adhoc

completed
2026-09-22T20:54:33.573196+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
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
413.6 s
total steps
341
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 noteTwo yellow fruits sit near the blue bowl on the right side of the table; I'll approach the nearer (greenish) fruit with the right arm, hovering 15 cm up to check alignment in the wrist camera.
move_to
right_x0.3500right_y-0.0200right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9988, -0.0227, 0.8001, 0.6189, -0.3874, -0.0174, -0.0257, 0.9995] state[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995 state[joint_eff]: [-0.1983, -1.7983, 9.5658, 1.7949, -0.1099, 0.1734, -0.1343, -0.1299, -1.7846, 9.1419, 1.8242, -0.0952, 0.0757, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": -0.02, "right_z": 0.15, "right_gripper": 1}, "note": "Two yellow fruits sit near the blue bowl on the right side of the table; I'll approach the nearer (greenish) fruit with the right arm, hovering 15 cm up to check alignment in the wrist camera."})
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 noteThe quince sits just below the jaw column in the right wrist view; advancing 2 cm and descending to fruit mid-height before closing.
move_to
right_x0.3700right_y-0.0200right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8024, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, -0.1127, 1.1027, 0.5953, -0.1154, -0.0917, -0.0868, 0.9994] state[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3441 right_y=-0.0191 right_z=0.1377 right_yaw=0.0056 right_pitch=-0.0513 right_roll=-0.0051 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.3744, 7.0496, 1.8095, -0.0317, -0.0464, -0.0171, -0.5538, -4.0274, 7.1453, 2.1026, -0.1148, 0.0415, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": -0.02, "right_z": 0.035}, "note": "The quince sits just below the jaw column in the right wrist view; advancing 2 cm and descending to fruit mid-height before closing."})
tool
executing move_to over 7 steps (0.7s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe quince fills the lower half of the wrist view centered on the jaw column; closing the gripper on it.
move_to
right_gripper0.1000
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, 0.8066, 0.6132, -0.4007, -0.0139, -0.0307, 0.9987, -0.1066, 1.5486, 0.4061, 0.4793, -0.0914, -0.0902, 0.9994] state[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3645 right_y=-0.0192 right_z=0.0267 right_yaw=0.0136 right_pitch=-0.0915 right_roll=-0.0033 right_gripper=0.9994 state[joint_eff]: [-0.1846, -1.5795, 7.159, 1.8535, -0.0415, -0.0415, -0.0073, -0.0889, -5.5863, 4.9709, 2.0293, -0.0122, 0.0171, -0.0171] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "The quince fills the lower half of the wrist view centered on the jaw column; closing the gripper on it."})
tool
executing move_to over 9 steps (0.9s)
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 noteGripper closed to 0.74, so the quince is held. Lifting and moving toward the blue bowl (up and to the arm's left) to check alignment before releasing.
move_to
right_x0.4300right_y0.0700right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.107, 1.5486, 0.4061, 0.4816, -0.0959, -0.0944, 0.7414] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3648 right_y=-0.0186 right_z=0.0272 right_yaw=0.0193 right_pitch=-0.0889 right_roll=-0.0041 right_gripper=0.7414 state[joint_eff]: [-0.2256, -1.347, 7.0222, 1.8144, -0.0611, -0.0464, -0.0122, -0.3214, -5.4632, 4.9573, 1.6288, -0.0171, 0.0122, 1.0281] 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_x": 0.43, "right_y": 0.07, "right_z": 0.2}, "note": "Gripper closed to 0.74, so the quince is held. Lifting and moving toward the blue bowl (up and to the arm's left) to check alignment before releasing."})
tool
executing move_to over 12 steps (1.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteThe blue bowl appears just beyond the held quince in the wrist view; nudging 2 cm forward and lowering to 13 cm so the fruit is inside the bowl before releasing.
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, 0.8089, 0.6132, -0.4232, -0.0139, -0.0307, 0.9987, 0.2195, 1.467, 1.1015, -0.3687, 0.1452, 0.0795, 0.7461] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1713 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0001 left_gripper=0.9987 right_x=0.4194 right_y=0.0711 right_z=0.1792 right_yaw=0.0466 right_pitch=-0.1565 right_roll=-0.0266 right_gripper=0.7461 state[joint_eff]: [-0.1162, -1.4154, 7.2, 1.8535, -0.0366, -0.0806, -0.0122, -0.4581, -6.735, 9.4427, 1.956, 0.1734, 0.2027, 1.0281] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_z": 0.13}, "note": "The blue bowl appears just beyond the held quince in the wrist view; nudging 2 cm forward and lowering to 13 cm so the fruit is inside the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 37
top_cam
camera top_cam step 37
left_cam
camera left_cam step 37
right_cam
camera right_cam step 37
assistant
agent noteBowl rim visible just beyond the fruit; advancing 2 cm more so the fruit is over the bowl centre.
move_to
right_x0.4700right_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, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9987, 0.2008, 1.6321, 1.0531, -0.2131, 0.1223, 0.0601, 0.7492] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0006 left_pitch=-0.0503 left_roll=0.0002 left_gripper=0.9987 right_x=0.4411 right_y=0.0715 right_z=0.1171 right_yaw=0.0564 right_pitch=-0.2166 right_roll=-0.0345 right_gripper=0.7492 state[joint_eff]: [-0.0205, -1.2513, 6.9949, 1.7216, -0.0366, -0.0708, -0.0122, -0.335, -8.5265, 6.6803, 2.0, 0.0708, 0.022, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 37): [image omitted: streamed camera frame] camera 'left_cam' (step 37): [image omitted: streamed camera frame] camera 'right_cam' (step 37): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_z": 0.12}, "note": "Bowl rim visible just beyond the fruit; advancing 2 cm more so the fruit is over the bowl centre."})
tool
executing move_to over 3 steps (0.3s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe gripper now occludes the blue bowl in the top view, so the fruit should be right above it; opening to drop the quince 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, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1469, -0.2707, 0.107, 0.041, 0.7492] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0007 left_pitch=-0.0549 left_roll=0.0003 left_gripper=0.9987 right_x=0.4554 right_y=0.0723 right_z=0.1 right_yaw=0.0676 right_pitch=-0.2859 right_roll=-0.0458 right_gripper=0.7492 state[joint_eff]: [-0.0342, -1.5932, 7.1453, 1.6728, -0.0464, -0.0464, -0.0122, -0.6085, -8.7453, 8.9368, 1.7558, 0.0269, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The gripper now occludes the blue bowl in the top view, so the fruit should be right above it; opening to drop the quince in."})
tool
executing move_to over 3 steps (0.3s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe quince is now sitting in the blue bowl. Moving over the remaining yellow lemon (left of the bowl) to line up a grasp.
move_to
right_x0.3900right_y0.1500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4271, -0.0139, -0.0307, 0.9987, 0.189, 1.7363, 1.1439, -0.2733, 0.1074, 0.0349, 0.9959] state[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1695 left_yaw=0.0007 left_pitch=-0.0568 left_roll=0.0003 left_gripper=0.9987 right_x=0.4542 right_y=0.0713 right_z=0.0984 right_yaw=0.0689 right_pitch=-0.2917 right_roll=-0.051 right_gripper=0.9959 state[joint_eff]: [-0.335, -1.0872, 7.2137, 1.6777, -0.0611, -0.0806, -0.0122, -0.0068, -9.0325, 5.8462, 1.6337, -0.0317, 0.0659, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.15, "right_z": 0.15}, "note": "The quince is now sitting in the blue bowl. Moving over the remaining yellow lemon (left of the bowl) to line up a grasp."})
tool
executing move_to over 7 steps (0.7s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
agent noteThe arm did not track the last command (readback unchanged), possibly snagged near the bowl; lifting straight up first.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4313, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1397, -0.2729, 0.1074, 0.0345, 0.9966] state[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1686 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0004 left_gripper=0.9987 right_x=0.453 right_y=0.0718 right_z=0.0968 right_yaw=0.0705 right_pitch=-0.2955 right_roll=-0.0517 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.1556, 6.9949, 1.7656, -0.0415, -0.0415, -0.0122, -0.0205, -9.0188, 6.188, 1.6044, -0.0122, -0.0122, 0.0562] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "The arm did not track the last command (readback unchanged), possibly snagged near the bowl; lifting straight up first."})
tool
executing move_to over 8 steps (0.8s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteQuince is in the blue bowl; the yellow lemon lies just to the left of the bowl. Moving over it at 18 cm height.
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, 0.8131, 0.6132, -0.4347, -0.0135, -0.0307, 0.9987, 0.1944, 1.7035, 1.5219, -0.7185, 0.1001, 0.0181, 0.9966] state[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1678 left_yaw=0.0003 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9987 right_x=0.4536 right_y=0.075 right_z=0.196 right_yaw=0.0889 right_pitch=-0.327 right_roll=-0.0605 right_gripper=0.9966 state[joint_eff]: [-0.2256, -1.388, 7.0496, 1.7753, -0.0171, -0.0806, -0.0073, -0.6632, -10.1812, 9.0598, 1.6239, 0.0806, 0.1343, -0.0073] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.16, "right_z": 0.18}, "note": "Quince is in the blue bowl; the yellow lemon lies just to the left of the bowl. Moving over it at 18 cm height."})
tool
executing move_to over 8 steps (0.8s)
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 noteLemon appears just left of the jaw column in the wrist view; shifting 2 cm left and descending to grasp height.
move_to
right_y0.1800right_x0.4300right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.4427, 1.6993, 1.4635, -0.7185, 0.2314, 0.1848, 0.9966] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.166 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9987 right_x=0.4188 right_y=0.1577 right_z=0.1776 right_yaw=0.123 right_pitch=-0.3515 right_roll=-0.0726 right_gripper=0.9966 state[joint_eff]: [-0.1162, -1.4427, 7.2821, 1.7363, -0.0317, -0.0464, -0.0122, 0.1846, -8.7179, 6.0923, 1.5458, 0.1783, 0.0904, -0.0073] 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_y": 0.18, "right_x": 0.43, "right_z": 0.035}, "note": "Lemon appears just left of the jaw column in the wrist view; shifting 2 cm left and descending to grasp height."})
tool
executing move_to over 10 steps (1.0s)
step 76
top_cam
camera top_cam step 76
left_cam
camera left_cam step 76
right_cam
camera right_cam step 76
assistant
agent noteLemon is centred on the jaw column at grasp height; closing the gripper.
move_to
right_gripper0.1000
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, 0.8143, 0.6132, -0.4473, -0.0135, -0.0307, 0.9987, 0.4789, 1.9015, 1.1561, -0.268, 0.2398, 0.2028, 0.9966] state[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0786 left_roll=0.0006 left_gripper=0.9987 right_x=0.4208 right_y=0.1753 right_z=0.0347 right_yaw=0.1339 right_pitch=-0.4043 right_roll=-0.0891 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.3333, 7.1043, 1.7167, -0.022, -0.0317, -0.0122, 0.6222, -9.4838, 5.7368, 1.4042, 0.2173, 0.1294, -0.0122] camera 'top_cam' (step 76): [image omitted: streamed camera frame] camera 'left_cam' (step 76): [image omitted: streamed camera frame] camera 'right_cam' (step 76): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Lemon is centred on the jaw column at grasp height; closing the gripper."})
tool
executing move_to over 9 steps (0.9s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteGripper settled at 0.43 (≈4 cm object) so the lemon is held; lifting before moving to the bowl.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.45, -0.0139, -0.0307, 0.9987, 0.4808, 1.9152, 1.1461, -0.2577, 0.2386, 0.1989, 0.4343] state[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1644 left_yaw=0.0007 left_pitch=-0.0816 left_roll=0.0009 left_gripper=0.9987 right_x=0.4184 right_y=0.1752 right_z=0.0265 right_yaw=0.1371 right_pitch=-0.4174 right_roll=-0.0954 right_gripper=0.4343 state[joint_eff]: [-0.0205, -1.2239, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.2667, -10.6598, 6.8444, 1.1453, 0.0562, -0.0415, 1.0232] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.43 (\u22484 cm object) so the lemon is held; lifting before moving to the bowl."})
tool
executing move_to over 12 steps (1.2s)
step 97
top_cam
camera top_cam step 97
left_cam
camera left_cam step 97
right_cam
camera right_cam step 97
assistant
agent noteLemon is held (visible at bottom-left of wrist view); moving over the blue bowl which holds the quince.
move_to
right_x0.4550right_y0.0750right_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, 0.6132, -0.4511, -0.0139, -0.0307, 0.9987, 0.4808, 1.8084, 1.6516, -0.8837, 0.2314, 0.1909, 0.4344] state[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1643 left_yaw=0.0007 left_pitch=-0.0824 left_roll=0.0009 left_gripper=0.9987 right_x=0.4213 right_y=0.1781 right_z=0.1809 right_yaw=0.1461 right_pitch=-0.4329 right_roll=-0.0988 right_gripper=0.4344 state[joint_eff]: [-0.0342, -1.3197, 7.1726, 1.7167, -0.0317, -0.0317, -0.0122, -0.1983, -10.7419, 8.0479, 1.2527, 0.232, 0.0513, -0.0024] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 97): [image omitted: streamed camera frame] camera 'left_cam' (step 97): [image omitted: streamed camera frame] camera 'right_cam' (step 97): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.075, "right_z": 0.17}, "note": "Lemon is held (visible at bottom-left of wrist view); moving over the blue bowl which holds the quince."})
tool
executing move_to over 9 steps (0.9s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteOver the blue bowl; opening the gripper to release the lemon (if held) into the bowl, then I'll check the top view for what's still on the table.
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, 0.6132, -0.461, -0.0139, -0.0307, 0.9987, 0.1993, 1.8, 1.5749, -0.831, 0.0952, -0.0402, 0.4344] state[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0927 left_roll=0.0011 left_gripper=0.9987 right_x=0.4469 right_y=0.0768 right_z=0.159 right_yaw=0.1266 right_pitch=-0.4855 right_roll=-0.1068 right_gripper=0.4344 state[joint_eff]: [-0.1846, -1.1692, 6.9675, 1.7753, -0.0415, 0.0073, -0.0122, -0.253, -10.3726, 6.4205, 1.4676, -0.1197, -0.0952, -0.0122] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Over the blue bowl; opening the gripper to release the lemon (if held) into the bowl, then I'll check the top view for what's still on the table."})
tool
executing move_to over 6 steps (0.6s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteOne yellow fruit is now in the blue bowl, but another yellow fruit lies on the table closer to the bases; moving to hover over it to re-locate it in the wrist view.
move_to
right_x0.3000right_y0.1900right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.4686, -0.0135, -0.0307, 0.9987, 0.1963, 1.8, 1.5749, -0.8387, 0.0811, -0.0528, 0.9956] state[eef_state]: left_x=0.2845 left_y=-0.0003 left_z=0.1608 left_yaw=0.0004 left_pitch=-0.1003 left_roll=0.0011 left_gripper=0.9987 right_x=0.4451 right_y=0.0776 right_z=0.1579 right_yaw=0.1444 right_pitch=-0.4946 right_roll=-0.1005 right_gripper=0.9956 state[joint_eff]: [-0.1436, -1.2923, 6.9675, 1.7558, -0.0513, -0.0269, -0.0073, 0.3077, -9.306, 6.5026, 1.2381, 0.1245, 0.0659, -0.1294] 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": 0.3, "right_y": 0.19, "right_z": 0.2}, "note": "One yellow fruit is now in the blue bowl, but another yellow fruit lies on the table closer to the bases; moving to hover over it to re-locate it in the wrist view."})
tool
executing move_to over 12 steps (1.2s)
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 noteThe dropped lemon is visible on the table just short of the jaws; advancing ~3 cm and descending to 6 cm for a final check before closing.
move_to
right_x0.3350right_y0.2000right_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, 0.8154, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, 0.6907, 1.5497, 1.4403, -1.0489, 0.281, 0.3466, 0.9965] state[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1592 left_yaw=0.0008 left_pitch=-0.1083 left_roll=0.0015 left_gripper=0.9987 right_x=0.3069 right_y=0.1947 right_z=0.1893 right_yaw=0.1944 right_pitch=-0.5141 right_roll=-0.1092 right_gripper=0.9965 state[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7265, -0.0464, -0.0122, -0.0073, 0.0889, -8.8821, 7.1179, 0.9695, 0.2662, 0.1685, 0.0806] 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": 0.335, "right_y": 0.2, "right_z": 0.06}, "note": "The dropped lemon is visible on the table just short of the jaws; advancing ~3 cm and descending to 6 cm for a final check before closing."})
tool
executing move_to over 9 steps (0.9s)
step 133
top_cam
camera top_cam step 133
left_cam
camera left_cam step 133
right_cam
camera right_cam step 133
assistant
agent noteLemon is centred between the jaws; lowering to grasp height and closing.
move_to
right_z0.0300right_gripper0.1000
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, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6502, 1.692, 1.092, -0.6014, 0.2615, 0.313, 0.9966] state[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3238 right_y=0.1934 right_z=0.0609 right_yaw=0.1798 right_pitch=-0.5629 right_roll=-0.1316 right_gripper=0.9966 state[joint_eff]: [-0.0752, -1.3197, 7.0222, 1.619, -0.0366, -0.022, -0.0122, -0.3487, -7.7197, 6.1744, 1.116, 0.188, -0.1441, -0.0024] camera 'top_cam' (step 133): [image omitted: streamed camera frame] camera 'left_cam' (step 133): [image omitted: streamed camera frame] camera 'right_cam' (step 133): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_gripper": 0.1}, "note": "Lemon is centred between the jaws; lowering to grasp height and closing."})
tool
executing move_to over 9 steps (0.9s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteGripper closed all the way to the commanded 0.10, meaning it likely missed the lemon; opening to re-check position in the wrist view.
