": 0.195, "right_z": 0.14}, "note": "Lemon lifted; the blue bowl with the pear is just ahead and slightly right in the wrist view. Moving 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 noteBowl is centred just ahead of the lemon in the wrist view; shifting ~3 cm forward so the lemon is over the bowl.
move_to
right_x0.4550right_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, 0.8276, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.5869, 1.7535, 1.1797, -0.2611, 0.4915, 0.3374, 0.4956] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0015 left_pitch=-0.1205 left_roll=0.0013 left_gripper=0.9993 right_x=0.4255 right_y=0.1872 right_z=0.1218 right_yaw=-0.0098 right_pitch=-0.1474 right_roll=-0.11 right_gripper=0.4956 state[joint_eff]: [-0.294, -1.5658, 6.9402, 1.663, -0.0415, -0.0464, -0.0122, -0.212, -7.8701, 9.2239, 1.7216, 0.2027, 0.0611, 0.5397] 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_x": 0.455, "right_z": 0.12}, "note": "Bowl is centred just ahead of the lemon in the wrist view; shifting ~3 cm forward so the lemon is over the bowl."})
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 noteLemon hangs over the blue bowl, directly above the pear. Opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4908, -0.0139, -0.0307, 0.9993, 0.5777, 1.7542, 1.1995, -0.2516, 0.466, 0.313, 0.4981] state[eef_state]: left_x=0.2819 left_y=-0.0001 left_z=0.1531 left_yaw=-0.0014 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.4316 right_y=0.1909 right_z=0.1292 right_yaw=0.0161 right_pitch=-0.135 right_roll=-0.0971 right_gripper=0.4981 state[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7216, -0.0659, -0.0269, -0.0122, -0.2256, -8.3487, 8.4308, 1.6777, 0.2515, -0.0269, 0.2515] 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_gripper": 1.0}, "note": "Lemon hangs over the blue bowl, directly above the pear. Opening to drop it in."})
tool
executing move_to over 6 steps (0.6s)
step 161
assistant
agent noteThe pear is in the blue bowl but the lemon bounced out and now lies ~4 cm nearer the base than where I first grabbed it. Hovering over its new spot.
move_to
right_x0.3450right_y0.2350right_z0.0700right_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, 0.8303, 0.6147, -0.4915, -0.0135, -0.0307, 0.9993, 0.5774, 1.7542, 1.1995, -0.2516, 0.466, 0.305, 0.9959] state[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.153 left_yaw=-0.0017 left_pitch=-0.1381 left_roll=0.0014 left_gripper=0.9993 right_x=0.4317 right_y=0.1908 right_z=0.1292 right_yaw=0.0201 right_pitch=-0.1354 right_roll=-0.1033 right_gripper=0.9959 state[joint_eff]: [-0.1709, -1.4017, 6.9265, 1.5995, -0.0317, 0.0073, -0.0122, -0.1436, -8.294, 8.4308, 1.6728, 0.2076, 0.1001, 0.022] camera 'top_cam' (step 161): [image omitted: streamed camera frame] camera 'left_cam' (step 161): [image omitted: streamed camera frame] camera 'right_cam' (step 161): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.345, "right_y": 0.235, "right_z": 0.07, "right_yaw": 0.0, "right_roll": 0.0, "right_pitch": 0.0}, "note": "The pear is in the blue bowl but the lemon bounced out and now lies ~4 cm nearer the base than where I first grabbed it. Hovering over its new spot."})
tool
executing move_to over 7 steps (0.7s)
step 168
assistant
agent noteOverhead view shows the lemon rolled much nearer the base (~11 cm behind the gripper). Moving back above it.
move_to
right_x0.2300right_y0.2500right_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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 0.8429, 1.7203, 0.8158, 0.0608, 0.6369, 0.5053, 0.9969] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.3412 right_y=0.2303 right_z=0.0592 right_yaw=0.0483 right_pitch=-0.0769 right_roll=-0.0679 right_gripper=0.9969 state[joint_eff]: [-0.1573, -1.0051, 7.0496, 1.6435, -0.0415, -0.0513, -0.0171, 0.2256, -7.6103, 5.9419, 1.7216, 0.4567, 0.1245, 0.0952] camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.23, "right_y": 0.25, "right_z": 0.06}, "note": "Overhead view shows the lemon rolled much nearer the base (~11 cm behind the gripper). Moving back above it."})
tool
executing move_to over 9 steps (0.9s)
step 177
assistant
agent noteLemon is hidden under the gripper in the overhead view and not in front of the jaws in the wrist view, so it should be right beneath; descending to grasp.
move_to
right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.195, 1.6341, 0.7521, -0.2123, 0.8043, 0.8497, 0.997] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.2351 right_y=0.2588 right_z=0.0535 right_yaw=0.0926 right_pitch=-0.0972 right_roll=-0.0792 right_gripper=0.997 state[joint_eff]: [-0.1983, -1.4017, 6.9128, 1.6044, -0.0513, -0.0269, -0.0122, 0.1846, -8.8137, 5.0393, 1.0232, 0.525, 0.0855, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 177): [image omitted: streamed camera frame] camera 'left_cam' (step 177): [image omitted: streamed camera frame] camera 'right_cam' (step 177): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.015}, "note": "Lemon is hidden under the gripper in the overhead view and not in front of the jaws in the wrist view, so it should be right beneath; descending to grasp."})
tool
executing move_to over 3 steps (0.3s)
step 180
assistant
agent noteAt table level over where the lemon should be; closing to test for 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, 0.8337, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.1961, 1.7348, 0.7013, -0.1112, 0.8036, 0.8677, 0.997] state[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1516 left_yaw=-0.0014 left_pitch=-0.1442 left_roll=0.0018 left_gripper=0.9993 right_x=0.232 right_y=0.2523 right_z=0.0174 right_yaw=0.0795 right_pitch=-0.1194 right_roll=-0.1102 right_gripper=0.997 state[joint_eff]: [-0.2256, -1.4974, 6.9128, 1.6142, -0.0855, -0.0464, -0.0171, -0.1026, -7.4872, 4.7658, 1.2283, 0.486, -0.0513, -0.0122] camera 'top_cam' (step 180): [image omitted: streamed camera frame] camera 'left_cam' (step 180): [image omitted: streamed camera frame] camera 'right_cam' (step 180): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "At table level over where the lemon should be; closing to test for it."})
tool
executing move_to over 10 steps (1.0s)
step 190
assistant
agent noteEmpty close: the overhead view shows the lemon actually landed in the blue bowl with the pear (what I took for the lemon was the wrist camera). Now moving the left arm over the dark plum, ~14 cm to its right, and lifting the right arm clear.
move_to
left_x0.3400left_y-0.1300left_z0.0600left_pitch0.0000right_z0.1200right_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, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.195, 1.7557, 0.6888, -0.1059, 0.7914, 0.8566, 0.0083] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0014 left_pitch=-0.1449 left_roll=0.0018 left_gripper=0.9993 right_x=0.229 right_y=0.2478 right_z=0.007 right_yaw=0.0865 right_pitch=-0.1426 right_roll=-0.1392 right_gripper=0.0083 state[joint_eff]: [0.0068, -1.2513, 6.9949, 1.6484, -0.0317, -0.0464, -0.0122, -0.1162, -8.7043, 5.5863, 0.8913, 0.4615, 0.1197, 0.6911] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.13, "left_z": 0.06, "left_pitch": 0.0, "right_z": 0.12, "right_gripper": 1.0}, "note": "Empty close: the overhead view shows the lemon actually landed in the blue bowl with the pear (what I took for the lemon was the wrist camera). Now moving the left arm over the dark plum, ~14 cm to its right, and lifting the right arm clear."})
tool
executing move_to over 12 steps (1.2s)
step 202
assistant
agent notePlum is centred just ahead of the left jaws, slightly right. Advancing ~4 cm and descending to table level to straddle it.
move_to
left_x0.3700left_y-0.1350left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5957, 1.4544, 0.4469, 0.2493, -0.4572, -0.3576, 0.9993, 1.195, 1.5162, 0.9112, -0.58, 0.7799, 0.852, 0.9957] state[eef_state]: left_x=0.3247 left_y=-0.1215 left_z=0.0421 left_yaw=-0.0289 left_pitch=-0.0966 left_roll=0.0467 left_gripper=0.9993 right_x=0.2278 right_y=0.2485 right_z=0.1045 right_yaw=0.0924 right_pitch=-0.1579 right_roll=-0.149 right_gripper=0.9957 state[joint_eff]: [-0.335, -5.9009, 6.6803, 1.7167, -0.4664, -0.0659, -0.0171, -0.1026, -7.5419, 8.0205, 0.8913, 0.4615, -0.0122, -0.1392] camera 'top_cam' (step 202): [image omitted: streamed camera frame] camera 'left_cam' (step 202): [image omitted: streamed camera frame] camera 'right_cam' (step 202): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.135, "left_z": 0.01}, "note": "Plum is centred just ahead of the left jaws, slightly right. Advancing ~4 cm and descending to table level to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 206
assistant
agent notePlum fills the space between the left jaws at table level; closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5491, 1.7279, 0.5346, 0.4053, -0.4438, -0.3473, 0.9987, 1.1946, 1.5146, 0.9188, -0.5961, 0.7761, 0.8524, 0.9964] state[eef_state]: left_x=0.3566 left_y=-0.1251 left_z=0.0045 left_yaw=0.0034 left_pitch=-0.127 left_roll=0.0627 left_gripper=0.9987 right_x=0.2272 right_y=0.248 right_z=0.1057 right_yaw=0.0925 right_pitch=-0.1641 right_roll=-0.1533 right_gripper=0.9964 state[joint_eff]: [0.4444, -6.0103, 5.8462, 1.536, -0.1197, 0.1099, -0.0659, -0.1162, -5.9009, 5.8051, 1.072, 0.3785, -0.0171, 0.0562] approver: 1 step(s) modified (delta_clamped). 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": {"left_gripper": 0.0}, "note": "Plum fills the space between the left jaws at table level; closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 216
assistant
agent noteI ran out of call budget, so I'm stopping with the task unfinished. Only the pear is in the blue bowl. The lemon bounced out when I dropped it from about 13 cm and is now on the table in front of the right arm. The plum got pushed forward on an empty close. With 5 calls left I can't grasp and place the two remaining fruits and also do the pour.
give_up
hindsight- Wrist camera reach offset: the grasp point is further out than the wrist image suggests. A fruit centred on the jaw column at row ~140–185 was still 3–5 cm beyond the fingertips. The pear needed +5 cm after the first empty close, and the plum was pushed away by closing too early. Once a fruit is centred, advance about 4 cm before descending, then close only when it fills the lower half of the frame between the jaw tips. - Orientation drift: pitch, roll and yaw drift while moving (pitch reached -0.54, roll -0.2). In that state the right arm froze and ignored small moves near the table. Sending a full pose with yaw, pitch and roll all set to 0 unstuck it. Include orientation 0 in every move. - Releasing: don't drop fruit from about 10 cm above the bowl. The lemon bounced out of the small blue bowl, which is only about 12 cm across. Lower the fruit until it nearly touches the bowl floor (grasp z about 0.06–0.07) and centre it over the bowl first. - Blue bowl position: in this layout it sat at about right_x 0.46, right_y 0.18 (overhead pixel ~150,78). The pear was at about right (0.39, 0.045), the lemon at right (0.387, 0.233), and the plum at left (0.36, -0.13). The large white bowl is at overhead pixel ~(67,60), in reach of the left arm. - Overhead camera: the right wrist-camera body can look like a yellow fruit in the overhead view. Check what you think you see before chasing it. - Budget: 40 calls is tight for 3 picks plus a pour. Combine motions where you can (for example open the gripper and reposition in one call) and avoid empty closes.
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]: [-0.5453, 1.7554, 0.5552, 0.4313, -0.4263, -0.3298, 0.0082, 1.195, 1.5146, 0.9188, -0.5964, 0.7685, 0.8524, 0.9964] state[eef_state]: left_x=0.3639 left_y=-0.1312 left_z=0.0045 left_yaw=-0.0173 left_pitch=-0.1175 left_roll=0.0558 left_gripper=0.0082 right_x=0.2263 right_y=0.2487 right_z=0.1048 right_yaw=0.0962 right_pitch=-0.1706 right_roll=-0.1504 right_gripper=0.9964 state[joint_eff]: [0.2256, -6.7487, 5.5179, 1.6923, -0.0757, 0.1001, 0.5836, -0.2256, -6.147, 5.9829, 0.8913, 0.3736, -0.0513, -0.0073] approver: 4 step(s) modified (delta_clamped ×4). 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
give_up({"reason": "I ran out of call budget, so I'm stopping with the task unfinished. Only the pear is in the blue bowl. The lemon bounced out when I dropped it from about 13 cm and is now on the table in front of the right arm. The plum got pushed forward on an empty close. With 5 calls left I can't grasp and place the two remaining fruits and also do the pour.", "hindsight": "- Wrist camera reach offset: the grasp point is further out than the wrist image suggests. A fruit centred on the jaw column at row ~140\u2013185 was still 3\u20135 cm beyond the fingertips. The pear needed +5 cm after the first empty close, and the plum was pushed away by closing too early. Once a fruit is centred, advance about 4 cm before descending, then close only when it fills the lower half of the frame between the jaw tips.\n- Orientation drift: pitch, roll and yaw drift while moving (pitch reached -0.54, roll -0.2). In that state the right arm froze and ignored small moves near the table. Sending a full pose with yaw, pitch and roll all set to 0 unstuck it. Include orientation 0 in every move.\n- Releasing: don't drop fruit from about 10 cm above the bowl. The lemon bounced out of the small blue bowl, which is only about 12 cm across. Lower the fruit until it nearly touches the bowl floor (grasp z about 0.06\u20130.07) and centre it over the bowl first.\n- Blue bowl position: in this layout it sat at about right_x 0.46, right_y 0.18 (overhead pixel ~150,78). The pear was at about right (0.39, 0.045), the lemon at right (0.387, 0.233), and the plum at left (0.36, -0.13). The large white bowl is at overhead pixel ~(67,60), in reach of the left arm.\n- Overhead camera: the right wrist-camera body can look like a yellow fruit in the overhead view. Check what you think you see before chasing it.\n- Budget: 40 calls is tight for 3 picks plus a pour. Combine motions where you can (for example open the gripper and reposition in one call) and avoid empty closes."})
tool
give_up: I ran out of call budget, so I'm stopping with the task unfinished. Only the pear is in the blue bowl. The lemon bounced out when I dropped it from about 13 cm and is now on the table in front of the right arm. The plum got pushed forward on an empty close. With 5 calls left I can't grasp and place the two remaining fruits and also do the pour.
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 · 13.1 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0204, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.6205, 9.5932, 1.7753, -0.1392, 0.149, -0.0855, -0.2667, -1.5932, 9.1692, 1.873, -0.0317, -0.0366, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78d62843675b6a8efadf92cf535b47751ef2601fc26e3c139147fcb42e52d132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c080174ef95dc615356cddf663d48da8821dabf92dc56e42e2c2978b424590b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2e0a58595216ef4bb9b7eaec93769061952bab922f64e04b69d9e5e711236922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 4.179 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0204, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.6205, 9.5932, 1.7753, -0.1392, 0.149, -0.0855, -0.2667, -1.5932, 9.1692, 1.873, -0.0317, -0.0366, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78d62843675b6a8efadf92cf535b47751ef2601fc26e3c139147fcb42e52d132",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c080174ef95dc615356cddf663d48da8821dabf92dc56e42e2c2978b424590b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e0a58595216ef4bb9b7eaec93769061952bab922f64e04b69d9e5e711236922",
        "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_016WoJm2WmkE1WsqqJh5R766",
      "input": {
        "note": "Scene: large white bowl far-left, blue bowl centre-right, dark plum, lemon and pear in a row. Right wrist cam shows the pear just ahead and slightly left, so I'm moving the right arm a little forward and left above it.",
        "targets": {
          "right_x": 0.34,
          "right_y": 0.03,
          "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_016WoJm2WmkE1WsqqJh5R766",
      "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, -0.3866, -0.0139, -0.0307, 0.9993, 0.1356, 1.1091, 0.4786, 0.0116, 0.1001, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1803 left_yaw=-0.0016 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9993 right_x=0.3349 right_y=0.0315 right_z=0.1099 right_yaw=0.0218 right_pitch=-0.0466 right_roll=-0.0158 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7299, 6.9538, 1.7998, -0.0415, -0.0562, -0.0122, -0.212, -3.8632, 6.735, 2.0928, 0.1587, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6150211731cbae766800a0913177fb2e9bd98ab60c1af8bbb2abc4621957e93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e72c090e7b932c719a6b3a59c24c19c70baf76af5d0784309ae4e2d8a775972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5a4052d12019fb7d1440a9dbd0ef1b12cdd97fb5862d5ac6eb357068ada6f4f4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.426 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0204, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.6205, 9.5932, 1.7753, -0.1392, 0.149, -0.0855, -0.2667, -1.5932, 9.1692, 1.873, -0.0317, -0.0366, -0.0855]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.3866, -0.0139, -0.0307, 0.9993, 0.1356, 1.1091, 0.4786, 0.0116, 0.1001, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1803 left_yaw=-0.0016 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9993 right_x=0.3349 right_y=0.0315 right_z=0.1099 right_yaw=0.0218 right_pitch=-0.0466 right_roll=-0.0158 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7299, 6.9538, 1.7998, -0.0415, -0.0562, -0.0122, -0.212, -3.8632, 6.735, 2.0928, 0.1587, 0.1587, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e6150211731cbae766800a0913177fb2e9bd98ab60c1af8bbb2abc4621957e93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e72c090e7b932c719a6b3a59c24c19c70baf76af5d0784309ae4e2d8a775972",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a4052d12019fb7d1440a9dbd0ef1b12cdd97fb5862d5ac6eb357068ada6f4f4",
        "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+QYKEAgSGAI4AUIIdGhpbmtpbmcSDIKhcT8yKFv/R1AkZBoMzhDbxju2h7xKj7TjIjAneXfb7q+BHxYPaFZ8CyHME8CuCeMo76RPA1wccPW3mdzcegLU91tDWwSn3vXBgDIqlgb8AOk9mwbiDs965azWWIIyi4PkcPL5QMn4F8lM8v1GefVJoGpwajEaCRAmwlQDDGczHeiIuds8zIro9the2o6Wr4nJ4ycDIs7St9cTwqp1sL42LU3TZ8yh31S2OAD2u6lUspaxexKAM7Rwj3lITLUuL1AwwTUrEasvLm3zHXLd9ebppkG7wF+yN4XJwww0LsCqmyI+tmF57iGOqb5g+Wq3ae5lul5u5XeLHprJCTxmqJ+WzbVvXMTsC05rzTFmXTtULGaE9NsylWC+1jysP2x8HFSILsP4vj53G5cQwjaVr4wz/C1gZnAXzYNumNgSLo/SkBXZ7ZTVKRbBUxNpsi1D8xSScKmB2M5fbzz49od/We1A9Z6j+m0adasXcSmfYoI1CB4W971BpcUy0hhrTjRoeCFVmD4yjCyMlMyMPzJNQgHExCj5ubNwGXmMiQHLq62BZkiAfDLgGlvyOw1nICNwzhjdWYHvyQjI7x5ExA2t6hEMd+Ca7IRwBruy9YiRYNoXQ9Ky9KRx0M6LqHbJPUb1WTZvw4fnZ9eYrZ3AnPAT5Z+dSQfvgFFebufPuVc8y3vZWAbr3Jvmyl1NH1sgRUfdVBqwuN6cEOIu5cLx346n20+8hP6nuz/fPWhWzd6j41qPOaQ7INp66ef2Ntt4Cz5leL3xYFfzz0B7xVNJlGb0I32VBhNnx2vxhbB+DDZGsZHlvFjPXWU/1ts0NjBSy0LTtPP6LAEgVh3FgWIUxljW4fLUnZkimHJrXfXTw9zXdmnl3gJrp8oQnNQHzHjn3TSBCreLPZvP2NxPuy8XFAlUrxxkSMLnfYHKIwDq0TFGg5Np+UvJSuiV1vtIExQl/4bjmJcSmmf11c5WW1+E3l6F9aLBUYXkLMdxUHVnpscdyq9oy0gCXMEo82EVwemX7ss2XVWERZdIxWlhD63/qLMTkkx2a8+zwM4spuwaBkf7ig/6hlPlEZZ+pzJ02ZkiDloaotSo/WrL+6RPSU7AYAAwpVHwS8a/f74YaMDsNgT1JJ0YW8V6RUuE9r9G+iSu12gTl1bmpIeHGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NifTg5R4bM3mVffdRue6V2",