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, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6506, 1.7329, 1.0275, -0.503, 0.2573, 0.3065, 0.1045] state[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3222 right_y=0.1932 right_z=0.0343 right_yaw=0.1861 right_pitch=-0.5712 right_roll=-0.1344 right_gripper=0.1045 state[joint_eff]: [-0.0889, -1.1145, 7.1726, 1.6386, -0.0464, -0.0269, -0.0122, -0.1026, -6.7761, 5.2991, 1.0183, 0.1587, 0.0415, -0.0366] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Gripper closed all the way to the commanded 0.10, meaning it likely missed the lemon; opening to re-check position in the wrist view."})
tool
executing move_to over 9 steps (0.9s)
step 151
top_cam
camera top_cam step 151
left_cam
camera left_cam step 151
right_cam
camera right_cam step 151
assistant
agent noteThe lemon shows at the very bottom edge of the wrist view, i.e. slightly nearer the base than the fingertips; pulling back 2 cm and closing there.
move_to
right_x0.3000right_y0.1970right_z0.0300right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.6506, 1.734, 1.0214, -0.5014, 0.2535, 0.3027, 0.9956] state[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1591 left_yaw=0.0008 left_pitch=-0.1087 left_roll=0.0015 left_gripper=0.9987 right_x=0.3204 right_y=0.1927 right_z=0.032 right_yaw=0.1902 right_pitch=-0.5782 right_roll=-0.1355 right_gripper=0.9956 state[joint_eff]: [-0.2256, -1.306, 7.0906, 1.619, -0.0562, -0.0415, -0.0122, -0.0342, -8.0752, 6.3795, 0.8864, 0.1197, 0.0024, -0.1001] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 151): [image omitted: streamed camera frame] camera 'left_cam' (step 151): [image omitted: streamed camera frame] camera 'right_cam' (step 151): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.197, "right_z": 0.03, "right_gripper": 0.15}, "note": "The lemon shows at the very bottom edge of the wrist view, i.e. slightly nearer the base than the fingertips; pulling back 2 cm and closing there."})
tool
executing move_to over 9 steps (0.9s)
step 160
top_cam
camera top_cam step 160
left_cam
camera left_cam step 160
right_cam
camera right_cam step 160
assistant
agent noteSecond close was empty again; the lemon sat left of the jaw column, so opening and shifting ~3 cm toward the arm's left, lifting slightly to re-look.
move_to
right_gripper1.0000right_y0.2250right_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, 0.8192, 0.6132, -0.4911, -0.0139, -0.0307, 0.9987, 0.6991, 1.7206, 0.9764, -0.5034, 0.2573, 0.3386, 0.1543] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1553 left_yaw=0.0008 left_pitch=-0.1274 left_roll=0.0019 left_gripper=0.9987 right_x=0.2997 right_y=0.1979 right_z=0.0229 right_yaw=0.2019 right_pitch=-0.6037 right_roll=-0.1406 right_gripper=0.1543 state[joint_eff]: [-0.1436, -1.5932, 6.9675, 1.7558, -0.0562, -0.022, -0.0122, 0.4034, -9.4291, 5.2444, 0.9402, 0.2711, 0.0513, 0.0806] camera 'top_cam' (step 160): [image omitted: streamed camera frame] camera 'left_cam' (step 160): [image omitted: streamed camera frame] camera 'right_cam' (step 160): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.225, "right_z": 0.06}, "note": "Second close was empty again; the lemon sat left of the jaw column, so opening and shifting ~3 cm toward the arm's left, lifting slightly to re-look."})
tool
executing move_to over 9 steps (0.9s)
step 169
top_cam
camera top_cam step 169
left_cam
camera left_cam step 169
right_cam
camera right_cam step 169
assistant
agent noteBoth closes missed; the wrist has drifted to max backward pitch (-0.61) which likely shifts the fingertips. Commanding pitch back to 0 for a clean top-down grasp and re-looking.
move_to
right_pitch0.0000right_x0.3000right_y0.2250right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4934, -0.0139, -0.0307, 0.9987, 0.7616, 1.7206, 1.1164, -0.6594, 0.2611, 0.3832, 0.9957] state[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1548 left_yaw=0.0008 left_pitch=-0.1297 left_roll=0.002 left_gripper=0.9987 right_x=0.2952 right_y=0.2234 right_z=0.0539 right_yaw=0.2266 right_pitch=-0.6125 right_roll=-0.133 right_gripper=0.9957 state[joint_eff]: [-0.0752, -1.1145, 6.9812, 1.7265, -0.0415, -0.0611, -0.0073, 0.1983, -7.2684, 8.335, 0.735, 0.2662, 0.1001, -0.1245] camera 'top_cam' (step 169): [image omitted: streamed camera frame] camera 'left_cam' (step 169): [image omitted: streamed camera frame] camera 'right_cam' (step 169): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_pitch": 0, "right_x": 0.3, "right_y": 0.225, "right_z": 0.07}, "note": "Both closes missed; the wrist has drifted to max backward pitch (-0.61) which likely shifts the fingertips. Commanding pitch back to 0 for a clean top-down grasp and re-looking."})
tool
executing move_to over 21 steps (2.1s)
step 190
top_cam
camera top_cam step 190
left_cam
camera left_cam step 190
right_cam
camera right_cam step 190
assistant
agent noteWith the tool now vertical the lemon is out of view (nearer than the fingertips), so backing up 1.5 cm and dropping to table level over it.
move_to
right_x0.2780right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4946, -0.0135, -0.0307, 0.9987, 0.9112, 1.5547, 0.593, 0.1493, 0.5995, 0.3244, 0.9965] state[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1546 left_yaw=0.0005 left_pitch=-0.1308 left_roll=0.0018 left_gripper=0.9987 right_x=0.2927 right_y=0.2206 right_z=0.0528 right_yaw=0.2375 right_pitch=-0.0829 right_roll=-0.1585 right_gripper=0.9965 state[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.6093, -0.022, -0.0366, -0.0122, 0.4308, -7.3504, 5.4085, 1.8242, 0.4957, -0.022, 0.0757] 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": {"right_x": 0.278, "right_z": 0.025}, "note": "With the tool now vertical the lemon is out of view (nearer than the fingertips), so backing up 1.5 cm and dropping to table level over it."})
tool
executing move_to over 2 steps (0.2s)
step 192
top_cam
camera top_cam step 192
left_cam
camera left_cam step 192
right_cam
camera right_cam step 192
assistant
agent noteI can't tell where the lemon is with the arm occluding that area; retracting and raising the right arm to get a clear top-camera view of the table.
move_to
right_x0.2500right_y0.0500right_z0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4946, -0.0139, -0.0307, 0.9987, 0.9382, 1.5917, 0.5533, 0.2531, 0.6201, 0.3336, 0.9966] state[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1546 left_yaw=0.0008 left_pitch=-0.1308 left_roll=0.002 left_gripper=0.9987 right_x=0.2885 right_y=0.226 right_z=0.0443 right_yaw=0.2457 right_pitch=-0.0519 right_roll=-0.1454 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.1692, 6.9402, 1.6044, -0.0659, -0.0757, -0.0122, 0.3214, -5.3128, 4.3829, 1.5604, 0.3492, 0.2222, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 192): [image omitted: streamed camera frame] camera 'left_cam' (step 192): [image omitted: streamed camera frame] camera 'right_cam' (step 192): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.25, "right_y": 0.05, "right_z": 0.3}, "note": "I can't tell where the lemon is with the arm occluding that area; retracting and raising the right arm to get a clear top-camera view of the table."})
tool
executing move_to over 17 steps (1.7s)
step 209
top_cam
camera top_cam step 209
left_cam
camera left_cam step 209
right_cam
camera right_cam step 209
assistant
agent noteClear view now: lemon on the table between the bases, eggplant near the white bowl, quince already in the blue bowl. Moving the vertical gripper down over the lemon at its estimated position.
move_to
right_x0.2700right_y0.2200right_z0.0200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.5129, -0.0135, -0.0307, 0.9987, 0.2569, 0.8288, 1.1088, -0.8959, 0.1379, -0.0998, 0.9966] state[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1495 left_yaw=0.0006 left_pitch=-0.1552 left_roll=0.0023 left_gripper=0.9987 right_x=0.2573 right_y=0.0462 right_z=0.2906 right_yaw=0.1883 right_pitch=-0.0483 right_roll=-0.1491 right_gripper=0.9966 state[joint_eff]: [-0.1573, -1.1966, 6.9538, 1.8046, -0.0317, -0.0366, -0.0122, -0.0342, -0.4171, 7.5556, 1.6484, -0.0415, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 209): [image omitted: streamed camera frame] camera 'left_cam' (step 209): [image omitted: streamed camera frame] camera 'right_cam' (step 209): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.22, "right_z": 0.02, "right_pitch": 0}, "note": "Clear view now: lemon on the table between the bases, eggplant near the white bowl, quince already in the blue bowl. Moving the vertical gripper down over the lemon at its estimated position."})
tool
executing move_to over 18 steps (1.8s)
step 227
top_cam
camera top_cam step 227
assistant
agent noteThe lemon is squarely between the open jaws in the wrist view; closing on it.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0157, 1.6611, 0.4553, 0.3054, 0.7212, 0.4053, 0.9966] state[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1469 left_yaw=0.0006 left_pitch=-0.1678 left_roll=0.0026 left_gripper=0.9987 right_x=0.2612 right_y=0.2067 right_z=0.0087 right_yaw=0.209 right_pitch=-0.0775 right_roll=-0.2214 right_gripper=0.9966 state[joint_eff]: [0.1162, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0122, 0.2667, -7.2137, 5.7641, 0.6227, -0.0952, -0.3492, -0.022] camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.15}, "note": "The lemon is squarely between the open jaws in the wrist view; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 236
assistant
agent noteGripper settled at 0.63 (≈6 cm), so the lemon is held. Lifting and moving toward the blue bowl.
move_to
right_x0.4200right_y0.1300right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8307, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0172, 1.6752, 0.4587, 0.3138, 0.7208, 0.4034, 0.626] state[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1468 left_yaw=0.0006 left_pitch=-0.1682 left_roll=0.0026 left_gripper=0.9987 right_x=0.2614 right_y=0.2081 right_z=0.0065 right_yaw=0.2116 right_pitch=-0.0796 right_roll=-0.2244 right_gripper=0.626 state[joint_eff]: [-0.0615, -1.388, 7.3094, 1.6288, -0.0366, -0.0562, -0.0122, -0.2256, -7.0906, 4.0, 1.2283, 0.232, -0.0171, 1.0183] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.13, "right_z": 0.2}, "note": "Gripper settled at 0.63 (\u22486 cm), so the lemon is held. Lifting and moving toward the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 249
assistant
agent noteBlue bowl is just ahead and to the right of the held lemon in the wrist view; centering over the bowl before releasing.
move_to
right_x0.4500right_y0.0900right_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, 0.833, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.4149, 1.4723, 1.0851, -0.2691, 0.2996, -0.0658, 0.6272] state[eef_state]: left_x=0.2767 left_y=-0.0001 left_z=0.146 left_yaw=0.0006 left_pitch=-0.1716 left_roll=0.0027 left_gripper=0.9987 right_x=0.4158 right_y=0.13 right_z=0.1922 right_yaw=0.192 right_pitch=-0.0708 right_roll=-0.2226 right_gripper=0.6272 state[joint_eff]: [-0.1846, -1.4017, 6.8991, 1.5702, -0.0415, -0.0757, -0.0122, -0.212, -6.188, 8.2393, 1.536, 0.0806, -0.0806, 0.5983] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 249): [image omitted: streamed camera frame] camera 'left_cam' (step 249): [image omitted: streamed camera frame] camera 'right_cam' (step 249): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.09, "right_z": 0.18}, "note": "Blue bowl is just ahead and to the right of the held lemon in the wrist view; centering over the bowl before releasing."})
tool
executing move_to over 4 steps (0.4s)
step 253
assistant
agent noteThe bowl drifted left of the jaw column, so moving back 3.5 cm to the arm's left to center it under the lemon.
move_to
right_y0.1250right_x0.4600right_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, 0.8337, 0.6132, -0.5213, -0.0135, -0.0307, 0.9987, 0.2676, 1.5452, 1.1, -0.2493, 0.2028, -0.1486, 0.6299] state[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1459 left_yaw=0.0006 left_pitch=-0.172 left_roll=0.0027 left_gripper=0.9987 right_x=0.4396 right_y=0.0874 right_z=0.1691 right_yaw=0.1694 right_pitch=-0.1284 right_roll=-0.2341 right_gripper=0.6299 state[joint_eff]: [-0.1573, -1.347, 6.9265, 1.5897, -0.0171, -0.0562, -0.0122, -0.1846, -7.3504, 7.3094, 2.1661, -0.149, 0.0513, 0.2759] camera 'top_cam' (step 253): [image omitted: streamed camera frame] camera 'left_cam' (step 253): [image omitted: streamed camera frame] camera 'right_cam' (step 253): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.125, "right_x": 0.46, "right_z": 0.17}, "note": "The bowl drifted left of the jaw column, so moving back 3.5 cm to the arm's left to center it under the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 257
assistant
agent noteBowl is under the jaws; nudging slightly forward, lowering to just above the rim and opening to drop the lemon in.
move_to
right_x0.4750right_z0.1300right_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, 0.8345, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.3561, 1.6608, 1.1908, -0.271, 0.2394, -0.1226, 0.6319] state[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1456 left_yaw=0.0006 left_pitch=-0.1732 left_roll=0.0027 left_gripper=0.9987 right_x=0.4517 right_y=0.1272 right_z=0.1545 right_yaw=0.2122 right_pitch=-0.1683 right_roll=-0.2441 right_gripper=0.6319 state[joint_eff]: [-0.0479, -1.4291, 6.9128, 1.5507, -0.0073, -0.0415, -0.0122, -0.7453, -8.8137, 9.388, 1.5507, 0.3687, 0.2369, 0.1978] camera 'top_cam' (step 257): [image omitted: streamed camera frame] camera 'left_cam' (step 257): [image omitted: streamed camera frame] camera 'right_cam' (step 257): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_z": 0.13, "right_gripper": 1}, "note": "Bowl is under the jaws; nudging slightly forward, lowering to just above the rim and opening to drop the lemon in."})
tool
executing move_to over 4 steps (0.4s)
step 261
assistant
agent noteLemon released over the bowl; retracting the right arm to verify from the top camera whether both fruits are in the blue bowl.
move_to
right_x0.3000right_y0.0000right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.5213, -0.0139, -0.0307, 0.9987, 0.3378, 1.7592, 1.2003, -0.2344, 0.2272, -0.1413, 0.9957] state[eef_state]: left_x=0.2768 left_y=-0.0 left_z=0.1449 left_yaw=0.001 left_pitch=-0.1758 left_roll=0.003 left_gripper=0.9987 right_x=0.4639 right_y=0.1246 right_z=0.1198 right_yaw=0.2129 right_pitch=-0.2238 right_roll=-0.2565 right_gripper=0.9957 state[joint_eff]: [-0.1436, -1.6068, 6.9812, 1.5849, -0.0317, -0.0659, -0.0171, -0.3624, -9.4838, 7.4872, 1.956, 0.0806, 0.0806, -0.0073] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.25}, "note": "Lemon released over the bowl; retracting the right arm to verify from the top camera whether both fruits are in the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 274
assistant
agent noteBoth yellow fruits are in the blue bowl. Now positioning the right gripper above the bowl's right-hand rim so the jaws can straddle the rim wall for the lift-and-pour.
move_to
right_x0.4550right_y0.0050right_z0.1000right_yaw0.0000right_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, 0.8413, 0.6128, -0.5354, -0.0135, -0.0307, 0.9987, -0.0166, 1.0573, 1.087, -0.8005, 0.0067, -0.3672, 0.9966] state[eef_state]: left_x=0.2746 left_y=-0.0 left_z=0.1412 left_yaw=0.0007 left_pitch=-0.1941 left_roll=0.0032 left_gripper=0.9987 right_x=0.3105 right_y=-0.0027 right_z=0.2375 right_yaw=0.1716 right_pitch=-0.228 right_roll=-0.2612 right_gripper=0.9966 state[joint_eff]: [-0.2256, -1.7299, 7.1043, 1.7216, -0.0269, -0.0269, -0.0122, -0.1983, -3.3983, 9.2239, 1.6386, -0.1197, 0.0024, 0.0757] camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.005, "right_z": 0.1, "right_yaw": 0, "right_pitch": 0}, "note": "Both yellow fruits are in the blue bowl. Now positioning the right gripper above the bowl's right-hand rim so the jaws can straddle the rim wall for the lift-and-pour."})
tool
executing move_to over 12 steps (1.2s)
step 286
assistant
agent noteThe bowl rim appears at the far left of the wrist view, so the gripper is several cm right of it; shifting 4 cm toward the arm's left to sit over the rim.
move_to
right_y0.0450right_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, 0.8452, 0.6128, -0.5457, -0.0139, -0.0307, 0.9987, 0.0864, 1.6363, 0.7933, 0.1585, 0.1783, -0.2253, 0.9966] state[eef_state]: left_x=0.2729 left_y=0.0001 left_z=0.1385 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4349 right_y=0.0098 right_z=0.0783 right_yaw=0.0494 right_pitch=-0.1301 right_roll=-0.2772 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.4838, 6.8581, 1.7363, -0.0708, -0.0269, -0.0122, -0.1026, -7.8427, 6.5162, 2.0684, 0.2173, 0.2955, -0.0073] camera 'top_cam' (step 286): [image omitted: streamed camera frame] camera 'left_cam' (step 286): [image omitted: streamed camera frame] camera 'right_cam' (step 286): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.045, "right_z": 0.09}, "note": "The bowl rim appears at the far left of the wrist view, so the gripper is several cm right of it; shifting 4 cm toward the arm's left to sit over the rim."})
tool
executing move_to over 3 steps (0.3s)
step 289
assistant
agent noteRim is still left of the jaw column; shifting another 3 cm left and dropping to rim height to straddle the bowl wall.
move_to
right_y0.0750right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5446, -0.0139, -0.0307, 0.9987, 0.181, 1.6547, 0.8055, 0.1398, 0.2333, -0.1875, 0.9966] state[eef_state]: left_x=0.2731 left_y=0.0001 left_z=0.1384 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4323 right_y=0.0413 right_z=0.0733 right_yaw=0.077 right_pitch=-0.1467 right_roll=-0.2854 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.388, 6.8581, 1.5263, -0.0464, -0.0513, -0.0122, -0.0615, -9.5248, 8.7179, 1.6581, 0.3297, 0.188, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 289): [image omitted: streamed camera frame] camera 'left_cam' (step 289): [image omitted: streamed camera frame] camera 'right_cam' (step 289): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.075, "right_z": 0.05}, "note": "Rim is still left of the jaw column; shifting another 3 cm left and dropping to rim height to straddle the bowl wall."})
tool
executing move_to over 3 steps (0.3s)
step 292
assistant
agent noteThe arm stalled short of target, probably touching the bowl; lifting to 14 cm and repositioning over the bowl's near-right rim before descending again.
move_to
right_z0.1400right_y0.0850right_x0.4400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966] state[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966 state[joint_eff]: [-0.1162, -1.3744, 6.8855, 1.5653, -0.0757, -0.0513, -0.0122, -0.4034, -9.2239, 7.6103, 1.6435, 0.149, 0.1343, -0.0073] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_y": 0.085, "right_x": 0.44}, "note": "The arm stalled short of target, probably touching the bowl; lifting to 14 cm and repositioning over the bowl's near-right rim before descending again."})
tool
executing move_to over 5 steps (0.5s)
step 297
assistant
agent noteArm is not tracking any target; commanding a pure vertical lift to break out of the stalled pose.
move_to
right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966] state[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966 state[joint_eff]: [-0.0068, -1.2103, 6.8718, 1.5018, -0.0708, -0.022, -0.0122, -0.3487, -9.4154, 7.665, 1.6239, 0.1245, 0.188, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Arm is not tracking any target; commanding a pure vertical lift to break out of the stalled pose."})
tool
executing move_to over 9 steps (0.9s)
step 306
assistant
agent noteBowl sits to the arm's left of the jaws; descending onto the bowl's near-right rim so the open jaws straddle the rim wall.
move_to
right_x0.4500right_y0.0350right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5468, -0.0135, -0.0307, 0.9987, 0.2066, 1.5146, 1.1618, -0.4179, 0.2539, -0.1829, 0.9966] state[eef_state]: left_x=0.2727 left_y=-0.0 left_z=0.138 left_yaw=0.0008 left_pitch=-0.2105 left_roll=0.0036 left_gripper=0.9987 right_x=0.4281 right_y=0.048 right_z=0.1794 right_yaw=0.0812 right_pitch=-0.2054 right_roll=-0.3031 right_gripper=0.9966 state[joint_eff]: [-0.1846, -1.4564, 6.8581, 1.5018, -0.0171, -0.0415, -0.0122, -0.3214, -8.4444, 9.4154, 1.7558, 0.0904, 0.0757, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 306): [image omitted: streamed camera frame] camera 'left_cam' (step 306): [image omitted: streamed camera frame] camera 'right_cam' (step 306): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.035, "right_z": 0.055}, "note": "Bowl sits to the arm's left of the jaws; descending onto the bowl's near-right rim so the open jaws straddle the rim wall."})
tool
executing move_to over 9 steps (0.9s)
step 315
assistant
agent noteThe rim sits at the left jaw rather than between the jaws; shifting 3 cm to the arm's right so the rim wall falls between the open jaws.