      "input": {
        "note": "Pear is centred just ahead of the jaws, slightly left. Advancing ~2 cm, 1 cm left and descending to grasp its body.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.04,
          "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_01NifTg5R4bM3mVffdRue6V2",
      "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, 0.8108, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.1581, 1.5486, 0.3653, 0.5201, 0.1005, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0278 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3539 right_y=0.0421 right_z=0.0206 right_yaw=0.0436 right_pitch=-0.0905 right_roll=-0.0211 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.5248, 7.0085, 1.8779, -0.0269, -0.0513, -0.0122, -0.2803, -5.7231, 4.8068, 2.0342, 0.1734, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6cf4c0e3385a2c84a16583302c27ed6a8b0ea413cd6d74c4528defdbfb04b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e7dd00c599bef8e9c69b9e3847252176cd63e780c984f27733703052e143d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb40b07611ee7b6cec26a8bd000420c7d3a620b9faaba2c9d428594f90f994a9",
        "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 · 4.03 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0204, -0.0124, 0.9993]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=0.0005 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.9993\nstate[joint_eff]: [-0.4444, -1.6205, 9.5932, 1.7753, -0.1392, 0.149, -0.0855, -0.2667, -1.5932, 9.1692, 1.873, -0.0317, -0.0366, -0.0855]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.3866, -0.0139, -0.0307, 0.9993, 0.1356, 1.1091, 0.4786, 0.0116, 0.1001, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1803 left_yaw=-0.0016 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9993 right_x=0.3349 right_y=0.0315 right_z=0.1099 right_yaw=0.0218 right_pitch=-0.0466 right_roll=-0.0158 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7299, 6.9538, 1.7998, -0.0415, -0.0562, -0.0122, -0.212, -3.8632, 6.735, 2.0928, 0.1587, 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, 0.8108, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.1581, 1.5486, 0.3653, 0.5201, 0.1005, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0278 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3539 right_y=0.0421 right_z=0.0206 right_yaw=0.0436 right_pitch=-0.0905 right_roll=-0.0211 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.5248, 7.0085, 1.8779, -0.0269, -0.0513, -0.0122, -0.2803, -5.7231, 4.8068, 2.0342, 0.1734, 0.0855, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6cf4c0e3385a2c84a16583302c27ed6a8b0ea413cd6d74c4528defdbfb04b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29e7dd00c599bef8e9c69b9e3847252176cd63e780c984f27733703052e143d0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb40b07611ee7b6cec26a8bd000420c7d3a620b9faaba2c9d428594f90f994a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear fills the view between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L7XJGLhzB69ozwMhNywmyX",
      "input": {
        "note": "Pear is centred between the open jaws at low height; closing the gripper on it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01L7XJGLhzB69ozwMhNywmyX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8108, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.1577, 1.5486, 0.3653, 0.5117, 0.0963, 0.0521, 0.009]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0359 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3526 right_y=0.0425 right_z=0.0189 right_yaw=0.0469 right_pitch=-0.0992 right_roll=-0.0198 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.3333, 6.9812, 1.8193, -0.0269, -0.0659, -0.0122, -0.0342, -5.094, 5.1624, 1.7216, 0.0708, -0.0464, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef07e01b8c4e3128a1dfdb25127eb388dd794514d3924f867ec7a5dd50e0bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6cdd8da3a5066a74275a0860ea63cd59d6347262b4fce6709ba6f684d49842b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a07d03167a66fb6397e5eecf6265769c1bfc3760a59d6e82d734ac2f4380bf9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.626 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, 0.8059, 0.6147, -0.3866, -0.0139, -0.0307, 0.9993, 0.1356, 1.1091, 0.4786, 0.0116, 0.1001, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.296 left_y=-0.0004 left_z=0.1803 left_yaw=-0.0016 left_pitch=-0.0088 left_roll=-0.001 left_gripper=0.9993 right_x=0.3349 right_y=0.0315 right_z=0.1099 right_yaw=0.0218 right_pitch=-0.0466 right_roll=-0.0158 right_gripper=0.9993\nstate[joint_eff]: [0.1983, -1.7299, 6.9538, 1.7998, -0.0415, -0.0562, -0.0122, -0.212, -3.8632, 6.735, 2.0928, 0.1587, 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, 0.8108, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.1581, 1.5486, 0.3653, 0.5201, 0.1005, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0278 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3539 right_y=0.0421 right_z=0.0206 right_yaw=0.0436 right_pitch=-0.0905 right_roll=-0.0211 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.5248, 7.0085, 1.8779, -0.0269, -0.0513, -0.0122, -0.2803, -5.7231, 4.8068, 2.0342, 0.1734, 0.0855, -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, 0.8108, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.1577, 1.5486, 0.3653, 0.5117, 0.0963, 0.0521, 0.009]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0359 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3526 right_y=0.0425 right_z=0.0189 right_yaw=0.0469 right_pitch=-0.0992 right_roll=-0.0198 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.3333, 6.9812, 1.8193, -0.0269, -0.0659, -0.0122, -0.0342, -5.094, 5.1624, 1.7216, 0.0708, -0.0464, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ef07e01b8c4e3128a1dfdb25127eb388dd794514d3924f867ec7a5dd50e0bac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6cdd8da3a5066a74275a0860ea63cd59d6347262b4fce6709ba6f684d49842b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a07d03167a66fb6397e5eecf6265769c1bfc3760a59d6e82d734ac2f4380bf9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDB3LtgtrsNTImaDFAxoML1L7RYyyW4tAspf/IjCFVLPNUXqmhuGgBMFYUKPDka8wD5JK6gdSTbkXiIPd5HXz5EbXqRaEPqli7UP4zzUqwwYeMwwpf8vPYBEntJF4s27yrddEswz8+Z46aA59HRw1QCYNSMP5NdwGi7SVgvWbEMSEZnFGZGBu3kQHkhc2MbjkO3nNFcGpdp515FejJf0Vz15U95tPpsGZ2ZTACj3YGyNihZsep3teuwloJOqjzGtB1mjVH5C7RWiroqqhDwm51mB0kwdHeyY6QALwOaGuEm/RcLYTaLiqFQC5PDK31XgZYFTOApuJDeJ/rEdq68/z6k8wIlnZjSgcFxgOynld3VzbmiK5rSbE5lPlTBnFwoik3v2QNvpmYJKykgiWKzQgBCZCVxywzlkkfV54SsfbpUvYfiwBwKyn774e8v84tYfzqp2LY/pvr8/tLleby2/74OaQKfktjmOSPoT49TkF3pL2fV2rZOPP4UwEYI2w0PlI4hfpRq3AdbbKFAN490cFFLmU31WNTzuKXdecjh0fDnZ2bD08KynxVtZPQTkSGVqJmUqWMF+Ix5bOf/bkHG06h+2lhNl28HOTpEubt5y4YL2S70qmNCmrxiT9ETDEL0E3GvEcMdTE7r0+/sD89b3A/mu002bLKBR93DCjAQ306JuQ8RlrV05mty8Gxumkv8zAz8miP5bRL5ZzXY7ZNS5IEC7SxB/4BzfbNkIE3qY9xqeefpV2+SIqaHlF6BybZ0ZMvEZvyThVA+WYfUjEQLaCfNhz4lFwb8ZPWAGXRXazJKYZdYXDYYO/ESmkjZNniGQmSX0U7jcJyYDtyscztIZSaoxV3M3/YzQ83yuoM3KBqNny+joiC7Qy61UC+q+QziQkXp/A+NCYZor+eDYybmKZNl1pmKleW6oXrulNrE16YF/uUcB50iC9xYuRKgVbmyFvrZpN8KRVe1pbEOXum3oGZ4/QSKXVueDFLm5NwJQ7fIQZoojQPR0gJ6AD/FHrad6FDHMPW2j90EVRVHe//43BlVk4hXGv0Nvf/HCZl27jTX5DoSvGRz9Qr6K0FbKezwAL++tCU4j2GDCQXEznE1lEU1pdoww2jeAxifujeFIHwABizdwshLBBaNPdOcTjcMQbjiI55k9jX0xZy2eodgx5xN2D+kR97IlH80W4+o2j3DRnZMSGt94C/Kt/WKtKDVfXEnw9GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GwHsSPRCjkmhBqiPDtfGHt",
      "input": {
        "note": "Empty close (0.009): the pear is further out than the jaws. Opening and lifting a bit 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_01GwHsSPRCjkmhBqiPDtfGHt",
      "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, -0.4187, -0.0139, -0.0307, 0.9993, 0.157, 1.3838, 0.4206, 0.2592, 0.0963, 0.0429, 0.9954]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1721 left_yaw=-0.0016 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3454 right_y=0.0411 right_z=0.0455 right_yaw=0.0507 right_pitch=-0.1315 right_roll=-0.0305 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4154, 7.1453, 1.8046, -0.022, -0.0366, -0.0171, -0.1436, -5.7915, 7.9795, 1.79, -0.0171, 0.0806, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:015ea76ae6d4a9ff75e50ae82c3cd8944288962c299ad596e11cfef15304d99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab3b498b42eec9f0a691d30d0cac34336ed62add3ae95beb3f32336a09e58c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09d81763aecd9a777c9795e5b88a195fe6de67896a0f2207d52de2a6cba64c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.7 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, 0.8108, 0.6147, -0.4007, -0.0139, -0.0307, 0.9993, 0.1581, 1.5486, 0.3653, 0.5201, 0.1005, 0.0525, 0.9993]\nstate[eef_state]: left_x=0.2944 left_y=-0.0004 left_z=0.176 left_yaw=-0.0016 left_pitch=-0.0278 left_roll=-0.0006 left_gripper=0.9993 right_x=0.3539 right_y=0.0421 right_z=0.0206 right_yaw=0.0436 right_pitch=-0.0905 right_roll=-0.0211 right_gripper=0.9993\nstate[joint_eff]: [-0.0068, -1.5248, 7.0085, 1.8779, -0.0269, -0.0513, -0.0122, -0.2803, -5.7231, 4.8068, 2.0342, 0.1734, 0.0855, -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, 0.8108, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.1577, 1.5486, 0.3653, 0.5117, 0.0963, 0.0521, 0.009]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0359 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3526 right_y=0.0425 right_z=0.0189 right_yaw=0.0469 right_pitch=-0.0992 right_roll=-0.0198 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.3333, 6.9812, 1.8193, -0.0269, -0.0659, -0.0122, -0.0342, -5.094, 5.1624, 1.7216, 0.0708, -0.0464, 0.6911]",
      "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, -0.4187, -0.0139, -0.0307, 0.9993, 0.157, 1.3838, 0.4206, 0.2592, 0.0963, 0.0429, 0.9954]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1721 left_yaw=-0.0016 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3454 right_y=0.0411 right_z=0.0455 right_yaw=0.0507 right_pitch=-0.1315 right_roll=-0.0305 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4154, 7.1453, 1.8046, -0.022, -0.0366, -0.0171, -0.1436, -5.7915, 7.9795, 1.79, -0.0171, 0.0806, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:015ea76ae6d4a9ff75e50ae82c3cd8944288962c299ad596e11cfef15304d99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fab3b498b42eec9f0a691d30d0cac34336ed62add3ae95beb3f32336a09e58c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 31):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09d81763aecd9a777c9795e5b88a195fe6de67896a0f2207d52de2a6cba64c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Cg1tYVdiQyrHBaM1WSCzxS",
      "input": {
        "note": "Pear sits a few cm beyond the jaws, well centred. Advancing ~5 cm forward and descending to its body.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.045,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Cg1tYVdiQyrHBaM1WSCzxS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4236, -0.0139, -0.0307, 0.9993, 0.1455, 1.665, 0.5732, 0.3363, 0.0765, 0.0326, 0.9964]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0016 left_pitch=-0.0534 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3876 right_y=0.0468 right_z=0.0164 right_yaw=0.0609 right_pitch=-0.1842 right_roll=-0.0299 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.1966, 6.9949, 1.7802, -0.0513, -0.0513, -0.0171, -0.841, -6.4752, 7.2684, 1.7949, 0.0562, -0.0806, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a0527ac471cade51fe97825ae37740aac99e985fb498f4cb788d5856c5f26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc455c604a9ab8afc3c23c35799b404b9c466c4c5e03d109445b29a4c8a80733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b65f6348c08214dede74842257eff6e26dcf9663c84e720d95834dbec8c9fe4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.895 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, 0.8108, 0.6147, -0.4088, -0.0139, -0.0307, 0.9993, 0.1577, 1.5486, 0.3653, 0.5117, 0.0963, 0.0521, 0.009]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0359 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3526 right_y=0.0425 right_z=0.0189 right_yaw=0.0469 right_pitch=-0.0992 right_roll=-0.0198 right_gripper=0.009\nstate[joint_eff]: [-0.1299, -1.3333, 6.9812, 1.8193, -0.0269, -0.0659, -0.0122, -0.0342, -5.094, 5.1624, 1.7216, 0.0708, -0.0464, 0.6911]",
      "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, -0.4187, -0.0139, -0.0307, 0.9993, 0.157, 1.3838, 0.4206, 0.2592, 0.0963, 0.0429, 0.9954]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1721 left_yaw=-0.0016 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3454 right_y=0.0411 right_z=0.0455 right_yaw=0.0507 right_pitch=-0.1315 right_roll=-0.0305 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4154, 7.1453, 1.8046, -0.022, -0.0366, -0.0171, -0.1436, -5.7915, 7.9795, 1.79, -0.0171, 0.0806, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4236, -0.0139, -0.0307, 0.9993, 0.1455, 1.665, 0.5732, 0.3363, 0.0765, 0.0326, 0.9964]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0016 left_pitch=-0.0534 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3876 right_y=0.0468 right_z=0.0164 right_yaw=0.0609 right_pitch=-0.1842 right_roll=-0.0299 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.1966, 6.9949, 1.7802, -0.0513, -0.0513, -0.0171, -0.841, -6.4752, 7.2684, 1.7949, 0.0562, -0.0806, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e3a0527ac471cade51fe97825ae37740aac99e985fb498f4cb788d5856c5f26b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc455c604a9ab8afc3c23c35799b404b9c466c4c5e03d109445b29a4c8a80733",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 36):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b65f6348c08214dede74842257eff6e26dcf9663c84e720d95834dbec8c9fe4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDMyAwyUpJNdbSufJaBoMbI1tGRKnCEZReU4OIjAqVLf8thv8Fu5etWCXNCvBY14hfb/vai5k2NKXMONLYgy62AYsz2gUMqRaPtr7d8Yq0AYdyOim8t+4V6YhcDXKw0HMbT07pZ27cuKo/gMGe0/GNuxKe0HL9teJrImzQ3vFpyH67kqWmX1r8cNTX3HZEDOpefwuO9MzK6PbILSIsLATIswPxuF2n1ZroiB4IK2IDg9FpE3rvykVz+H3vqVT2cdyeQMVTLO0oeNm0d2hGpTq3bVUtRseYD9bcFLY17Nu/7i/FNCNyKr58jYgIa5xRboQj/o7GLtotdBGog8FoitxgjJFNhsIu1I2AirEOZeLQ/ALkWMwF9e/j2eLa+I9n24vD2vas5Ar/pYcAFpaSrW6PZiqlnR9f3mqbqEfDGwFA2kMcXdYCnex82wXKB32sL2MAX0mqaLF7NLyYqgPRo0mz5tN7tq2DAldArYxVmgcHX1Uj+keN0tk5H1NdvCut1DsmfYl7xq0aDWRl4rXXIntflohyYvuo79ghRVBROL+e4AFbYHhTHT6vMWd0CG0g2msqLDZy8k760CYxuMbDeMU2aZQL/nZpUVu5H4oNxE17ztG39VfdsCYjoptjApbbW7DpP2WCCFIUGcwOBLYI8TqUoY4ZVWFyfj7noTbUF6J7G6CQ/8eFvvBC75WqaLCqHx3WGK6mT3bgSTQoLS6qJ/eTbCFu7h+adVSG7wqqNa66Kq7DrNT2s1o9HcaGqrBkXfI0mERGbZoxzM/+5WtqfR8KD0hGC1Ug9be5U89fIbt2ysVJF4Fm0GkvYzwAM5M1v9ozCBLYitgLzEXurbBpr9BXyO813O1pkhXHSKs28cEN0ZZxBAQ3wZWqSfw4b3fqDymbDuOSjacdlS14ySTcN7Yzez+Ktyq6b64pM3cQZoH6Bu3hB4NikFZwr5nN19a+UTb2gdZzfewJOeOK/iCMjaUZXAw701PDdC0gyYLKxLWLyyvyIgwJHT5sg7IStF4I2C79QYpScbs6BRBcauQ/U8JFoPEARM/FRf/W6fPsxJZPpKQxX7UkEtv1Os7nCfGGCXG4NMCgsuc/+kHwSOfDSl8sc3oE8R29wCOU32NwXuKI+iV+00gDo99cym99JiHVhd0d843CON+kMbeE2oW7xdwJeEDBr14Q5zl1uqU5S5naEQLLfMeMYS65qltQGiL6JUw6WTKr+KntHH9GF2ULMjblxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PBdPbUio9auc84DiTfu7PC",
      "input": {
        "note": "Pear now fills the space between the jaws; closing on 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_01PBdPbUio9auc84DiTfu7PC",
      "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, 0.8143, 0.6147, -0.4244, -0.0139, -0.0307, 0.9993, 0.144, 1.6646, 0.5728, 0.3328, 0.0734, 0.0257, 0.6355]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0016 left_pitch=-0.0549 left_roll=-0.0001 left_gripper=0.9993 right_x=0.387 right_y=0.0466 right_z=0.0158 right_yaw=0.0657 right_pitch=-0.1879 right_roll=-0.0331 right_gripper=0.6355\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, -0.253, -6.6393, 5.1077, 1.58, -0.022, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1caf8a5b125d429534c87704a645779f91a7df2d9d7426562db2b7a04e4ed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a60d87bbd761db9b6b2eae7cacc3b491347f3a4b3da14496b5ccf551f029173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eeafa52178dfbea06396ddfa29382cb21aa9aac61e74b06daad773f732682259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 5.747 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, -0.4187, -0.0139, -0.0307, 0.9993, 0.157, 1.3838, 0.4206, 0.2592, 0.0963, 0.0429, 0.9954]\nstate[eef_state]: left_x=0.2919 left_y=-0.0004 left_z=0.1721 left_yaw=-0.0016 left_pitch=-0.0465 left_roll=-0.0002 left_gripper=0.9993 right_x=0.3454 right_y=0.0411 right_z=0.0455 right_yaw=0.0507 right_pitch=-0.1315 right_roll=-0.0305 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.4154, 7.1453, 1.8046, -0.022, -0.0366, -0.0171, -0.1436, -5.7915, 7.9795, 1.79, -0.0171, 0.0806, -0.1294]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4236, -0.0139, -0.0307, 0.9993, 0.1455, 1.665, 0.5732, 0.3363, 0.0765, 0.0326, 0.9964]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0016 left_pitch=-0.0534 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3876 right_y=0.0468 right_z=0.0164 right_yaw=0.0609 right_pitch=-0.1842 right_roll=-0.0299 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.1966, 6.9949, 1.7802, -0.0513, -0.0513, -0.0171, -0.841, -6.4752, 7.2684, 1.7949, 0.0562, -0.0806, 0.0806]",
      "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, 0.8143, 0.6147, -0.4244, -0.0139, -0.0307, 0.9993, 0.144, 1.6646, 0.5728, 0.3328, 0.0734, 0.0257, 0.6355]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0016 left_pitch=-0.0549 left_roll=-0.0001 left_gripper=0.9993 right_x=0.387 right_y=0.0466 right_z=0.0158 right_yaw=0.0657 right_pitch=-0.1879 right_roll=-0.0331 right_gripper=0.6355\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, -0.253, -6.6393, 5.1077, 1.58, -0.022, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b1caf8a5b125d429534c87704a645779f91a7df2d9d7426562db2b7a04e4ed2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a60d87bbd761db9b6b2eae7cacc3b491347f3a4b3da14496b5ccf551f029173",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eeafa52178dfbea06396ddfa29382cb21aa9aac61e74b06daad773f732682259",