move_to
right_y0.0000
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, 0.8516, 0.6128, -0.5575, -0.0139, -0.0307, 0.9987, 0.1551, 1.7489, 0.9035, 0.0193, 0.2237, -0.2138, 0.9966] state[eef_state]: left_x=0.271 left_y=0.0001 left_z=0.1348 left_yaw=0.0012 left_pitch=-0.2265 left_roll=0.0042 left_gripper=0.9987 right_x=0.4387 right_y=0.0325 right_z=0.0503 right_yaw=0.0709 right_pitch=-0.2677 right_roll=-0.3092 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.8803, 7.0769, 1.5849, -0.0513, -0.0659, -0.0122, -0.1983, -7.9521, 5.8325, 1.707, -0.0317, -0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.0}, "note": "The rim sits at the left jaw rather than between the jaws; shifting 3 cm to the arm's right so the rim wall falls between the open jaws."})
tool
executing move_to over 3 steps (0.3s)
step 318
assistant
agent noteClosing the jaws on the blue bowl's rim wall to pick it up for the pour.
move_to
right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.852, 0.6128, -0.5579, -0.0135, -0.0303, 0.9987, 0.0746, 1.7672, 0.8906, 0.0463, 0.1619, -0.268, 0.9966] state[eef_state]: left_x=0.2709 left_y=0.0 left_z=0.1346 left_yaw=0.0007 left_pitch=-0.2273 left_roll=0.0042 left_gripper=0.9987 right_x=0.44 right_y=0.0079 right_z=0.0407 right_yaw=0.0738 right_pitch=-0.2827 right_roll=-0.2999 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.265, 6.9128, 1.5458, -0.0464, -0.0073, -0.0122, -0.1846, -10.9333, 5.2718, 1.6142, 0.1587, 0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Closing the jaws on the blue bowl's rim wall to pick it up for the pour."})
tool
executing move_to over 10 steps (1.0s)
step 328
assistant
agent noteJaws closed on the thin rim (reading 0.06); lifting to see whether the blue bowl comes up with the gripper.
move_to
right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.852, 0.6128, -0.5583, -0.0139, -0.0307, 0.9987, 0.0765, 1.7645, 0.8909, 0.0429, 0.1513, -0.2729, 0.061] state[eef_state]: left_x=0.2709 left_y=0.0001 left_z=0.1345 left_yaw=0.0012 left_pitch=-0.2277 left_roll=0.0043 left_gripper=0.9987 right_x=0.4397 right_y=0.0106 right_z=0.0412 right_yaw=0.0879 right_pitch=-0.2838 right_roll=-0.2951 right_gripper=0.061 state[joint_eff]: [-0.1709, -1.4564, 6.9675, 1.5116, -0.0562, -0.0317, -0.0122, -0.5402, -7.9521, 6.2564, 1.2869, 0.2173, -0.0952, 0.6471] camera 'top_cam' (step 328): [image omitted: streamed camera frame] camera 'left_cam' (step 328): [image omitted: streamed camera frame] camera 'right_cam' (step 328): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Jaws closed on the thin rim (reading 0.06); lifting to see whether the blue bowl comes up with the gripper."})
tool
executing move_to over 12 steps (1.2s)
step 340
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, 0.852, 0.6128, -0.5587, -0.0135, -0.0303, 0.9987, 0.0814, 1.6176, 1.3838, -0.6655, 0.1379, -0.289, 0.0627] state[eef_state]: left_x=0.2708 left_y=0.0 left_z=0.1345 left_yaw=0.0007 left_pitch=-0.2281 left_roll=0.0043 left_gripper=0.9987 right_x=0.4373 right_y=0.0149 right_z=0.1856 right_yaw=0.1141 right_pitch=-0.3548 right_roll=-0.2936 right_gripper=0.0627 state[joint_eff]: [-0.0615, -1.4701, 6.8581, 1.5458, -0.0659, -0.0317, -0.0122, -0.5128, -10.5641, 9.4564, 1.7265, 0.1978, 0.0904, 0.1734] camera 'top_cam' (step 340): [image omitted: streamed camera frame] camera 'left_cam' (step 340): [image omitted: streamed camera frame] camera 'right_cam' (step 340): [image omitted: streamed camera frame]
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 · 24.8 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9988, -0.0227, 0.8001, 0.6189, -0.3874, -0.0174, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.7983, 9.5658, 1.7949, -0.1099, 0.1734, -0.1343, -0.1299, -1.7846, 9.1419, 1.8242, -0.0952, 0.0757, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c591f816a5edd164d361cb88678f59591d5a7280ae90b30fd1b6bb8148385fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bba9e44509ef9860981fc08b524f1e8a263f41f344b28b7da1aa67a6229b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:30a6b975fd34b704767e6c7bd09683de0d8cb6879eb23a44c110e8491fe816f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 7.545 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9988, -0.0227, 0.8001, 0.6189, -0.3874, -0.0174, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.7983, 9.5658, 1.7949, -0.1099, 0.1734, -0.1343, -0.1299, -1.7846, 9.1419, 1.8242, -0.0952, 0.0757, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c591f816a5edd164d361cb88678f59591d5a7280ae90b30fd1b6bb8148385fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24bba9e44509ef9860981fc08b524f1e8a263f41f344b28b7da1aa67a6229b16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30a6b975fd34b704767e6c7bd09683de0d8cb6879eb23a44c110e8491fe816f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": 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Bt8FUaXSVPHrXYq2LvsMpkNraorsdV3sfMMuzWGApaSdKmwGvCU4wrJMrxPkBaflfgEUh8fpFO3wpWByOky4lNRX68BJcmX7ncMJTZfwS6nrun1Hs/OFDeuDKmS3NlqsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LTepdm9FjJECCLxtoo5t2p",
      "input": {
        "note": "Two yellow fruits sit near the blue bowl on the right side of the table; I'll approach the nearer (greenish) fruit with the right arm, hovering 15 cm up to check alignment in the wrist camera.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": -0.02,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LTepdm9FjJECCLxtoo5t2p",
      "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, 0.8024, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, -0.1127, 1.1027, 0.5953, -0.1154, -0.0917, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3441 right_y=-0.0191 right_z=0.1377 right_yaw=0.0056 right_pitch=-0.0513 right_roll=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0496, 1.8095, -0.0317, -0.0464, -0.0171, -0.5538, -4.0274, 7.1453, 2.1026, -0.1148, 0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faef74a8f013ffb2b96e897446cee0703f1610465ca7aa55db8bf33f4a664922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:590276e794b0b6571b90e6675fa2ed3658eab6a205aeb61a597c8c4e3e8e3f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29b50bba10cb51a5b4310248a01d5cbd4c318a2c14df5eb8cc5f4c5fc696084e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.231 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9988, -0.0227, 0.8001, 0.6189, -0.3874, -0.0174, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.7983, 9.5658, 1.7949, -0.1099, 0.1734, -0.1343, -0.1299, -1.7846, 9.1419, 1.8242, -0.0952, 0.0757, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8024, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, -0.1127, 1.1027, 0.5953, -0.1154, -0.0917, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3441 right_y=-0.0191 right_z=0.1377 right_yaw=0.0056 right_pitch=-0.0513 right_roll=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0496, 1.8095, -0.0317, -0.0464, -0.0171, -0.5538, -4.0274, 7.1453, 2.1026, -0.1148, 0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faef74a8f013ffb2b96e897446cee0703f1610465ca7aa55db8bf33f4a664922",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:590276e794b0b6571b90e6675fa2ed3658eab6a205aeb61a597c8c4e3e8e3f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29b50bba10cb51a5b4310248a01d5cbd4c318a2c14df5eb8cc5f4c5fc696084e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1QYKjgEIEhgCKkA0EtEOFECuCk4uwlA1VfsvtT1/eB9Irf5kg8Xg00gSAJSHUyZsFf3pTvwg0XmMSpCgiJCbP7VNnbRC+OixDKD8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbvWy9UGEgxbLEqstVvCq3sbxgcaDIg2i5lS4A7f7uGKcCIweTWJ7Aqs9JascoRGPtD2uyh0lVegywaMNhGuJkfhD4v6C/wCmUnEGtOLxTsd9v2DKvMEsvWWEap5KJpa8giYx0E1NJ19dUcLLVOrGBLbo+dgdgamp3oqWHmggNR2Mmt/fIUqdZbM3IM5tqflc8eX+J8RIl+cewpxGh1m7IxSdU65nDxWCw9UXLkEGKXG4VD5V4AoE5tLxLn4dQaEYRG1HShXrYhz+Fk02DEVtTKoLmb0Wt3YITRaTJ+tT/UpzOgIE9xB00DFRkeFBGWNMY408s6tZuUpkG+2/9lDLjphq7rkK4qx//ktnvAvQ1Wpazq0FgQLTtUPt3d+Q48Tct3BVmTaX5yb3FUpI7XdrB+i2cs5i9CguXZ9HmvvVgln2s6rVMEp5EzTdhNfKzinQ2k4D+T68eYLVHCXjX3dcdUZ0h6mjAHidvmzQBCvcZU9mnXV4lsdx1Snk8K93nG0ERWvpDfSe92e9J3Y2Bs+Yen2/O2K/DPyLkNRfqfj/Cpc6/Ytf2V+TQOmaP60cCeKVvlPW55NcJeVDUKphjIB3N7u1XSbyrC6PDQT6Pv0wdi23FnA/HhMuYvD+nHxUpLE08FwMBcCl3DJDA35nJ65IPqyHEnf5e4X1NLFAaXfRsIv65VSQrwBS/gpd2/2KRnTPB8BugxHSScU30iCw/TB5/ZQtvwOUM9nFPXB+9laWyIpGDyAzk8vxFxZ5GkqEE+PXSWBDa3ZTCGckaYUrmSgpbTcvChTZ82OUBGa0pM10JxiuFpM5vLnnVF0BacY8dbfDUOyY8AoP/6zAxhXeaOQB61vkMZCH+AcRALfAOF0i6pQK57P+XfP/FF3YyrZcwy5tVHMChMCq6b0EegJzQAvBDdqP0ZOAic33sVP3meAhnL7d4bBJGnc5pULGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TVTC4D4Z2nMw7zc6JbtoMZ",
      "input": {
        "note": "The quince sits just below the jaw column in the right wrist view; advancing 2 cm and descending to fruit mid-height before closing.",
        "targets": {
          "right_x": 0.37,
          "right_y": -0.02,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01TVTC4D4Z2nMw7zc6JbtoMZ",
      "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, 0.8066, 0.6132, -0.4007, -0.0139, -0.0307, 0.9987, -0.1066, 1.5486, 0.4061, 0.4793, -0.0914, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3645 right_y=-0.0192 right_z=0.0267 right_yaw=0.0136 right_pitch=-0.0915 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5795, 7.159, 1.8535, -0.0415, -0.0415, -0.0073, -0.0889, -5.5863, 4.9709, 2.0293, -0.0122, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045f101c4bf288900490bb1a37b7890081217d88abce8e8cd44af1b5f66f5716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7086c36f450ceabba0b8702de5499b7edc6dfd967db53f7090e21edf8faa2e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2a456bd7d754600b5e796adba7fbccfe1c23176609c5672c3f9340369fb0783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 9.574 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8001, 0.6132, -0.3828, -0.0139, -0.0296, 0.9988, -0.0227, 0.8001, 0.6189, -0.3874, -0.0174, -0.0257, 0.9995]\nstate[eef_state]: left_x=0.2959 left_y=-0.0004 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=-0.0001 right_z=0.1836 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9995\nstate[joint_eff]: [-0.1983, -1.7983, 9.5658, 1.7949, -0.1099, 0.1734, -0.1343, -0.1299, -1.7846, 9.1419, 1.8242, -0.0952, 0.0757, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8024, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, -0.1127, 1.1027, 0.5953, -0.1154, -0.0917, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3441 right_y=-0.0191 right_z=0.1377 right_yaw=0.0056 right_pitch=-0.0513 right_roll=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0496, 1.8095, -0.0317, -0.0464, -0.0171, -0.5538, -4.0274, 7.1453, 2.1026, -0.1148, 0.0415, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8066, 0.6132, -0.4007, -0.0139, -0.0307, 0.9987, -0.1066, 1.5486, 0.4061, 0.4793, -0.0914, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3645 right_y=-0.0192 right_z=0.0267 right_yaw=0.0136 right_pitch=-0.0915 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5795, 7.159, 1.8535, -0.0415, -0.0415, -0.0073, -0.0889, -5.5863, 4.9709, 2.0293, -0.0122, 0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:045f101c4bf288900490bb1a37b7890081217d88abce8e8cd44af1b5f66f5716",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7086c36f450ceabba0b8702de5499b7edc6dfd967db53f7090e21edf8faa2e5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2a456bd7d754600b5e796adba7fbccfe1c23176609c5672c3f9340369fb0783",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6gIKjgEIEhgCKkCHeHRsyI2Ds1+lFJyEFN0j8YoT8wPJyUX7gFAHrg81F3il80Q+JyoO5JO2r3z4gJdHn5F9TGpcntYbvvtRRBmEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcbWy9UGEgzv1JJiNnl1xNa5J+UaDHraDg9bO1l2XZDzqCIwKsbW46E5JzR4vnIgCwdxlewqIoPCKq6Xd7PLnphjBefqDXHlBWJu8hu8mOuWgGykKogBhI5A73FqwcUuYmEMEl4YRnc8tYaVXo7wkcC/Xq/L2le1H8TXCromCTNlXsIqeHCP8CcGEtwPvq1OSzky16XArCMGJ88ylbm+tzEh2B+RXYMFDbazIQu4QHQrjFj0RrHlfY4/nXP6cCFZDrpyHVGE/T0ySYoIiLBSalGIMY85bcmyGDU7n64kMhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Nm5hqNR2kR3HVq7NGgRRFc",
      "input": {
        "note": "The quince fills the lower half of the wrist view centered on the jaw column; closing the gripper on it.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Nm5hqNR2kR3HVq7NGgRRFc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.107, 1.5486, 0.4061, 0.4816, -0.0959, -0.0944, 0.7414]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3648 right_y=-0.0186 right_z=0.0272 right_yaw=0.0193 right_pitch=-0.0889 right_roll=-0.0041 right_gripper=0.7414\nstate[joint_eff]: [-0.2256, -1.347, 7.0222, 1.8144, -0.0611, -0.0464, -0.0122, -0.3214, -5.4632, 4.9573, 1.6288, -0.0171, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:887ca5c8082b9d038c5cc26a832d1b2bf67648ac0796931894f0211c8a523abe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:581b8ecfb31935e4558df5058c4f58a56bd0dad3eeacd3c224c4bcb69a2b3c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2ff927f490a47b933261eb69e5d6c1fe7b411c3c2f0e4cd6189b9d6800d4e5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 5.5 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8024, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, -0.1127, 1.1027, 0.5953, -0.1154, -0.0917, -0.0868, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1798 left_yaw=0.0006 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3441 right_y=-0.0191 right_z=0.1377 right_yaw=0.0056 right_pitch=-0.0513 right_roll=-0.0051 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0496, 1.8095, -0.0317, -0.0464, -0.0171, -0.5538, -4.0274, 7.1453, 2.1026, -0.1148, 0.0415, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8066, 0.6132, -0.4007, -0.0139, -0.0307, 0.9987, -0.1066, 1.5486, 0.4061, 0.4793, -0.0914, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3645 right_y=-0.0192 right_z=0.0267 right_yaw=0.0136 right_pitch=-0.0915 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5795, 7.159, 1.8535, -0.0415, -0.0415, -0.0073, -0.0889, -5.5863, 4.9709, 2.0293, -0.0122, 0.0171, -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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.107, 1.5486, 0.4061, 0.4816, -0.0959, -0.0944, 0.7414]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3648 right_y=-0.0186 right_z=0.0272 right_yaw=0.0193 right_pitch=-0.0889 right_roll=-0.0041 right_gripper=0.7414\nstate[joint_eff]: [-0.2256, -1.347, 7.0222, 1.8144, -0.0611, -0.0464, -0.0122, -0.3214, -5.4632, 4.9573, 1.6288, -0.0171, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:887ca5c8082b9d038c5cc26a832d1b2bf67648ac0796931894f0211c8a523abe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:581b8ecfb31935e4558df5058c4f58a56bd0dad3eeacd3c224c4bcb69a2b3c78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff927f490a47b933261eb69e5d6c1fe7b411c3c2f0e4cd6189b9d6800d4e5b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsggKjgEIEhgCKkC7HPYNpl8RVkm0m1DAXc3g441bOXBRXAfduIz+G1x1tAKIJsng+BoUuPj8DiizWHQq/FI9e9LDZZPb6JHloLALMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdDWy9UGEgzkwzFtlma4lhTArdAaDDIziw3JnPIyQjrTvCIwNc56k5ig6rNnvDKfdmolBHqMo7PlH6hrhU5uc49ytaOhLqEekiXWekhUdObOG7hyKtAGqD9Vfg/kYMWgwxxeoxxop1CMQGecCIhU4VSCOSa6Ctlmpo1HucLa+OKizbynUaEsW+4j4q55bLu7Viubwy8WATQO/QGv24XlrmM2x7OmLFk+F9B1Sii3jH618G3/vBuVlQVbYT87fe9I9PsDEWvLVMfvK9lFOvH2ysECNALnjCq+96eK+h/mPwpngMQW7KKyt5E4uyHmwwriuXhFCVNNhkEnGJ2k4IyyQJFLJIBUQLDS+roJPRcR5jJjna1Y/NaHOufObPtmc6y8n8cQpi4HFE469DX2EbvkfpMlZZS/I/KVKzSpXF8cK+azcHthdWYO8mbsdMoemhF6SLLJ4FTkbuE6S2DrV4qv3tjAKUPfZIYhsS4sQ6LXCBjbhj6gc5Da4TfWyD+nw/PKh3MZmZdDgUrz5PIFW30JpD5nZyZyIt6y3pVvskIW0KYOj+kfyx5W8zROWgI/lBOa0xYNhoQG8vQJj5Ym+vH5yz5S8WNDI8mI/8iuXxdNufB1anzV9Ge3mWYe1Hmxa5bKChde9Eax0uc5gzYhKgYS47gF8130wMQb9FYrz7kFWieUa1smw97EaNyGqbr2rzfLOS25FZWOlUbs8w4UTeP/zxipDhJZ+SCtyLaLHZKhimaXZmYE4eSAQbK8TNv5uLS8eKnjViMJ90qVuoTz1NRJvASgZMbTcxNygw1vjxtE/Z4yyxkmebu+q8gOQVe5+atVNEIvVyPI3P4qSQocxRiCdjOLttz/1ZNr/pBxNHnzOlhG3H2ygGEbB9JF5+A3PQAbmDuJwQhZ7AGHEZ+gA+3QsxZsSpNwJsacP/PNq1WtE9BbcoP99kCsxHpnrwCaM/+rerittkHiKVNjMr7+fxG6ghr5beIN1IA+402MhdpO5Fuo56zmpcYTnm4Bhhpqvs0seWE+Z9O7xnKHjyj+8HHUjhYlwCuH8Z+yLcd+NbGvQJnjHf5vJ4juWLC+mg6HWoYgiHmszC2bK/+fLs3IwekgpQwsK4tNFrZiD4dwCzz9kpT4M9FO8jo8CtN0Q/ykhvZ/sslpGV1rfL3a2vNaAfmM4AH7frSkcFYlDBbemw7/xf/CqKBVtykja5CRYrbd43j7T3FESRhRfZbX9CTUdji7egA724B5sU8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019pc5WdP9tyPLSbLUmJsc2h",