        "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+AoKEAgSGAI4AUIIdGhpbmtpbmcSDKRoYAybRLLNj1jjghoMLwx2ZYi6rpv4XCzwIjAURkhN5igIBL0+utk1Tyw2CYNW2BR1YNVwJELAJssaSg3K8SDchARoByy5emNMpJkqlQqB+398Evf0NmrNMfmT0wjZ4iGVltq4+Y0TbODH2eEznyzMbH07Z8i9RLNDkGHnzwjEns3sKRZxXTHo2n4dOFQFoUu38ru/QOkJCKifZt3i4Rycb1xailddG61IKpkkLESZOW1/JNfCWwyv+y55x9jdUx39JORpF12eoJV7bTHN3ImoLf8d8ZdwHfMORmv6LAO3PIkb+1I63WmxsdNGOfn58V2tuAHuwmHia0012m84BiNWP0gx3nbQdauaLlD9r/L8hRACrRcm478d9aZe9YpujTG3MeO6rskXPoy+xjku6cVNFEQ7aEuMdoC4IXvBZ8rjYvjj+/oeSYdMcsLrdvwQ1IKuIw+PSQWbU9axYm4i/Rpv3m/MoBP8edV4BZ5htVFxRo3EOWPf8o7MD9wYvJNV/cSmRAFvwQRfS04yeAzDsMhyd5l3bdz8YZP+lnwpOHygsiNK72WqJalwxoOt4y58pjmNit+pg/4YnOLPQALBwdQPARmTtdIbUwYItvA6gVVS3oWdIVnk61Se/6VI6pfLKsjtc/2S/Ys1r/JUlJ/htFfwfgCFWYO+8R6DVE/m8BapK6rv0feUKnW2ICn3EldmSnZl7mmp9Vxz738L62hnHIaYgCnHvY875WOpNnpfgMB+/XTm6n3QH4DZrIHIQGnijaOymPMwBDWWM8RntecT+8TBvV8ujdiu/vfC3uJxKetrFJM7tJGsA6k8D8BuKUfMMf3Xi0pln0WquJmTK/HKDSFXPTCQMYMxbNUps1Oq7S0bOzQ/WfGi6FzOmuePsRbxQZHW887VJd8WaTWKRqJCcFwjVAS9FVouH6rCl18qAjzIsYyC5NQfIPNBLnHFu3+sXss0ZMblzaAlXcfeDSXQSrsIQ71ZLOYE7QgxFfImxxBK54fl5K1YI+EVrwOwPrhYuRjL3wBJHH5an484uwBEnPnJEKp24yyrv4oDaL1Q5xZrvI+1EdQxBSPHVK/6cqKa9kdN3gaEcTjQqWY+Or+QH49LntSRqWI6+2VDIOKAjCOr/T/C2ZGsNFBHKFYXNV7/PsXwKP/f+EPzpKzvO8a3aSigIxjqRIn6VOq3ht5Um/AWDYASIJkc15ImLI9IWrnvrI9FpRBYNIqGo1RBtWw8RMqswh50RAV2d60+vE3G2nZvt8jMqbiGGY5nUlGl96yDaov9wr6nHrrzurbxSoT6SPsMGJqj5D36qGhudZSF0MWC0ThDu7uNUAN7cwUC70rihiMXKSo02tOLCN8cNIXHTDG70GT48D8lP/sxYTfl7rWp0HQtF/wROJoQL0QtjkLwp36YWNTw4jAIOQb56LUgtDAW431Yacn0OGgjroFC6Rj4MUIfoVXVmXoniGS6fhAAuyyyeamlx/mSHKw/p3sZidy+kPBpMaXCvxmaWnP5OhrokEGduqk6K77pVVcxs0PxLnAe3dgVDnzCw31SfPpPL6Nsg66ReHUqvE1+UMADj/GYvty7cgvcreOPowRf7viu9HFs+SEHoRPUYJGFi+sdkT8FHMrj3quoIbJHbgsZMsSblRYMPdQdESXdWWeW2rB2oeCY5XBMvAj+ZzsZzC7fK0H9PmJmNI6UkE3xZNPqqGsblCUosSyKBXIYDtuAKc3azYB+lxiEQWW88hSwIAl4XDuAO3d5Gsj9h4PO57k6s0nhZtDrIzgE6Xom9hoJqwJAGkwpPVUZvu3fMqVHhPY8ZCTlo0Q6tYEcllRe70SOIWMa5SfE5xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JiRKeftwwTyev4Q3Q9a649",
      "input": {
        "note": "Gripper settled at 0.64 (~6 cm), so the pear is held. Lifting it clear before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JiRKeftwwTyev4Q3Q9a649",
      "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, 0.8146, 0.6147, -0.4252, -0.0135, -0.0307, 0.9993, 0.1448, 1.3632, 0.9516, -0.4248, 0.0734, 0.0151, 0.6389]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.17 left_yaw=-0.0019 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3766 right_y=0.0454 right_z=0.1447 right_yaw=0.071 right_pitch=-0.2653 right_roll=-0.0468 right_gripper=0.6389\nstate[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7021, -0.0171, -0.0317, -0.0122, -0.3077, -7.159, 9.4154, 1.7216, -0.0122, 0.0513, 1.0379]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:931c8372411406cb1c279f0899961db3e528951432b1658ea5da7ffbf9cc409b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f791e2a3cdb71d30d86cbac894f450733ec7f5b588578b1fdf521ccd3ede0754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e499913736e3c559bac6537a27ba9f597e75b08f67813511317ab9fba6a18c75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 4.278 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, 0.8135, 0.6147, -0.4236, -0.0139, -0.0307, 0.9993, 0.1455, 1.665, 0.5732, 0.3363, 0.0765, 0.0326, 0.9964]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=-0.0016 left_pitch=-0.0534 left_roll=-0.0001 left_gripper=0.9993 right_x=0.3876 right_y=0.0468 right_z=0.0164 right_yaw=0.0609 right_pitch=-0.1842 right_roll=-0.0299 right_gripper=0.9964\nstate[joint_eff]: [-0.2803, -1.1966, 6.9949, 1.7802, -0.0513, -0.0513, -0.0171, -0.841, -6.4752, 7.2684, 1.7949, 0.0562, -0.0806, 0.0806]",
      "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, 0.8143, 0.6147, -0.4244, -0.0139, -0.0307, 0.9993, 0.144, 1.6646, 0.5728, 0.3328, 0.0734, 0.0257, 0.6355]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0016 left_pitch=-0.0549 left_roll=-0.0001 left_gripper=0.9993 right_x=0.387 right_y=0.0466 right_z=0.0158 right_yaw=0.0657 right_pitch=-0.1879 right_roll=-0.0331 right_gripper=0.6355\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, -0.253, -6.6393, 5.1077, 1.58, -0.022, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.4252, -0.0135, -0.0307, 0.9993, 0.1448, 1.3632, 0.9516, -0.4248, 0.0734, 0.0151, 0.6389]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.17 left_yaw=-0.0019 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3766 right_y=0.0454 right_z=0.1447 right_yaw=0.071 right_pitch=-0.2653 right_roll=-0.0468 right_gripper=0.6389\nstate[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7021, -0.0171, -0.0317, -0.0122, -0.3077, -7.159, 9.4154, 1.7216, -0.0122, 0.0513, 1.0379]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:931c8372411406cb1c279f0899961db3e528951432b1658ea5da7ffbf9cc409b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f791e2a3cdb71d30d86cbac894f450733ec7f5b588578b1fdf521ccd3ede0754",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e499913736e3c559bac6537a27ba9f597e75b08f67813511317ab9fba6a18c75",
        "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/ggKEAgSGAI4AUIIdGhpbmtpbmcSDCp18/UaEes+TxWU0RoM6FxnUTB0kUYZvOM9IjBiorlmyk+FaHB5r+3TuylH5k59y/v31L8eQoFa9o9e0DgVxirFuGvPu7KPVzOZ3KgqmwjKM6GLR+Kkfchr0DCzQWC1iBzn2yRcgsjO3u8YeFquv2xz1kL3HHlDvnj7viROSgsVaY+/Rh3wmgI3U5I1hV6oixcS8owWZQXBprSTxCpW3nulEy9nmwm90DHExfmaPZW8MiOsk5ZlTjUeI5Flk4HAhD2/spVVhYFxRvzfej1EDgnpbcdGF0PCgyYRPoFZ+SdFDLafx6cxnUfCUOl1oBkPH2mVKf9kQkXHBhzCUZdRv8S/fA859xI9LEDnyvXkIGlB2RfD6Td1lSqpTfYNab/4zc2BdBmNeCbh/eaJZTY1+2ZjSF8Umn1bG/iahz58FbRiD60WmRyRmCOoGQdWNhfjtbpj2B1tC84WCSmt/mba8eqvLv2VmQqEM4PV7cxH1LuO86Fetkpv25Q4mqCe/kx0hfp0bAI92j7iry6qjECxQIFG3dA/oO7iOcdh42ROh/aB7V5m11TqCqsq7IFg1ivrygNI/OFoslHUtjW0yTK0j/FAOrdcQVbRxm2A7k+vBvtsCEalA+24tRU17ofp80jzc5sMZssZD27guWk+uM8qvJpqnkq9YPlX17iquLz6Va0d5Yrp0sc5ULEpfd1eT59ZwV1PfbtuGeku835mJ4XnPTAHjWrfF0hT+SByJ/KbAY4ZnvMpBl0ohiJY6hbBuTSySHHOJ565hKOdoZEaftNBWO4lylHXOcbeg54KqYdMoONYiu1Mv22ivQ5WUVPwnBUJYAEr/7r+zQu7UtHp8ApaeiIvgMLyGt8RkgauKIo3itSBpepC5lUbheQcSiIiGoloNl8ZPevUVrBwWT22TVD0owmHzybikmt0irM4SKl5F6VhArWtkAJ4EL3dPelcpYMtS8lp/AFilKklhSCr3anWMbR3JyIr56qxs2V3ogszMmxCfLwnDU9P5Vr2Yb0/7pRHmstKeQl+8069DtxRAJzTVA+fg4Pedy0S1bk8k9Vv1AdXqazbhJGBpmQar4Yd8x/NctidIz5OL8xCDdzBkn8ORH1xh1wd2McNlhIJfV2zP6ehlCBUz42l73xO4qmznODYyWWnb2/MRG1mrcPXkuyplfsV0Dl6mH05YOUDWIUHR0kXumaZA59O5sCqoQyL/5klMGlxf+7YE3e4D8zHwI3FCiIIBHhwOJRG5MtN6ujBZTFMo9opTVNEIQKXneYZvyLBNfU9JemD9rsiaIlMcGbEcTxCfDlkzBrbw8ysxNthcLWk/yWtTZUWp+XqiS83l6RGTb+JIW+f/xMXuQiv0fY8jXrGTXqLqWi0PCZXpDQVSa51D19dKDdQDPp3H9QR5LjyyM7/gSJsMEJuuuyDVS8Rw1EvkBb2Mt5Xv24ZiuKApszMlqXUyyGKxmzOWO9TGTWmXKRr6vTXgKhuixAQvj1gd4EhFI2uzdnIxvggGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BRWNZUBobHUpUi9h47pNgE",
      "input": {
        "note": "Pear is lifted; the blue bowl appears ahead-left in the wrist view and ~13 cm left in the overhead. Carrying the pear over the bowl.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.16,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BRWNZUBobHUpUi9h47pNgE",
      "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, 0.8146, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4675, 1.6634, 1.3418, -0.6334, 0.2615, 0.2367, 0.6389]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0016 left_pitch=-0.0618 left_roll=0.0001 left_gripper=0.9993 right_x=0.4072 right_y=0.1584 right_z=0.158 right_yaw=0.0972 right_pitch=-0.3418 right_roll=-0.075 right_gripper=0.6389\nstate[joint_eff]: [-0.2393, -1.347, 6.9949, 1.7167, -0.0757, -0.0464, -0.0171, -0.1299, -8.8274, 9.7573, 1.6337, 0.2808, 0.1978, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86a1acc59381c4e83981894d791ae478352ecfc94f91a4490db687aaffd20bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9c7dc3acf0424d4f4ce1b2b715bb06dc8ce20e8008634fa0d639a8d5e104c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d254839d293a9e6e71450de724ecd908e5850a05c7b1baa7f0dec7dd06abefb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.021 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, 0.8143, 0.6147, -0.4244, -0.0139, -0.0307, 0.9993, 0.144, 1.6646, 0.5728, 0.3328, 0.0734, 0.0257, 0.6355]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1703 left_yaw=-0.0016 left_pitch=-0.0549 left_roll=-0.0001 left_gripper=0.9993 right_x=0.387 right_y=0.0466 right_z=0.0158 right_yaw=0.0657 right_pitch=-0.1879 right_roll=-0.0331 right_gripper=0.6355\nstate[joint_eff]: [-0.0752, -1.4291, 6.9812, 1.6972, -0.0757, -0.0562, -0.0122, -0.253, -6.6393, 5.1077, 1.58, -0.022, 0.0122, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.4252, -0.0135, -0.0307, 0.9993, 0.1448, 1.3632, 0.9516, -0.4248, 0.0734, 0.0151, 0.6389]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.17 left_yaw=-0.0019 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3766 right_y=0.0454 right_z=0.1447 right_yaw=0.071 right_pitch=-0.2653 right_roll=-0.0468 right_gripper=0.6389\nstate[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7021, -0.0171, -0.0317, -0.0122, -0.3077, -7.159, 9.4154, 1.7216, -0.0122, 0.0513, 1.0379]\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 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, 0.8146, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4675, 1.6634, 1.3418, -0.6334, 0.2615, 0.2367, 0.6389]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0016 left_pitch=-0.0618 left_roll=0.0001 left_gripper=0.9993 right_x=0.4072 right_y=0.1584 right_z=0.158 right_yaw=0.0972 right_pitch=-0.3418 right_roll=-0.075 right_gripper=0.6389\nstate[joint_eff]: [-0.2393, -1.347, 6.9949, 1.7167, -0.0757, -0.0464, -0.0171, -0.1299, -8.8274, 9.7573, 1.6337, 0.2808, 0.1978, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86a1acc59381c4e83981894d791ae478352ecfc94f91a4490db687aaffd20bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b9c7dc3acf0424d4f4ce1b2b715bb06dc8ce20e8008634fa0d639a8d5e104c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d254839d293a9e6e71450de724ecd908e5850a05c7b1baa7f0dec7dd06abefb7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQcKEAgSGAI4AUIIdGhpbmtpbmcSDLTPYNBP1RtrazUHbRoMR/30fhaSZAkR3M9aIjDUM3YvGSHhIAH39w/0Ciw4rid5GGngWgvgAcwUsh9OEql5x6+yT5AJVhokA9AMGuEq5gb0uBG8714X6r3fJ34RmJrCsuaCAXHa/++PB/NDJWfkYg0nTTfdEJ2OA3kqhuBkwm15VfYUi/te66XT/ismW4dV5EZ2SFw0ubQ40hqJ3FeFZKrhWQZoDb33oQ52/K4WAkjSGQmmbOhGh5xY3GIUYg85UUJmFdy3A/jKor/zQjyvMy1UqPfC06LacuRf1jsy6J5HzEokpqSbQcQzM641D3kEwdXKKsfLnQuD6YWlDfU7clQiJ6LROu6fFQ6ea5nlYPKtK0t5aUEAyFUC4bviopFJiVUzq+TXRXsOTFSoBUfN4NZxdLHIB56Dep17Jp4mVNAEWlHRY1aO6bm8wY6uDfWaZ8GQznleSalNPtycxeW5UbYma5Gjt7YSEW2iE/jjRDM/Xk1DzPUgGUwArAApipIC67iSFdohlJLrBt8zEuGwew2kDySFD6GqE3axmHbLliyq1mPVJbYL318dodcj7TUgmCiB6/kJ9j7KmDUFsOIWTuF3YxlmaF0rVCbe7sUKDn7SBSVhoRTXekSsptj/qIuRqpb9Nt2lX4a08pJB9ip0Ba7fcJ1qxgXOcSyFVkU5VbaIUzzFAzRFm9oO5CNm+nFqf16B54DoM4ciEwMe6C9MWXKhv7anJ/2s7HuL0Fwo5ZwIYveHknjYmEGqugGz6l+thPQ6kfXasb8X/8PmAqW3q+pL6XvbWrdxgl70+Ds+dv3cQGVlyXdiesVSwI5z3qvF8cNZACSVXJb7XqQJFXCr5rqZydlT5h2JAVH9O7My/g7OU25TtM12ECv5a1tWHkZJLcf1uqWaQhNRZWN8wefkordgu1TEZK2zd0B+oGicF9KRAtZYGPd20QxmWGIgMWSws80q6gfYvqEJc7NGO95Xnt3HsCEgC+IlF1NEoepwsg/+Jp7zyFuS36InpuBiD8LG4SjV4gnQLjCJo9eK7C8QNjO8mMoWFdoqeKOUsioVFDMFk1m5CKDtza4PTvDTQdlf8io+C1YgEeqC35byUdprQoD8+QssmNpmUkJPAwYeayJ4jbXEOLFKszKrpPTB2+I0SqTqslStngfNeumHsElXoJ+/PJH1Ihm5uX1dcEqHQMRG3GjDBlfcegCmMPFKEHrROqbV2PFveqv9Xra166r9iA3hZHWJYR/uBV8szkTe1k6lYHA5IwIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MbbdVBojJVbGv3SpwLUk8L",
      "input": {
        "note": "The gripper with pear is over the blue bowl in the overhead view. Lowering so the pear drops in gently.",
        "targets": {
          "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_01MbbdVBojJVbGv3SpwLUk8L",
      "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, 0.8146, 0.6147, -0.432, -0.0139, -0.0307, 0.9993, 0.4683, 1.6978, 1.1679, -0.4854, 0.2569, 0.2325, 0.6389]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0016 left_pitch=-0.0629 left_roll=0.0001 left_gripper=0.9993 right_x=0.3954 right_y=0.1537 right_z=0.0973 right_yaw=0.0958 right_pitch=-0.3996 right_roll=-0.0973 right_gripper=0.6389\nstate[joint_eff]: [-0.3077, -1.2376, 6.9812, 1.6679, -0.0415, -0.0464, -0.0122, -0.2393, -8.0205, 7.0359, 1.7363, 0.1392, 0.0269, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7287a091b753574dbb7993418d6ea68518df298fc35aa97d210456ee1ec6968d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd216fdf1135dacfa984f713d359f0f2b362cf96b05575498fae92e18113e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4d2292b259bff8a60c90f4c8956fb75d6a832256b496eb0cd5a2657ef15cb0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 6.65 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, 0.8146, 0.6147, -0.4252, -0.0135, -0.0307, 0.9993, 0.1448, 1.3632, 0.9516, -0.4248, 0.0734, 0.0151, 0.6389]\nstate[eef_state]: left_x=0.2912 left_y=-0.0004 left_z=0.17 left_yaw=-0.0019 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3766 right_y=0.0454 right_z=0.1447 right_yaw=0.071 right_pitch=-0.2653 right_roll=-0.0468 right_gripper=0.6389\nstate[joint_eff]: [-0.335, -1.3744, 6.9812, 1.7021, -0.0171, -0.0317, -0.0122, -0.3077, -7.159, 9.4154, 1.7216, -0.0122, 0.0513, 1.0379]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8146, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4675, 1.6634, 1.3418, -0.6334, 0.2615, 0.2367, 0.6389]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0016 left_pitch=-0.0618 left_roll=0.0001 left_gripper=0.9993 right_x=0.4072 right_y=0.1584 right_z=0.158 right_yaw=0.0972 right_pitch=-0.3418 right_roll=-0.075 right_gripper=0.6389\nstate[joint_eff]: [-0.2393, -1.347, 6.9949, 1.7167, -0.0757, -0.0464, -0.0171, -0.1299, -8.8274, 9.7573, 1.6337, 0.2808, 0.1978, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8146, 0.6147, -0.432, -0.0139, -0.0307, 0.9993, 0.4683, 1.6978, 1.1679, -0.4854, 0.2569, 0.2325, 0.6389]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0016 left_pitch=-0.0629 left_roll=0.0001 left_gripper=0.9993 right_x=0.3954 right_y=0.1537 right_z=0.0973 right_yaw=0.0958 right_pitch=-0.3996 right_roll=-0.0973 right_gripper=0.6389\nstate[joint_eff]: [-0.3077, -1.2376, 6.9812, 1.6679, -0.0415, -0.0464, -0.0122, -0.2393, -8.0205, 7.0359, 1.7363, 0.1392, 0.0269, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7287a091b753574dbb7993418d6ea68518df298fc35aa97d210456ee1ec6968d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cd216fdf1135dacfa984f713d359f0f2b362cf96b05575498fae92e18113e38",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d2292b259bff8a60c90f4c8956fb75d6a832256b496eb0cd5a2657ef15cb0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSpwkKEAgSGAI4AUIIdGhpbmtpbmcSDAJAzqntwHrAnNOMyBoMgCrYJZnGX0j7Adx4IjC5pdo6rsiFNsmMODz1ryn/A+rSlNm9/gmXjJ5e3iy0yLBZudEbP5iV7MLvDIpNKnoqxAjAuWHKGUULzAL0cKHv3ikSpyd7/smsC3LKV8FKwLA1Vtp0/yJ9WqlOsscF1FtPVECxj1pI+PkCbmQoD/Wf7JelQxFYA6+yH8JsLehcC8DPPpNtaow5vPPU+Uf4PE8kDOabj6rAp9961DracDrPUxUTa4I6bkMCfWZP2xjpC/unMscYkWDYs9v9TOqBLmD4B9wkonyzXUVvz4sik3QpPDCaKJh/8yAQUWGhk4/NmCGfLnhRhnXfKaWcho92I5L3ArsiosF96DvI1Wzo7Bhc7sumOfJKaNoAKy4Q+Yl71HlaqFgB789sE1tsOnJjnVVD+/BEqh+m58/MOAl/okLpPXQDfdA6M0CKottffzNRsJxOaRkX8mxt5G6cg+sj3ChnM8J9yzuCLUU8mYoJHBGpYe4OGB0ZU25X3IVASrUmQDYqvzryUYvN8/+iou7la/KCDfc8wR4pICXD0vWuPOFYcbyAetkFxYht+yJw0Id7MoL9729RqKDJJQHSNF8TZ+zXVpk4xfOvFo4AhBXvUUnbGzJF5Nvps6NlrIMApc0VEh5vIBb1NJKDGA+EcoYP7LgCUsZ6JriN3yF1O7hCfZvEEQQ3mrBBc4a4HVG2NwGtIjihKwgqTASpNZk7rp3/8sYTDHMK5qKLvgHPU90tRl15IBcfj244GN7T1hGHS909fWwY8T4YTF2rKg7Gas6A70jRXVR4ducS0Ml4Rh835WmbvSeJUMKPh8QVZIckBj35fB2hNzwB1m2z4hr7RchD6C1Rjx33F7SxMRvGwsnHIT7wHZVUvJPl5NHyP+j07SN34lf8SNBwTvWc9fYyGv+D8THhijwDvZ4qGM4pIHFM9ejdbELEudMpClc7b+MdYwpm3Q2yfMzX3sRcQK16UrTzoXhG2qUkmdEk2LZp8La7O+L3hTk+E/oYUgZIFJFJiCEnR4z7+tdHvDgMwM7Gg0jkCUInj79gA+7LgQumqrW2ISSksfl/oII50yL2RTMYQVROm6JeVgascffPR6UtaD8PccPvi7BGkhK/lwmexC9v6fVJvkWVMn07tQs7oeJPOqMMnbUdgyGQkc4tywVnQ5vaD9RrgsFaj9Ed5+xJy7awuXyk13UKUeVn/jrlvv/RmwG9FYUYwoB4+4zNDfr0iFWUfhiMacDcz/B/CvlWgbxm2shEdpJSPkR+gxyjQXfb/pCR5fEGYfuSTM1JKnpoj0lD30Yte94brHHGGRHcH1bP9svwJZJyAH5UdpFMIIaYIv/3JPKvCn+db/HFZfD3Km+VeXQKgz8VfJJvGyRLTTA9caYpmMZq4T63+w8iD+rvhzXpGfRmYq5EHE3oY6rn4YkALySkHPUYPptG/K5KCIjUqIjeesiHHbEOUh5fymaqG3QKkSANAFkGgvScUOQfhGzSh3qkAV3YwFZI+P4qxTRNfr95/sbD8D+p7gAa+8YBDjeh3fpeCUnPqTMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gdbapf51DtGKiw9dQVWZ2q",
      "input": {
        "note": "Wrist view shows the blue bowl just ahead of the pear rather than under it, so I'm shifting ~5 cm forward while staying above the rim.",
        "targets": {
          "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_01Gdbapf51DtGKiw9dQVWZ2q",
      "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, 0.8143, 0.6147, -0.4355, -0.0139, -0.0307, 0.9993, 0.4118, 1.8427, 1.4353, -0.6296, 0.2207, 0.1787, 0.6389]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0016 left_pitch=-0.066 left_roll=0.0002 left_gripper=0.9993 right_x=0.4383 right_y=0.1532 right_z=0.1157 right_yaw=0.0993 right_pitch=-0.4333 right_roll=-0.106 right_gripper=0.6389\nstate[joint_eff]: [-0.3487, -1.3197, 7.0085, 1.6874, -0.0415, -0.0366, -0.0171, -0.6359, -9.5795, 8.6359, 1.3065, 0.1392, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80142429c8700ec76c6eef7393b32a0013d459bc34fa6f43ed0be7f7e1783e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:495d20b89e38d56954533dd29d5c8d64e782975cc6c31bef5ebb6781180e3a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f832ff9d8c21dd37018651617fb7f7904526664b9985b2f80056dfd6f2a557f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 3.514 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, 0.8146, 0.6147, -0.4309, -0.0139, -0.0307, 0.9993, 0.4675, 1.6634, 1.3418, -0.6334, 0.2615, 0.2367, 0.6389]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1689 left_yaw=-0.0016 left_pitch=-0.0618 left_roll=0.0001 left_gripper=0.9993 right_x=0.4072 right_y=0.1584 right_z=0.158 right_yaw=0.0972 right_pitch=-0.3418 right_roll=-0.075 right_gripper=0.6389\nstate[joint_eff]: [-0.2393, -1.347, 6.9949, 1.7167, -0.0757, -0.0464, -0.0171, -0.1299, -8.8274, 9.7573, 1.6337, 0.2808, 0.1978, 1.0379]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8146, 0.6147, -0.432, -0.0139, -0.0307, 0.9993, 0.4683, 1.6978, 1.1679, -0.4854, 0.2569, 0.2325, 0.6389]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0016 left_pitch=-0.0629 left_roll=0.0001 left_gripper=0.9993 right_x=0.3954 right_y=0.1537 right_z=0.0973 right_yaw=0.0958 right_pitch=-0.3996 right_roll=-0.0973 right_gripper=0.6389\nstate[joint_eff]: [-0.3077, -1.2376, 6.9812, 1.6679, -0.0415, -0.0464, -0.0122, -0.2393, -8.0205, 7.0359, 1.7363, 0.1392, 0.0269, 1.0232]\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, 0.8143, 0.6147, -0.4355, -0.0139, -0.0307, 0.9993, 0.4118, 1.8427, 1.4353, -0.6296, 0.2207, 0.1787, 0.6389]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0016 left_pitch=-0.066 left_roll=0.0002 left_gripper=0.9993 right_x=0.4383 right_y=0.1532 right_z=0.1157 right_yaw=0.0993 right_pitch=-0.4333 right_roll=-0.106 right_gripper=0.6389\nstate[joint_eff]: [-0.3487, -1.3197, 7.0085, 1.6874, -0.0415, -0.0366, -0.0171, -0.6359, -9.5795, 8.6359, 1.3065, 0.1392, -0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80142429c8700ec76c6eef7393b32a0013d459bc34fa6f43ed0be7f7e1783e6b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:495d20b89e38d56954533dd29d5c8d64e782975cc6c31bef5ebb6781180e3a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f832ff9d8c21dd37018651617fb7f7904526664b9985b2f80056dfd6f2a557f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0128S43dzXv9bZHVjT9Fh1QE",
      "input": {
        "note": "The blue bowl now shows just under/left of the pear in both views. Nudging 2 cm left and lowering to release into it.",
        "targets": {