      "input": {
        "note": "Gripper closed to 0.74, so the quince is held. Lifting and moving toward the blue bowl (up and to the arm's left) to check alignment before releasing.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.07,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_019pc5WdP9tyPLSbLUmJsc2h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4232, -0.0139, -0.0307, 0.9987, 0.2195, 1.467, 1.1015, -0.3687, 0.1452, 0.0795, 0.7461]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1713 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0001 left_gripper=0.9987 right_x=0.4194 right_y=0.0711 right_z=0.1792 right_yaw=0.0466 right_pitch=-0.1565 right_roll=-0.0266 right_gripper=0.7461\nstate[joint_eff]: [-0.1162, -1.4154, 7.2, 1.8535, -0.0366, -0.0806, -0.0122, -0.4581, -6.735, 9.4427, 1.956, 0.1734, 0.2027, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b52a840bd8020f72c6e9c56256855156e05b506f2ad4db85d0ca929c999e258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8799ae50f2856fcc3c0c56f9921c42768fefddb72fde73322f95c6fd56767ea0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dbb306033dcf8d994456d90d203fe04432229e1e7ccb806c4be48283163a4543",
        "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 · 6.261 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8066, 0.6132, -0.4007, -0.0139, -0.0307, 0.9987, -0.1066, 1.5486, 0.4061, 0.4793, -0.0914, -0.0902, 0.9994]\nstate[eef_state]: left_x=0.2939 left_y=-0.0004 left_z=0.1764 left_yaw=0.0006 left_pitch=-0.0244 left_roll=-0.0004 left_gripper=0.9987 right_x=0.3645 right_y=-0.0192 right_z=0.0267 right_yaw=0.0136 right_pitch=-0.0915 right_roll=-0.0033 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.5795, 7.159, 1.8535, -0.0415, -0.0415, -0.0073, -0.0889, -5.5863, 4.9709, 2.0293, -0.0122, 0.0171, -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, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.107, 1.5486, 0.4061, 0.4816, -0.0959, -0.0944, 0.7414]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3648 right_y=-0.0186 right_z=0.0272 right_yaw=0.0193 right_pitch=-0.0889 right_roll=-0.0041 right_gripper=0.7414\nstate[joint_eff]: [-0.2256, -1.347, 7.0222, 1.8144, -0.0611, -0.0464, -0.0122, -0.3214, -5.4632, 4.9573, 1.6288, -0.0171, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4232, -0.0139, -0.0307, 0.9987, 0.2195, 1.467, 1.1015, -0.3687, 0.1452, 0.0795, 0.7461]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1713 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0001 left_gripper=0.9987 right_x=0.4194 right_y=0.0711 right_z=0.1792 right_yaw=0.0466 right_pitch=-0.1565 right_roll=-0.0266 right_gripper=0.7461\nstate[joint_eff]: [-0.1162, -1.4154, 7.2, 1.8535, -0.0366, -0.0806, -0.0122, -0.4581, -6.735, 9.4427, 1.956, 0.1734, 0.2027, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b52a840bd8020f72c6e9c56256855156e05b506f2ad4db85d0ca929c999e258",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8799ae50f2856fcc3c0c56f9921c42768fefddb72fde73322f95c6fd56767ea0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbb306033dcf8d994456d90d203fe04432229e1e7ccb806c4be48283163a4543",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlgUKjgEIEhgCKkCMIC0DbFImTvnTDlvXX+DchMMkyRKRBia8yRmamwTKLADpbz+ttARgm8mZY+8fMFkuTVB8wkHkegoyanQ6xNF4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdrWy9UGEgwU94AaA0vzIJ9UpbkaDHw1y518Bops2RKlUSIwxoJfmAwptUfLFpeoDAetBnk4pqDolQGC8YNS/cHarMx9gKGyNLM4iy9MIrOVpmH5KrQDSbW2DZJlhogq09FOwm+QUosr7INcMJhVWBMuqeaIb0Ou9zuf6KiPWFgpDbQNldmk4Y1u+2G0FI4ABpHXL4yB6JohXP+aA2ZwSWL4gnwJpHZrNc3m0/MTv0yr8VzsE85qA/UUq7TQ2wfs0kfbIwOF1v20y/3nDvZ3GBhbHZL8LinfTPceaw6LqQxdK9QoaxUhgyJPoQuoz7R8pBBlzC7b/bIJ+wdZtEZoJVAgbKNgK6gm+m+L/v1b0tL+RR7ZWloBcYbN8gQPA06SwJZQ4iP9a2x5PIn8+0Ff85MU0XVi/+OM5Z2GrCsUx132LTEsJIeYhAwdjqnKkKSUckW5FhZ9pDoh0+IIxxo/U28xMYMb4p18H2Clb2ht1zxSRsLZZLpTUDNjZ7rAM5gCbGah8WojW26IdM9flpun3VEY416qPYPXuZjHEznA6Sz5cnJ60GOKYfAXLyIfe4mRZxdY2HPyD1V0hb3a/y0/yu7BRh66ekxWXezudtk+EBClmaDRQl4tq+v/i4ErS4trAy1Xq39Mx1LmMVsutzxxGVmkOxKedmmQF3JT2JnHxiijUcgyhaJ15mwAuxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013vuneiXzvWxgTG6yR6uqDm",
      "input": {
        "note": "The blue bowl appears just beyond the held quince in the wrist view; nudging 2 cm forward and lowering to 13 cm so the fruit is inside the bowl before releasing.",
        "targets": {
          "right_x": 0.45,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013vuneiXzvWxgTG6yR6uqDm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9987, 0.2008, 1.6321, 1.0531, -0.2131, 0.1223, 0.0601, 0.7492]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0006 left_pitch=-0.0503 left_roll=0.0002 left_gripper=0.9987 right_x=0.4411 right_y=0.0715 right_z=0.1171 right_yaw=0.0564 right_pitch=-0.2166 right_roll=-0.0345 right_gripper=0.7492\nstate[joint_eff]: [-0.0205, -1.2513, 6.9949, 1.7216, -0.0366, -0.0708, -0.0122, -0.335, -8.5265, 6.6803, 2.0, 0.0708, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:180ea4fab38cc14416e721335e94c5380c61cd7e06fa1afc592d75fe67f68482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6457f5daad470d3b5b11c2ddff1ba89cbc1985ad7182322987f61518049225db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:37df5d16b35843a9dc4fe6270d83116c86c516a1989a700ec7246faeaaa834bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 5.719 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.807, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.107, 1.5486, 0.4061, 0.4816, -0.0959, -0.0944, 0.7414]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1747 left_yaw=0.0006 left_pitch=-0.0328 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3648 right_y=-0.0186 right_z=0.0272 right_yaw=0.0193 right_pitch=-0.0889 right_roll=-0.0041 right_gripper=0.7414\nstate[joint_eff]: [-0.2256, -1.347, 7.0222, 1.8144, -0.0611, -0.0464, -0.0122, -0.3214, -5.4632, 4.9573, 1.6288, -0.0171, 0.0122, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4232, -0.0139, -0.0307, 0.9987, 0.2195, 1.467, 1.1015, -0.3687, 0.1452, 0.0795, 0.7461]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1713 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0001 left_gripper=0.9987 right_x=0.4194 right_y=0.0711 right_z=0.1792 right_yaw=0.0466 right_pitch=-0.1565 right_roll=-0.0266 right_gripper=0.7461\nstate[joint_eff]: [-0.1162, -1.4154, 7.2, 1.8535, -0.0366, -0.0806, -0.0122, -0.4581, -6.735, 9.4427, 1.956, 0.1734, 0.2027, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9987, 0.2008, 1.6321, 1.0531, -0.2131, 0.1223, 0.0601, 0.7492]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0006 left_pitch=-0.0503 left_roll=0.0002 left_gripper=0.9987 right_x=0.4411 right_y=0.0715 right_z=0.1171 right_yaw=0.0564 right_pitch=-0.2166 right_roll=-0.0345 right_gripper=0.7492\nstate[joint_eff]: [-0.0205, -1.2513, 6.9949, 1.7216, -0.0366, -0.0708, -0.0122, -0.335, -8.5265, 6.6803, 2.0, 0.0708, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:180ea4fab38cc14416e721335e94c5380c61cd7e06fa1afc592d75fe67f68482",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6457f5daad470d3b5b11c2ddff1ba89cbc1985ad7182322987f61518049225db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 37):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37df5d16b35843a9dc4fe6270d83116c86c516a1989a700ec7246faeaaa834bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9gUKjgEIEhgCKkBb71MfnodbTH8c2IpaM2KtUXWLwejiwGH13Sd2XLYBf9BuxXXG8jdV63J6YWUUeDv3QIrndcnA+5VFHWIx3G23Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeTWy9UGEgy55pQlUiFhM0X1zqAaDH193VLlXFbI29m6sCIw3BxNovpaAkFo45R9SIeCAA4/eqTgmOMjdfJwJtXu4h93S2Z1LSlWQhnrOYDnLR1IKpQEXR/aaNTVBIUcYfcoHVHS4IiStEZ3hPbzLQxeeGieWDPUDUviil5Kpm+xs7ZXiN5vN85LRTMDx8NVl9I/yu+BzuR4LlTCh2DkHp9KDckGFSz2gdRmgvuLzYcUw002NYG0WIotgzxlRz7c41n+J2PVEMOq9rcEerSwPOT+hLmTgTd/1+ikRvSwgg+/QxkZ6ODzpbNGk1opSPF4iAa11ZqggGM7eSskM+3mbY+wXfaQC3/xROq8jOVG6GsHwXEdGafeLtRnOzZ7uMzNzUW5NoJp65N2YfPlmFe/+Ibq+9+LqZB2L68n+VrQ6Mj/rOdHHNus+ESvJmV22xelRs2EmxfXkgTL1h4IjoWyTdv4hHN5Ygee9m9Aslahx4tudLk0rXBuZbZ4k2Tg7rvfp3HXhBGwxxtiXi+jSP4nsSC15uu6Acc4p/z8rgFV988hgLvE4GiouCIjHIqqw2ppPSyoIlotGLauWgvivGIs7PfHa9ir40KCIDyGaFkZNxWcsImZTworW9a9+Z7tYSLaMwjaSi8E7ScLYTYrf0icGcYsA8qSJKIB8JHDW0ZkX3GIHYbVsvL6b9hPa3MJU2Wx/dMXmOmtn1fnmfaXq5rfiBL07Nzhaddd2sRfwjxalLzl48dxUo620iDC95qy6VvwyhveqYciqgMhCgtMNo5Hb0+5Sse87cY6qfpiLpOh4bptJzdMy9dG3I9ErRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014S7nF2sRT9D7kSRcxk9QE6",
      "input": {
        "note": "Bowl rim visible just beyond the fruit; advancing 2 cm more so the fruit is over the bowl centre.",
        "targets": {
          "right_x": 0.47,
          "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_014S7nF2sRT9D7kSRcxk9QE6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1469, -0.2707, 0.107, 0.041, 0.7492]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0007 left_pitch=-0.0549 left_roll=0.0003 left_gripper=0.9987 right_x=0.4554 right_y=0.0723 right_z=0.1 right_yaw=0.0676 right_pitch=-0.2859 right_roll=-0.0458 right_gripper=0.7492\nstate[joint_eff]: [-0.0342, -1.5932, 7.1453, 1.6728, -0.0464, -0.0464, -0.0122, -0.6085, -8.7453, 8.9368, 1.7558, 0.0269, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066ee6c9a27586d525779ca5621ebd91cfc345d4887e2aa456418010d8f5abf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2ae89fc88f7de1793ac5692275374feabd71cf2a2010d5937263b562552c76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ef69f4fe58c7cfd02f4a7477133009fc67532e443ea62506331d8a54e29a6c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 11.57 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4232, -0.0139, -0.0307, 0.9987, 0.2195, 1.467, 1.1015, -0.3687, 0.1452, 0.0795, 0.7461]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1713 left_yaw=0.0006 left_pitch=-0.0492 left_roll=0.0001 left_gripper=0.9987 right_x=0.4194 right_y=0.0711 right_z=0.1792 right_yaw=0.0466 right_pitch=-0.1565 right_roll=-0.0266 right_gripper=0.7461\nstate[joint_eff]: [-0.1162, -1.4154, 7.2, 1.8535, -0.0366, -0.0806, -0.0122, -0.4581, -6.735, 9.4427, 1.956, 0.1734, 0.2027, 1.0281]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9987, 0.2008, 1.6321, 1.0531, -0.2131, 0.1223, 0.0601, 0.7492]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0006 left_pitch=-0.0503 left_roll=0.0002 left_gripper=0.9987 right_x=0.4411 right_y=0.0715 right_z=0.1171 right_yaw=0.0564 right_pitch=-0.2166 right_roll=-0.0345 right_gripper=0.7492\nstate[joint_eff]: [-0.0205, -1.2513, 6.9949, 1.7216, -0.0366, -0.0708, -0.0122, -0.335, -8.5265, 6.6803, 2.0, 0.0708, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1469, -0.2707, 0.107, 0.041, 0.7492]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0007 left_pitch=-0.0549 left_roll=0.0003 left_gripper=0.9987 right_x=0.4554 right_y=0.0723 right_z=0.1 right_yaw=0.0676 right_pitch=-0.2859 right_roll=-0.0458 right_gripper=0.7492\nstate[joint_eff]: [-0.0342, -1.5932, 7.1453, 1.6728, -0.0464, -0.0464, -0.0122, -0.6085, -8.7453, 8.9368, 1.7558, 0.0269, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:066ee6c9a27586d525779ca5621ebd91cfc345d4887e2aa456418010d8f5abf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd2ae89fc88f7de1793ac5692275374feabd71cf2a2010d5937263b562552c76",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef69f4fe58c7cfd02f4a7477133009fc67532e443ea62506331d8a54e29a6c69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkwUKjgEIEhgCKkCz5vQKaSmZc3pD6cfBdTNy5TsdAQ2hlWJf+Ie/6QnafJIfut+3gn1v8K33XiapnguSG5UwvJPNfewSvfZn9t7dMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAezWy9UGEgxogmPfK/gW/gYAuqIaDKMDXReNSaihOB/LsiIwHSHBS/3FC56ptK41MSHTViZ81VSoKSbz3Fljl1+xfj1OSUNkg3Q/Kb405cKufwRKKrEDweE69OeR9ppH8icoE/PRpNx94jazeF1wQFYG85ut3sbEFDpWFohyWSFSqULEBOlPAIKkCvOtWIqDq+glkCyPI/oL3QGekAWiQvBqj9kkVNgQcuFAM/XkgHJf+GNjjNt865o5IyJ062fBMxP/7z+EntawSTQtaF094AJSZkQlcdijhFvCJ01hHhQwm7nUwmXZAV9eOZQ9QPVmBXESMhAAVHDSsVKE0d2eCbpNPcPwOch2/XKwPpfA4bEhzpg6TJbtD6wnj30s3qAzPWb+KyX4zkM/7RNNLClf6arMhbdPGlju2Tlg/rpwhXwo8ZdPpuZ36ljzC1BITLrDR6jB62ATmRqAWRb6jOvO9i8qXYQDqcb0BGcIlD9GHKj0ZIv4YTS0xW6DubwUmZG6inUWfg6WFbQoUaQckv4WRkSewGF3skfUb5ARygDqPCTC9owm7wLKq2+5tDLlp0oS1Pa9KDDkgV2wpyvXZKbN2koxUNT9iu+SJEDMBwozebKV8HZtd69CkDBFfZL0SyQMBXqypMd5I/9rSmc+LIWi0jX5kJkq6+B/FIoGgRKY+5e5GXm/0IhN7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VxyTTKzCGKnp7xSrkKYbtS",
      "input": {
        "note": "The gripper now occludes the blue bowl in the top view, so the fruit should be right above it; opening to drop the quince in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VxyTTKzCGKnp7xSrkKYbtS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4271, -0.0139, -0.0307, 0.9987, 0.189, 1.7363, 1.1439, -0.2733, 0.1074, 0.0349, 0.9959]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1695 left_yaw=0.0007 left_pitch=-0.0568 left_roll=0.0003 left_gripper=0.9987 right_x=0.4542 right_y=0.0713 right_z=0.0984 right_yaw=0.0689 right_pitch=-0.2917 right_roll=-0.051 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.0872, 7.2137, 1.6777, -0.0611, -0.0806, -0.0122, -0.0068, -9.0325, 5.8462, 1.6337, -0.0317, 0.0659, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb1cc810e3b2c46aa253bdf0fd247694b22dd20ebb5822d809755b85887b69e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc21c851f6ddf3e766a459617e80e99a88fffca031b17a0c2cea820c6526dc18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ad74723f3033cad34674813e8a6fe1d317d133a13ee149de1908216bbefd68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 4.257 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4244, -0.0139, -0.0307, 0.9987, 0.2008, 1.6321, 1.0531, -0.2131, 0.1223, 0.0601, 0.7492]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.171 left_yaw=0.0006 left_pitch=-0.0503 left_roll=0.0002 left_gripper=0.9987 right_x=0.4411 right_y=0.0715 right_z=0.1171 right_yaw=0.0564 right_pitch=-0.2166 right_roll=-0.0345 right_gripper=0.7492\nstate[joint_eff]: [-0.0205, -1.2513, 6.9949, 1.7216, -0.0366, -0.0708, -0.0122, -0.335, -8.5265, 6.6803, 2.0, 0.0708, 0.022, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1469, -0.2707, 0.107, 0.041, 0.7492]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0007 left_pitch=-0.0549 left_roll=0.0003 left_gripper=0.9987 right_x=0.4554 right_y=0.0723 right_z=0.1 right_yaw=0.0676 right_pitch=-0.2859 right_roll=-0.0458 right_gripper=0.7492\nstate[joint_eff]: [-0.0342, -1.5932, 7.1453, 1.6728, -0.0464, -0.0464, -0.0122, -0.6085, -8.7453, 8.9368, 1.7558, 0.0269, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4271, -0.0139, -0.0307, 0.9987, 0.189, 1.7363, 1.1439, -0.2733, 0.1074, 0.0349, 0.9959]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1695 left_yaw=0.0007 left_pitch=-0.0568 left_roll=0.0003 left_gripper=0.9987 right_x=0.4542 right_y=0.0713 right_z=0.0984 right_yaw=0.0689 right_pitch=-0.2917 right_roll=-0.051 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.0872, 7.2137, 1.6777, -0.0611, -0.0806, -0.0122, -0.0068, -9.0325, 5.8462, 1.6337, -0.0317, 0.0659, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fdb1cc810e3b2c46aa253bdf0fd247694b22dd20ebb5822d809755b85887b69e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fc21c851f6ddf3e766a459617e80e99a88fffca031b17a0c2cea820c6526dc18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ad74723f3033cad34674813e8a6fe1d317d133a13ee149de1908216bbefd68c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LEA9162hLHzM4i2xyCWL5t",