          "right_y": 0.175,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_0128S43dzXv9bZHVjT9Fh1QE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.4419, -0.0135, -0.0307, 0.9993, 0.4343, 1.8652, 1.433, -0.6147, 0.2325, 0.1917, 0.6389]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1667 left_yaw=-0.0019 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4377 right_y=0.1621 right_z=0.1071 right_yaw=0.1022 right_pitch=-0.4388 right_roll=-0.1124 right_gripper=0.6389\nstate[joint_eff]: [-0.1573, -1.3197, 7.0359, 1.7558, -0.0415, -0.0562, -0.0171, 1.4974, -7.4735, 5.6821, 1.326, 0.1392, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:163ef4b1295e0ba8b5c83f8a6f7d8c57985fca2f92d569e7d2054e4373ccbe89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8f3b8b22b20e812e4800f8b8ab54b7183fe95a25fc0ab4375ba484026f598d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f58b9fa694cb022330535d6a9b2775808d357a7e2d350e0b3dd298a765182f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 12 attempt 0 · /messages · status 200 · 6.353 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, 0.8146, 0.6147, -0.432, -0.0139, -0.0307, 0.9993, 0.4683, 1.6978, 1.1679, -0.4854, 0.2569, 0.2325, 0.6389]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1686 left_yaw=-0.0016 left_pitch=-0.0629 left_roll=0.0001 left_gripper=0.9993 right_x=0.3954 right_y=0.1537 right_z=0.0973 right_yaw=0.0958 right_pitch=-0.3996 right_roll=-0.0973 right_gripper=0.6389\nstate[joint_eff]: [-0.3077, -1.2376, 6.9812, 1.6679, -0.0415, -0.0464, -0.0122, -0.2393, -8.0205, 7.0359, 1.7363, 0.1392, 0.0269, 1.0232]\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, 0.8143, 0.6147, -0.4355, -0.0139, -0.0307, 0.9993, 0.4118, 1.8427, 1.4353, -0.6296, 0.2207, 0.1787, 0.6389]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0016 left_pitch=-0.066 left_roll=0.0002 left_gripper=0.9993 right_x=0.4383 right_y=0.1532 right_z=0.1157 right_yaw=0.0993 right_pitch=-0.4333 right_roll=-0.106 right_gripper=0.6389\nstate[joint_eff]: [-0.3487, -1.3197, 7.0085, 1.6874, -0.0415, -0.0366, -0.0171, -0.6359, -9.5795, 8.6359, 1.3065, 0.1392, -0.0122, 1.0281]",
      "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, 0.8146, 0.6147, -0.4419, -0.0135, -0.0307, 0.9993, 0.4343, 1.8652, 1.433, -0.6147, 0.2325, 0.1917, 0.6389]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1667 left_yaw=-0.0019 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4377 right_y=0.1621 right_z=0.1071 right_yaw=0.1022 right_pitch=-0.4388 right_roll=-0.1124 right_gripper=0.6389\nstate[joint_eff]: [-0.1573, -1.3197, 7.0359, 1.7558, -0.0415, -0.0562, -0.0171, 1.4974, -7.4735, 5.6821, 1.326, 0.1392, -0.0122, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:163ef4b1295e0ba8b5c83f8a6f7d8c57985fca2f92d569e7d2054e4373ccbe89",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac8f3b8b22b20e812e4800f8b8ab54b7183fe95a25fc0ab4375ba484026f598d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f58b9fa694cb022330535d6a9b2775808d357a7e2d350e0b3dd298a765182f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS4AYKEAgSGAI4AUIIdGhpbmtpbmcSDNLnuWZPcspv2Y3rABoM7fbU0uET18wmpzM+IjCnNoYNGKdP1pCi8FV2bUjenbSZluzJKC3GlDzfDQwwil8z65rR24tphw1EbWLzJPIq/QVt+1WS5li+XqTJ9Zsc2tK/CQcL8KJ3JzHqoj2o8XZQp5kI4f0eiLXUtpNZqRhUT6bDz1LEqxut7rHC607asatxasoPYVYNWp1X3DONYJfxA21HTmXg/iALjMCm4JVxjDFDgvcgrRDm8xaUo6VpTjz6ICy7YDRi6MVjuocaiZzZ7kXQZs9nmKqKCBgML2XSZI0PeOKP2vUI60c834KkISwXEL5f8djXGVk35Ok5UklJbBSfYntAolaszjDBkdFPf/rOX30yiqxh4JwckK+s24c5tIeQ5vnfQF9WXIJbbKVkhYST/7GazOsQyimC6gMuLHTFa0zr0W2ZmtRWDwrNsH0wn5w/106kFmWSlzoGOzhXJaiGt1jAYT5CDaUzhRQ6QHPRUX1uESwe+P/E0bPeeedu0NlIR2H4u1rbTdKq2Gmv2NLhr8hGsG4Aqd6Q13gvZywjllCI4LA4oHxjheZ0kZdRpaVrlwHosh8Y3EluKPeRSSq7Vao6sq2P40VOt3cuDioRv+Avd+qT1EkeeEqhxs14kx/dKdTA0kNS5lkx1pokVtvduZCvXlYXlC+qG2xNeyksRGWzAnDQ9eVUlLqg6vdl/vwYtbeC22iP3TIDg25qoXEHn+3x8LW+PQjY/Z7eAmtkv+AwtX5w5nXfKAWsbQA/CbVRb+DqkKisWdxaGvgViPOA4tMZOwUBoLJKCMyMaPFnOIwJ2+1db80R5HWrVTaa/uXnE32BG69+YSuZFjad4dWbOgXdcKPfqgdiqYNCXKrvTQpihiAIyDk0zJRyFeUbwgoHoylhjjNSGuofFVSIg9vfvtdnMox4edpMwCYG+IacCY4PUJ9E06tJzt7WIyf7x/r3/wAOYQffL//sUQppkxA85cdEeMcBMbqLHBdAuz8UhNaMGoRccncD7Lx++rk+2raV1sLf1H3hV1/HNsUrNH3n7Hm/dVYwZjT532neoOzsbU3ouEEOF5k6NRe6AIc7N59n8dL6m2nNqkYXXmCab1E8tR2KZOTzDH14ryAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Y8XSEV8fE5uTvP2DnW8Uw",
      "input": {
        "note": "Descent stopped at ~0.107 m, likely the pear resting on the bowl. Opening to release it into the blue 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_017Y8XSEV8fE5uTvP2DnW8Uw",
      "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, 0.8146, 0.6147, -0.4427, -0.0135, -0.0307, 0.9993, 0.4332, 1.9057, 1.4029, -0.6281, 0.2283, 0.1822, 0.9957]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0019 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4268 right_y=0.1573 right_z=0.0769 right_yaw=0.0963 right_pitch=-0.5199 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.1419, 7.159, 1.663, -0.0269, -0.0464, -0.0122, -0.1573, -13.1897, 8.7043, 1.1697, 0.1392, 0.0122, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a78cd373aeb5f0fd382e7f03a8c4ffddcb6898e2bfe242ec1652787f79f6df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd69a67c8efec2fda62a7b9dac02709165e12350d16bd821415f573b7014256b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:465fa7a6bca78c28fc4624a1dd0273bddbe67825d4ee411716f0b33d67f36c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 7.94 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, 0.8143, 0.6147, -0.4355, -0.0139, -0.0307, 0.9993, 0.4118, 1.8427, 1.4353, -0.6296, 0.2207, 0.1787, 0.6389]\nstate[eef_state]: left_x=0.2896 left_y=-0.0003 left_z=0.1681 left_yaw=-0.0016 left_pitch=-0.066 left_roll=0.0002 left_gripper=0.9993 right_x=0.4383 right_y=0.1532 right_z=0.1157 right_yaw=0.0993 right_pitch=-0.4333 right_roll=-0.106 right_gripper=0.6389\nstate[joint_eff]: [-0.3487, -1.3197, 7.0085, 1.6874, -0.0415, -0.0366, -0.0171, -0.6359, -9.5795, 8.6359, 1.3065, 0.1392, -0.0122, 1.0281]",
      "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, 0.8146, 0.6147, -0.4419, -0.0135, -0.0307, 0.9993, 0.4343, 1.8652, 1.433, -0.6147, 0.2325, 0.1917, 0.6389]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1667 left_yaw=-0.0019 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4377 right_y=0.1621 right_z=0.1071 right_yaw=0.1022 right_pitch=-0.4388 right_roll=-0.1124 right_gripper=0.6389\nstate[joint_eff]: [-0.1573, -1.3197, 7.0359, 1.7558, -0.0415, -0.0562, -0.0171, 1.4974, -7.4735, 5.6821, 1.326, 0.1392, -0.0122, 1.0232]",
      "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, 0.8146, 0.6147, -0.4427, -0.0135, -0.0307, 0.9993, 0.4332, 1.9057, 1.4029, -0.6281, 0.2283, 0.1822, 0.9957]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0019 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4268 right_y=0.1573 right_z=0.0769 right_yaw=0.0963 right_pitch=-0.5199 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.1419, 7.159, 1.663, -0.0269, -0.0464, -0.0122, -0.1573, -13.1897, 8.7043, 1.1697, 0.1392, 0.0122, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a78cd373aeb5f0fd382e7f03a8c4ffddcb6898e2bfe242ec1652787f79f6df6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd69a67c8efec2fda62a7b9dac02709165e12350d16bd821415f573b7014256b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:465fa7a6bca78c28fc4624a1dd0273bddbe67825d4ee411716f0b33d67f36c4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrAsKEAgSGAI4AUIIdGhpbmtpbmcSDL0PGeUgFtMLSQidVhoM7hg1Ovc09OMEbrDgIjBNTHlIWrKgwPICb1vgWKFtZ9qRKlWtpX+QaYAS9JU0bcJgu/KJksEyy6mmP9vixJsqyQrb7HEv0vDziBH/+t/lzI+zP9QL2dK1btKIGq5S4yKp12rrzxxCpl9ujxZ9HULUHQmVYyMbknHwWPi8z4MawBPXYDGosJgT4ldSGGb7VVodxQqpxmZLgZVQ8PSLBtjXy0V6n5E0uco0M9kRVbZ0sE6JreFcsa90tI6GiZZ3MfEUpIOqzM7aSdvjSeidQgrRrYfkAwPI4x6a5/SAKpzs2kzeYxNK1E6D71H+oGwfeYU1qUcowWh4rQL7urO5GvVHepDiBTds3FNhkpPXNtyBH5VGgqQ1BFWMtoADnnk0zvV3ls3z7fb2VO2cy416UScZTb4M1/t5lzVwBalp5w8wL95nbcQsB80nyTDP80a2Vjcpg3rjwPsgp+44VZb3mfCOAAgppA+rgY9obVLQyy55JSkP6lt4J+VuCaf8BBYBgoBWr2EMC9DMWCcvdgG3vLL+owoYDiA5T0VACNt6XQ+s/RN8z9brOid/7t5M31xKy7e0/nPL9fcIYpkS3/UtXigOu5/J97i5nKApEiI0gfKtIGLXYadeCcdrAIpkPicVuHUUbwFpf/9VNT6omQRAOau+mt95yT//HoHvhv9oSIjUrdg2BFY2SPe9ON73JC8sgYdrMKNQRY/LNT5oPEwJcIoPIRgvr4ZsTp+7EleMFlw3rk3XqTiys+PudWqVbklCWVxyupv1KQ2xLe+rAwTM6hlghFykB/h7SsT6Weph+CmvOnrFald+bS/nbDK4QIW36dSPVPJORSYlQnBE6rrCF2EDa06xkIybTFThQrATu1mTqQ6Jiso/E6+Zdb7d5osw0+u0KiVdQYdsxKM43gZYvXe6t2IqqiVFxoUogMMlVW43IfOBNTc6Hi7eMzTD6W/wwWyq22TvgRpSGTGK1JCk+a+7SGQrDq/8Am0DgbE9/t8IoRSiHW0nejOrd95PRRuAz7xItaQvTJj2fY88byRaMkOQvQRm6k8UcMzh19wzhG/ZPbxG15kb6FWbWTOCuTil3kOknitI74KRgBfeKKPVxfJdV10/oV2Npn4qDOt3vxYAEUswJeO3xR6KmriWy0nWmctzMtWvpddK5twNvvREJPw0Y5qdJxvkSDW2GakjIzZZjCripbs1kR3XWkfxtNVTUj1K1a/vo2iFrXSrwlvGfkWlKvZL+oZu2u9dfoCIHoneh3LaZOYMRxZrULFGKzNJTxtxbJIMNuZ6a/DG3Q9veuBVWpN/OJJBoMK4wC7fmDWZY6WlQwAJZlZGggGfX33cyRSML/YeXHFdfEvQmh73v1dxMhF6VRZZpxFf1ESObbzK17TjxH8TQxi93kCCNBsKRwWGpx9fbjD5XVfGRROa7mErglv0CNt9NM866bgwLkqhgmYnMOPtOZvSeG6wATZCe4MaWXR96GOdJoqynmvCWrkQAml2lac3Wr/axt2cFfiu6yw2Wvheq76Stdj34o/frizcwLBnhnwbkKvDryhlJ8YKGEl095omeCBIaDEn4iK5RtRC77pM7MG7kcqEekbmobxcOn7c7cj/oZwphFfYaFyPTPhwXW4d/CgFj6/xenWHQxoDUe/an9YPArJgIsG6H4yELYNK0d8kR/xvSQzMCdl44dJAHduJrkADQ0QvsMz6Mulko3cVKxFWKcPu/C9RItxFsUEcGqDbPmc2nb+Mlow1z+AWXvM/glhJToRSCASOPqjMnPamesL/6zUhE2zx8cs6VUhAEBLF++iTjaJLlLEsUBQMb5DsFN0FsuvxuUeyBsci6AFjDLuFnx3jzK0xbDC/pXoMvl/GzkkOulksa46FzQZmE+bxjO5hF7QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012LYAksMRRcYtN8aSYB2h9J",
      "input": {
        "note": "Pear is now sitting in the blue bowl. Lifting the right arm clear before going to the lemon.",
        "targets": {
          "right_x": 0.38,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012LYAksMRRcYtN8aSYB2h9J",
      "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, 0.8146, 0.6147, -0.4469, -0.0139, -0.0307, 0.9993, 0.4889, 1.747, 1.4654, -0.8719, 0.2352, 0.2066, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0016 left_pitch=-0.0778 left_roll=0.0004 left_gripper=0.9993 right_x=0.3852 right_y=0.1623 right_z=0.1405 right_yaw=0.1261 right_pitch=-0.537 right_roll=-0.1476 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.3197, 6.9675, 1.7509, -0.0708, -0.0513, -0.0122, 0.0479, -10.3316, 8.6222, 0.9011, 0.2466, 0.2125, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1683d6ab51ed8a4d7ae4031d11f60afc58b7efdcb4886611d0c37dd071064bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4242cef7a4566bd8e7a0457f53cff632ea8c94001fd8c1eaabe23e055f686d57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:27ef8f651dd6ea0b3dbc787a427298f0d60da96fa2b0a9b06ee41f14a231816e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.9 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, 0.8146, 0.6147, -0.4419, -0.0135, -0.0307, 0.9993, 0.4343, 1.8652, 1.433, -0.6147, 0.2325, 0.1917, 0.6389]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1667 left_yaw=-0.0019 left_pitch=-0.0729 left_roll=0.0001 left_gripper=0.9993 right_x=0.4377 right_y=0.1621 right_z=0.1071 right_yaw=0.1022 right_pitch=-0.4388 right_roll=-0.1124 right_gripper=0.6389\nstate[joint_eff]: [-0.1573, -1.3197, 7.0359, 1.7558, -0.0415, -0.0562, -0.0171, 1.4974, -7.4735, 5.6821, 1.326, 0.1392, -0.0122, 1.0232]",
      "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, 0.8146, 0.6147, -0.4427, -0.0135, -0.0307, 0.9993, 0.4332, 1.9057, 1.4029, -0.6281, 0.2283, 0.1822, 0.9957]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0019 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4268 right_y=0.1573 right_z=0.0769 right_yaw=0.0963 right_pitch=-0.5199 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.1419, 7.159, 1.663, -0.0269, -0.0464, -0.0122, -0.1573, -13.1897, 8.7043, 1.1697, 0.1392, 0.0122, -0.022]",
      "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, 0.8146, 0.6147, -0.4469, -0.0139, -0.0307, 0.9993, 0.4889, 1.747, 1.4654, -0.8719, 0.2352, 0.2066, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0016 left_pitch=-0.0778 left_roll=0.0004 left_gripper=0.9993 right_x=0.3852 right_y=0.1623 right_z=0.1405 right_yaw=0.1261 right_pitch=-0.537 right_roll=-0.1476 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.3197, 6.9675, 1.7509, -0.0708, -0.0513, -0.0122, 0.0479, -10.3316, 8.6222, 0.9011, 0.2466, 0.2125, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1683d6ab51ed8a4d7ae4031d11f60afc58b7efdcb4886611d0c37dd071064bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4242cef7a4566bd8e7a0457f53cff632ea8c94001fd8c1eaabe23e055f686d57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27ef8f651dd6ea0b3dbc787a427298f0d60da96fa2b0a9b06ee41f14a231816e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SLshM7tKUfEgMHFHqSQZVa",
      "input": {
        "note": "Lemon is ~8-9 cm to the left of the right gripper in both views. Moving above it and lowering, resetting wrist pitch to level.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.38,
          "right_y": 0.245,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01SLshM7tKUfEgMHFHqSQZVa",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.45, -0.0139, -0.0307, 0.9993, 0.786, 1.7729, 0.9218, 0.0685, 0.5812, 0.2813, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0015 left_pitch=-0.0809 left_roll=0.0005 left_gripper=0.9993 right_x=0.3728 right_y=0.2411 right_z=0.0726 right_yaw=0.155 right_pitch=-0.0716 right_roll=-0.177 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3197, 6.9675, 1.6874, -0.0464, -0.0269, -0.0122, 0.3624, -7.4872, 5.7231, 1.7411, 0.4029, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea53de05f441e65f9a11f84eae33b973dd5e83c1438a58717468c3ca515eaeb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9284468d6e0544c15854aa1726b5189309193c20c471a86078afd75eee7d71cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ffe60fc53cf81efbe2c7c30d6f2103443f7f7ded2c754754aa3e4eef282a736c",
        "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 · 6.05 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, 0.8146, 0.6147, -0.4427, -0.0135, -0.0307, 0.9993, 0.4332, 1.9057, 1.4029, -0.6281, 0.2283, 0.1822, 0.9957]\nstate[eef_state]: left_x=0.2886 left_y=-0.0003 left_z=0.1665 left_yaw=-0.0019 left_pitch=-0.0736 left_roll=0.0001 left_gripper=0.9993 right_x=0.4268 right_y=0.1573 right_z=0.0769 right_yaw=0.0963 right_pitch=-0.5199 right_roll=-0.1449 right_gripper=0.9957\nstate[joint_eff]: [-0.2667, -1.1419, 7.159, 1.663, -0.0269, -0.0464, -0.0122, -0.1573, -13.1897, 8.7043, 1.1697, 0.1392, 0.0122, -0.022]",
      "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, 0.8146, 0.6147, -0.4469, -0.0139, -0.0307, 0.9993, 0.4889, 1.747, 1.4654, -0.8719, 0.2352, 0.2066, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0016 left_pitch=-0.0778 left_roll=0.0004 left_gripper=0.9993 right_x=0.3852 right_y=0.1623 right_z=0.1405 right_yaw=0.1261 right_pitch=-0.537 right_roll=-0.1476 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.3197, 6.9675, 1.7509, -0.0708, -0.0513, -0.0122, 0.0479, -10.3316, 8.6222, 0.9011, 0.2466, 0.2125, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8146, 0.6147, -0.45, -0.0139, -0.0307, 0.9993, 0.786, 1.7729, 0.9218, 0.0685, 0.5812, 0.2813, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0015 left_pitch=-0.0809 left_roll=0.0005 left_gripper=0.9993 right_x=0.3728 right_y=0.2411 right_z=0.0726 right_yaw=0.155 right_pitch=-0.0716 right_roll=-0.177 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3197, 6.9675, 1.6874, -0.0464, -0.0269, -0.0122, 0.3624, -7.4872, 5.7231, 1.7411, 0.4029, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea53de05f441e65f9a11f84eae33b973dd5e83c1438a58717468c3ca515eaeb5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9284468d6e0544c15854aa1726b5189309193c20c471a86078afd75eee7d71cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ffe60fc53cf81efbe2c7c30d6f2103443f7f7ded2c754754aa3e4eef282a736c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQgKEAgSGAI4AUIIdGhpbmtpbmcSDMWPTZ6KABbakvMBSRoM8mlbnBBl58GNAs8oIjBlmRbsV1njr5b77AzdNwNW8h6T/z3QL499L0l6nchJy4zDM0lsSJvqkC0TNLaICrAq4gdnThqP8v69LtTxtPJbgLJDESntH8y0WLQpA/g/mTWZrc5YU6chh8RIdgTI/uIkIG/CiK4Bv+cNHNy+dEKs6nmIEfCiM6uaOWfgcsdy9tffNyXHLy79PuYsGIH28fp1ymbJ1G02s2ytR6pAKcNsRfrMsfArnl8/GQUSB0Th76iyEukDRfaE+lYcI2nnddhg/nlWmYQk3s/58yJXCPduhF1Pua90fw5FPk/UUvoImx+UxlADUo5gZMOvma9zcxx9nnauTFgT0AElbM69AXiDc2KPRVF8g8nK1uWUWVmF6JvSOh1gxOTFmraOWZY0kQz8QAY0lowmnOWNgoGWSkhoOzLRyEGc2IGJccuxoyCQyezz4fTZtw6d3Kw/50mT8v3TVabOhRCc+t3ZS3vGTWLG7WFS2Ju4bg1ud30Z8IjsmqumrrfnKX0eCVKCAER1+6uMnU7kR+e+2Vv0diDmXjx/t3cSMJSAgYBAdzCZobW1B8RsbWCCtOe0yOZEwPFGl2rPfLkNLp2+SL51AdGWRJGXSg3KPfLTHvg87Rsy9c4vdImvZQqKGSHtbp5gdZfbTVzcarIPCjI70TL64TY6rzMIhfEtsx0q1+vLDfPsWT2mweE34pHPVWVaDyfqJAcmLopH8l4FnhZ5WZRACWSK6BbpsNxDtOTRoXmY3cxH1HHhoRWUxcGDxHnYivg1B5W7lebElFOsqF67f+MRWZqJGZIB34hZ92CBjD2hD0llZYEXxN9j0w7jR91f40lD75WZet1ymLSm+w0opSMmoa0gixRHVSTV5Z5mKmfEG04DlM9Z2lQURKb/NmuG9Hg2e+aXvQAP4epI0217XV+chUa0j+/rcDWMgEmXtCJEwmRpSnZMJ1BKmeXiGlbugmj5mtSIjheL41N754xAhGHwMEIE6cw8HvyHZqs+T/HHvSvr71xU+M2fNrh1Kq/RTeyzi2PBmlkeRzmN/0fQI56eTeWvn5GA/yL7UUM/Ec8KZjHaaq3mHmHV61y/UCyJhk8cng4wonGXi+5kwAmu5X7H+QAXDemnTEF/up/EE/XhbZoHwri0kWsGYdnQscEt7qiDdfn4gdOHTjlqrbCMiS/OygvWGewVnyHr/rR6xd0RQ/S+VSYRooBlQxAuznFBqveZRq56tkwe/nFE7DVYX5GN/a1Sk7Z26oRA487v3BefzvBr2NFLM/IWPYEe389Ufa+2XoIuhR+YWX8E7ZocyTWFAK/vGzH8jnQLOYgBDCr49YDrSO2SNo45aeuoDiAWC7dEjuIGAvwlnfUKdgsrF3AXZfZNBC98LTVmEsE1DQb86vGqXiLHo/fr4RTvGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MCtCyW9GQGk6yHvFqeqRM4",
      "input": {
        "note": "Lemon is at the bottom-centre of the wrist view, just ahead of the jaws. Nudging slightly forward/left and descending to grasp it.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.25,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01MCtCyW9GQGk6yHvFqeqRM4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.815, 0.6147, -0.4507, -0.0139, -0.0307, 0.9993, 0.7815, 1.9499, 0.9138, 0.21, 0.5716, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0015 left_pitch=-0.082 left_roll=0.0005 left_gripper=0.9993 right_x=0.3789 right_y=0.2463 right_z=0.0164 right_yaw=0.1574 right_pitch=-0.1112 right_roll=-0.2004 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -1.388, 6.9675, 1.7021, -0.0415, -0.0415, -0.0122, -0.0615, -10.0308, 5.012, 1.6972, 0.2564, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d465b56cf9f7b2f14fffb2dd725f2153607570998bf539eb19c09069f649353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bbaaf4bd6b66551bd8fbb95b29d542106926a85c772f102c7b162dc55fc8c79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:89d47cbc856ecee9b4d3f7e9fd9b5af87dc3cd3e7f25eee55af165bbc094aa04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 4.258 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, 0.8146, 0.6147, -0.4469, -0.0139, -0.0307, 0.9993, 0.4889, 1.747, 1.4654, -0.8719, 0.2352, 0.2066, 0.9964]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1657 left_yaw=-0.0016 left_pitch=-0.0778 left_roll=0.0004 left_gripper=0.9993 right_x=0.3852 right_y=0.1623 right_z=0.1405 right_yaw=0.1261 right_pitch=-0.537 right_roll=-0.1476 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.3197, 6.9675, 1.7509, -0.0708, -0.0513, -0.0122, 0.0479, -10.3316, 8.6222, 0.9011, 0.2466, 0.2125, 0.0562]\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, 0.8146, 0.6147, -0.45, -0.0139, -0.0307, 0.9993, 0.786, 1.7729, 0.9218, 0.0685, 0.5812, 0.2813, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0015 left_pitch=-0.0809 left_roll=0.0005 left_gripper=0.9993 right_x=0.3728 right_y=0.2411 right_z=0.0726 right_yaw=0.155 right_pitch=-0.0716 right_roll=-0.177 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3197, 6.9675, 1.6874, -0.0464, -0.0269, -0.0122, 0.3624, -7.4872, 5.7231, 1.7411, 0.4029, 0.1197, -0.0073]",