      "input": {
        "note": "The quince is now sitting in the blue bowl. Moving over the remaining yellow lemon (left of the bowl) to line up a grasp.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.15,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01LEA9162hLHzM4i2xyCWL5t",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4313, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1397, -0.2729, 0.1074, 0.0345, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1686 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0004 left_gripper=0.9987 right_x=0.453 right_y=0.0718 right_z=0.0968 right_yaw=0.0705 right_pitch=-0.2955 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.1556, 6.9949, 1.7656, -0.0415, -0.0415, -0.0122, -0.0205, -9.0188, 6.188, 1.6044, -0.0122, -0.0122, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d1c8580465d3d1afead74e3b29be3816393c30d16a2aeb3fb77fecc9397e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857f35e10eef3e44876504c8d66850487d59fbf187a192bee0b2821174e5152c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:171da05a72342d1d1229d59f2c475b2ca147d6d795225aaeb350a638764cec9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 9.312 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1469, -0.2707, 0.107, 0.041, 0.7492]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0007 left_pitch=-0.0549 left_roll=0.0003 left_gripper=0.9987 right_x=0.4554 right_y=0.0723 right_z=0.1 right_yaw=0.0676 right_pitch=-0.2859 right_roll=-0.0458 right_gripper=0.7492\nstate[joint_eff]: [-0.0342, -1.5932, 7.1453, 1.6728, -0.0464, -0.0464, -0.0122, -0.6085, -8.7453, 8.9368, 1.7558, 0.0269, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4271, -0.0139, -0.0307, 0.9987, 0.189, 1.7363, 1.1439, -0.2733, 0.1074, 0.0349, 0.9959]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1695 left_yaw=0.0007 left_pitch=-0.0568 left_roll=0.0003 left_gripper=0.9987 right_x=0.4542 right_y=0.0713 right_z=0.0984 right_yaw=0.0689 right_pitch=-0.2917 right_roll=-0.051 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.0872, 7.2137, 1.6777, -0.0611, -0.0806, -0.0122, -0.0068, -9.0325, 5.8462, 1.6337, -0.0317, 0.0659, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8127, 0.6132, -0.4313, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1397, -0.2729, 0.1074, 0.0345, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1686 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0004 left_gripper=0.9987 right_x=0.453 right_y=0.0718 right_z=0.0968 right_yaw=0.0705 right_pitch=-0.2955 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.1556, 6.9949, 1.7656, -0.0415, -0.0415, -0.0122, -0.0205, -9.0188, 6.188, 1.6044, -0.0122, -0.0122, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d1c8580465d3d1afead74e3b29be3816393c30d16a2aeb3fb77fecc9397e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:857f35e10eef3e44876504c8d66850487d59fbf187a192bee0b2821174e5152c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:171da05a72342d1d1229d59f2c475b2ca147d6d795225aaeb350a638764cec9e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwQKjgEIEhgCKkAZ8tog3o/VhKjSYmK10EsgX7Zr0a3Gn/ysOhVhHEjyR02Eps+BgXM4xr2U152c5rVH6sdKXuHV6/0+PWMe9KScMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3Wy9UGEgwi37cC8hAh3Fy8MzkaDJAAmSqCcX74x7m0diIwMp3ulQuxb7fQcPyhNmWy7ekAYQRpN/Gr087hLcngXxvVrMUK4dkwizeOivGdinvOKtUCM1AuFRoj0vV4T5Tm7C4dQRwhOF8FTHysyc5GXtT+tHR2rZE021Cn0abW23e8yfZwcvlpbwvVb0TROmhaJ4+MaOLqLOwi/YgZX81/Am8CEP+NfAq3/Kmxf0EO9JpDrEtjv7P8kM/LrTA0T6pnmqpdxtGKly67Y2PaMdOxw1rKjUlkpQ5l26jtTfaBnVu1ISaviQD6/BPVQNootxWUQh0AN3+ypEFQqXfmsoePKsgrLjUUt54mdfPWaJqbATY3oUnBA8i3xt1xU758XLMMGpy7SFoaYHLpgBUmbAIuT5wFQz6fDmWHvti+sxY40J0dErYPX+fQ1AdoadVbaG7zazq2eGsF+0lXykqY+1QiyUQHkVgDR/umuqLFNpmpHZwo/YLfvckEWHJ26NPpTH8TSkUr1Jbz+jy8EaGfvHBU0kMzbAP87L5z7s8Ru2UuW+EH1PNDeRsIgVQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U6w2sbtCPSXVDgE272Sydx",
      "input": {
        "note": "The arm did not track the last command (readback unchanged), possibly snagged near the bowl; lifting straight up first.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01U6w2sbtCPSXVDgE272Sydx",
      "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, 0.8131, 0.6132, -0.4347, -0.0135, -0.0307, 0.9987, 0.1944, 1.7035, 1.5219, -0.7185, 0.1001, 0.0181, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1678 left_yaw=0.0003 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9987 right_x=0.4536 right_y=0.075 right_z=0.196 right_yaw=0.0889 right_pitch=-0.327 right_roll=-0.0605 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.388, 7.0496, 1.7753, -0.0171, -0.0806, -0.0073, -0.6632, -10.1812, 9.0598, 1.6239, 0.0806, 0.1343, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fb296e0725dc2830329881c3b7e43c18e92642216c9cc75e4d65c61c070bb0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba9c74c8a1dbfa2c810c7b3da30a41fced4bd93ca550d43a29e330c405a58da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e7b83bb52e4b8349823211dd0d3e4424e4a60e511ee462d0f94a27c7ce12aeda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 6.367 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4271, -0.0139, -0.0307, 0.9987, 0.189, 1.7363, 1.1439, -0.2733, 0.1074, 0.0349, 0.9959]\nstate[eef_state]: left_x=0.2906 left_y=-0.0003 left_z=0.1695 left_yaw=0.0007 left_pitch=-0.0568 left_roll=0.0003 left_gripper=0.9987 right_x=0.4542 right_y=0.0713 right_z=0.0984 right_yaw=0.0689 right_pitch=-0.2917 right_roll=-0.051 right_gripper=0.9959\nstate[joint_eff]: [-0.335, -1.0872, 7.2137, 1.6777, -0.0611, -0.0806, -0.0122, -0.0068, -9.0325, 5.8462, 1.6337, -0.0317, 0.0659, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8127, 0.6132, -0.4313, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1397, -0.2729, 0.1074, 0.0345, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1686 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0004 left_gripper=0.9987 right_x=0.453 right_y=0.0718 right_z=0.0968 right_yaw=0.0705 right_pitch=-0.2955 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.1556, 6.9949, 1.7656, -0.0415, -0.0415, -0.0122, -0.0205, -9.0188, 6.188, 1.6044, -0.0122, -0.0122, 0.0562]",
      "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, 0.8131, 0.6132, -0.4347, -0.0135, -0.0307, 0.9987, 0.1944, 1.7035, 1.5219, -0.7185, 0.1001, 0.0181, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1678 left_yaw=0.0003 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9987 right_x=0.4536 right_y=0.075 right_z=0.196 right_yaw=0.0889 right_pitch=-0.327 right_roll=-0.0605 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.388, 7.0496, 1.7753, -0.0171, -0.0806, -0.0073, -0.6632, -10.1812, 9.0598, 1.6239, 0.0806, 0.1343, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3fb296e0725dc2830329881c3b7e43c18e92642216c9cc75e4d65c61c070bb0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ba9c74c8a1dbfa2c810c7b3da30a41fced4bd93ca550d43a29e330c405a58da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7b83bb52e4b8349823211dd0d3e4424e4a60e511ee462d0f94a27c7ce12aeda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AgKjgEIEhgCKkDkYOOCSgCYfwBoL+lzNGe7mysoylULZrWX4VVhDXaQ8TVH3SX3eHBXl2BHyKNXor3FsCZqQQZMx4G9eZaFEjqvMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYfXy9UGEgzufPq2E3Lv85vEvqcaDPGv/93IKPu7dLX0myIw+/dxH8iAe0xmvDXpcBgwaeMPjKGXVDG+ia9bhvMVqv18JX4G3X8YALU9lw5j2rCcKooHGlYcnadRt1MyPKz1eVK6T/DXEfeZOrGD3fOL+QJHxxv/OhKrJpa1XATL+v7lB6PEQ2IYzvieJ0g5O7rPG6WNgz5qp/FbH6QWklvCZ0kr5MUizbnNRNXO9l/b/nGU8Ne9XFy2ryx2z9dxzRdHrnrvpc/pFPr2KUhI7dB5eFXgjt4c6ma17Ep4Eht3DcKRyw5n2nCIlqsp4MkH7waYJKTonQD+hlMKXZ7Am2mT7UqoycoEB47VGqkSmkM6ZKj9Ow4hYn/VFxSkMck5otrjn3o74mJ7i8RHKunShm7pXUxypM3t+/eF+cY4CbYsNqBu5xi9C+xUWXW7X1iyNNKPlqgFohGiVHu/EhtP1EZeqZeUKPWNHIj8AS8EJ0WPqE/Q4g1HeH9hlnh82alm0yrYVct80Myd+HfeBl+ap74uAWySn2NUm23wvNP+hOU3NvaEM2PZknpBf0wIzlifj2d9Mq9MPUHFFkHLu5MdEhc26jlZAPtIoUght6ZqZp6XP5WuFiTC0jeP5GiyTOdkQ1ey28eDuQ2Mq/liJxj5rSZa/VOo9a4JAX8ucRNdcbqbwbcVyZgZsWlSdfnNWh75nemc0OHBS+fKLMPN5W0/BQ5XIFnfRSKHw6quuUiOrE9u7/yUhq75p7I6nvLPY7u0zTwfDIk4Yom51s7HwAu4ZTrm9x3CC7d8grynJjczZvsk/PbzE+P34ncNvyLV6RyPE3YfpJXgvfDrXc3OhTTT2f9/QIP2N2bT84j3+iOhFdSTdLLbx+PnVF9JDxAPxkSdSxY2Z7KD+DmDbezOpsuUM5LpNY70RqipI5enZ3dYpKlDEYAAMy/a8YfdlBn9iO6gcb6va2dLRDJizZbzC0bOsnYFZ3y4wqxIuLMIeBw8AKbyzWupFlsdhwZGr4J7pEOhWTu9X6yLJ+HSJCR1PC2seLUqcsf6IJJYphSYzj+QsAYC4rYTu/7pU7oraRdTrOX6jssc5YRR5IBfU/cIbfSRP7c+0cq7NSv+HDZHKCeixZUkkNNAjagPNFNjayvG6FKTBr2djqEq4787CQ/Qze83FwWdDdd3kXWih1UlKqaS6zaj6kK2kWxjTOX5tWbISOT4eO4dX9BJZWP4E3POLRoYWGatQfsw5uxWLKudCsq9vumiIFEmx/q0DUn+8C3MVT/nD79bkcSsrO3jaldsFnIfReW85MvAwh4l1IqDoOiy9J9/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MZYtVxHBPj86eoqfyFd3XA",
      "input": {
        "note": "Quince is in the blue bowl; the yellow lemon lies just to the left of the bowl. Moving over it at 18 cm height.",
        "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 8 steps (0.8s)",
      "tool_use_id": "toolu_01MZYtVxHBPj86eoqfyFd3XA",
      "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, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.4427, 1.6993, 1.4635, -0.7185, 0.2314, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.166 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9987 right_x=0.4188 right_y=0.1577 right_z=0.1776 right_yaw=0.123 right_pitch=-0.3515 right_roll=-0.0726 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4427, 7.2821, 1.7363, -0.0317, -0.0464, -0.0122, 0.1846, -8.7179, 6.0923, 1.5458, 0.1783, 0.0904, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50c8f12df16bb187acd1756ac35f02294ee17b51f8acae1841f33594d3ea0e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faaf95039f134b0fae77fae047f4fc5e39470ad3d1bc361a8d492b1d477fbc52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58f90b971edb1392726e977a32f99112827ce8c173eb89b7c8d75b85a5a8d607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 2.766 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6132, -0.4313, -0.0139, -0.0307, 0.9987, 0.1905, 1.7363, 1.1397, -0.2729, 0.1074, 0.0345, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1686 left_yaw=0.0007 left_pitch=-0.061 left_roll=0.0004 left_gripper=0.9987 right_x=0.453 right_y=0.0718 right_z=0.0968 right_yaw=0.0705 right_pitch=-0.2955 right_roll=-0.0517 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.1556, 6.9949, 1.7656, -0.0415, -0.0415, -0.0122, -0.0205, -9.0188, 6.188, 1.6044, -0.0122, -0.0122, 0.0562]",
      "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, 0.8131, 0.6132, -0.4347, -0.0135, -0.0307, 0.9987, 0.1944, 1.7035, 1.5219, -0.7185, 0.1001, 0.0181, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1678 left_yaw=0.0003 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9987 right_x=0.4536 right_y=0.075 right_z=0.196 right_yaw=0.0889 right_pitch=-0.327 right_roll=-0.0605 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.388, 7.0496, 1.7753, -0.0171, -0.0806, -0.0073, -0.6632, -10.1812, 9.0598, 1.6239, 0.0806, 0.1343, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.4427, 1.6993, 1.4635, -0.7185, 0.2314, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.166 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9987 right_x=0.4188 right_y=0.1577 right_z=0.1776 right_yaw=0.123 right_pitch=-0.3515 right_roll=-0.0726 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4427, 7.2821, 1.7363, -0.0317, -0.0464, -0.0122, 0.1846, -8.7179, 6.0923, 1.5458, 0.1783, 0.0904, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50c8f12df16bb187acd1756ac35f02294ee17b51f8acae1841f33594d3ea0e5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faaf95039f134b0fae77fae047f4fc5e39470ad3d1bc361a8d492b1d477fbc52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f90b971edb1392726e977a32f99112827ce8c173eb89b7c8d75b85a5a8d607",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS1gUKjgEIEhgCKkCAklC6QDbBiHphyOzvjsmzDEGCG4omkUKB3ojUqr8acKTt1T3Esre6f4Sjw7JGO/7lDYRiaP1NhCSm526kX7CLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY7Xy9UGEgxV6vuDXmnva+08V5waDP3gVEMVPThg8SW9IiIwl+wOElkq3/iS/ZksCmTClx5DJMFwbQxaYqJkYIpeVnWaKecWTQNHsenryRq8eZ9fKvQDFpC/dod3cEFuSGQ1DHqSzWenOmVLhYTUPaHcurjUNIa2qRO7ZIrGU5aKuL0lsgcwyxRabXhULTEZTVGxDFB7SFxukc920LXnwbDBYyN+QxcLMNYXMSlQ9SRF4GPOoz6BrQGxYbRfeloPaubIVVX6vpzTWgWkcIKrYHBaNyTe3doQnBtKWnytNRrFWXAZK4LajR9rEdh7jnnsnVAT16OmQEklueMX9JdXj9Z4l2itDVkbWvXs+zc/Gi57uTovW8WDbHpuMc7Mfhwx/rtMOQb37oY+s1HBH+RKwWjco8lk3cO1o1d+qepfOh27sJ7WMwx2Nb1zLGMBPQckokT29TJSxI16Gfs++wqp2EBxZ4HGjCj21ENiQazeQNtNaOkvmAtO3XMZ+DNLcS7WWgWVWW515qf31mGuRk58eP6Awka4KgNvBS2eaEckHSLQJu5RwawaooU5m1a4wFPyxMT1ttc606OKArYW3iRTgL7ntlnxjqgJP8OcGIOoMsqngW+69StFzBeZrjmbJksHmA3dJo4HMwgmaONzyhOJ6nQLYKkcwb5N24vfrsIfBbpA3vgxnEiOPSdh+woolKMha/Z9PAF7lzNaxeGh6AFnwSmvnpnTYgcYhsdRwKAepdbGEhDXgA9pJwWSVXlVrNHzdW0AXaX7nYpYO40YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JGgMpK5efLbGJfWL7Y9FCs",
      "input": {
        "note": "Lemon appears just left of the jaw column in the wrist view; shifting 2 cm left and descending to grasp height.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.18,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JGgMpK5efLbGJfWL7Y9FCs",
      "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, 0.6132, -0.4473, -0.0135, -0.0307, 0.9987, 0.4789, 1.9015, 1.1561, -0.268, 0.2398, 0.2028, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0786 left_roll=0.0006 left_gripper=0.9987 right_x=0.4208 right_y=0.1753 right_z=0.0347 right_yaw=0.1339 right_pitch=-0.4043 right_roll=-0.0891 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3333, 7.1043, 1.7167, -0.022, -0.0317, -0.0122, 0.6222, -9.4838, 5.7368, 1.4042, 0.2173, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61eb73b75d8e5840ab87eaabc21c7a4cffa97cd8eb31212515520c873cc78c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117624e420165766b7dc227c441922854d504ba595695e7c16cb94e28ab9c1bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d488b139686bb99b41b3cbeeb5d86d8c3f6297ad6eba3eb25e6813096feb22f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.621 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8131, 0.6132, -0.4347, -0.0135, -0.0307, 0.9987, 0.1944, 1.7035, 1.5219, -0.7185, 0.1001, 0.0181, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1678 left_yaw=0.0003 left_pitch=-0.0648 left_roll=0.0003 left_gripper=0.9987 right_x=0.4536 right_y=0.075 right_z=0.196 right_yaw=0.0889 right_pitch=-0.327 right_roll=-0.0605 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.388, 7.0496, 1.7753, -0.0171, -0.0806, -0.0073, -0.6632, -10.1812, 9.0598, 1.6239, 0.0806, 0.1343, -0.0073]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.4427, 1.6993, 1.4635, -0.7185, 0.2314, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.166 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9987 right_x=0.4188 right_y=0.1577 right_z=0.1776 right_yaw=0.123 right_pitch=-0.3515 right_roll=-0.0726 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4427, 7.2821, 1.7363, -0.0317, -0.0464, -0.0122, 0.1846, -8.7179, 6.0923, 1.5458, 0.1783, 0.0904, -0.0073]",