      "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, 0.815, 0.6147, -0.4507, -0.0139, -0.0307, 0.9993, 0.7815, 1.9499, 0.9138, 0.21, 0.5716, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0015 left_pitch=-0.082 left_roll=0.0005 left_gripper=0.9993 right_x=0.3789 right_y=0.2463 right_z=0.0164 right_yaw=0.1574 right_pitch=-0.1112 right_roll=-0.2004 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -1.388, 6.9675, 1.7021, -0.0415, -0.0415, -0.0122, -0.0615, -10.0308, 5.012, 1.6972, 0.2564, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d465b56cf9f7b2f14fffb2dd725f2153607570998bf539eb19c09069f649353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bbaaf4bd6b66551bd8fbb95b29d542106926a85c772f102c7b162dc55fc8c79",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:89d47cbc856ecee9b4d3f7e9fd9b5af87dc3cd3e7f25eee55af165bbc094aa04",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1ggKEAgSGAI4AUIIdGhpbmtpbmcSDMVgrstzp9INOD6s4RoMThnWI/J3TQsPD0R/IjCwc7gnXqNvCs3/9OFTbdPS5/gn4kb3qlZ1OefYrlyLeYUUtIzYdlCA2G+3QNhfNE8q8weYRCsVxj2CMAXH+TImnQZiFzx1Axgj7bqYa3rVPmMDwa6nVq6ob/vNebfX632uC8ffsseWQY8ry3eIYmv67pQbDZoZH+/ElBzi9PPIQhpoCb7RS+rsKbM0G8I2LALyKCvNsaMy9SXORpIxR8bH+uKgrAzbsTB3fD9u1Di8EKTOnNpN14+l3o9zF7/L/qJfZx7bNx5uelMMek9TGydJ1N9V/OA5Wr5vaPTDLV2h6jNgLXy926hJ/2UjluFyvCBpAeDGJYggKR16POnntJs3fj1XeJ3ht1fdzDR1dp0q+uvytvG4PTl6K1O5zON5Tm8hL7Xmy0pTR8TclcQUJiviMteL2vQHmzbh6Z1+aB0HyWZTlbsnwfoKExDm9QO0vKCAJSaOK0Jz0K8yR11dVij4zfL7FJU1LEnc+vh8beHE/2ZScIpC2LTLUF5Kh12FxNLa6rEOqwFOfXQ2/V1pcP9crTb+pLFmGVUMh+E9ijh4uqd+Qq888yPz9uaHRU4p7rn1nyp4JgrOqPheBoyUhOUAdIKbnA+9yOvSUiU0fts072WzUoq2zab39miRbCixxUKVHG8oB/9xD2QWcbDinwZnkTU/yfQSCQMYEX2dLwcQ0cF+9i1qw4Efkzx64E7ldOl18xdk08+zZSlNTj8UVQPsHIoawOXB1iAIO/OPGNUf/N/Ei0m8PRzNTzBhJlUJHTV6lrjrtXEVGS32j9Ekx2Yz04twILX/e3c24oV9jgvxd+BgY/ejQ7q+tvbnJqAIwi54fyxoXeRZowqjnrMg+CbPxkVqDnJsF2ALcP9LzAmcF/RRH3nOP11GFg3qyhzBFOpMm1rH+rIUyW+6mLIoo/+d5WM5zEqMz+6zRfUJDemWvSlsDxoMWTP3+fnSYSKVGHy8wDsWkzYkKy2KCU+hRW+RMfKd9V+ITeZE2aSayKQfER5rMSY0zFXyM1+0LFkNf100QT6A6WeKDifmp/kAMJCv5qQ4IQlr484hgJYFuUmiHcq85Q+RbcejLFCDXPaaSqExqWSbCn632wBuXt+ifPSLoT7ccaIqjWzluRSPgPT8Z8O9EuissI5vsX63WNw6JcKvO+fqXv+ahBeXNxock5VMGr6BEo9TTAVEdto++NuKm9HSMRYHyG9j/dHaOOXAax3J9T0XoPsX0ZzrbaeYx1KfiN0YvdvNw6Jy/X1hHyQv1D6VU3g1j/B64kxasvoqiGNbl/C0NPWn1A911K5z2OOIsVpRiM/XTDsxGejSPnQN8zxwQQzj8EDjeZPNswQs6GqFxiUYHfjziQoXGGOVi1GPVGfuyN99eB5jmH0Nlg76hIU1WA4z5yEnfORx2vu/3+nLl/UbTQQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017Vi3r4SJrVYFn2Um3V5MRn",
      "input": {
        "note": "Lemon is centred at the bottom of the wrist view but likely still slightly ahead of the fingertips; advancing 2 cm before closing.",
        "targets": {
          "right_x": 0.405
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017Vi3r4SJrVYFn2Um3V5MRn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.9104, 0.2436, 0.5713, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0015 left_pitch=-0.0854 left_roll=0.0006 left_gripper=0.9993 right_x=0.3807 right_y=0.2482 right_z=0.0135 right_yaw=0.1586 right_pitch=-0.0999 right_roll=-0.1919 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3333, 6.9675, 1.6972, -0.0415, -0.0269, -0.0122, -0.2667, -9.7026, 5.1624, 1.6825, 0.2564, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0872795d1136aaf6eb5e0f9367e7689627ddd89b88aef3120b324294fbb15e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9610111bdfdb0fa7501d0cd8dd41abaa0d27f28a7f3f697dd2dbf0cb803a1a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:110a445d40599b31f2bf68ffe04e4fb36923b2926dafa0ad4bfb97b1fc4a72cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 5.283 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, 0.8146, 0.6147, -0.45, -0.0139, -0.0307, 0.9993, 0.786, 1.7729, 0.9218, 0.0685, 0.5812, 0.2813, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1651 left_yaw=-0.0015 left_pitch=-0.0809 left_roll=0.0005 left_gripper=0.9993 right_x=0.3728 right_y=0.2411 right_z=0.0726 right_yaw=0.155 right_pitch=-0.0716 right_roll=-0.177 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.3197, 6.9675, 1.6874, -0.0464, -0.0269, -0.0122, 0.3624, -7.4872, 5.7231, 1.7411, 0.4029, 0.1197, -0.0073]",
      "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, 0.815, 0.6147, -0.4507, -0.0139, -0.0307, 0.9993, 0.7815, 1.9499, 0.9138, 0.21, 0.5716, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0015 left_pitch=-0.082 left_roll=0.0005 left_gripper=0.9993 right_x=0.3789 right_y=0.2463 right_z=0.0164 right_yaw=0.1574 right_pitch=-0.1112 right_roll=-0.2004 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -1.388, 6.9675, 1.7021, -0.0415, -0.0415, -0.0122, -0.0615, -10.0308, 5.012, 1.6972, 0.2564, -0.0317, -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 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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.9104, 0.2436, 0.5713, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0015 left_pitch=-0.0854 left_roll=0.0006 left_gripper=0.9993 right_x=0.3807 right_y=0.2482 right_z=0.0135 right_yaw=0.1586 right_pitch=-0.0999 right_roll=-0.1919 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3333, 6.9675, 1.6972, -0.0415, -0.0269, -0.0122, -0.2667, -9.7026, 5.1624, 1.6825, 0.2564, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0872795d1136aaf6eb5e0f9367e7689627ddd89b88aef3120b324294fbb15e30",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9610111bdfdb0fa7501d0cd8dd41abaa0d27f28a7f3f697dd2dbf0cb803a1a91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:110a445d40599b31f2bf68ffe04e4fb36923b2926dafa0ad4bfb97b1fc4a72cb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswcKEAgSGAI4AUIIdGhpbmtpbmcSDOETOQfhXI4TvpO2ZxoMMhDqmhSk/AqtL7Q/IjCLcSRTXBa8ahC6npyo9ev/AmAyLQ0u1al6ULFEGC14DTKHeDOIXY48LycJSUhONhcq0AYI8TEsDQf5y/krz1G95k8q1hsxr89RgA+e0spqVmmNoArsF07gDg4+Dq/5Dq0qBqGmBX6+LKI8qND/K5fVSytalmCtgb6wiWdk6PBjNmHOFgoCPLHFxnW2Hey+cYwfsASm2dCF6fBnoKp4WGSpOM6INtyI9okB+xoW52Yk6ijTzWl8e81Y+Bal3GEs8BUkobm/RLwH6KPMaLr5BcLnDP1kxJphI1yqtfosqFoOWqbPSumcwkvVd0VCT7EAfKN+25TOSBA1NuKGiU2+VucpEr+heNYBwkHnPRjuxEcs2uNAUP0acWh/q7Y6ZxWBXUoixb9/Zp8Tz7ib9qC71qH6Xkj2g/VO5MaGFLmCfKykOEDYYWUtJjmsiBqhpWLrxRF+zaZrspH59uGaCvYDt7ohCQPoeKAV9Z4lTmdt7i0cwh0WcYowLXsFh7nxUzQvODERpZrYnyEAJfyr7W7VctDnQt34jy3szmlF0wb9qNn4mfcTbsCd6MPFfTKZBQPAnaXF6Gi7elaQlr/x3AF0SXG8w4gAR0HbIJ9fDbCFgza7jw/+vboPqHXffokqm2rBwKmGJIBd62N6zOCNPLyYoSbx0Efts499WXiGGYDYV0X0bVibNkgm2ItbKZoGPmULRAoavOXovr45/44BJy+QcJQNNkTRyLMRwQ8NRPw7UXVQ3HWhRVEntVPm50PXrxjvmFiYaFRYV0bq6zVbIGzhwlyV13QicZXno1dYQ5hJczC5ZGnXBNHUjuyk7MdBgCBVf9C7fzhNGYYjL4+BGn9zCyALjD9NSkIxpezomw7ny4kS7lB5mW37TX4/sHd4jp0trUkK77Eup5HP2w+sl6ZrVeeaw7i6y2yBiPBv8NLs8g0lAOOe6JpeYl8UQdNQn9XfeIWzJd1sznXUeIoFrN0wRLCJXOFZ+zOdVacVf2QEfwlc/Lc4egKMMCWPGpCvl/18yHS0jeYLmG23ZpUpvBuRbLArW/RJJrD5UvxvvoipYLPQt5WJrJzdft7kTK3qcbss6NMNfrr+427cTQx2FWb6g3WkNQm3XZ1hwoIbWMCLJHoz8CKLifwLWhyjiDUjewGzvvvZXf7GNXVMCHBKfQH1TOVyqZjPeKj+CgqAssK1xD+mvZC1+hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SYiGec2WCGgcod7Yiv4Cfn",
      "input": {
        "note": "Forward nudge didn't track (likely dragging on the table); raising 1.5 cm while advancing 2 cm to put the lemon between the jaws.",
        "targets": {
          "right_x": 0.405,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01SYiGec2WCGgcod7Yiv4Cfn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4671, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.252, 0.5674, 0.2768, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0015 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.9993 right_x=0.3813 right_y=0.2496 right_z=0.0144 right_yaw=0.1621 right_pitch=-0.0951 right_roll=-0.1853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4974, 7.1453, 1.7949, -0.0366, -0.0269, -0.0171, -0.253, -9.7573, 5.2444, 1.6728, 0.2515, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:794c992c32fcc2f39dd59cf0494ede114ca3cd38f6b0c15386b3c206d0b8705c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ba06d2e3ff42186250c71c7118b2532ecc64f021045e656b6412ce4653dd43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d81aa9e3fada1e3d68d0fed4f177393666b8b5db9616e0c96d52a1e460f73da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 4.838 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, 0.815, 0.6147, -0.4507, -0.0139, -0.0307, 0.9993, 0.7815, 1.9499, 0.9138, 0.21, 0.5716, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1648 left_yaw=-0.0015 left_pitch=-0.082 left_roll=0.0005 left_gripper=0.9993 right_x=0.3789 right_y=0.2463 right_z=0.0164 right_yaw=0.1574 right_pitch=-0.1112 right_roll=-0.2004 right_gripper=0.9965\nstate[joint_eff]: [-0.3214, -1.388, 6.9675, 1.7021, -0.0415, -0.0415, -0.0122, -0.0615, -10.0308, 5.012, 1.6972, 0.2564, -0.0317, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.9104, 0.2436, 0.5713, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0015 left_pitch=-0.0854 left_roll=0.0006 left_gripper=0.9993 right_x=0.3807 right_y=0.2482 right_z=0.0135 right_yaw=0.1586 right_pitch=-0.0999 right_roll=-0.1919 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3333, 6.9675, 1.6972, -0.0415, -0.0269, -0.0122, -0.2667, -9.7026, 5.1624, 1.6825, 0.2564, -0.0952, -0.0171]",
      "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, 0.8192, 0.6147, -0.4671, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.252, 0.5674, 0.2768, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0015 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.9993 right_x=0.3813 right_y=0.2496 right_z=0.0144 right_yaw=0.1621 right_pitch=-0.0951 right_roll=-0.1853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4974, 7.1453, 1.7949, -0.0366, -0.0269, -0.0171, -0.253, -9.7573, 5.2444, 1.6728, 0.2515, -0.0757, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:794c992c32fcc2f39dd59cf0494ede114ca3cd38f6b0c15386b3c206d0b8705c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85ba06d2e3ff42186250c71c7118b2532ecc64f021045e656b6412ce4653dd43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d81aa9e3fada1e3d68d0fed4f177393666b8b5db9616e0c96d52a1e460f73da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgcKEAgSGAI4AUIIdGhpbmtpbmcSDD3n8d6v75T+VRsIYxoMKT6zoIEoMqzqFVp+IjDJ/N5PlgOCay66sz1+CaC2g1j2t8Wb5+LIWSAvAZM4S5kR7wDfhWE8Nzt6CHqO+4sqxwYWG6PzZI5TGeRxqtvcY4aUWUOFbZw43jrdehLtJc1K/+hRjyTB0Q/vb/h/pEWtvWIGrujU3C0DKkdTmMOPwOHfyKZv9E2M4AtbDYGsMV9U0rBOPiDgVJDaAYgN9jKrbefBHvDBpjoYaoSCU3LvKaRcA9UO4FQ+jHkG0MV7HieQZlzFPTWX92PKDxwPdtTE1zypwRZvnA3SlISTLpT2m07gymG7QOK8D0rrwOeSyn7/UC1MdEnLb+I0uPgDbLTh2Z2Vy1sgDE7Bggd2qD3i9Gai3IFmbg1L1dBQDQjJ9e/ZcGmYiEtH5XN0n7JBl73dg9rVrh/0E/i9+3pbIPzGoi5Zj9c8ziwVhXfyUQN5Io0G0Wh1veoHedf9R9yL+FHswT02yum4G2HsDwuaa1aUgqAuMMTSNGpFjGdNAlGcOkVNbn6ljfogqXahcIIRsux6K5Lhy3xBMp0LsLWE/BgBRV6y4GBIz2MdQ1Rux+JTaysBMb7obw9uehDg6vgl48KD58Ixg66JmCQ9wuYKy0Yi9bR+x8P/38dYrgjMrlPaHWmq8P39emEPGIc9MM2GGb8WniZiiPhXxAd4nue2rWsOhiDGIPLqGtQolzp+XO1tu4l8aAnIz3BAdDDFBkAJVO07FrxanePMEDTBg4761x1qIlFBQEO3DQmjiim4KVvLj9sercRXaAj0LoGQh9bRxrtmjhQl9WVpygIDNNJH+uIqO46Nh0OPAZDG94GUvLYfU3PiVc6TllXXdk7JlFl5mn0YEZ1vL3vsNI7ondDnFyEU5bPK6GMS+i/sCTaR0zWgGxIuAFrFIaq9OP2peqoXpwVs/3tzkc649OPsrTTzCHaSXieMsNr87KLm1OCf0VJen/dts3JhI1viTI5MDEXMtDBjenNdg9U/LY47EGTmmciYkzFXxEZAsaOuOGoSyddzy2U6jrkHCc1rM1WWwYZY/xBDnRWtKTYeBMoW/PlmwAFmvKOwv8/pZ0mqGpSC7m9AClG/0MeyVe1onz6XZ/YEYQreuUEGGb5JK4352ZF8thkGK67EHTXTFHpTwPc4J0iUdplmTf5Zdmu0nkv4DIOeJa5RWIoqxYV+sJIXE2n68h7DA9BaLpef93Ar0hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011vUHtQ1vujm5CC1yLwg6tN",
      "input": {
        "note": "The right arm isn't tracking small moves near the table; lifting to 8 cm to free it before re-approaching the lemon.",
        "targets": {
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011vUHtQ1vujm5CC1yLwg6tN",
      "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, 0.8211, 0.6147, -0.4694, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.2508, 0.5674, 0.2771, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0015 left_pitch=-0.1068 left_roll=0.001 left_gripper=0.9993 right_x=0.3812 right_y=0.2495 right_z=0.0142 right_yaw=0.1618 right_pitch=-0.096 right_roll=-0.1856 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 6.9265, 1.7021, -0.0806, -0.0562, -0.0122, -0.2803, -9.7573, 5.2034, 1.6728, 0.232, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3143bc2730b8860d1c87666d5f0941e75b12445c6ea5c69c7d6e52d8e59d1a18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f720017b35d03b1f801bac683f2ceef7c22466dd3f80412b0ae4bbb1c895f0e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1e9fb0a0d21cf039394c8d4d9b8b330032de8dc7d29996035d7642d926aa9a67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 6.454 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, 0.8154, 0.6147, -0.4538, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.9104, 0.2436, 0.5713, 0.2771, 0.9965]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1641 left_yaw=-0.0015 left_pitch=-0.0854 left_roll=0.0006 left_gripper=0.9993 right_x=0.3807 right_y=0.2482 right_z=0.0135 right_yaw=0.1586 right_pitch=-0.0999 right_roll=-0.1919 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.3333, 6.9675, 1.6972, -0.0415, -0.0269, -0.0122, -0.2667, -9.7026, 5.1624, 1.6825, 0.2564, -0.0952, -0.0171]",
      "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, 0.8192, 0.6147, -0.4671, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.252, 0.5674, 0.2768, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0015 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.9993 right_x=0.3813 right_y=0.2496 right_z=0.0144 right_yaw=0.1621 right_pitch=-0.0951 right_roll=-0.1853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4974, 7.1453, 1.7949, -0.0366, -0.0269, -0.0171, -0.253, -9.7573, 5.2444, 1.6728, 0.2515, -0.0757, -0.0171]",
      "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, 0.8211, 0.6147, -0.4694, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.2508, 0.5674, 0.2771, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0015 left_pitch=-0.1068 left_roll=0.001 left_gripper=0.9993 right_x=0.3812 right_y=0.2495 right_z=0.0142 right_yaw=0.1618 right_pitch=-0.096 right_roll=-0.1856 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 6.9265, 1.7021, -0.0806, -0.0562, -0.0122, -0.2803, -9.7573, 5.2034, 1.6728, 0.232, -0.0952, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3143bc2730b8860d1c87666d5f0941e75b12445c6ea5c69c7d6e52d8e59d1a18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f720017b35d03b1f801bac683f2ceef7c22466dd3f80412b0ae4bbb1c895f0e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e9fb0a0d21cf039394c8d4d9b8b330032de8dc7d29996035d7642d926aa9a67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wcKEAgSGAI4AUIIdGhpbmtpbmcSDDNe1LltNUn2WGYwzxoM5IEFjOAwg8RTj2jvIjDXfHo7FpUpF4NfUSHrTyZXqSa0z4gXOzp9e4r/C8PzTnQtGaFgfPd3k/gruLBOs8Qq/AZ9cjEehjklnAl0/peQy92FKWEio8BoKn93ftg44ZUEADHJ4LCQcp4l7U0ZF0FjFQI2ct0yVKs+unqnqBJr3B6xxjSU/K7xqJQ25ywYR5tNNtxQRG5Si0LhvQnv+NDx7SDpnCd0Kqz3ngkYdJetlpbBrGnffjbyP6Y6y8QycccGOWBl+yJoP1vbBvQMY11W6Uw/3Q9Qz/8qMg5Q3U9FnwpjGjJNnP1MdxynwQfCCbQBZO1gzxjq3DwgT9dFxjuvr3enuxn4lT9vNDrqNt2jg2QkAEIRIrB+1ZYqlF46az1rad3Daz0i55/Q58/YKX2UmJyO9L1E28jJOEMEczNcsG6gAtFxRZhv3zytve4td+hOqF93OLS2eQyzLWcuNRqJwL1ynVzMMmwDLd4vvoIVamzWAOxWYdGddamS/QxsQs4XhDDGSUhb93VASJ7XzxE/mbOaJ4pRHSq3KXmYdNBVwpXqZD5JOfEdJa/E1It+EKq/jAxvPsvB3fChAg/aCYPEF7Ny5LDIzFvyGXmW0nb7JxVZeqpgGvaS+xQ4C7u8+jcT6hViOvr7tTR/RUH0UCUZN3BWHqfUwRONvmUPi7hHVaGQpAEqTvsNr0NpdZTph/xTkAMIYkkkWXwFdSmeV9A1tzDpBHHoB2ohD1zP5fs4Z8ftC5lHgs6B4atpoR5wkq9bD//fDfCGuwFqWfrr10PeVWsdflzOPqm6yx/pYVDkmtDd9lG5PVSlOg24IgNXsVyLFlG4Cq4l1ODTZKt+FrmGdiVxLXBzPQLdjtba+1rVb7XgQu2YuqbWlgmylZmRkstZDrNWJ3iPG51I0nJpB9JewsPNJ7dwtcOaOIKNedBZ9tnAgvMhqks42yC5jGfo0A8CIEC8BaajYkchWMH6TxpwN15vk1g864k+ed22nW31SpR2hLnlT6gdmMS2W8klK2Z9Q065W21nBoQzXaEWZ45/OdgFO5EfiW2ap8fgbO/NpMTtoqp/V6c/wo5yHl5L7t7opZJ5a/DemUW4XjzTiwTS6qrJCKKLVIZGtkxUUQVzXGRKz2dg0CxXGlYlIauYg4XhJ7sgNrGEjHgygVsBWeYy3b6nK1XF5AfMcHhqAFvuEHdx7C6HsLsvTa/gufc216CauWEYGWUMMRI1AXrRBts+1y6A8zk+s9AOFJHQbosUkTfK+rxjuGQ97x5NfLOAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JLev5anVDjGLMTPpzHEY68",
      "input": {
        "note": "Right arm is not responding (joints unchanged); resending a full pose with orientation reset to level in case the IK is stuck on the drifted orientation.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.37,
          "right_y": 0.24,
          "right_yaw": 0.0,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01JLev5anVDjGLMTPpzHEY68",
      "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, 0.8215, 0.6147, -0.4751, -0.0139, -0.0307, 0.9993, 0.8101, 1.7966, 0.897, 0.141, 0.6186, 0.4477, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1584 left_yaw=-0.0015 left_pitch=-0.1129 left_roll=0.0011 left_gripper=0.9993 right_x=0.3707 right_y=0.2461 right_z=0.0677 right_yaw=0.0628 right_pitch=-0.0267 right_roll=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.0598, 7.0085, 1.7363, -0.0513, -0.0464, -0.0122, 0.3897, -9.4838, 5.7231, 1.5507, 0.5104, 0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d3440b97fa4b3bcfe657bc9c96d43a8b9d5a180af3d733cb39abd939762d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e04ce8fed797c3e164da220d29a3ad9c388cc337de4a478c20dcb5bf1176e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70cf73a3d70f804272b1d795819d5625c5f030e86e21af8f80915cb0bda3d80c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 4.503 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, 0.8192, 0.6147, -0.4671, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.252, 0.5674, 0.2768, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1605 left_yaw=-0.0015 left_pitch=-0.1026 left_roll=0.0009 left_gripper=0.9993 right_x=0.3813 right_y=0.2496 right_z=0.0144 right_yaw=0.1621 right_pitch=-0.0951 right_roll=-0.1853 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.4974, 7.1453, 1.7949, -0.0366, -0.0269, -0.0171, -0.253, -9.7573, 5.2444, 1.6728, 0.2515, -0.0757, -0.0171]",
      "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, 0.8211, 0.6147, -0.4694, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.2508, 0.5674, 0.2771, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0015 left_pitch=-0.1068 left_roll=0.001 left_gripper=0.9993 right_x=0.3812 right_y=0.2495 right_z=0.0142 right_yaw=0.1618 right_pitch=-0.096 right_roll=-0.1856 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 6.9265, 1.7021, -0.0806, -0.0562, -0.0122, -0.2803, -9.7573, 5.2034, 1.6728, 0.232, -0.0952, -0.0171]",
      "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, 0.8215, 0.6147, -0.4751, -0.0139, -0.0307, 0.9993, 0.8101, 1.7966, 0.897, 0.141, 0.6186, 0.4477, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1584 left_yaw=-0.0015 left_pitch=-0.1129 left_roll=0.0011 left_gripper=0.9993 right_x=0.3707 right_y=0.2461 right_z=0.0677 right_yaw=0.0628 right_pitch=-0.0267 right_roll=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.0598, 7.0085, 1.7363, -0.0513, -0.0464, -0.0122, 0.3897, -9.4838, 5.7231, 1.5507, 0.5104, 0.1978, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9d3440b97fa4b3bcfe657bc9c96d43a8b9d5a180af3d733cb39abd939762d7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5e04ce8fed797c3e164da220d29a3ad9c388cc337de4a478c20dcb5bf1176e09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70cf73a3d70f804272b1d795819d5625c5f030e86e21af8f80915cb0bda3d80c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDOYZiyxy3hQvAkwn7BoM4MiYpGrYiSsdk1GuIjDSkp85kmfPWbhIP0a2Zx1+L1jBg3Uv335eHiGJgQmQgZqgan+Tqn3XVHgVoTTq5aIq9ge3dSpmfY5zH6iP/PJnI4azF7IIM8Yn9BfbI0p12D2gNjAeRdUJI3zYmm/cVLrxfkTuzRH/3a//TQUrgNOPeip6EpsVkKs1SaXrUvpkBgxd6VcmsNXO0voPKsyZELChffJ+I8oa9aCb1vEk9rA9xFBV+EE7ecPYEJZUz6IapssqgdU9l3DL+vmfbtV16flunb1V6th1to6UF1xhBFHsQfIZGdbQ7LeHdOT9j4l6WmDa903SIu3P0Zk5zNpYQPlJyY8HaxRKuEcennIrroSG7ZoQ6umvB4N+0irfdyAYh1kTtQdu7GQwf8XFNcHgWCTIKCCx8S4DDZGsHD+5Fbg8rKOJsn2B9kAdNFT2hxZ/S8iuEgbbmX0ntZ+nWzfjZkQkSJi293osR/3k9LvXK/vApeJxaNOIjPjNLzrL++Vg80cJaiNzPinuruQFYepqOt7zXZmK1HSDM3B+07dJnQYU/l4RPTp6zMSdHaSwAkQ8GHMiOyT6AeOKBxhK9ef2KRzZgnOokVCzPgF44/9+IJdSEPkuoLMBXTAkdlm0jEl8/mUQTijm2TGkZCLtCKf9pii9ZCxrU8Wwuo5YyEI77k5aj4cZVtE4x9SkNZpv32Ns4uwwzF22GpqZ3z0IEftu/Jcr+LQY/cMhCfbyj6nlcFr0uqV4vV0RdTO9OzK3tFbJh36PWnFFoEDNHCyjyIFvMYMEndFLECGGq6rB1u/18xyCKHxTwv2G8W7JAx1TzKgDeTm3UV5vUt9aniFLr6SkRxQLiwNbXoaIpt0alcMHf6JEFpllbdeKQuRjFGKoAH6wgheTlHPFwOa3E7EQqBBAx3kHXnZm7NQB1lX9Eno4+//4KqoZiSFCyYPAm7Nxo470+yIlC456xGwbtlqHg9YSPtz7Z/MnkbEmpLS6qVonv3BASx4ZBHu/GjHetohseDujlRJ0+4HA1fsgySFu4t5/569u0cOWQ0aVRtAJffKSHmMrxA0VID5qGhWpVzK/+CdYzzKsQvpL+xjOG93D1WVZQkTEt4xQX3g9ZXwnXMUtA8GRyvubJYLkyumXbCUYG9rdwPHQ6KbKNBeLZphWY5iJzRdCIT6tD0LDRamPcp4XU87L0HARixsTft1zX8ncU4QhSK48q5zcaqakfUzavIYk6bp9+3vac4d9QJ4gVj9AYraT7+rKNNE3J8X/ZGhfkda71m18CesR2EgNcZESAeJwxDKghqeW3Wu6uAW/JAMp7DKpZlssW5LtFgMTV2kbHHsqPzA9v/J7pjAxDr4Z+k6cxeKkFn9dcDnFcQ7UNGKbDOayU9heEvF5A00tzZFixcxriALcifR6LcPMPP6BMsV9Q2whEHARbleoCOsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UW6t1MjJ7xwQvSLJMstc5d",
      "input": {
        "note": "Arm is responsive again; the lemon sits just ahead of the jaws, centred, long axis pointing forward. Advancing 3 cm and descending so the jaws straddle it.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.4,
          "right_y": 0.243,
          "right_yaw": 0.0,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01UW6t1MjJ7xwQvSLJMstc5d",
      "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, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.7616, 1.9968, 0.8978, 0.2832, 0.6098, 0.4725, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3867 right_y=0.2339 right_z=0.0051 right_yaw=0.0055 right_pitch=-0.0721 right_roll=-0.0603 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.265, 6.9402, 1.6435, -0.0562, -0.0464, -0.0122, -0.1983, -10.0991, 5.9692, 1.7558, 0.2662, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6fadf363dbd48b2003a704b7cd93e71006419cffa5620db76f24b5497985da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3547188ad6926242f718213100bf206567dbcf9c5e7529e532c266afc853925b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:04e123857d28329ddb53d17553505bb89f10289ae89dd9a5ecd4c0d4ab2b2ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 5.924 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, 0.8211, 0.6147, -0.4694, -0.0139, -0.0307, 0.9993, 0.7815, 1.9659, 0.91, 0.2508, 0.5674, 0.2771, 0.9964]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1596 left_yaw=-0.0015 left_pitch=-0.1068 left_roll=0.001 left_gripper=0.9993 right_x=0.3812 right_y=0.2495 right_z=0.0142 right_yaw=0.1618 right_pitch=-0.096 right_roll=-0.1856 right_gripper=0.9964\nstate[joint_eff]: [-0.1983, -1.4974, 6.9265, 1.7021, -0.0806, -0.0562, -0.0122, -0.2803, -9.7573, 5.2034, 1.6728, 0.232, -0.0952, -0.0171]",
      "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, 0.8215, 0.6147, -0.4751, -0.0139, -0.0307, 0.9993, 0.8101, 1.7966, 0.897, 0.141, 0.6186, 0.4477, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1584 left_yaw=-0.0015 left_pitch=-0.1129 left_roll=0.0011 left_gripper=0.9993 right_x=0.3707 right_y=0.2461 right_z=0.0677 right_yaw=0.0628 right_pitch=-0.0267 right_roll=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.0598, 7.0085, 1.7363, -0.0513, -0.0464, -0.0122, 0.3897, -9.4838, 5.7231, 1.5507, 0.5104, 0.1978, -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 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, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.7616, 1.9968, 0.8978, 0.2832, 0.6098, 0.4725, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3867 right_y=0.2339 right_z=0.0051 right_yaw=0.0055 right_pitch=-0.0721 right_roll=-0.0603 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.265, 6.9402, 1.6435, -0.0562, -0.0464, -0.0122, -0.1983, -10.0991, 5.9692, 1.7558, 0.2662, -0.1538, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d6fadf363dbd48b2003a704b7cd93e71006419cffa5620db76f24b5497985da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3547188ad6926242f718213100bf206567dbcf9c5e7529e532c266afc853925b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04e123857d28329ddb53d17553505bb89f10289ae89dd9a5ecd4c0d4ab2b2ca8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSsQcKEAgSGAI4AUIIdGhpbmtpbmcSDBEkHLFTt4sCOxgcXhoM/2jZFyBEYLiZ0ZEYIjCwRh5ZsZ+XJY6KMd9SGQpYehw5j3Gb6jOR2XDft5vUV3/5HMOo9VbhVrUSAfGA9qQqzgbfDl5J1ytqvOhYJXxbuLh886STicr79VPmJ03onr9ONzfrFi7eDupvir9LlyD5fKfacklFZdekuVR6Qpryz6PXmoHQg5RsgVukbzRoIPFiPiSYTk2xd4EaS8aguY+okqt8iyEUfGsLIw/zZfF42NsVf4psm8SXmFJ0SmyscAm9ynq3ZjiEaI3m+NlAqwaQ7BKvaSIFvByfsG3/pF8+xc1uLhKbGLd4QBdLZxJA/M+XVCOlwxlEi1dNa3AiLsWl2YwLUMOBBwrcTyLG6C167toHtNQGQYWx8dx9R/1pughcHN4ZfIxW11+TNh/7n86ETDKzrXiG12SDMkVYII8rPkf7qlfzHDsBbl2oTlSCZ9acWmPInIrQuw3oo89Z43dK3S/xV4nvsAlTaVbglTaT9kWx8u8G7CtsMXUBZcEpNNd0621PTwv+1fgI4DEFGWcJ8UfNTlNhRJPWgZkJPyNtE2zukC5dWcouDQuPxi30etthVkkiaYY9Xc1/Uj0AjI0tH+MvKxJqfWjqHSRT2xuHq6NH+pXEQdFWKRsQQrxY8Xw35XevrZcGCvUHra+JO/9v5EbQLMn+amrKR1iNL7lRn+gc5JQHn5/VNSySjEw8FEQtOLM+7wQM5zbV4IWvlXrL20WANzQxL+jWpvxY4fkYr/xJ3+TxSq4N5/MGqM97IdhTafO/0/g/dLraaaeeII06KJftsqD080uamhEukCMNAP4OWak+QPFef+ggo6Wju7Vl2JDT/bJGEsXaD55pQXWX1+lWwQmzJRtlsHUtvzZjSpChTw/P1x4eGP+uakKSEaex37n60RrBMC5UmY4JR1bsbQp+Jz7NYFuja959Ln6a/4DFJDqoMTz+jxYUDcDeBpYEfjoEcvPj+BKuPp5CLu1ilnIkE3Uts5budMJnwe4E17Ffku64xHISp0pbXrpGZxol4x4XOu7/potLdIKhg3G7rdGvqQikKDL+D6yPsu0jAJ442zpOW6hUMR8T0K3yVFs2sDELYyx+9MZzmrS+v4xT+yTEtg5W3Z187H3JkkdhXUR1fNY3eYFdtxqb17MQu2DNpiTwFxExPg2AcypauCVjKYNb1Nacw1CTe8JIsE2xlceRvkMTFYds8gLVAbj98CMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U2i1dYB7UGoi5G3DjzmWzH",
      "input": {
        "note": "Lemon now fills the bottom of the wrist view between the jaw tips; closing on 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_01U2i1dYB7UGoi5G3DjzmWzH",
      "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, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.757, 2.0056, 0.8978, 0.2913, 0.6052, 0.4709, 0.4932]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3877 right_y=0.233 right_z=0.0022 right_yaw=0.005 right_pitch=-0.0749 right_roll=-0.0597 right_gripper=0.4932\nstate[joint_eff]: [-0.0615, -1.388, 6.9402, 1.6777, -0.0513, -0.0806, -0.0122, 0.294, -10.2359, 4.8615, 1.3455, 0.2466, -0.0513, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f90792ee03f3d1102c5c852980b41a61ba10155ae42c62216224da5322bda8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a30fc41a757401f1d32c28a7cf9b62e36cba0462c39291b9887df15672d5a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6f6839c6e12fd82d79cf689dfff696308efefc04114baa13e84cb6b1a6edd08a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 7.384 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, 0.8215, 0.6147, -0.4751, -0.0139, -0.0307, 0.9993, 0.8101, 1.7966, 0.897, 0.141, 0.6186, 0.4477, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1584 left_yaw=-0.0015 left_pitch=-0.1129 left_roll=0.0011 left_gripper=0.9993 right_x=0.3707 right_y=0.2461 right_z=0.0677 right_yaw=0.0628 right_pitch=-0.0267 right_roll=-0.046 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -1.0598, 7.0085, 1.7363, -0.0513, -0.0464, -0.0122, 0.3897, -9.4838, 5.7231, 1.5507, 0.5104, 0.1978, -0.0122]\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, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.7616, 1.9968, 0.8978, 0.2832, 0.6098, 0.4725, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3867 right_y=0.2339 right_z=0.0051 right_yaw=0.0055 right_pitch=-0.0721 right_roll=-0.0603 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.265, 6.9402, 1.6435, -0.0562, -0.0464, -0.0122, -0.1983, -10.0991, 5.9692, 1.7558, 0.2662, -0.1538, -0.0122]",
      "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, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.757, 2.0056, 0.8978, 0.2913, 0.6052, 0.4709, 0.4932]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3877 right_y=0.233 right_z=0.0022 right_yaw=0.005 right_pitch=-0.0749 right_roll=-0.0597 right_gripper=0.4932\nstate[joint_eff]: [-0.0615, -1.388, 6.9402, 1.6777, -0.0513, -0.0806, -0.0122, 0.294, -10.2359, 4.8615, 1.3455, 0.2466, -0.0513, 1.0232]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f90792ee03f3d1102c5c852980b41a61ba10155ae42c62216224da5322bda8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a30fc41a757401f1d32c28a7cf9b62e36cba0462c39291b9887df15672d5a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 138):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f6839c6e12fd82d79cf689dfff696308efefc04114baa13e84cb6b1a6edd08a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDB/fDCDn2qLNj4xsXhoMJloGalnJfMEUbKDkIjBijnkoi9phXGZknfEc08WWr6QBN1tbJ87xOBjMnf71jhGsT6zzu849kZminzKDytgqpwe+JtF8Xraqwjq42G/1E+WklSWyo3/aycFjcUNuwkHU4GsrvjVVeb88xi29/LMcjJm7BYX78lwS2hd9AMj+4GZACEZw3TTQ7A1LvUYxaeKjAl5maAlz3C9/neZ3nbkttHelX9/6YKJ5UGkBHHiJbmyNVLvDI6072FIQcErGtdLY9eyFxkZGROEgJ6ZqOu3VjA2DX0JhhzFUGfZeP3WInFbANhjWcDc9bZ740wzGfZBBdkmxQHciutQ7J6N6c9GVKGK6JpD3ufaglQExtJfkyxKHhRUJX0FcV3ioRgna5/LmSahiQI/SsF6N1rj5D6viRwtBSXZdiBFqki6tAShbVx7GH/HYGZCgisAR2vSgByUjXu9eMOi/Rsb3/uVfIk0Cm4nvug9r0qohYHzbRC3bgkHLHEkznJc5vuQ7mOiZh2Q+f2QSsbq3giyvYHfttaBO4KWUkZGenyvBiL5tdvERnYh/wSqbmaZNT0eQw307wub7//56h4jDZj5jvYpn6I3k5TbZbMhgjlkKHr+rVtmEvn/jChhrSTyQC54HBWkN7SwadsXio1oK/eT2YvR2Gs3yyGDKUvesDBZAyA5stWB3+AiI9NPkoL1BMHUybYO8i6g0dDVw94z/LZWXYl1XZ/tVMQ5QcgHzhyZJd5kIUeh5N+Z9bjZ2R21m77FoUYnisTmp6RgvR0mBaisP21IP0f9V2v5jv77NscwyZY/rDz3LqjE3PHneBwxjhopRSD1nCJidqpC9EWGOM8aCSLUTj3/1M7KJQbEhqmEtAEObXZKVPUTaUQX61naqQHJgi9Q6WMbyf445fnPSPT2VhzDcUGAB9HH3m0KLWiWbcw183ua7tPqJCU5RWQUWqGmlLw8VERKTL3aaKSVoOtYNfZjVErVAkv0S2FsmdRzd8wdTqwvrFEU/DsnOaoBwbjtsPUniYVpeSPS63MfSwBUvO2BbNYsztO8s90DXf4uM1D6IjTB7jS9Dg+a/PmrOP88XHnRKbFw8ab3Xx92FxaInXl3n5Z9WhhV4KwKTGWUDTxe4UULMmL6/U4nT0+Aqs36CARhhdPdKzH3OG5KCpzW8fZb5AtGrKtxjh1c5d+FG7HnZdWVYXhQKu7p74gQML88CTwSQvCfjDV4vz3laktRPCJ1bVWi4KyGqPW035PMbM5T3GTfoUm9qKEwisN1CVzzlPmKMMpMpEOdDGjCLnaYA/ZMmfBJy7m5lpWm/pYrd2p5YvmSlbVyZBHM8Fs9NbhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013jgwetqQ1WGGbc1C9BxXGQ",
      "input": {
        "note": "Gripper settled at 0.49 (~4.7 cm): lemon held. Lifting it before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013jgwetqQ1WGGbc1C9BxXGQ",
      "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, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.757, 1.7405, 1.1103, -0.2111, 0.5964, 0.4633, 0.4929]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.0015 left_pitch=-0.1179 left_roll=0.0012 left_gripper=0.9993 right_x=0.387 right_y=0.2341 right_z=0.1152 right_yaw=0.014 right_pitch=-0.0978 right_roll=-0.0779 right_gripper=0.4929\nstate[joint_eff]: [-0.3624, -1.4564, 7.1453, 1.6093, -0.0464, -0.0464, -0.0122, -0.212, -10.7829, 8.7043, 1.4921, 0.3443, 0.0757, 0.7204]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb20df7649e2f0a32fdf31fba2c7f7108f27645797ea077842bf585a7130a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6336e96e5863fbf59a530a8993b2c0fd08991b3a0b70dde5e7f76c5dcd752f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1b42370f5e15152fe7f5a4c65461f3a17a9938720ade85214db97ddc89ba5540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 23 attempt 0 · /messages · status 200 · 4.266 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, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.7616, 1.9968, 0.8978, 0.2832, 0.6098, 0.4725, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3867 right_y=0.2339 right_z=0.0051 right_yaw=0.0055 right_pitch=-0.0721 right_roll=-0.0603 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.265, 6.9402, 1.6435, -0.0562, -0.0464, -0.0122, -0.1983, -10.0991, 5.9692, 1.7558, 0.2662, -0.1538, -0.0122]",
      "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, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.757, 2.0056, 0.8978, 0.2913, 0.6052, 0.4709, 0.4932]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3877 right_y=0.233 right_z=0.0022 right_yaw=0.005 right_pitch=-0.0749 right_roll=-0.0597 right_gripper=0.4932\nstate[joint_eff]: [-0.0615, -1.388, 6.9402, 1.6777, -0.0513, -0.0806, -0.0122, 0.294, -10.2359, 4.8615, 1.3455, 0.2466, -0.0513, 1.0232]\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, 0.8249, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.757, 1.7405, 1.1103, -0.2111, 0.5964, 0.4633, 0.4929]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.0015 left_pitch=-0.1179 left_roll=0.0012 left_gripper=0.9993 right_x=0.387 right_y=0.2341 right_z=0.1152 right_yaw=0.014 right_pitch=-0.0978 right_roll=-0.0779 right_gripper=0.4929\nstate[joint_eff]: [-0.3624, -1.4564, 7.1453, 1.6093, -0.0464, -0.0464, -0.0122, -0.212, -10.7829, 8.7043, 1.4921, 0.3443, 0.0757, 0.7204]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2eb20df7649e2f0a32fdf31fba2c7f7108f27645797ea077842bf585a7130a3e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6336e96e5863fbf59a530a8993b2c0fd08991b3a0b70dde5e7f76c5dcd752f70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b42370f5e15152fe7f5a4c65461f3a17a9938720ade85214db97ddc89ba5540",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSiggKEAgSGAI4AUIIdGhpbmtpbmcSDIHWqd2NdPB5EIiI4hoMooQzoQaW2HeEC4S+IjBH8jsK/gmIU3VR2WT/9tvLO2FKnb4XSm0SQ8+c4DdIPxO9c0fZ4qdNyCxM0aSGA6wqpwf1Ktkwp862tXctTY6DGs0W6CRjclwIBlndssqL/hfMeb7kHfC9oMLPuHW1ZlmVvoVKQ/hgfXsncxjGj9pUwwedAtcJ+kfvpMkpuKPWHmJU3LifC8tWenI8CPM7mPsImzrwGaD95ZGSfxzfgOC2YN+FyUXlDzKmI75QHczL5EKX12z9IQEut6o5AEt2x8kakfyw1hgyD4ViZa7r40s/xdZX1haawPZ26+Zx62hdNyEnBAehQhZvmBxJXbaz9iynds6KNfzniMDlJtg0uvS+rW/fSfH2RiINSu7mceiI7x4NTM/qzMzljQ0xbt7dB2Mxian+fjw5yP5AAgjy6YoD+GeKWbumceuJ7vJoDrhFissBwitICphTz9qyIm6EC2MaqBbNchXwjkrtm+Yw14FwMiROrc2x/qv33qpy5mzWcNAutnlAzB2fSDhOdsFt6L6nXzspYEegNYgYiPBfEMQ0mJti06NG2PysJ37YaBwuhMbQSNktZpQ+LwqXJ8P8mzeS7Qz8J6f8h+Z1N7YuNm5edNmdeY4p4UUtlMBSTOr3oI1+YqcnQLE34F3m6N/i5zBQE0XpPftnnygkWeqdolSDOMs0S+rLVS1y4V4j4N3qZjG5mIN+4US5vXfjNyRImOq85Xly6hC1sv1fgtDxMbcstJRbglL3tIEvy441UH+ZwZjUzWn7Zf+6R/la5VHKZCb9nIrnc/VLc2P7n+tsqPCqugn1VnVuI6xXkYCD2ei+QACxOSco6nmx2LCjYt8Xx+FVbZCThdJnPpxHi+zV/Y9544+Kon3gzjd9/iiTQzZdy3PzjVRyVSy05v18EATb19fUX/9CxI/78nhWnbWg8QfRqz49q5oLwx5GT/iSv2IRQusR/cyfS09I6zIPB1sRTRp3Rc2w913e+7L9exGWiV0chr+VppzfjNcdyNfiUiATJ2Ii+Q+dt7I8P/60lgNS6FpAgJo/CFFqzwFmnk3gPksffZ456/pbdOz4OpUNxSjCqvISz8IU7W2wpCwRA3UcjvbwB2iiw6EGYQeRmvGUXaBFjfSfwZmG6+JSAqLngtQ7O10z2i0Puu+uEUfYaTWWWE0c3aMUfyQ36y0spVab1LtPY2Rur+r5+uq9g/VUorM5tkalbTVRUa2A5O8lOQqZhYhGL8ox0t864JULmQ8iviKNGxJhEUOfLKvfm+hR4BOZyLGgWTCOOr/RqUL4CjJQ+7YgWwGOoIeoOk1I7VA0HP0W0obWtwKcUrQKlhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TZGfAPxEGHFHaVdWhi8Mds",
      "input": {
        "note": "Lemon lifted; the blue bowl with the pear is just ahead and slightly right in the wrist view. Moving over the bowl.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.195,
          "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_01TZGfAPxEGHFHaVdWhi8Mds",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.5869, 1.7535, 1.1797, -0.2611, 0.4915, 0.3374, 0.4956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0015 left_pitch=-0.1205 left_roll=0.0013 left_gripper=0.9993 right_x=0.4255 right_y=0.1872 right_z=0.1218 right_yaw=-0.0098 right_pitch=-0.1474 right_roll=-0.11 right_gripper=0.4956\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.663, -0.0415, -0.0464, -0.0122, -0.212, -7.8701, 9.2239, 1.7216, 0.2027, 0.0611, 0.5397]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78269c2d70cad2d564a745abd24e697c727103e7933e34fecf09f098f4050c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bc5950244273a07d7c91cd1149a093b26b2f9431b8d593c27df7c0dec77875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58ffe6c739f2476dca4c64639090716130a22c367522a0e0bdb8cd408102a724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 4.576 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, 0.8238, 0.6147, -0.4763, -0.0139, -0.0307, 0.9993, 0.757, 2.0056, 0.8978, 0.2913, 0.6052, 0.4709, 0.4932]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1576 left_yaw=-0.0015 left_pitch=-0.1163 left_roll=0.0012 left_gripper=0.9993 right_x=0.3877 right_y=0.233 right_z=0.0022 right_yaw=0.005 right_pitch=-0.0749 right_roll=-0.0597 right_gripper=0.4932\nstate[joint_eff]: [-0.0615, -1.388, 6.9402, 1.6777, -0.0513, -0.0806, -0.0122, 0.294, -10.2359, 4.8615, 1.3455, 0.2466, -0.0513, 1.0232]\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, 0.8249, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.757, 1.7405, 1.1103, -0.2111, 0.5964, 0.4633, 0.4929]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.0015 left_pitch=-0.1179 left_roll=0.0012 left_gripper=0.9993 right_x=0.387 right_y=0.2341 right_z=0.1152 right_yaw=0.014 right_pitch=-0.0978 right_roll=-0.0779 right_gripper=0.4929\nstate[joint_eff]: [-0.3624, -1.4564, 7.1453, 1.6093, -0.0464, -0.0464, -0.0122, -0.212, -10.7829, 8.7043, 1.4921, 0.3443, 0.0757, 0.7204]\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 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, 0.8276, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.5869, 1.7535, 1.1797, -0.2611, 0.4915, 0.3374, 0.4956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0015 left_pitch=-0.1205 left_roll=0.0013 left_gripper=0.9993 right_x=0.4255 right_y=0.1872 right_z=0.1218 right_yaw=-0.0098 right_pitch=-0.1474 right_roll=-0.11 right_gripper=0.4956\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.663, -0.0415, -0.0464, -0.0122, -0.212, -7.8701, 9.2239, 1.7216, 0.2027, 0.0611, 0.5397]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78269c2d70cad2d564a745abd24e697c727103e7933e34fecf09f098f4050c92",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bc5950244273a07d7c91cd1149a093b26b2f9431b8d593c27df7c0dec77875",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58ffe6c739f2476dca4c64639090716130a22c367522a0e0bdb8cd408102a724",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxwcKEAgSGAI4AUIIdGhpbmtpbmcSDI5Fteq3jLyI9xoM3BoMI8pjgIB6+xbkMpMrIjARamM8NKgUNQDS3ouk1F7P1p8hsgr46ch9dt7QWE7LkDcs/rE2UpTKVPYGI+81g0oq5AZFouy4Ebv5r7UccbEI0ATEyaLON/BY3uLtTjp2FJ95GM94OAlKv+RpINEP3lBdnLOdoXgJP87be85JmLaxpADcU2R8OtU4luhttloVLopSd2lUWG10bL447dhfjOYE+NcR1SJH6AlXOm699el5KqGQmWFVAasUbU/6vDyWn+TAhM57NfJzp5+7LyKrWuS1RFCKAZYaVCS76Hs3bGa3uDXaaCn+QhWLUhuxDmTynAAmTAc0FZo3NUNDDrFNybzMXcTAoA6JSs+/Sp1+Nt4daJadRx15PRSnoAnzL53tIPrRSs6dtC41kjWqQrfLZSaMYalZnmuH7+3T+LmSNfqazx5rkhP2SYddre91rmAPuNO105KY0EXOKOtmhWPlTlCIdhg1o7BNhEmTWf+Rvf/6T2/NottrAKvy3UyEHnINeGAcn+G/gNR3bHfDtp4+K57TW4PxKGNumjOt34C35X0f9KskCKsheLm1njELLhMdnCd6FZE6O88HXAm9iGbRmFnCP6FfNRSsDJyWOfqISXlFZzwj6Ne8npOBZk/1kxVOkP4/AhGgoaclydjgheM1OHv2QKQ/oxk2UHT1mLQNEG28ZpuuO66kLew+1yliU2latxIruCXzq1aSV4cwHmSORgkOJS/vXW0WAsnAWIk9/xWcR9+DvYO/h9ps7zGU3taaePVKDptaH44ZuKd2+VRjDNKGlk976/FW4RjQgY8yHKoek1y9EHP71i0FkEg1lyxzFn8PvUCCGfBkAw6A9u5syAvLkeAVT/JNifmFpZtS8T4EfJMz4EUU0YfH2BNJMUaKmT7SI8xKqpOqRmcZWSE07vu/vYSgwd50BkgcSbpj+UXcI3632takXz9b70ST3QhtqLM+ArIB+hLF4sYfp/vYfPZ253878eqx1uOJNx0Ewpnlc9JqujNTSqUCNVYuGo3g8+dpWaFjmp0e1WDSqysIMJI8JvKSqjJI/wu9neDJvZ09zHchyPGLvNbccN3fg3yctk8Hxma5Rdl32v4OXAUSeLZRuIqW3lU9Fr+e2It+9HMHkzxc1Ib43hTgOn+nRfjHyRVT+Q836omdbJcHOPgeHYVELt1Mnl33qBhmqHBLoyQxjsOLu1vjiFFBpBoc2VapAhpCw+QxavGu+4gEImtvw/wQHPJIddIcGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qqh7eaJcCk4XM5inRqxRzo",