      "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, 0.8143, 0.6132, -0.4473, -0.0135, -0.0307, 0.9987, 0.4789, 1.9015, 1.1561, -0.268, 0.2398, 0.2028, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0786 left_roll=0.0006 left_gripper=0.9987 right_x=0.4208 right_y=0.1753 right_z=0.0347 right_yaw=0.1339 right_pitch=-0.4043 right_roll=-0.0891 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3333, 7.1043, 1.7167, -0.022, -0.0317, -0.0122, 0.6222, -9.4838, 5.7368, 1.4042, 0.2173, 0.1294, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61eb73b75d8e5840ab87eaabc21c7a4cffa97cd8eb31212515520c873cc78c99",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:117624e420165766b7dc227c441922854d504ba595695e7c16cb94e28ab9c1bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 76):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d488b139686bb99b41b3cbeeb5d86d8c3f6297ad6eba3eb25e6813096feb22f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQIKjgEIEhgCKkDB2u8H0b3pphmFdL0BvDOR0Q7bRSnLxGbUT1Mrwf1DhV+kenL3zKfLP5y+Q1tnHQiwcNKrqVV45Duyk/HFCIxpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZLXy9UGEgy/gdd6azEWiSNKKZkaDPlmOkVEllx9xoPdSiIwOj5Q0dnWoYTLy5LESlRJNgSQKh+P0W7GaVRRHNBq4TNfv4FIKADu4mrMZ6oAFuvxKjxSY9N16PR6N+xFP+bfM55NWcGpekmRhAvFeuENdqOYtU8/WLTRfTSgDRnWKtfvo/FKS0tntRdFaDz91HMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dh1C984V1dGSEV1DuG9mFi",
      "input": {
        "note": "Lemon is centred on the jaw column at grasp height; closing the gripper.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01Dh1C984V1dGSEV1DuG9mFi",
      "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, 0.6132, -0.45, -0.0139, -0.0307, 0.9987, 0.4808, 1.9152, 1.1461, -0.2577, 0.2386, 0.1989, 0.4343]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1644 left_yaw=0.0007 left_pitch=-0.0816 left_roll=0.0009 left_gripper=0.9987 right_x=0.4184 right_y=0.1752 right_z=0.0265 right_yaw=0.1371 right_pitch=-0.4174 right_roll=-0.0954 right_gripper=0.4343\nstate[joint_eff]: [-0.0205, -1.2239, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.2667, -10.6598, 6.8444, 1.1453, 0.0562, -0.0415, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0a4c18fe0bc1f9ff88e645eeda3cb881e6896897aef939a88f3e781369e41c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34da04af5073d72177603bd23fe9174b5314478f24fac01be12e63b9562e713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64debe162bc0f973fe40975892a13a9b2679295ae4bf7dc842f10adc064c154a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 11.14 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.4427, 1.6993, 1.4635, -0.7185, 0.2314, 0.1848, 0.9966]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.166 left_yaw=0.0004 left_pitch=-0.0736 left_roll=0.0005 left_gripper=0.9987 right_x=0.4188 right_y=0.1577 right_z=0.1776 right_yaw=0.123 right_pitch=-0.3515 right_roll=-0.0726 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4427, 7.2821, 1.7363, -0.0317, -0.0464, -0.0122, 0.1846, -8.7179, 6.0923, 1.5458, 0.1783, 0.0904, -0.0073]",
      "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, 0.8143, 0.6132, -0.4473, -0.0135, -0.0307, 0.9987, 0.4789, 1.9015, 1.1561, -0.268, 0.2398, 0.2028, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0786 left_roll=0.0006 left_gripper=0.9987 right_x=0.4208 right_y=0.1753 right_z=0.0347 right_yaw=0.1339 right_pitch=-0.4043 right_roll=-0.0891 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3333, 7.1043, 1.7167, -0.022, -0.0317, -0.0122, 0.6222, -9.4838, 5.7368, 1.4042, 0.2173, 0.1294, -0.0122]",
      "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, 0.6132, -0.45, -0.0139, -0.0307, 0.9987, 0.4808, 1.9152, 1.1461, -0.2577, 0.2386, 0.1989, 0.4343]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1644 left_yaw=0.0007 left_pitch=-0.0816 left_roll=0.0009 left_gripper=0.9987 right_x=0.4184 right_y=0.1752 right_z=0.0265 right_yaw=0.1371 right_pitch=-0.4174 right_roll=-0.0954 right_gripper=0.4343\nstate[joint_eff]: [-0.0205, -1.2239, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.2667, -10.6598, 6.8444, 1.1453, 0.0562, -0.0415, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d0a4c18fe0bc1f9ff88e645eeda3cb881e6896897aef939a88f3e781369e41c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f34da04af5073d72177603bd23fe9174b5314478f24fac01be12e63b9562e713",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64debe162bc0f973fe40975892a13a9b2679295ae4bf7dc842f10adc064c154a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStgMKjgEIEhgCKkDMy6vAgM+LPh5MTMEepnSHjYq9xlHxOjP5vnsOTKn90Mwf3/eXPxv/boTb8gSBlF/Wl05RnigZ5Ary4WWwo/pQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZfXy9UGEgy6zlqk6LUdQSW5qa0aDGlCTSuQPjatJR+3WiIwizfBjz9pJJySFKm3RXVtVWU5OOKSjdAYAhu258qYBSSOyMLCfWSakeGi/OpsiOdgKtQBS2E9lpcILJh+mB1YcSpecD35vjXHUMDWU+V+d79WpP1Isdij2gcL57omFKOSoIjo6/n8wBL+ZkVINj97RLTunsqTh8vTbNZ5IdDAwyFWHrllK6hvYJBnO5tvC/ovcxxs8G1Pnqus2RAJ2mUQRS8ec0To9oZjEFbojDFjd/rG3CeOqx9GQB/mhCU4THSdyFNM90hABsdtrheQtz1xtbAJVqXyFL3kfrpRREaJ+J1C1iWvAd6wt0Zv+xtk8+oJ9uUXlcK4HtG7AVr6nVDI9KLsfTlN1PIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CCEdy9wGPrczSPaxungwvB",
      "input": {
        "note": "Gripper settled at 0.43 (≈4 cm object) so the lemon is held; lifting before moving to the bowl.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01CCEdy9wGPrczSPaxungwvB",
      "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, 0.6132, -0.4511, -0.0139, -0.0307, 0.9987, 0.4808, 1.8084, 1.6516, -0.8837, 0.2314, 0.1909, 0.4344]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1643 left_yaw=0.0007 left_pitch=-0.0824 left_roll=0.0009 left_gripper=0.9987 right_x=0.4213 right_y=0.1781 right_z=0.1809 right_yaw=0.1461 right_pitch=-0.4329 right_roll=-0.0988 right_gripper=0.4344\nstate[joint_eff]: [-0.0342, -1.3197, 7.1726, 1.7167, -0.0317, -0.0317, -0.0122, -0.1983, -10.7419, 8.0479, 1.2527, 0.232, 0.0513, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c343d6ca34ec19b69f4c6e016dcefaaa13eebc3ec1b0bd72570ed513792d445a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4514bf8e6515bcc856b4b8e114445aee48f26c2ac087ee371b5f1a7edc1335d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:66fa9a8de659d3642827249dc4d83c87948ba7444e96f16c5e2e1d654c498d53",
        "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 · 10.96 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4473, -0.0135, -0.0307, 0.9987, 0.4789, 1.9015, 1.1561, -0.268, 0.2398, 0.2028, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=-0.0003 left_z=0.165 left_yaw=0.0004 left_pitch=-0.0786 left_roll=0.0006 left_gripper=0.9987 right_x=0.4208 right_y=0.1753 right_z=0.0347 right_yaw=0.1339 right_pitch=-0.4043 right_roll=-0.0891 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3333, 7.1043, 1.7167, -0.022, -0.0317, -0.0122, 0.6222, -9.4838, 5.7368, 1.4042, 0.2173, 0.1294, -0.0122]",
      "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, 0.6132, -0.45, -0.0139, -0.0307, 0.9987, 0.4808, 1.9152, 1.1461, -0.2577, 0.2386, 0.1989, 0.4343]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1644 left_yaw=0.0007 left_pitch=-0.0816 left_roll=0.0009 left_gripper=0.9987 right_x=0.4184 right_y=0.1752 right_z=0.0265 right_yaw=0.1371 right_pitch=-0.4174 right_roll=-0.0954 right_gripper=0.4343\nstate[joint_eff]: [-0.0205, -1.2239, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.2667, -10.6598, 6.8444, 1.1453, 0.0562, -0.0415, 1.0232]",
      "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, 0.8143, 0.6132, -0.4511, -0.0139, -0.0307, 0.9987, 0.4808, 1.8084, 1.6516, -0.8837, 0.2314, 0.1909, 0.4344]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1643 left_yaw=0.0007 left_pitch=-0.0824 left_roll=0.0009 left_gripper=0.9987 right_x=0.4213 right_y=0.1781 right_z=0.1809 right_yaw=0.1461 right_pitch=-0.4329 right_roll=-0.0988 right_gripper=0.4344\nstate[joint_eff]: [-0.0342, -1.3197, 7.1726, 1.7167, -0.0317, -0.0317, -0.0122, -0.1983, -10.7419, 8.0479, 1.2527, 0.232, 0.0513, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c343d6ca34ec19b69f4c6e016dcefaaa13eebc3ec1b0bd72570ed513792d445a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4514bf8e6515bcc856b4b8e114445aee48f26c2ac087ee371b5f1a7edc1335d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:66fa9a8de659d3642827249dc4d83c87948ba7444e96f16c5e2e1d654c498d53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JRhX7NxpMopC8JqMP9Pzcq",
      "input": {
        "note": "Lemon is held (visible at bottom-left of wrist view); moving over the blue bowl which holds the quince.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.075,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01JRhX7NxpMopC8JqMP9Pzcq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.461, -0.0139, -0.0307, 0.9987, 0.1993, 1.8, 1.5749, -0.831, 0.0952, -0.0402, 0.4344]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0927 left_roll=0.0011 left_gripper=0.9987 right_x=0.4469 right_y=0.0768 right_z=0.159 right_yaw=0.1266 right_pitch=-0.4855 right_roll=-0.1068 right_gripper=0.4344\nstate[joint_eff]: [-0.1846, -1.1692, 6.9675, 1.7753, -0.0415, 0.0073, -0.0122, -0.253, -10.3726, 6.4205, 1.4676, -0.1197, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94966ad98f360d62ba3985ffaed68f666d68f23dd151ef3ebd449a13e0ebd35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:537f716e473454a1a99f117ee676d4f0752abb7b0d09d1020b5f6859952501a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f440ec9b065c6642a9458316ea78f174bee1c07200ce4037ae59a30f78b7de0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 14.18 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.45, -0.0139, -0.0307, 0.9987, 0.4808, 1.9152, 1.1461, -0.2577, 0.2386, 0.1989, 0.4343]\nstate[eef_state]: left_x=0.2873 left_y=-0.0003 left_z=0.1644 left_yaw=0.0007 left_pitch=-0.0816 left_roll=0.0009 left_gripper=0.9987 right_x=0.4184 right_y=0.1752 right_z=0.0265 right_yaw=0.1371 right_pitch=-0.4174 right_roll=-0.0954 right_gripper=0.4343\nstate[joint_eff]: [-0.0205, -1.2239, 6.9812, 1.7118, -0.0415, -0.0464, -0.0122, -0.2667, -10.6598, 6.8444, 1.1453, 0.0562, -0.0415, 1.0232]",
      "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, 0.8143, 0.6132, -0.4511, -0.0139, -0.0307, 0.9987, 0.4808, 1.8084, 1.6516, -0.8837, 0.2314, 0.1909, 0.4344]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1643 left_yaw=0.0007 left_pitch=-0.0824 left_roll=0.0009 left_gripper=0.9987 right_x=0.4213 right_y=0.1781 right_z=0.1809 right_yaw=0.1461 right_pitch=-0.4329 right_roll=-0.0988 right_gripper=0.4344\nstate[joint_eff]: [-0.0342, -1.3197, 7.1726, 1.7167, -0.0317, -0.0317, -0.0122, -0.1983, -10.7419, 8.0479, 1.2527, 0.232, 0.0513, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.6132, -0.461, -0.0139, -0.0307, 0.9987, 0.1993, 1.8, 1.5749, -0.831, 0.0952, -0.0402, 0.4344]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0927 left_roll=0.0011 left_gripper=0.9987 right_x=0.4469 right_y=0.0768 right_z=0.159 right_yaw=0.1266 right_pitch=-0.4855 right_roll=-0.1068 right_gripper=0.4344\nstate[joint_eff]: [-0.1846, -1.1692, 6.9675, 1.7753, -0.0415, 0.0073, -0.0122, -0.253, -10.3726, 6.4205, 1.4676, -0.1197, -0.0952, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94966ad98f360d62ba3985ffaed68f666d68f23dd151ef3ebd449a13e0ebd35f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:537f716e473454a1a99f117ee676d4f0752abb7b0d09d1020b5f6859952501a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f440ec9b065c6642a9458316ea78f174bee1c07200ce4037ae59a30f78b7de0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Anoeo65syk967h8WaEe7rR",
      "input": {
        "note": "Over the blue bowl; opening the gripper to release the lemon (if held) into the bowl, then I'll check the top view for what's still on the table.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Anoeo65syk967h8WaEe7rR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.4686, -0.0135, -0.0307, 0.9987, 0.1963, 1.8, 1.5749, -0.8387, 0.0811, -0.0528, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=-0.0003 left_z=0.1608 left_yaw=0.0004 left_pitch=-0.1003 left_roll=0.0011 left_gripper=0.9987 right_x=0.4451 right_y=0.0776 right_z=0.1579 right_yaw=0.1444 right_pitch=-0.4946 right_roll=-0.1005 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.2923, 6.9675, 1.7558, -0.0513, -0.0269, -0.0073, 0.3077, -9.306, 6.5026, 1.2381, 0.1245, 0.0659, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617e6f88f688e35827bf97e63ed0a815b982f7ee5a776e940f8843cc1d9026de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01bf5a968c1b22e06d4c9a1dc025e6a5808eac28bd67d74b95240844892fd9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:586e852ebec55c515984fde0cf3773f79bdd57ea058beb4fb12a2f1a3df4100e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 6.861 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4511, -0.0139, -0.0307, 0.9987, 0.4808, 1.8084, 1.6516, -0.8837, 0.2314, 0.1909, 0.4344]\nstate[eef_state]: left_x=0.2871 left_y=-0.0002 left_z=0.1643 left_yaw=0.0007 left_pitch=-0.0824 left_roll=0.0009 left_gripper=0.9987 right_x=0.4213 right_y=0.1781 right_z=0.1809 right_yaw=0.1461 right_pitch=-0.4329 right_roll=-0.0988 right_gripper=0.4344\nstate[joint_eff]: [-0.0342, -1.3197, 7.1726, 1.7167, -0.0317, -0.0317, -0.0122, -0.1983, -10.7419, 8.0479, 1.2527, 0.232, 0.0513, -0.0024]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.6132, -0.461, -0.0139, -0.0307, 0.9987, 0.1993, 1.8, 1.5749, -0.831, 0.0952, -0.0402, 0.4344]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0927 left_roll=0.0011 left_gripper=0.9987 right_x=0.4469 right_y=0.0768 right_z=0.159 right_yaw=0.1266 right_pitch=-0.4855 right_roll=-0.1068 right_gripper=0.4344\nstate[joint_eff]: [-0.1846, -1.1692, 6.9675, 1.7753, -0.0415, 0.0073, -0.0122, -0.253, -10.3726, 6.4205, 1.4676, -0.1197, -0.0952, -0.0122]",
      "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, 0.8146, 0.6132, -0.4686, -0.0135, -0.0307, 0.9987, 0.1963, 1.8, 1.5749, -0.8387, 0.0811, -0.0528, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=-0.0003 left_z=0.1608 left_yaw=0.0004 left_pitch=-0.1003 left_roll=0.0011 left_gripper=0.9987 right_x=0.4451 right_y=0.0776 right_z=0.1579 right_yaw=0.1444 right_pitch=-0.4946 right_roll=-0.1005 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.2923, 6.9675, 1.7558, -0.0513, -0.0269, -0.0073, 0.3077, -9.306, 6.5026, 1.2381, 0.1245, 0.0659, -0.1294]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:617e6f88f688e35827bf97e63ed0a815b982f7ee5a776e940f8843cc1d9026de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01bf5a968c1b22e06d4c9a1dc025e6a5808eac28bd67d74b95240844892fd9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:586e852ebec55c515984fde0cf3773f79bdd57ea058beb4fb12a2f1a3df4100e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W6YMNWjqixCo7qEFdko19m",
      "input": {
        "note": "One yellow fruit is now in the blue bowl, but another yellow fruit lies on the table closer to the bases; moving to hover over it to re-locate it in the wrist view.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.19,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01W6YMNWjqixCo7qEFdko19m",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, 0.6907, 1.5497, 1.4403, -1.0489, 0.281, 0.3466, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1592 left_yaw=0.0008 left_pitch=-0.1083 left_roll=0.0015 left_gripper=0.9987 right_x=0.3069 right_y=0.1947 right_z=0.1893 right_yaw=0.1944 right_pitch=-0.5141 right_roll=-0.1092 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7265, -0.0464, -0.0122, -0.0073, 0.0889, -8.8821, 7.1179, 0.9695, 0.2662, 0.1685, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b11cb12a54993374c6d7c849e77594ee1d02250a816991341cd7ea3fa0b3c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152a6bea685f4c7d7acf3cd74b9e68445726d9ea3feb158ab3733b5bb3bbd46d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:498be43383c8b6d132ec7d457c6ca19ca49d14130c430a82e678f01d4891a9fa",