      "input": {
        "note": "Bowl is centred just ahead of the lemon in the wrist view; shifting ~3 cm forward so the lemon is over the bowl.",
        "targets": {
          "right_x": 0.455,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Qqh7eaJcCk4XM5inRqxRzo",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4908, -0.0139, -0.0307, 0.9993, 0.5777, 1.7542, 1.1995, -0.2516, 0.466, 0.313, 0.4981]\nstate[eef_state]: left_x=0.2819 left_y=-0.0001 left_z=0.1531 left_yaw=-0.0014 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.4316 right_y=0.1909 right_z=0.1292 right_yaw=0.0161 right_pitch=-0.135 right_roll=-0.0971 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7216, -0.0659, -0.0269, -0.0122, -0.2256, -8.3487, 8.4308, 1.6777, 0.2515, -0.0269, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc894abb145771e9969a9518228e714717ad8debbc9b7157a8f377df9bf6c7b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80151d145113e4707640da12a082cef03f61fee08de7cb29136a4219484743e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8073399fcfd7ecd9cbd9f9aaeca93b001d74d7013c9f903963fbcbff0cec3d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 25 attempt 0 · /messages · status 200 · 9.246 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, 0.8249, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.757, 1.7405, 1.1103, -0.2111, 0.5964, 0.4633, 0.4929]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1572 left_yaw=-0.0015 left_pitch=-0.1179 left_roll=0.0012 left_gripper=0.9993 right_x=0.387 right_y=0.2341 right_z=0.1152 right_yaw=0.014 right_pitch=-0.0978 right_roll=-0.0779 right_gripper=0.4929\nstate[joint_eff]: [-0.3624, -1.4564, 7.1453, 1.6093, -0.0464, -0.0464, -0.0122, -0.212, -10.7829, 8.7043, 1.4921, 0.3443, 0.0757, 0.7204]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.8276, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.5869, 1.7535, 1.1797, -0.2611, 0.4915, 0.3374, 0.4956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0015 left_pitch=-0.1205 left_roll=0.0013 left_gripper=0.9993 right_x=0.4255 right_y=0.1872 right_z=0.1218 right_yaw=-0.0098 right_pitch=-0.1474 right_roll=-0.11 right_gripper=0.4956\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.663, -0.0415, -0.0464, -0.0122, -0.212, -7.8701, 9.2239, 1.7216, 0.2027, 0.0611, 0.5397]",
      "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, 0.8303, 0.6147, -0.4908, -0.0139, -0.0307, 0.9993, 0.5777, 1.7542, 1.1995, -0.2516, 0.466, 0.313, 0.4981]\nstate[eef_state]: left_x=0.2819 left_y=-0.0001 left_z=0.1531 left_yaw=-0.0014 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.4316 right_y=0.1909 right_z=0.1292 right_yaw=0.0161 right_pitch=-0.135 right_roll=-0.0971 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7216, -0.0659, -0.0269, -0.0122, -0.2256, -8.3487, 8.4308, 1.6777, 0.2515, -0.0269, 0.2515]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc894abb145771e9969a9518228e714717ad8debbc9b7157a8f377df9bf6c7b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80151d145113e4707640da12a082cef03f61fee08de7cb29136a4219484743e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8073399fcfd7ecd9cbd9f9aaeca93b001d74d7013c9f903963fbcbff0cec3d5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS7AcKEAgSGAI4AUIIdGhpbmtpbmcSDHOlw5/pP6rHNifydhoM5BOpeGdM+r5AEjXIIjBktfuh+Ny8foT71TNgQPW7M7e2uU+dZP3yNvOzv1qG+S+5XaTBmDw5bB3h59k0KagqiQeziLf6x18NT1xiIT92PeAHWmhb4hJb/BYHg3NGoWqWBsgsKFr/0Q59J212CUoJFDIdClhsYkUu5AGtclYwzgwwk3FFkRPg3ZYLlr7bHSClrCbE6n5mQNifCX4zxX8yxZNNGR5VZXYObU20gxHZdLwFpRI/vs+XyFvzOUFyOYAqdVM5aB4XZnfJj+0TH6P7MeLguZvNI3FMGCNUi/3XwbExWdekXuqwB1B69jMGv7IoaMK4UXJVB6qqzSC1bRJiKSYy0luPudTfL7CGBX4mmGu9uSJfnt6x7soJoc31JN9WSszAK6PrQ9S8ooT19iTNRszIB+zO6h+U0njrvgkBhtvgTrV43Q4eMsFEWhjncgijlD/x/3TQ1gs4WIQbsefoxtVkVe/1a7W5SFXNiz78VuNTzmz7VU5TXob6kSsZh/njzShJ3tbJoojKlI71wxF1VHe0j+2VS4R3KCLMeGCjpoLCMy6IZJsp9mrnEWzNJe/6tmsg4h7yCgXID2WR6xbfuhw2nbhug4Mlb8h4ehvzMdMGbOouUqRnOOo20atCYXIAq+myO061HgdY5dChbJz71nSBpEj5rNRIuWSOWmbdRdolVswxWjI9j9SYIYCszP5khJwLvrjC3vg+QMQptG2myupsLWU/8t1nIX5MCnA+YW3JDOUrm6opu8Zx0CNP0M/n4cRU8Yhb5Ws5ZO5m4GcRobVB0FNIStiybmihkr7FRnIiTwXXxIvoFLaTgJ4F03DnBC8xyjYzvyJy0f7VAZCc3Mnn7whGva3EMdMltNByuq2w38fteBLRnV9Mn4wokvUOx/Xiz7/CRVMDuQLJK+O2+dyhlXyI7OuUGJxAE9yCWgbjOnEWKp+1Aw3rM//HwBWK8WxYe4pb9jjHM027xLAVER2WSjZRiDpidAZ5g3/zzXaFZXZuOhwFyhpsZr6hYqtzcZeKYfSlcpysb7YCQICPj8+zJv+jp3DiWVzKqVPTK4PjHwjFE0MdwPokAzo2pguprWXmvv0390bcU/3DdUHdL3LEB1NST3LLQ5WeVYp85za7Lzfm719dpq99vOsgNUcIUAFJ4VPP6WTpFbO7kO9b4sGVG7ezfr8PjLWwtBDx2GuymAVGpsMzXGo45C903csqZMuNqSnQMfLnB0IkihAzYQtMjQISsVDizxYMns+i0OghQN3AdrlaBICQzG06DUdPAFBtH6O6l5Y2yxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013zXBTeKP6Su96CWQnHy65U",
      "input": {
        "note": "Lemon hangs over the blue bowl, directly above the pear. Opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_013zXBTeKP6Su96CWQnHy65U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4915, -0.0135, -0.0307, 0.9993, 0.5774, 1.7542, 1.1995, -0.2516, 0.466, 0.305, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.153 left_yaw=-0.0017 left_pitch=-0.1381 left_roll=0.0014 left_gripper=0.9993 right_x=0.4317 right_y=0.1908 right_z=0.1292 right_yaw=0.0201 right_pitch=-0.1354 right_roll=-0.1033 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4017, 6.9265, 1.5995, -0.0317, 0.0073, -0.0122, -0.1436, -8.294, 8.4308, 1.6728, 0.2076, 0.1001, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21fd9772e1ad4fbad78b4c42432dd5f05cbedea6bf2b70801356bccd276703f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f94cea822b4b5d90e98a7c9810f64656c4484ca3c9ebc0236b2430c3fdebdee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d084b8c7af9fbb363b4749f97eaa756e08451ce81b1f738b84231aa0ae56ac8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 6.359 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, 0.8276, 0.6147, -0.4767, -0.0139, -0.0307, 0.9993, 0.5869, 1.7535, 1.1797, -0.2611, 0.4915, 0.3374, 0.4956]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1565 left_yaw=-0.0015 left_pitch=-0.1205 left_roll=0.0013 left_gripper=0.9993 right_x=0.4255 right_y=0.1872 right_z=0.1218 right_yaw=-0.0098 right_pitch=-0.1474 right_roll=-0.11 right_gripper=0.4956\nstate[joint_eff]: [-0.294, -1.5658, 6.9402, 1.663, -0.0415, -0.0464, -0.0122, -0.212, -7.8701, 9.2239, 1.7216, 0.2027, 0.0611, 0.5397]",
      "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, 0.8303, 0.6147, -0.4908, -0.0139, -0.0307, 0.9993, 0.5777, 1.7542, 1.1995, -0.2516, 0.466, 0.313, 0.4981]\nstate[eef_state]: left_x=0.2819 left_y=-0.0001 left_z=0.1531 left_yaw=-0.0014 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.4316 right_y=0.1909 right_z=0.1292 right_yaw=0.0161 right_pitch=-0.135 right_roll=-0.0971 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7216, -0.0659, -0.0269, -0.0122, -0.2256, -8.3487, 8.4308, 1.6777, 0.2515, -0.0269, 0.2515]",
      "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, 0.8303, 0.6147, -0.4915, -0.0135, -0.0307, 0.9993, 0.5774, 1.7542, 1.1995, -0.2516, 0.466, 0.305, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.153 left_yaw=-0.0017 left_pitch=-0.1381 left_roll=0.0014 left_gripper=0.9993 right_x=0.4317 right_y=0.1908 right_z=0.1292 right_yaw=0.0201 right_pitch=-0.1354 right_roll=-0.1033 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4017, 6.9265, 1.5995, -0.0317, 0.0073, -0.0122, -0.1436, -8.294, 8.4308, 1.6728, 0.2076, 0.1001, 0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d21fd9772e1ad4fbad78b4c42432dd5f05cbedea6bf2b70801356bccd276703f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6f94cea822b4b5d90e98a7c9810f64656c4484ca3c9ebc0236b2430c3fdebdee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 161):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d084b8c7af9fbb363b4749f97eaa756e08451ce81b1f738b84231aa0ae56ac8c",
        "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_016fpePDTmLWKQMkqytYFqra",
      "input": {
        "note": "The pear is in the blue bowl but the lemon bounced out and now lies ~4 cm nearer the base than where I first grabbed it. Hovering over its new spot.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.345,
          "right_y": 0.235,
          "right_yaw": 0.0,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016fpePDTmLWKQMkqytYFqra",
      "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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 0.8429, 1.7203, 0.8158, 0.0608, 0.6369, 0.5053, 0.9969]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.3412 right_y=0.2303 right_z=0.0592 right_yaw=0.0483 right_pitch=-0.0769 right_roll=-0.0679 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.0051, 7.0496, 1.6435, -0.0415, -0.0513, -0.0171, 0.2256, -7.6103, 5.9419, 1.7216, 0.4567, 0.1245, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6122119050956e056574d0e2bbf5b2e6675833184f0989d9070300686b00cece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c04e2778108c4b7224e375de47dec156f847853991660065cf1387ef57c9d3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f5f75e304b7b1e382e6c20e27bfd853ec1bd81135c8065d07c97b4fda5e9db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 5.733 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, 0.8303, 0.6147, -0.4908, -0.0139, -0.0307, 0.9993, 0.5777, 1.7542, 1.1995, -0.2516, 0.466, 0.313, 0.4981]\nstate[eef_state]: left_x=0.2819 left_y=-0.0001 left_z=0.1531 left_yaw=-0.0014 left_pitch=-0.1373 left_roll=0.0016 left_gripper=0.9993 right_x=0.4316 right_y=0.1909 right_z=0.1292 right_yaw=0.0161 right_pitch=-0.135 right_roll=-0.0971 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.6205, 7.0222, 1.7216, -0.0659, -0.0269, -0.0122, -0.2256, -8.3487, 8.4308, 1.6777, 0.2515, -0.0269, 0.2515]",
      "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, 0.8303, 0.6147, -0.4915, -0.0135, -0.0307, 0.9993, 0.5774, 1.7542, 1.1995, -0.2516, 0.466, 0.305, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.153 left_yaw=-0.0017 left_pitch=-0.1381 left_roll=0.0014 left_gripper=0.9993 right_x=0.4317 right_y=0.1908 right_z=0.1292 right_yaw=0.0201 right_pitch=-0.1354 right_roll=-0.1033 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4017, 6.9265, 1.5995, -0.0317, 0.0073, -0.0122, -0.1436, -8.294, 8.4308, 1.6728, 0.2076, 0.1001, 0.022]",
      "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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 0.8429, 1.7203, 0.8158, 0.0608, 0.6369, 0.5053, 0.9969]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.3412 right_y=0.2303 right_z=0.0592 right_yaw=0.0483 right_pitch=-0.0769 right_roll=-0.0679 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.0051, 7.0496, 1.6435, -0.0415, -0.0513, -0.0171, 0.2256, -7.6103, 5.9419, 1.7216, 0.4567, 0.1245, 0.0952]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6122119050956e056574d0e2bbf5b2e6675833184f0989d9070300686b00cece",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c04e2778108c4b7224e375de47dec156f847853991660065cf1387ef57c9d3cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f5f75e304b7b1e382e6c20e27bfd853ec1bd81135c8065d07c97b4fda5e9db0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQsKEAgSGAI4AUIIdGhpbmtpbmcSDEXuCsJWyAxmHdOBDBoMiGfV1YGNDRQbdF35IjBMe2NR5/R8663mfN5ydO3zT0QnOnL283B6YLB0mrUcOAdkdpqqHT2LwstBt1Ie46oqygr1GWZIg3ELl4JpnFebmGEgYtbhsZh8rpJsy6TPeMDXZ+2YknqDQFB51k/vD4cssilVkifuza3AptKmK9VqNTd0+dIShyzLZW0lxHkxqGM3UKHjtA6OiDauoa/Q2NkAqjntLj0urm1DTs9SaGA4Vps87qe9elDx274vf8dLz1GqVibFYfnLoOG2vyis8F7nC7jahal1ZjG1VOVpUvCEd3pEpzh7zgTQ5bn58VlqJowF6y9YCC6BkgxvSb06vAIw125AGpQuq5S+w3XN8c1QUpwC0phfdIgeWz6S4rRvE0vrJQpexLG+KtEEKLLKkO1bB2qLm6Vw8dtEyIAEYwVs32UxrReKGfQUp8SxTOWbrh3gRwDO7KN+jllQrS8EtC5EqZiLGRlRSHjVB9yY2iS9C24u5SEOSrql/2Xz4EBF5xjI5HgQFdipaiElwKtCcNI5ryjRNjPSgmIgtu3XJ4JbGaebJnFHW9JwZr4JTdrVMVFU+2qXT6xnMmgVXmzx9B1Ex6KSCkVrF3p9PZPlBc9E5KNyy30oC7gyz7dAtLg9/qcMJUKrTEYO0O49jx1gLM129bhvnaiJhSNtjaEh/yFz69tgRUuy0lzu+A+uZNDK8HxueQk0QYhhOPSURsga3UpLWnTgNeF7S00GXVIMwVswmsJurfF9zmbH6Hr0z85CFF4M+9w/VwkdiWHTEvEaxx1oDcORF82zu9depRI4z16lIVXS9v7Twgn77pNwpLtft9Yzz7EGpnoAtwD1ljpt1YlJvDVlJfMyDxEH9Us9P/3THXLRHa/rFouCu/7cM9T7bA5TbAMXQZR1h/jhVmtt4GeoqnjpzH3i3ewKwnuFcTaqiifyGNOAARauM+40n1yTrLiLKFPMP7i8yghJq8400gLPRVPEUCiiibmC1cq3Cs5aRkYgojHBH++l7hj41Zf7O629QFcQqTe4n1AqZ+CKIiRJRFwYhBYsb7pJCkRJ2lpTuP89fsth/g8c1xjgCOlEaTpiC6IS+z4z3XI/G4i5RjQ0MMd3bM8rOTeiNiqqjGzQYDXPgxrP4OnYK8dIe4CO39Phh/amdRYb4ZjrD9CcQ59MyspQsun0L89N5Dfzxax0v1M7Ngq6iWzqyhfyIdsV3ac0O2RVaTyhIOujexA15OQXIE+CfioLe/SA/7hFJ3Kk6aCoO8wZ0oxItqpqAuaC7yFDmyuOn44tPtnbae4Prgx7KHN6eLMoX4wF+ZXvZkQ93FNeCGOFE9hsgSbaIEo8zRXmh2cWQ2pyCMvgCHAnXRtO2Jl9GN5qIZyLusc8v6aIHI3pT7GIZ0/Jrw1w4hxH5lXf+k8AS7ZcmCxV9o33uNokJvC2iwi5vJY/i6RHeUrKAtV1ZyW3MZMqV4KMbzgYhSBAQET92XwdS0Fe+eOgrjEHTH0IZ4y9QIP6f8vE7chWnqEziRdj3cb9A+WZYgwuwC/dtMc+zddLqRBgIXwIcSsk0ALm+vpnRsSMx9pDzkd8GsP559CLDk409ARsBV8Xp1QZHWrtr0PQUcMZxciEWr9n1FupkLbQd4lsoPblncm2rd0nj2WDiF1nMwD12DRvcDYoryktIOMNp0qQWtkr/qML3gcE5zhWE1Ypssr7F3I2WZA9/SwaA0LE83FI9sb/qzzPdHqDQ2hEikcdUfGLE+k8eyrz6xPXtdqKfnzKcIKMiWcJ3DiN4e2THWtyczCHeCRB3MU7tSk4AeAe4uTvAB/5FDhHhglBYRyo5nYY+QVUYAuWQX/a4FyFwi5BVgHD1creqxPfMA8R/GbGZPbU/LaBlrbcxTb+OLs3gM0MGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01984Lcf3Zuum4EPd9qR38LW",
      "input": {
        "note": "Overhead view shows the lemon rolled much nearer the base (~11 cm behind the gripper). Moving back above it.",
        "targets": {
          "right_x": 0.23,
          "right_y": 0.25,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01984Lcf3Zuum4EPd9qR38LW",
      "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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.195, 1.6341, 0.7521, -0.2123, 0.8043, 0.8497, 0.997]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.2351 right_y=0.2588 right_z=0.0535 right_yaw=0.0926 right_pitch=-0.0972 right_roll=-0.0792 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.4017, 6.9128, 1.6044, -0.0513, -0.0269, -0.0122, 0.1846, -8.8137, 5.0393, 1.0232, 0.525, 0.0855, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b5375f6f88800c10141995857cab67c7345bc89dc4df034c0ebffe883b101d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c19be0d9a7166173d7cd0765b7617dea174a35336d46c20f8858810e06db75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2a7db0f78a3b2667cee917a13484e65495f0d6d21be07f17eb8401b521d461d4",
        "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 · 3.384 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, 0.8303, 0.6147, -0.4915, -0.0135, -0.0307, 0.9993, 0.5774, 1.7542, 1.1995, -0.2516, 0.466, 0.305, 0.9959]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.153 left_yaw=-0.0017 left_pitch=-0.1381 left_roll=0.0014 left_gripper=0.9993 right_x=0.4317 right_y=0.1908 right_z=0.1292 right_yaw=0.0201 right_pitch=-0.1354 right_roll=-0.1033 right_gripper=0.9959\nstate[joint_eff]: [-0.1709, -1.4017, 6.9265, 1.5995, -0.0317, 0.0073, -0.0122, -0.1436, -8.294, 8.4308, 1.6728, 0.2076, 0.1001, 0.022]",
      "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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 0.8429, 1.7203, 0.8158, 0.0608, 0.6369, 0.5053, 0.9969]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.3412 right_y=0.2303 right_z=0.0592 right_yaw=0.0483 right_pitch=-0.0769 right_roll=-0.0679 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.0051, 7.0496, 1.6435, -0.0415, -0.0513, -0.0171, 0.2256, -7.6103, 5.9419, 1.7216, 0.4567, 0.1245, 0.0952]",
      "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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.195, 1.6341, 0.7521, -0.2123, 0.8043, 0.8497, 0.997]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.2351 right_y=0.2588 right_z=0.0535 right_yaw=0.0926 right_pitch=-0.0972 right_roll=-0.0792 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.4017, 6.9128, 1.6044, -0.0513, -0.0269, -0.0122, 0.1846, -8.8137, 5.0393, 1.0232, 0.525, 0.0855, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15b5375f6f88800c10141995857cab67c7345bc89dc4df034c0ebffe883b101d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c19be0d9a7166173d7cd0765b7617dea174a35336d46c20f8858810e06db75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 177):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2a7db0f78a3b2667cee917a13484e65495f0d6d21be07f17eb8401b521d461d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSswkKEAgSGAI4AUIIdGhpbmtpbmcSDBX2n+aiR0VG5gs84BoMp8sXG236R7B39uiUIjCyZOHomhNUyv6H2q6mgTS01+3uxFkxLb7kvIJPi5Vv5yg2B3YKqAKfJY9eehk9kR4q0Ahj8PjeEa8OOSmXjPKhe8pP53+HCrEidKQNQCUVpnCn/hmhC7EyKPJkITUtWRAX4rx0eDHUErrdOS184ocIRl/logKdIxmYJFxrProdRpvwl6ryaUtUchLMOPLdHNtYqz/bHr8BI4JROyka1ysUGsZ5w1Gsv2hVidGkmHM76R/hR3NVViNug3qEGsxbDCr/F27dOWbfWOJnYHwZAiOXeUEYIsW4eZpSRNjySQHHPORhDsNzRxk3YnB8MD7lVxo7mvEgSHGW2QuDjcB6G2IoEP4TKRD9wWKK3g61KKjdmHAe8FMg1m5MQx8kDYmgfz2RO3dw6zb0AhYHfujDEZxHD24ujO5S3F3M7Vb9Sb5oKDYJlX33bnJSkl3uFgnlWvfvzOqAxT6WFXrn5pio71cNaUfrKaOQlel0Qt8jUsPzPBdXi0RtkltcVucShdeROoBGgrIYPfWLIp73VLaRCY9r+SCgN2Gaf0dfk9tPHwetFuc5EpmXfWUB5Nukbukx5fvRWmYsdfUmNZU88xSBmF+A0SS6IP50yF22VEhHHYpdQ/AWdj63vyTqiHX6K2GPDwWl9L1zlGZPWuDEv4v625MsbsaKK48qpWrmgWuNAdYfkxLd8LihNBTBIjPImbVOFl71GqxtZ7pQwjmuGjLjzXuFGRaDpoStc00A1NpNTSg9oDUTCooV/HYnq9GIosMNb0KgoZslivqPazuLveo03GY/BTrMGSShkliPl+apdWv3WOvFnNFY8F15eYrRkJBvwmyjQDYdpTAYPj/Z1Th9Iwx5cnIxwuXG102F0Zjkup+oo9dALUtfRT4RKiElsjA2iWRMseD2oCDLPn2FyHCP+7gwe6TL8rRJKlxrsPCv3F+ZVP41EdjlaIVos2yOsQMplpf3jZwtbe7F/f2WceEAByJ4tyWwiPTDI08QVlFiwi0X0uahrixfym/aFQtKl+XBM0YX1mWa2ceO7R/uPJp7wbZJySMTZCvLesYlCBvEKfRfzGSMLqsIshZbNnvGiR3GG1oOrJPkU5g33obi6B3AiNeNs/c90VWaB4xwIHvKk5YCL2UU22FZ5N/7gc+SItL69JjPJfIy9yeeCMFvWdNBdQZAMZ6pNFKbeZaKoNiPEgsiLM1kmXq/24xqZtinWOYcTASpkrNpTQNweqczSltlv7hk8DSHxt1rowkhdomPf/2G5iP9SWS1UIpQ4TDkZ3uadoVpkEQ1xBj372cRJB3o/GMHXOpshmkc/MXtDgQ8UB2y3S4vZZI5e0QXBzPe50ivfiAvTIgjbBFdbPyYl8jNfslhHI6b41h9ZBF5jYfvkRACNTfe1wB/BWOG+obHSw9hYiQewTDSsthOCXoO7JWM5lffmoLq927QI/WeCQ6xdRhDE8Ft6ISROevHq4Ck4H20R6ZoLTGXrh9DsV8ZTgBB2PolQ0C2P6B0ciTBPlV4wakPNlspeuzTR9f9rLtPT4yGHNOTsOYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013E2q9JQC5m2pDkjj4bxysp",
      "input": {
        "note": "Lemon is hidden under the gripper in the overhead view and not in front of the jaws in the wrist view, so it should be right beneath; descending to grasp.",
        "targets": {
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013E2q9JQC5m2pDkjj4bxysp",
      "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, 0.8337, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.1961, 1.7348, 0.7013, -0.1112, 0.8036, 0.8677, 0.997]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1516 left_yaw=-0.0014 left_pitch=-0.1442 left_roll=0.0018 left_gripper=0.9993 right_x=0.232 right_y=0.2523 right_z=0.0174 right_yaw=0.0795 right_pitch=-0.1194 right_roll=-0.1102 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.4974, 6.9128, 1.6142, -0.0855, -0.0464, -0.0171, -0.1026, -7.4872, 4.7658, 1.2283, 0.486, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6cf278e8b2bea70ce1fd13386f4ee4c331ec34cfb2fd7a27b2ede89fda94dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f91d7246885b9ff610e9b226da661d9290359b56e21eedad72217fa2e305889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f25a043aac24ead3392723970f1d4158ee2cf37e10eead567532f14824595738",