        "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 · 3.412 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.461, -0.0139, -0.0307, 0.9987, 0.1993, 1.8, 1.5749, -0.831, 0.0952, -0.0402, 0.4344]\nstate[eef_state]: left_x=0.2856 left_y=-0.0002 left_z=0.1622 left_yaw=0.0007 left_pitch=-0.0927 left_roll=0.0011 left_gripper=0.9987 right_x=0.4469 right_y=0.0768 right_z=0.159 right_yaw=0.1266 right_pitch=-0.4855 right_roll=-0.1068 right_gripper=0.4344\nstate[joint_eff]: [-0.1846, -1.1692, 6.9675, 1.7753, -0.0415, 0.0073, -0.0122, -0.253, -10.3726, 6.4205, 1.4676, -0.1197, -0.0952, -0.0122]",
      "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, 0.8146, 0.6132, -0.4686, -0.0135, -0.0307, 0.9987, 0.1963, 1.8, 1.5749, -0.8387, 0.0811, -0.0528, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=-0.0003 left_z=0.1608 left_yaw=0.0004 left_pitch=-0.1003 left_roll=0.0011 left_gripper=0.9987 right_x=0.4451 right_y=0.0776 right_z=0.1579 right_yaw=0.1444 right_pitch=-0.4946 right_roll=-0.1005 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.2923, 6.9675, 1.7558, -0.0513, -0.0269, -0.0073, 0.3077, -9.306, 6.5026, 1.2381, 0.1245, 0.0659, -0.1294]",
      "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, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, 0.6907, 1.5497, 1.4403, -1.0489, 0.281, 0.3466, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1592 left_yaw=0.0008 left_pitch=-0.1083 left_roll=0.0015 left_gripper=0.9987 right_x=0.3069 right_y=0.1947 right_z=0.1893 right_yaw=0.1944 right_pitch=-0.5141 right_roll=-0.1092 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7265, -0.0464, -0.0122, -0.0073, 0.0889, -8.8821, 7.1179, 0.9695, 0.2662, 0.1685, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74b11cb12a54993374c6d7c849e77594ee1d02250a816991341cd7ea3fa0b3c5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:152a6bea685f4c7d7acf3cd74b9e68445726d9ea3feb158ab3733b5bb3bbd46d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:498be43383c8b6d132ec7d457c6ca19ca49d14130c430a82e678f01d4891a9fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrQYKjgEIEhgCKkBPeN3VjedqmeexZcFW8e+dr0I/7avCjAuZ2VjYEQ0zBGIfMlHaL8TQzltPUqhzBCVWhbvi4JTRc3WfItSJQ7aAMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcXXy9UGEgyWYLKN4pv40/8X7K4aDGseM1dhVgnvj24loSIwpq5WWErqBSjne+sC4NyjHIl4eKXjP7q/UimxORPXTnM6JUg7/cew4XA9+zVZZ905KssEbOjx2LejCmcmMNnsMeYTRlpuGZQizTERvAVSAIdtVE/q0jwk057WbNnTjKh+TLkQkhBV95VjDdZdhTMEFjPbzAKRzR3gNrhZsQAXhE7MgvJBKcMovkcCnas9l0xraYZNmyeZtKVbqHQwlkisrlXuL3/TJbBLyCI0vIX/XW+oVBg0UX6fQDRdxrTStn+KbiczKocnEijrMv+Pu0tQlEU7FuIScLda/6SNpUtcypHYHv2kvtI9FCKvW+1WyNegVrvSIaY2hxfpb6k583k4uIT0lVqjXiBPr1p0e1SKDzKRiKmhntcpkqUjTTyIH5jkWcOv/oyacrDByTh6UPiCkQmRuHW92Y+kikhM20lzeaGujUq2K/OgbQ866frcggTkE2jTaZ35DNYs0da/ZnbJXQvViuSDcLrLJlVBq+IIn1Mu6KYMnnqIFOGG0Akf9Xrn6+kzko19tL6Jyx3IbYndcV65/oFFbxSMYU6k4jbsY6M9aOnRa4PKjwud9L6J3otk83u4isPYiCP1ng0UF0s6UdzO2jQ7z7Bhq/T33/FAPcUGiCyMjy12NHTZ+n/5eZ9AlpH3tlnTtnKTm89A28/00Pj7sXZvVTouJhJbu2te9Eh3hPuYDNFnapSg1UPAzLpVjpJovjapr1U0/THcZnA0kFImGijFFe2gnjafMWSB9V9QONPdCmOxkTzI51m3BPHp2alnZma9Z58dzxrcGXF8F2PomPnloOY6bPN2r1km4A8kAL85EdGBRqUbzx5N5YfjCsjidjwZg3zP/awRjh8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A9K3NAahFU1nwAytQw8HrW",
      "input": {
        "note": "The dropped lemon is visible on the table just short of the jaws; advancing ~3 cm and descending to 6 cm for a final check before closing.",
        "targets": {
          "right_x": 0.335,
          "right_y": 0.2,
          "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_01A9K3NAahFU1nwAytQw8HrW",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6502, 1.692, 1.092, -0.6014, 0.2615, 0.313, 0.9966]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3238 right_y=0.1934 right_z=0.0609 right_yaw=0.1798 right_pitch=-0.5629 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3197, 7.0222, 1.619, -0.0366, -0.022, -0.0122, -0.3487, -7.7197, 6.1744, 1.116, 0.188, -0.1441, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c392402a05f746b884abdfef15a31b3aec79fc33bfdfd35d1d0b6bffe4bbc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76579f8cc409cd723ebf7940f6b7926f9e6f1f3d251017728e118a7c00d3cda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7cc5501970fba8ea12d0bbd2f9ffe94caf81d9951bb4562825bc9c759eead27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 8.399 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.4686, -0.0135, -0.0307, 0.9987, 0.1963, 1.8, 1.5749, -0.8387, 0.0811, -0.0528, 0.9956]\nstate[eef_state]: left_x=0.2845 left_y=-0.0003 left_z=0.1608 left_yaw=0.0004 left_pitch=-0.1003 left_roll=0.0011 left_gripper=0.9987 right_x=0.4451 right_y=0.0776 right_z=0.1579 right_yaw=0.1444 right_pitch=-0.4946 right_roll=-0.1005 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.2923, 6.9675, 1.7558, -0.0513, -0.0269, -0.0073, 0.3077, -9.306, 6.5026, 1.2381, 0.1245, 0.0659, -0.1294]",
      "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, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, 0.6907, 1.5497, 1.4403, -1.0489, 0.281, 0.3466, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1592 left_yaw=0.0008 left_pitch=-0.1083 left_roll=0.0015 left_gripper=0.9987 right_x=0.3069 right_y=0.1947 right_z=0.1893 right_yaw=0.1944 right_pitch=-0.5141 right_roll=-0.1092 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7265, -0.0464, -0.0122, -0.0073, 0.0889, -8.8821, 7.1179, 0.9695, 0.2662, 0.1685, 0.0806]",
      "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, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6502, 1.692, 1.092, -0.6014, 0.2615, 0.313, 0.9966]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3238 right_y=0.1934 right_z=0.0609 right_yaw=0.1798 right_pitch=-0.5629 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3197, 7.0222, 1.619, -0.0366, -0.022, -0.0122, -0.3487, -7.7197, 6.1744, 1.116, 0.188, -0.1441, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55c392402a05f746b884abdfef15a31b3aec79fc33bfdfd35d1d0b6bffe4bbc5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:76579f8cc409cd723ebf7940f6b7926f9e6f1f3d251017728e118a7c00d3cda0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 133):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7cc5501970fba8ea12d0bbd2f9ffe94caf81d9951bb4562825bc9c759eead27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAIKjgEIEhgCKkBi4U6hCWUo98MOHOgMPVfRtwpC0E07+55MSHDZztOTLJ3zwnkUVjKIosOQg9gF3v022eRiDTOnEmumOoq16fw4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcrXy9UGEgz44NQ0ZKYCXrZE4xQaDDD/tObtHQNlXw2DMCIwheGKZD3JbiwITek5+nYpfpkDB7+e3ThunT9djGU6fFK8feO8HrDRQ3Gp4ZWtRi1mKmdSWWRATzri50yScwSD3kxQdu32AfzZSOHz47AHaJjrW0GAuy8q2yPbV3DcWuBEGrz0L1liXRUxrJXW62pqol2WftJS+3ACKqwowQoJgxg+rf+GYiwo8sMSiQqx2mZb3Wt8Diygsic/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DUSWGm1vEGPggAadTWkndL",
      "input": {
        "note": "Lemon is centred between the jaws; lowering to grasp height and closing.",
        "targets": {
          "right_gripper": 0.1,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01DUSWGm1vEGPggAadTWkndL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6506, 1.7329, 1.0275, -0.503, 0.2573, 0.3065, 0.1045]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3222 right_y=0.1932 right_z=0.0343 right_yaw=0.1861 right_pitch=-0.5712 right_roll=-0.1344 right_gripper=0.1045\nstate[joint_eff]: [-0.0889, -1.1145, 7.1726, 1.6386, -0.0464, -0.0269, -0.0122, -0.1026, -6.7761, 5.2991, 1.0183, 0.1587, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20be27aa8cd7ab937f012cf3957e1afffcf7cfbfa483857f5b1606bc93e4a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3c5bd94e91759ee5fac9eef73baa3919eb87e31fd4549be2caa11f1ce99546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f272c2768f76dd7be42b21d521f574ef2534b4dc9e701f6c01d97eb4a116d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 19 attempt 0 · /messages · status 200 · 8.965 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4759, -0.0139, -0.0307, 0.9987, 0.6907, 1.5497, 1.4403, -1.0489, 0.281, 0.3466, 0.9965]\nstate[eef_state]: left_x=0.2834 left_y=-0.0002 left_z=0.1592 left_yaw=0.0008 left_pitch=-0.1083 left_roll=0.0015 left_gripper=0.9987 right_x=0.3069 right_y=0.1947 right_z=0.1893 right_yaw=0.1944 right_pitch=-0.5141 right_roll=-0.1092 right_gripper=0.9965\nstate[joint_eff]: [-0.0615, -1.3607, 6.9538, 1.7265, -0.0464, -0.0122, -0.0073, 0.0889, -8.8821, 7.1179, 0.9695, 0.2662, 0.1685, 0.0806]",
      "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, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6502, 1.692, 1.092, -0.6014, 0.2615, 0.313, 0.9966]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3238 right_y=0.1934 right_z=0.0609 right_yaw=0.1798 right_pitch=-0.5629 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3197, 7.0222, 1.619, -0.0366, -0.022, -0.0122, -0.3487, -7.7197, 6.1744, 1.116, 0.188, -0.1441, -0.0024]",
      "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, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6506, 1.7329, 1.0275, -0.503, 0.2573, 0.3065, 0.1045]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3222 right_y=0.1932 right_z=0.0343 right_yaw=0.1861 right_pitch=-0.5712 right_roll=-0.1344 right_gripper=0.1045\nstate[joint_eff]: [-0.0889, -1.1145, 7.1726, 1.6386, -0.0464, -0.0269, -0.0122, -0.1026, -6.7761, 5.2991, 1.0183, 0.1587, 0.0415, -0.0366]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a20be27aa8cd7ab937f012cf3957e1afffcf7cfbfa483857f5b1606bc93e4a62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d3c5bd94e91759ee5fac9eef73baa3919eb87e31fd4549be2caa11f1ce99546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f272c2768f76dd7be42b21d521f574ef2534b4dc9e701f6c01d97eb4a116d37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzAgKjgEIEhgCKkD6cv5CT0MV0V79ASQVOoKEMy5Xem2+s4cw+VI2O70r5WJglKyVXJ0JNvftDRF+PHX0O272BZNtyVF+RMyAX0ArMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdPXy9UGEgxFEPpLazKCBBmDlwUaDE1CDkYRrVaKSS0m8SIwev3bJ1Xlo24rYoVUXcMaxaZWpHCtQoV6PhNtq4Sc5iqy3GDDwYU77KBoVLlGjLB7KuoGO67wB7bd+9u0kc9EXJfYB2kaKeUsRksTr2ST8IdUhvcxl1jKssJIUpxembrcZzYtce4VuLutTQe/NdeKct4HowykuvgzJp1AxVHTgtoy1ghgivHUlTt8Td7kydvu1qZTR94Am1sXj06eRWLciiaVUCY2fcMvTf1cnRQaXSdd72Ua4efskXxS/qIsZZUK5yFe02Yi2WH6e49T6yz26e1lUsRn4mpdy4jYlfvwGdWr4PjUEFpQk5yGIdGE6BpAX9v8AdTZ/1r5xj0p6p8dHR/KQtCeySEkC2Kd6H6FLm/kaDP0KTZ45Z64sg4M/k96D7bGXLzhxcmZzgQNGKP6oYx3Edh2izB7/SQXSjfQm+dIVpdoovNWQS0Ya4AoeExdMlnWGC66w0NKwfUUb3bFC1caFnsGHzU4dshB15Wc7BjkB9a0ERuO2+jsl1sh36f5TLtjjA9ZoYehYTy5z0QQqpvIFzcskxHeSuGRIcUe+tnIjsaVig/N7Sfr4154xsqoyyErcFZ269f/MayrQno3osf0EreSZsQxCAhEhOFxx+qlhyHd9Go4e+y8S0ao9Z4RUZp51B8IofLY7wS+NtHAu4yA2OagWTYJ/6XZ+4N9sPtJlJiTH8hTD64akWZIbFG71O8S86q2Kl5bvsFs/x8InFWJZK9XZSEd3Ka7r51sO3MHV6/pzK0ifcOQ7hki3qHYgKa00J97RWu2M1AbB5uyDev9h1tYmNaVlrFoiuKB2DTfIdRS/D9ThESrd62VLq6uqtFVoTulwAR/Ai1PbN9Q8EtPGuUGxQ1wi6Is1cLkYW3E4CKbQ1I4WJvlSCJh6xBJOdnAinuBFALmOF3tHAvfBY/SR900oX1YflNGqzUTbM4HxxwczLzXfFcCpr+/mILTtmyOcDc8ptJy+qdV0mJycxM0e+bRqABQIOwJTyhAFuQ8IJ4d9j0kJwIkFTSBjopRaR1xqGm9t3SbGuouez+kX3HvZAWg2z3t+vEIk/zXsUaU3IWEILZV1axbFjF6/OZVk5N5OVuqVl57nQ7FU/wpTs3LM5WI28XFdb8eax6IwZhZDdbWHP5yXiparGmEdsYNWk6spG0sF1JSZYkvyOsfmzlaBuhnBemHEziAPyimn4SSxTGQTRD0ziOopa9a4XvPHNEs7J3fi/C2vqRasxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012wxR2LiXTxfwMuW6FqJczn",
      "input": {
        "note": "Gripper closed all the way to the commanded 0.10, meaning it likely missed the lemon; opening to re-check position in the wrist view.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012wxR2LiXTxfwMuW6FqJczn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.6506, 1.734, 1.0214, -0.5014, 0.2535, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1591 left_yaw=0.0008 left_pitch=-0.1087 left_roll=0.0015 left_gripper=0.9987 right_x=0.3204 right_y=0.1927 right_z=0.032 right_yaw=0.1902 right_pitch=-0.5782 right_roll=-0.1355 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.306, 7.0906, 1.619, -0.0562, -0.0415, -0.0122, -0.0342, -8.0752, 6.3795, 0.8864, 0.1197, 0.0024, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e8b1db8300172b63e4edf7aafa9997ab910a561e2314acb5faf6bc32fee6e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013d014b631c1498742987ef4f6efc993f2412c9daadc0754d2f6fe0e1bf35ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:22b77d3a5792d4a7f090a8813d0019f1ac519e07dce80722f24b78c155d6217b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 8.95 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6502, 1.692, 1.092, -0.6014, 0.2615, 0.313, 0.9966]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3238 right_y=0.1934 right_z=0.0609 right_yaw=0.1798 right_pitch=-0.5629 right_roll=-0.1316 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.3197, 7.0222, 1.619, -0.0366, -0.022, -0.0122, -0.3487, -7.7197, 6.1744, 1.116, 0.188, -0.1441, -0.0024]",
      "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, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6506, 1.7329, 1.0275, -0.503, 0.2573, 0.3065, 0.1045]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3222 right_y=0.1932 right_z=0.0343 right_yaw=0.1861 right_pitch=-0.5712 right_roll=-0.1344 right_gripper=0.1045\nstate[joint_eff]: [-0.0889, -1.1145, 7.1726, 1.6386, -0.0464, -0.0269, -0.0122, -0.1026, -6.7761, 5.2991, 1.0183, 0.1587, 0.0415, -0.0366]",
      "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, 0.8154, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.6506, 1.734, 1.0214, -0.5014, 0.2535, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1591 left_yaw=0.0008 left_pitch=-0.1087 left_roll=0.0015 left_gripper=0.9987 right_x=0.3204 right_y=0.1927 right_z=0.032 right_yaw=0.1902 right_pitch=-0.5782 right_roll=-0.1355 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.306, 7.0906, 1.619, -0.0562, -0.0415, -0.0122, -0.0342, -8.0752, 6.3795, 0.8864, 0.1197, 0.0024, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e8b1db8300172b63e4edf7aafa9997ab910a561e2314acb5faf6bc32fee6e85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:013d014b631c1498742987ef4f6efc993f2412c9daadc0754d2f6fe0e1bf35ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 151):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22b77d3a5792d4a7f090a8813d0019f1ac519e07dce80722f24b78c155d6217b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISowgKjgEIEhgCKkDiajQ+lNEDteqqnYqR9gv9e83QTpG9yL3klStb2h8PzpOdjoUlUCYyslENxUpRBT6Pn+kh4wJB12P7SuDONmDSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd3Xy9UGEgyp9GnnMYdQFBWsAaQaDBGo7pLh+xJmFwXtACIwDZhpw1Bl1yUV2Jk7GWEZ1LDOGCMkMnA49ttyjzqiy4brjKUOL41+l9vP/RWWNmnOKsEGTlm8Vm4/RsVvLW6qhoDxcWgIaxzMfjd9HoIcpslt+WukLiJydSzC8LbGJcUiQPIm4l42RVyyhNgUABOoqL1VxtfOsis64A3y0KT5mGjlUCdHGimIuug7XelbcLErJlUIoNWvdn914fLQG4nRGlUTwX6nc+1lU+y9IgmHySQZZqU0PPzjH/JyvyZnOVw7LkRZL2ihx+ECtLSOUao02ZB7/m/3Wn4R18BoRR6nlSRXhC4Gp7VuL6GCHOqhKg811eQ+VD3pqMekd1lfoGv5IR+unfxwTSmgVh3ORLDQGyR3NAQKKr/c8rv2M6Pu1QVr0PiV7564au8Yjez/QnCaH9KDpZiZjXiJXQuJNSWg9hGwVjrOeWyAktj7tbpbevI4IfUrPNAdxEq6Ut/QFdw6svtLSV/kWm10gNmAQlJgXiIycv/Ofbl3x1WBOWW/yehCvcOrzG33YBmRTEvM/YsQ9P42t56gSSnqXh3F5yDseyMWgmwMaWB9J61bm27PC1TGMQfOVWcgE3AiKQsLDEl+vvKj44uTnJ7sDf+OQzIurQKiC0fodX4wfZUHOs4YeKv6OFOz2sqnuz+jQ7jLuhopsoxiF7X1riHNc+Tc/yUZZNTebuBXUpBxXDw/RyJU7Jyzt6soZDgEZgj5jdcIcaV3DwfbBouqzSH3AXfhOdzZRzL6XGO0Aqg1MsSnUNn7tHrHDM+xTMEAjEYWxZMPR894G5ctWjfStJdbAVPOMnhXOi7pe28HQ/FCyTDQ678+b/oc7FLRrLmyYN1evRSNBjd/ui9wCqVGm5SPj3c39gS8QSb4CGMj56T0huaAahALsWr7lL0qJW0cH0rdS1zwP+GDxFh3yjkrWc++Mm5a+d20D5jS1I1TjCJ+eoZVJ4AIrPzGOo2aYfiEkZAgPCQa4gcP0uM0asdoeLg+mtlzmnuDC+4gYThwIlk+PILa3BzyBn1oxAyvPr2vkNB302Qz9tiIYZ7AELl1X9gz+kwYfzginbElXn32RKMoG4YyYovI9nOxtAjZbgxYIJEebfscAhEBx/gSBa81dxGFzUANCk6KhdH/FWZ0ZzwyN1uYyaU9vqUzXa9z6TNariyWweeDxdj3pYgV3K4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018eyC1xzE47VPrFUiUEx8eQ",