        "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 · 10 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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 0.8429, 1.7203, 0.8158, 0.0608, 0.6369, 0.5053, 0.9969]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.3412 right_y=0.2303 right_z=0.0592 right_yaw=0.0483 right_pitch=-0.0769 right_roll=-0.0679 right_gripper=0.9969\nstate[joint_eff]: [-0.1573, -1.0051, 7.0496, 1.6435, -0.0415, -0.0513, -0.0171, 0.2256, -7.6103, 5.9419, 1.7216, 0.4567, 0.1245, 0.0952]",
      "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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.195, 1.6341, 0.7521, -0.2123, 0.8043, 0.8497, 0.997]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.2351 right_y=0.2588 right_z=0.0535 right_yaw=0.0926 right_pitch=-0.0972 right_roll=-0.0792 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.4017, 6.9128, 1.6044, -0.0513, -0.0269, -0.0122, 0.1846, -8.8137, 5.0393, 1.0232, 0.525, 0.0855, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8337, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.1961, 1.7348, 0.7013, -0.1112, 0.8036, 0.8677, 0.997]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1516 left_yaw=-0.0014 left_pitch=-0.1442 left_roll=0.0018 left_gripper=0.9993 right_x=0.232 right_y=0.2523 right_z=0.0174 right_yaw=0.0795 right_pitch=-0.1194 right_roll=-0.1102 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.4974, 6.9128, 1.6142, -0.0855, -0.0464, -0.0171, -0.1026, -7.4872, 4.7658, 1.2283, 0.486, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6cf278e8b2bea70ce1fd13386f4ee4c331ec34cfb2fd7a27b2ede89fda94dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f91d7246885b9ff610e9b226da661d9290359b56e21eedad72217fa2e305889",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 180):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f25a043aac24ead3392723970f1d4158ee2cf37e10eead567532f14824595738",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M6FNc9NomyVuMMLZnKXY7P",
      "input": {
        "note": "At table level over where the lemon should be; closing to test for it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01M6FNc9NomyVuMMLZnKXY7P",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.195, 1.7557, 0.6888, -0.1059, 0.7914, 0.8566, 0.0083]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0014 left_pitch=-0.1449 left_roll=0.0018 left_gripper=0.9993 right_x=0.229 right_y=0.2478 right_z=0.007 right_yaw=0.0865 right_pitch=-0.1426 right_roll=-0.1392 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.2513, 6.9949, 1.6484, -0.0317, -0.0464, -0.0122, -0.1162, -8.7043, 5.5863, 0.8913, 0.4615, 0.1197, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56acae95af05e2e8912a9766237723f8a4ca99c3b58954e46d6777142c868149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e33ac9cb180f72b131beee26cb4df0789c7676b77fa7042733c3013baf076e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:734f06168b88fedc772b05f0a83366237f57a8977c50ed556f2570833e372b39",
        "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 · 5.17 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, 0.8326, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.195, 1.6341, 0.7521, -0.2123, 0.8043, 0.8497, 0.997]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1519 left_yaw=-0.0014 left_pitch=-0.143 left_roll=0.0018 left_gripper=0.9993 right_x=0.2351 right_y=0.2588 right_z=0.0535 right_yaw=0.0926 right_pitch=-0.0972 right_roll=-0.0792 right_gripper=0.997\nstate[joint_eff]: [-0.1983, -1.4017, 6.9128, 1.6044, -0.0513, -0.0269, -0.0122, 0.1846, -8.8137, 5.0393, 1.0232, 0.525, 0.0855, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8337, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.1961, 1.7348, 0.7013, -0.1112, 0.8036, 0.8677, 0.997]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1516 left_yaw=-0.0014 left_pitch=-0.1442 left_roll=0.0018 left_gripper=0.9993 right_x=0.232 right_y=0.2523 right_z=0.0174 right_yaw=0.0795 right_pitch=-0.1194 right_roll=-0.1102 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.4974, 6.9128, 1.6142, -0.0855, -0.0464, -0.0171, -0.1026, -7.4872, 4.7658, 1.2283, 0.486, -0.0513, -0.0122]",
      "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, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.195, 1.7557, 0.6888, -0.1059, 0.7914, 0.8566, 0.0083]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0014 left_pitch=-0.1449 left_roll=0.0018 left_gripper=0.9993 right_x=0.229 right_y=0.2478 right_z=0.007 right_yaw=0.0865 right_pitch=-0.1426 right_roll=-0.1392 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.2513, 6.9949, 1.6484, -0.0317, -0.0464, -0.0122, -0.1162, -8.7043, 5.5863, 0.8913, 0.4615, 0.1197, 0.6911]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56acae95af05e2e8912a9766237723f8a4ca99c3b58954e46d6777142c868149",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e33ac9cb180f72b131beee26cb4df0789c7676b77fa7042733c3013baf076e3b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:734f06168b88fedc772b05f0a83366237f57a8977c50ed556f2570833e372b39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3hAKEAgSGAI4AUIIdGhpbmtpbmcSDOREr/qrM1qzussIGhoM4XbSwDXFfFTaLjJtIjBhencczgETtvofPKpVjxLgN9ll32Iw7QtBtTP2jG7y5Uc8qWQtS7EnCCnDWUMLhR0q+w/PlYpQ034g9/q6xmnjetqPa1ULopXxBvUhYYvqDQHcnREVYEsmaXn1u7S3eP2hYiMvDhfALkOsdNuTgXnHzLxhN5qPUD+cP4HBTQ9Q7aDp49clvv219q25B4r8SvN7Jj0s/2sc9Hmv+KnPsYFSIyn+rqcUwMWHVomWXq2GFZgRUeNsC0zUGlAQqmfurT57V1wlnR2Gfx8Xbx/1XgWXDq0tWW2DQHsafplbp2fu0Lko/M+0cHTQH4uIKuHiOorDg7Di5nTt315hmTLa4DHVe51MFznmLLUm6S0ugPSrA6Ey5V6uvnNV5VoC/dy0UPXjbDGnFg1jKxzHvjZj4WI+rtz6HmWhvcp1YA+Pf8EaE2uCTyOpfl2rE5zFOZQYRFnE29UKc241/2jvf4YL7KHYsjiUZerKr9Ri8WcznOHaGhZiIYJClDppBWtqc0QakgMIlq4WJzg0cyqaYIognp0gczb/ZB0f75yPKqN/KrMhO/1b7o2vQBXS9QCcJHIBTqZY92i/oZd56m7wswMi/qMnvPnqMI3guQZTC0NrVXfXivIapnyqrGsem73cJ3+wqPUgsrollTshbOsg8tCQCercu2nu4yJF04fIuZe2csOFYPBEKBIueSMmKjtEE77BRwmrJoaR5DH4drK047SzvR85TIvmKqrhHa3PpqW3WI+Otyk55Ck3zSh7t6tailyLgVXTVmOb0W+E00Wey5mEJahY9JEbKTgp+TsOsNJKpyZRZT2EjgaOayzguyo2VaE4CzJDnDTtrqtBwjXZxd9Ea38XbpjsDPpyyxQETuKhqIysPpLyBi9YGszWp2HP0vDoCwAhhKEG/nSjJmcetT3oFmkejSsAfmllqePxjLzfzQjqe6LgCRhyJLMc3wHKaHiJIlp8/nNMoVSha0r7cv3IfrxH99AZvmPdJU9cPANo2SJDFnjFEzt0V3JQlzzPSfVpClOfcCFS6LZP787Zvw/3yhhQpblophJeSPHAT0Bn2t5FC81U3oK96SN2VCgYquLZk+LiB/EbJlherA5YLIb/5eVQQwP8fsH3+WhBUsu+4kVEC6w27Q10mtxQOKodDw/VhY6g5aFcB0nnD7xJ/0iyhtfwViS1tkQ1l7FEVdr3+VPJaumarumSbP5eepl3fNBeLRq9Xalt5LxcRi1yMrWrJTn+V1XPG6EUtZIqoDDmb3f4okzcLzkpF3CpVL7tdZyG6HHXN4jCzuXuTw/lWAyi95z+q39/FKInMEZQM1vGiIxo07tEGEB5b9C/HgXsnkIC+m5QY89Rg0ePtOe5WfwiZ9wEIZ0ss0391Xoqzh5umBdsGDqZoQ/2tZz9bB3GoXunzRSbJMTPMxLvau/+c81mm6EDNuw8sDetVE0mOqbH9XB1Qqnv3O9OaEO2cAsbR0IHAi3+RP4Rf8frdiHwDgT3vleUjkiR7GxtMCfnNc2s4FrOO8ISuWX4rQL9vzJTv+LqP9LFbVlBQgGtjekQhNbq82Cy4UzuY4u5DucjrSmbrgAv3bUELjrALBWROmU22jjrue7J2JFfUTFtefL4MXcKcDmk91JmS2S13rf6/6flbYL7dC53l+1VE7tktGPPKxPu8Z1vLJ0yhZG23nBxmGoMgI9FerTqBtDT7tQcig6Z8nNPfR7JBt6Qs98G31WWs05GFbvNd4abmtzHHo9ZHPsVX3wONJB3tiAnAP20VzDc0KpvlXvPAJeZfOBEphTurIK0EE5UGJI1Rc2UUFbIe2OioofJqtslcYJIcQ5IO7vy0S14IYXhfGTK/uIwqSOh2uc3UqXvDVw6Ddjs06Yj7J9uBW522wKPMiNS97Qd4pe0h/dzsLTDcQw8dlL1cl1gmVV0PGMzI2jn1cK924UQmnyhHx3YQsEXc48LlHLmVJofIptSDxQo3xziDQidOeQ/0O8X94m7AH1Uf3iVC4xpeiYqx5BdYDLp+c8xQcf7CJo9y2iKpw66O7/8LhOGLIYhUnb8LJ5n4OM08huaKdak4nMksnC3EiuIK5z/vgmVT9N7X18NZ3IEg6ekc7cCDHVHnywfFONalaLdeqdL7yLe/dR6akbGuA6iPi5lWR1nXw7jB/jeMU4IxFAcKTkhfZoeUI2mpFzwWUdN9pHVPp1wDZOyDi1TUp7YxxwoAdi/TGeOAjqZRUcrlUiQwnFry+mHXVLVoXnrLWG3EzuxPTDKkp0J9bN4LLIJyJzJNz5gpvff/cjHssBj6otl33yYULJ22mZ96cH1yrfTNj7N5HK/G42uA2is39Qtw3NE6QqjI0PbAe9e7kyvAGMG2NqxJsuVKWNXktQ9k0+qE/DLBVLSMt4y7MLJoUc2mZaCOuMtZgq65ZjjHq7sZBpSBz4D3/lk0isF7befrQe3TU2w1wko6iUbCshRWnr+R6gbah8L9QwYWn7JzokgcW63aQl2IC/JhIdR7DLzHvg7pBXc7ID8G0due15qH1tu2vGUNoRDjstvBzrgxgyTFPhYpN4MHrPbLxkjPZwkib/f3qDtgXsz5TrCzgmlanCCJijlaJkzMFNJiYBRRxAWvFLDPXpWml/7uEDV0A7yXCCjILAZHt/sEKsgHEtaDf9KEdp0a0VLP0cqVIvF2Ya27AhzrZobCVtdAHLwAwiR0OS5OWB/SDAW6CVhAoT/dlf7yqXr3HPh55z9ATqn8VjasT2SIKGXm0haA7cLlSCVvuof25g71QhfNpfrbsp8+Rc0T25SP7thnMH2NZkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0171RcXp3LWf6wiMarrqKTHs",
      "input": {
        "note": "Empty close: the overhead view shows the lemon actually landed in the blue bowl with the pear (what I took for the lemon was the wrist camera). Now moving the left arm over the dark plum, ~14 cm to its right, and lifting the right arm clear.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.34,
          "left_y": -0.13,
          "left_z": 0.06,
          "right_gripper": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_0171RcXp3LWf6wiMarrqKTHs",
      "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]: [-0.5957, 1.4544, 0.4469, 0.2493, -0.4572, -0.3576, 0.9993, 1.195, 1.5162, 0.9112, -0.58, 0.7799, 0.852, 0.9957]\nstate[eef_state]: left_x=0.3247 left_y=-0.1215 left_z=0.0421 left_yaw=-0.0289 left_pitch=-0.0966 left_roll=0.0467 left_gripper=0.9993 right_x=0.2278 right_y=0.2485 right_z=0.1045 right_yaw=0.0924 right_pitch=-0.1579 right_roll=-0.149 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -5.9009, 6.6803, 1.7167, -0.4664, -0.0659, -0.0171, -0.1026, -7.5419, 8.0205, 0.8913, 0.4615, -0.0122, -0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0e4826939b3d3eab713c9d27e7227cf3f2496b9c96419f7f2331513fdafcf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81ca09486b9b4e440df316dd068be30ebfa0811005e0a4ca409b7cb50434570",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b7ce6715f0c45aa8f71b7840b94fa950829e827bf0e5bd6c910d9ddd8992ad9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 3.376 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, 0.8337, 0.6147, -0.4942, -0.0139, -0.0307, 0.9993, 1.1961, 1.7348, 0.7013, -0.1112, 0.8036, 0.8677, 0.997]\nstate[eef_state]: left_x=0.2815 left_y=-0.0001 left_z=0.1516 left_yaw=-0.0014 left_pitch=-0.1442 left_roll=0.0018 left_gripper=0.9993 right_x=0.232 right_y=0.2523 right_z=0.0174 right_yaw=0.0795 right_pitch=-0.1194 right_roll=-0.1102 right_gripper=0.997\nstate[joint_eff]: [-0.2256, -1.4974, 6.9128, 1.6142, -0.0855, -0.0464, -0.0171, -0.1026, -7.4872, 4.7658, 1.2283, 0.486, -0.0513, -0.0122]",
      "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, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.195, 1.7557, 0.6888, -0.1059, 0.7914, 0.8566, 0.0083]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0014 left_pitch=-0.1449 left_roll=0.0018 left_gripper=0.9993 right_x=0.229 right_y=0.2478 right_z=0.007 right_yaw=0.0865 right_pitch=-0.1426 right_roll=-0.1392 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.2513, 6.9949, 1.6484, -0.0317, -0.0464, -0.0122, -0.1162, -8.7043, 5.5863, 0.8913, 0.4615, 0.1197, 0.6911]",
      "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]: [-0.5957, 1.4544, 0.4469, 0.2493, -0.4572, -0.3576, 0.9993, 1.195, 1.5162, 0.9112, -0.58, 0.7799, 0.852, 0.9957]\nstate[eef_state]: left_x=0.3247 left_y=-0.1215 left_z=0.0421 left_yaw=-0.0289 left_pitch=-0.0966 left_roll=0.0467 left_gripper=0.9993 right_x=0.2278 right_y=0.2485 right_z=0.1045 right_yaw=0.0924 right_pitch=-0.1579 right_roll=-0.149 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -5.9009, 6.6803, 1.7167, -0.4664, -0.0659, -0.0171, -0.1026, -7.5419, 8.0205, 0.8913, 0.4615, -0.0122, -0.1392]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b0e4826939b3d3eab713c9d27e7227cf3f2496b9c96419f7f2331513fdafcf3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f81ca09486b9b4e440df316dd068be30ebfa0811005e0a4ca409b7cb50434570",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 202):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7ce6715f0c45aa8f71b7840b94fa950829e827bf0e5bd6c910d9ddd8992ad9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQStQkKEAgSGAI4AUIIdGhpbmtpbmcSDMgD+pJbwOme/a9MaRoM8Q44SjI7Frq6RrpsIjBThx1J8D4w7csdFraBxM8YCmZLXUDh8TryjPwBKaPI6GsIZNN4boVSQuRlDRw2zekq0ginUv/JsI1eg6zt3rjuEk5ccX+Ti8q1p58jv7waNPPDAQHuV2ln/B58Mf5+yCCdeqJVJWnEt9ABScRJVYJHAgrwECDgw8Ed9rKkt49J0IGQanQBAYOziGjSVN9IrhPEGCsb+L1t33J4EnUsmDNuYws7VnqL0Rciebw7rn3303l5pHlDd+RUq3wb9l8GA/bXic3nQ19cJmI8xa29u8MUg4yMglK9Of2ufofEGxZ4Rl7Uu28pqJVJJxrwfXaQPxf5NKVsPNMjnYeqwx11zYtX37tPojHpEutfh8hpg7cy3Y33swpHfIO48/vmZV+0UbNA4vK0yHsxvpjja6JAhbo+WHnbaCsV5POKrQeQvJm5xBIHpiCTlf0oz4wzlZh9IgK9wF46F4Jzo5SjYHZn95AZqqzpWZoSlEJxZHEiFVE7NYGLEAKoRED1YjDfHUGcCf/CP8nEpBOGjAPQQ492yzEKE8jvDr5g+oi4s8wT2UHS4ZPIZOhfAmGQ6t6LcTNhNIvX3knkLkEfqSiK6oMwgUEROWzkXM7D58MfEp7Isc/MQpmK1rkIoALSJDeCrazsmO5Y7So2/FOXB8D5cppUqLYw6varTZajIVoIygDzB8JTiRu+WVUtegiPiMvMO8eudlhKKC2w4+bN3oIjUTRB/x+ltrwnC6o1F5p/BO2+rKDyTqWA+GcCTtWoifLZS+xQiGUaj173+nXhoaHndYBfh4CGTJYnDpL5iXCAlbvAUdTAuQHNfATm9gjFe6N7XEjSXyGhefD9xRtoCYZRnMKWgqGT3pKfw9mG6QfHucoudjJiGe/ZQ0Y94/EmohMAMUe15Ymvp4p8r4yNJY/BbUIBAu6Kxz2e+lY4Lqf0HLR58O+2R414dQqBVJt7V7VRIXpWatz/W9Wu69afRp0sGjqyxIdITY5LsgQrkISqvNuXyRJbNxKbtSMlX+oR9s1rE4U/SP6kG+NaBOrrT5qwla29XcNz8nSHdXNvxYTs7W2XWC6jLsXV0ozmiJxaOjYDsmCaseKwWAomlpwG3Al0kdJI4PaHCLNi3abZAb2W/msymhP+aq+fjrsvlOt1xJ3dYEGsYtjKr8dvQ3YDrZsjJo7PmMQ9CnRKUyjeO/6FCyW6m0NWT1izA9nvHMPQOBVe7uGYpcDP9PtezvDgkIX1j6aNp2mQVUS79oXo87RXBr9G8M4xQekjUzxATPPPxUesV6zfMUlex9na7ioRzTznEDiodfbUoEhQW/WDH148VPoZ13JwmTP2WAi2Zf5HoOLd/OHdMhIV1YnyHdP1Z2/RyP2d+79DdfXgAaibhMRo9aYNTjFVU3Jw5hGtMEpxuJ6Urc0eNEcF6L1UqgnLJZEhdMbau8P4rw+G56flOUSb9TQGQwkWCoHAcejSQrxgGjISZpOON/nHVm6/ngqXOcN+ItrYgeP3JdgDe6lSLgZhyj+v/MDrHkIB4iXwjcajnZd7jyKsIY62dfIdTBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Jc8oadaBqXHQsquud1ZkKj",
      "input": {
        "note": "Plum is centred just ahead of the left jaws, slightly right. Advancing ~4 cm and descending to table level to straddle it.",
        "targets": {
          "left_x": 0.37,
          "left_y": -0.135,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Jc8oadaBqXHQsquud1ZkKj",
      "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]: [-0.5491, 1.7279, 0.5346, 0.4053, -0.4438, -0.3473, 0.9987, 1.1946, 1.5146, 0.9188, -0.5961, 0.7761, 0.8524, 0.9964]\nstate[eef_state]: left_x=0.3566 left_y=-0.1251 left_z=0.0045 left_yaw=0.0034 left_pitch=-0.127 left_roll=0.0627 left_gripper=0.9987 right_x=0.2272 right_y=0.248 right_z=0.1057 right_yaw=0.0925 right_pitch=-0.1641 right_roll=-0.1533 right_gripper=0.9964\nstate[joint_eff]: [0.4444, -6.0103, 5.8462, 1.536, -0.1197, 0.1099, -0.0659, -0.1162, -5.9009, 5.8051, 1.072, 0.3785, -0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6c18fd6b1dd2cd80c7c694907ef750efadd9941ba0d3e4ff4b87ec0aab8633f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cb54f874d85ff2d85bf4667642ce9460e7c51e40801ca0235cf81f73f605d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8add93917e893fd43a019333f936ac9aeeac591ab8d93c7d8fdd95b443a6df17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 15.51 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, 0.6147, -0.4946, -0.0139, -0.0307, 0.9993, 1.195, 1.7557, 0.6888, -0.1059, 0.7914, 0.8566, 0.0083]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1514 left_yaw=-0.0014 left_pitch=-0.1449 left_roll=0.0018 left_gripper=0.9993 right_x=0.229 right_y=0.2478 right_z=0.007 right_yaw=0.0865 right_pitch=-0.1426 right_roll=-0.1392 right_gripper=0.0083\nstate[joint_eff]: [0.0068, -1.2513, 6.9949, 1.6484, -0.0317, -0.0464, -0.0122, -0.1162, -8.7043, 5.5863, 0.8913, 0.4615, 0.1197, 0.6911]",
      "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]: [-0.5957, 1.4544, 0.4469, 0.2493, -0.4572, -0.3576, 0.9993, 1.195, 1.5162, 0.9112, -0.58, 0.7799, 0.852, 0.9957]\nstate[eef_state]: left_x=0.3247 left_y=-0.1215 left_z=0.0421 left_yaw=-0.0289 left_pitch=-0.0966 left_roll=0.0467 left_gripper=0.9993 right_x=0.2278 right_y=0.2485 right_z=0.1045 right_yaw=0.0924 right_pitch=-0.1579 right_roll=-0.149 right_gripper=0.9957\nstate[joint_eff]: [-0.335, -5.9009, 6.6803, 1.7167, -0.4664, -0.0659, -0.0171, -0.1026, -7.5419, 8.0205, 0.8913, 0.4615, -0.0122, -0.1392]",
      "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]: [-0.5491, 1.7279, 0.5346, 0.4053, -0.4438, -0.3473, 0.9987, 1.1946, 1.5146, 0.9188, -0.5961, 0.7761, 0.8524, 0.9964]\nstate[eef_state]: left_x=0.3566 left_y=-0.1251 left_z=0.0045 left_yaw=0.0034 left_pitch=-0.127 left_roll=0.0627 left_gripper=0.9987 right_x=0.2272 right_y=0.248 right_z=0.1057 right_yaw=0.0925 right_pitch=-0.1641 right_roll=-0.1533 right_gripper=0.9964\nstate[joint_eff]: [0.4444, -6.0103, 5.8462, 1.536, -0.1197, 0.1099, -0.0659, -0.1162, -5.9009, 5.8051, 1.072, 0.3785, -0.0171, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6c18fd6b1dd2cd80c7c694907ef750efadd9941ba0d3e4ff4b87ec0aab8633f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cb54f874d85ff2d85bf4667642ce9460e7c51e40801ca0235cf81f73f605d2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8add93917e893fd43a019333f936ac9aeeac591ab8d93c7d8fdd95b443a6df17",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS5AYKEAgSGAI4AUIIdGhpbmtpbmcSDNQiVQnsr/39ZxSNbBoMaNDkfOY80+JvBLsZIjDaRBBfVo7NxdScn5jFbsGCy6sVEyLCKuaTqIXbbjWWJYqVVbjUx/p+tvGw9zV4pVEqgQaVEO4YhXGmSP7KPfNi6su896xoLMNaMqMzp7rVvIBbeaqbTmwMCLPZdRTeSWsEK66aRWLIB4VMzAHMfwAOVlAh0mQWJdAuze8Qww+bbBVTeyfvgeCYvrwHvI5KqtvibYthwhexsKFmeyrqtfbq4CZ0tigiZIDO6Mp7PvhMCiNUS+N/xrIP49VQh54hH1qljlhDRBded7NrvyHoRhlcVrKfLG9vlPaC28sKcTX4VkX+uvbqIO8ItgQL1zLoYDe7FMX/KywTUxBixIP5Fxix9oIscX641/ttF2OU6M7fwIZlk/FvhlN/qRcHd0VzsaR7hy9Aye0cIeQ3LM/ZRn4uo7uuHEQnXdDVhHSKA8zzo43P8wOitdJMUFAH/fbn/G0zopCtFfbJMAD5a+DMV3r7mEhF9hxtcs2H/AbX4LSXuRfE/6xPB5+keAXCUPoCbpTMap2aGkgdnhi5gjBC3VWyeRoaC3XcYtqwoXWB9XcGcRKCb9ac3GUXnp24i1ahHB+Ot9gnuREimlIiJJWgE6jnfqtNlOydSCpApJn9Vw9G1lvcIhb9jG/mJ/w6/OykaOsEEXjeH2V0BWjON0s467MKCAez7aV6Al3GjDzz4m+uoA4fQnscnaAmhE5YXJS4MacnaAd8MDkUZaprwcuo/OXVYnwVhBbCIpsimAqWxciOUvSH5/UQu0AwCimQLYoaljB4T9FGjr7UKUjDyBNYeRGbg5s9IYZ5p9tiRHufJKNa4J5ilZzGTq5s4mdMKE68UvUbp4wpte6A/KUO9yjSg4iYsODyhEphqEcTrfqiksoRuPlY9yPKtjQPTeKKOxVcaUWXa4YCS3x/gi31lOLztokbX6QQutzKW3Cy2bmOOjnvm0Yxn5bvu7y6iyRadTwh9Rx9lbjsAPMwrAWuz5JHh6xNvhTUojWpNLGHqD5Bn9I+W0fKBCKertGsg1Pebje2x0/pbNsW7OQWs7bxABuuANHdL03rUMhIZkyfx5Uit+j2OX5b0Xzj3VMVjvuhIux9TiJ9FolZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01J7qMGmMYFaj52tTXuunkxd",
      "input": {
        "note": "Plum fills the space between the left jaws at table level; closing on it.",
        "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_01J7qMGmMYFaj52tTXuunkxd",
      "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]: [-0.5453, 1.7554, 0.5552, 0.4313, -0.4263, -0.3298, 0.0082, 1.195, 1.5146, 0.9188, -0.5964, 0.7685, 0.8524, 0.9964]\nstate[eef_state]: left_x=0.3639 left_y=-0.1312 left_z=0.0045 left_yaw=-0.0173 left_pitch=-0.1175 left_roll=0.0558 left_gripper=0.0082 right_x=0.2263 right_y=0.2487 right_z=0.1048 right_yaw=0.0962 right_pitch=-0.1706 right_roll=-0.1504 right_gripper=0.9964\nstate[joint_eff]: [0.2256, -6.7487, 5.5179, 1.6923, -0.0757, 0.1001, 0.5836, -0.2256, -6.147, 5.9829, 0.8913, 0.3736, -0.0513, -0.0073]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79cabbf9d469a4c5486d098f0386d2081b90e55051f0c85ab4b2b1f387f56e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9744c20c721dbda99bba380ea9bdc220f8f05f11ba0ff7c3fa4f19ce91de9a80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:65d9f8895d7a1c5c1e956f32246417bcb9764850b04e60bbf7fc51a61bb0f962",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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