      "input": {
        "note": "The lemon shows at the very bottom edge of the wrist view, i.e. slightly nearer the base than the fingertips; pulling back 2 cm and closing there.",
        "targets": {
          "right_gripper": 0.15,
          "right_x": 0.3,
          "right_y": 0.197,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_018eyC1xzE47VPrFUiUEx8eQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4911, -0.0139, -0.0307, 0.9987, 0.6991, 1.7206, 0.9764, -0.5034, 0.2573, 0.3386, 0.1543]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1553 left_yaw=0.0008 left_pitch=-0.1274 left_roll=0.0019 left_gripper=0.9987 right_x=0.2997 right_y=0.1979 right_z=0.0229 right_yaw=0.2019 right_pitch=-0.6037 right_roll=-0.1406 right_gripper=0.1543\nstate[joint_eff]: [-0.1436, -1.5932, 6.9675, 1.7558, -0.0562, -0.022, -0.0122, 0.4034, -9.4291, 5.2444, 0.9402, 0.2711, 0.0513, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71aa9023bbf4c2ca41ba2afb734caa359af409343937a98a211f95f89b676edf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67793aab3b30353c4828e03d4b6b912e03d12189507cbf51dd9b3c52d7981b93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:748a4d127be5760cb458b138fead444e634c104e6fd2fbc82ccd05baa9c10a52",
        "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 · 9.52 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.6506, 1.7329, 1.0275, -0.503, 0.2573, 0.3065, 0.1045]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.159 left_yaw=0.0008 left_pitch=-0.1091 left_roll=0.0015 left_gripper=0.9987 right_x=0.3222 right_y=0.1932 right_z=0.0343 right_yaw=0.1861 right_pitch=-0.5712 right_roll=-0.1344 right_gripper=0.1045\nstate[joint_eff]: [-0.0889, -1.1145, 7.1726, 1.6386, -0.0464, -0.0269, -0.0122, -0.1026, -6.7761, 5.2991, 1.0183, 0.1587, 0.0415, -0.0366]",
      "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, 0.8154, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.6506, 1.734, 1.0214, -0.5014, 0.2535, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1591 left_yaw=0.0008 left_pitch=-0.1087 left_roll=0.0015 left_gripper=0.9987 right_x=0.3204 right_y=0.1927 right_z=0.032 right_yaw=0.1902 right_pitch=-0.5782 right_roll=-0.1355 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.306, 7.0906, 1.619, -0.0562, -0.0415, -0.0122, -0.0342, -8.0752, 6.3795, 0.8864, 0.1197, 0.0024, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8192, 0.6132, -0.4911, -0.0139, -0.0307, 0.9987, 0.6991, 1.7206, 0.9764, -0.5034, 0.2573, 0.3386, 0.1543]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1553 left_yaw=0.0008 left_pitch=-0.1274 left_roll=0.0019 left_gripper=0.9987 right_x=0.2997 right_y=0.1979 right_z=0.0229 right_yaw=0.2019 right_pitch=-0.6037 right_roll=-0.1406 right_gripper=0.1543\nstate[joint_eff]: [-0.1436, -1.5932, 6.9675, 1.7558, -0.0562, -0.022, -0.0122, 0.4034, -9.4291, 5.2444, 0.9402, 0.2711, 0.0513, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71aa9023bbf4c2ca41ba2afb734caa359af409343937a98a211f95f89b676edf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67793aab3b30353c4828e03d4b6b912e03d12189507cbf51dd9b3c52d7981b93",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 160):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:748a4d127be5760cb458b138fead444e634c104e6fd2fbc82ccd05baa9c10a52",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAgKjgEIEhgCKkCf8gQFEq679zG9aUOfgJQBEYGwnXJRj+WYky1yLJGooe8gdtU8mT5dHxW4tMn61LpEVyKrLVlNezSFjXTMsEUiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAefXy9UGEgwQoKYtbmM6i22z4HoaDGoXU0iPU9ZkMAxv8CIw/BxmP+/9rlVOS9cdXx+jbxy6NJZLS6uRUyFMBCEZt8bKTCzA/X7xz9duWyAGmW/xKuYG90R6kUnjg2X/wd5iyx/ZdCugVJxxtci5gGRv82uRqZphArnVCJbnwgBbF5aVhI5tV9dCYo09Kh1rOB1FfOhsYCEHqFO6aoHERuoXPikMGUqQork8zxBixsX238IvnsLLGiUoGwpXuf1psFjIlr2Mmh1xvloCeNq+23oFcwQfPLKrgYVgIRVvYvV98YkvOnS85qQ1BTM4My7dxrt6dRTR1m4A9xveTbC5UqKk7pUiQE1Zwbk7I7xJI+c0Yjok/JaCrnQKo0hg9Kd3VrnmZ/zs7CtJetdOobZZuYfTjPUks0Zv19G5nEo++dxzZPKBVUPGTsk+iee1kCusT4jEW2L/aYFsYsaB5yX3NgR7vUZJ2qRWx25MaaoXRSwY1lpeptBNmaEvioHa/Fo365aremjIDSdNCar4vJoLqiSyRihvoglpl6eJ4yUS1vD7q743Gi7gmFS5KdLWkm+axL5qq/wxvSZbuWjPxLfgQIIrvUWXNUh9p9ummCkGftANHULtLCZSJO664TAiMjP2fOunlQwyvujsHnDZ4GN08brVjpncAQIkrnsXU1VpIdaFk7Z+5Y1mhP0F5O7ndvnPnxxYcbtqVqPB2Upu1b3akZPsTIKR1bh2v+2ySkFmR5JazB/SpKEFRMjwEHYLGziWcyu++bVmNcwZTXxDp6JrvGvaO5AuVS9eB7/lgLMjFRozHNorFEWxYqRdIt6itw5zxe4RydmucYjRTn0YU7qxSM+d82O+57tZqbudHWYu5DpGKPIXpRJmSB6DnsH7U9EBnajsxUswNYmlK8fFS4W5EAoi8nxQtsDX7gHTWrTHI1eqM2hvNcs90op8LRTF4L2SddBHYf9wI1kKiDSVTVlh0OQO7H54zPrPWYUB4dbUx8oogiZJE/ZjzBrLS2jtum2Lh5lTFs0cx/IndSppVcFg6QKuDIExi16cO2rh+fgdX14JlPlZmYKAnSpSqlTppK9r2X3ApQcyI1/Fu42MLCYKk0ZFSDMrd9dfgmwbPSyIZLrGqUEobNnnsFcAlCZCBdawVfC9HLlWXpjdPV8X4qVm3D8IS60QE3l9QzG54MOaET7D6mxgvKqwyipEZ8MDQsEfCl717RYHkzqSqyYscTVrqYYwu9j/1pcw8CpDcyr4cGMHG0dpfgWPynj3xwfdGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K4326wW575o44FtCWknrqh",
      "input": {
        "note": "Second close was empty again; the lemon sat left of the jaw column, so opening and shifting ~3 cm toward the arm's left, lifting slightly to re-look.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.225,
          "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_01K4326wW575o44FtCWknrqh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4934, -0.0139, -0.0307, 0.9987, 0.7616, 1.7206, 1.1164, -0.6594, 0.2611, 0.3832, 0.9957]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1548 left_yaw=0.0008 left_pitch=-0.1297 left_roll=0.002 left_gripper=0.9987 right_x=0.2952 right_y=0.2234 right_z=0.0539 right_yaw=0.2266 right_pitch=-0.6125 right_roll=-0.133 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1145, 6.9812, 1.7265, -0.0415, -0.0611, -0.0073, 0.1983, -7.2684, 8.335, 0.735, 0.2662, 0.1001, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13286131f67131a1d28dd1eb1527a25aaf7594fb5da7d040b499f4c831640867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edde04aac0a661364e8ffc9b0aab12b87066d2ff57363be7cd16dc14451ba43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1712ceae82595d3fec61e192dd1c4ef9d4f7b24fac5f5e9ddf7ca55e63c5f18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.167 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.6506, 1.734, 1.0214, -0.5014, 0.2535, 0.3027, 0.9956]\nstate[eef_state]: left_x=0.2833 left_y=-0.0002 left_z=0.1591 left_yaw=0.0008 left_pitch=-0.1087 left_roll=0.0015 left_gripper=0.9987 right_x=0.3204 right_y=0.1927 right_z=0.032 right_yaw=0.1902 right_pitch=-0.5782 right_roll=-0.1355 right_gripper=0.9956\nstate[joint_eff]: [-0.2256, -1.306, 7.0906, 1.619, -0.0562, -0.0415, -0.0122, -0.0342, -8.0752, 6.3795, 0.8864, 0.1197, 0.0024, -0.1001]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8192, 0.6132, -0.4911, -0.0139, -0.0307, 0.9987, 0.6991, 1.7206, 0.9764, -0.5034, 0.2573, 0.3386, 0.1543]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1553 left_yaw=0.0008 left_pitch=-0.1274 left_roll=0.0019 left_gripper=0.9987 right_x=0.2997 right_y=0.1979 right_z=0.0229 right_yaw=0.2019 right_pitch=-0.6037 right_roll=-0.1406 right_gripper=0.1543\nstate[joint_eff]: [-0.1436, -1.5932, 6.9675, 1.7558, -0.0562, -0.022, -0.0122, 0.4034, -9.4291, 5.2444, 0.9402, 0.2711, 0.0513, 0.0806]",
      "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, 0.8192, 0.6132, -0.4934, -0.0139, -0.0307, 0.9987, 0.7616, 1.7206, 1.1164, -0.6594, 0.2611, 0.3832, 0.9957]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1548 left_yaw=0.0008 left_pitch=-0.1297 left_roll=0.002 left_gripper=0.9987 right_x=0.2952 right_y=0.2234 right_z=0.0539 right_yaw=0.2266 right_pitch=-0.6125 right_roll=-0.133 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1145, 6.9812, 1.7265, -0.0415, -0.0611, -0.0073, 0.1983, -7.2684, 8.335, 0.735, 0.2662, 0.1001, -0.1245]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13286131f67131a1d28dd1eb1527a25aaf7594fb5da7d040b499f4c831640867",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:edde04aac0a661364e8ffc9b0aab12b87066d2ff57363be7cd16dc14451ba43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 169):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1712ceae82595d3fec61e192dd1c4ef9d4f7b24fac5f5e9ddf7ca55e63c5f18f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISpwoKjgEIEhgCKkA+xrOyDxhe4sNvihNBPwjGPy9IaJnPssMleNqOppHtemsK7h/uz7AiRX8mnTkfhh1pumV4uODKZY6VE4JXV7TpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfHXy9UGEgw+muJnwVCrIerLYrQaDJtFnzQudP8szAJs2SIwL3uE7Jo2dlPWvGOUMYSuqIW4THfeNUbIBaCSDb/ZgPDXoRcK4LD/yxbiquh6ov9TKsUIOeKhfkqT5AgU94MMhubxboRHliNB5mn4JsvJ72I0jp48Cm8bS3TPB3ZxHEKj6n9jQhwaChSPmuObwWlY3Qq+d6vmF+wqA5FeipI1pRGU6rtrievDZmpmM5MpSqPF6cQW1CRVQ44TVbWjQnK842cIdXZJwKOKC9DJANicDYGzeE5iqYpI+RT2NnURUbur4/17Yes9xvsvYK51rnRz0uUBmXcZuf0oD+U2X8XRurIZrxH0RTjITptLRPbtSQ9e0JRBQeW+mJ+NhxAQZafzNHk9yEWEIJNIS8P4WlYhuxB45YTIecHPp/9YJvhlZ2l9checYYS+dYAk9LNRGmdSUHq7iMN1UUdbRGTLa8gUh90wc8BGcruEmmA4rmovUFNetpNcl0XOaffmrFFVefKnoyMTvwPHtKDOxuvQKQ+wzgzC92JhlHf1IVuze1tyIgAJCt4n+X1R62UIZMrJnt32tXJfDoyfuShks2M8Y6OPc934p0nnpwsJipqhy9i1Y6XMj99cqyuW6jiSq5TkZ3W/4G7GHPN1IVXjb1DK9myGuWz1KRd7tAhwHvbdQKsnMSWriAZXmsIcHyGkTdcoF5NFP1Z+9sL5xFAK2nCVhO+9ONUehjTR+v51zVjuyMQE0OflXJUaLrLBaV51eywE/qD7cMdnWDPiChwOW0HTM+qDIf2rvKMSKO5bkSoEmUIxK090Qb/cLNijb4GMvFZL5a6t6sdlSKRUtTVD+6kvOgIod9R1zPTV2cGT2LqnOSS0DNNCXzwBaRkE6nT892PWcneqThEam25kRj7/vJPDPa7AWobdO+/sfvHUhiJNwLxFqeWU28wizKyJAJKiDxEZyGtcmW8+T8dYGOz4Cif8Rg435LM1fPBS1zQVTCN47tVXPbdkyrrF+TkpiRDQjviSMQTiRdA0sRqZm2IljC4a6he4k3ewkO2QeqK9xyumdHWWouWMU5jDMSrKWCZ0hs0HrOLLM9rfuylfcDGn6ysE9OVtzFAlW5yoxN8eQAuLZqfsNAFwQ/iOHEe2ie/UR6CPjElP/hh+GMK329iI1fIINUqhySpCnVAzW6EL4k/duMi4Cne1ceO8NuP3Z0L92xWcrgKY7VEDBZrqE4yv1L3dzDJ2EYLrc3muNdaPOH+CnYPQjpdExtBIxp7VXqWNJ6Sa9qisOaQx6AeNtqmss7qXRQs3QVWwMmecR78LNeIhaCqSvRH1pZB8upb+q75/VLmfbcMHj9WRtW59E8cKrL1Na5xVThcTwUJexnWvhzOReDbMVE2CFv/XKdkvTE5+iehYSXkTwyoWkF6K2X0bqGeKubt+NokQN8tYA8pPeNp08fxrr7yup0j9Lh5csnrtl6RKh8DmTb1/BApi1Kh0y96zGB3UyycwlMrf5TOwR8vskf4h0ZxnDgIW6pVFnvLZ+30Ux240gRUY22sIPTPw7Bsgif0PeqesYrNj5QzSkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JBAwkZBNbVJNsGJmfPWPLG",
      "input": {
        "note": "Both closes missed; the wrist has drifted to max backward pitch (-0.61) which likely shifts the fingertips. Commanding pitch back to 0 for a clean top-down grasp and re-looking.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.3,
          "right_y": 0.225,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01JBAwkZBNbVJNsGJmfPWPLG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4946, -0.0135, -0.0307, 0.9987, 0.9112, 1.5547, 0.593, 0.1493, 0.5995, 0.3244, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1546 left_yaw=0.0005 left_pitch=-0.1308 left_roll=0.0018 left_gripper=0.9987 right_x=0.2927 right_y=0.2206 right_z=0.0528 right_yaw=0.2375 right_pitch=-0.0829 right_roll=-0.1585 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.6093, -0.022, -0.0366, -0.0122, 0.4308, -7.3504, 5.4085, 1.8242, 0.4957, -0.022, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a67ade4dc7f6c836d4ee8e2fa974685ea8d6b5d258108394aa11bc7ba831c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14af1d797af7a20525658f5639ebc6357e393cdc0df348f3b0d8ba6f9c8e0d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4b7e6d4ecceb14de1c93f2d203042b452201af42c0826482821234abaed37a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 8.982 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4911, -0.0139, -0.0307, 0.9987, 0.6991, 1.7206, 0.9764, -0.5034, 0.2573, 0.3386, 0.1543]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1553 left_yaw=0.0008 left_pitch=-0.1274 left_roll=0.0019 left_gripper=0.9987 right_x=0.2997 right_y=0.1979 right_z=0.0229 right_yaw=0.2019 right_pitch=-0.6037 right_roll=-0.1406 right_gripper=0.1543\nstate[joint_eff]: [-0.1436, -1.5932, 6.9675, 1.7558, -0.0562, -0.022, -0.0122, 0.4034, -9.4291, 5.2444, 0.9402, 0.2711, 0.0513, 0.0806]",
      "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, 0.8192, 0.6132, -0.4934, -0.0139, -0.0307, 0.9987, 0.7616, 1.7206, 1.1164, -0.6594, 0.2611, 0.3832, 0.9957]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1548 left_yaw=0.0008 left_pitch=-0.1297 left_roll=0.002 left_gripper=0.9987 right_x=0.2952 right_y=0.2234 right_z=0.0539 right_yaw=0.2266 right_pitch=-0.6125 right_roll=-0.133 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1145, 6.9812, 1.7265, -0.0415, -0.0611, -0.0073, 0.1983, -7.2684, 8.335, 0.735, 0.2662, 0.1001, -0.1245]",
      "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, 0.8192, 0.6132, -0.4946, -0.0135, -0.0307, 0.9987, 0.9112, 1.5547, 0.593, 0.1493, 0.5995, 0.3244, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1546 left_yaw=0.0005 left_pitch=-0.1308 left_roll=0.0018 left_gripper=0.9987 right_x=0.2927 right_y=0.2206 right_z=0.0528 right_yaw=0.2375 right_pitch=-0.0829 right_roll=-0.1585 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.6093, -0.022, -0.0366, -0.0122, 0.4308, -7.3504, 5.4085, 1.8242, 0.4957, -0.022, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0a67ade4dc7f6c836d4ee8e2fa974685ea8d6b5d258108394aa11bc7ba831c4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14af1d797af7a20525658f5639ebc6357e393cdc0df348f3b0d8ba6f9c8e0d03",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4b7e6d4ecceb14de1c93f2d203042b452201af42c0826482821234abaed37a13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6ggKjgEIEhgCKkCAq3qEu1riOkhyMPBRI2oy8rN7xEngrhGaiuD9M9w/1tdx/aSREQK3l2+3xbcdDzU4a3RQHGZSeXaeFHkTITB5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfzXy9UGEgw7P3jOom5nP34pPbsaDAyMEP52V8CbrIq2zCIw00TdojRVCnBUxo/Np8+5DXhpBHtOomLENdAOay1T9hZ6OAXLNqlbsonxObrlxgueKogHu+h/gMlu5q0rTdHd3vmWKHary6dFuvoKpKUE4GJaxaxXIplFp8DHQDqfrA6lZtPNnjOJ66tiPcBC8YJuSJpXMHoecKWqX32NXPIr2juUpN61b0BU4DdmbJmWvReWZHAaGfZsiV6xG0G6WYJsDREBELhQwM2Bks6xfbDceXbu/iZCCysf9O9Iy0JzZdppDvsvfSz4C3egWTARhYpRmQXf29VSbqp34l2r2M7WPPd5A3A1Lj9QzlHgIpMQWxWdpa2FciBziyexePMcOQaFnvDJhpejTo2AwPBBw6mNv79dtTHUw6/GYDuNtvrt1kmIheTcgA7lnAIwMGnnZDxnOKkL4T4yhApj3o8nQrXT4rf4QycBHYlSvT0IF0slrSynXXUep0+u+Ings+ZH/AwGdPaAmL8MJwTqdt6TLWFausGSqXyeNY4hWMNGBSUD/hUPDWoqbU+44+OHnqOkLY2Z1/6pkdFmFCHhLoWmNB0uSHLoiWWQvqjMHgJhC/WA8UTaGeOfH6WWmSr4ohF1sFif//Lh4JoY+rxwtjHAIBjlMrRC+f1tqUWt3sEbKW7pFk/JbytiJylaHdRdoZuYBEB9pQjzF4omqfTNqeCwhN3tp4jxFwovOHOqCE4Uppgo+LhYh1cyuYab+z89xOqnlaURU3nAaqGEwCXz4xwGbTiOhYu/m83tVs6EJWb+TdAufHZZjh8UYMTAn/qNJ/hq5b/wixtIY/w6tI+y5D06ZnmdGKE7bTzJlxh6ZCJA8t/mveHjDToJnnrSNnS13nZlI34A+m4kZ6uIHlQfvTmrK5rYieKCgtfY7PEq7wLOr7Az2qLrb847q4GWcpS3CNQ6uZDBWTyVTXFo9wF0Dn+xtEeEzYdHfDhEgOSUS+mHhs4HKFpXwETk1FFLCuMnvCpB9QGhpIEvWstl00WYDukMHwLIvV7UsCXAahF3WlZDpvCKDiOgV+aaZTug+qAUpObsY5cOIIiBb7rJBTp9aqKOA6+bH4t4x48wQLqxi5W7o1ozG3XL8oszyoTvFgIvFp1JtyaGShMwennoA7JZ/luG/LALHFltS7CLzKg69ler/73gxhNevTjUrELUSie+YLZSsk0NAZmfg+Xb12YCjE7jZnlU/j0Cn+HIe05OpX5+WXiRWzTs18WcZnBbw/9HpKXdFJHmy3LEmfjRddXxiT71gl6GtoL2TMKwv1/ooTD+kBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XvjPVXRnaULRcKtWFCLj4D",
      "input": {
        "note": "With the tool now vertical the lemon is out of view (nearer than the fingertips), so backing up 1.5 cm and dropping to table level over it.",
        "targets": {
          "right_x": 0.278,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01XvjPVXRnaULRcKtWFCLj4D",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4946, -0.0139, -0.0307, 0.9987, 0.9382, 1.5917, 0.5533, 0.2531, 0.6201, 0.3336, 0.9966]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1546 left_yaw=0.0008 left_pitch=-0.1308 left_roll=0.002 left_gripper=0.9987 right_x=0.2885 right_y=0.226 right_z=0.0443 right_yaw=0.2457 right_pitch=-0.0519 right_roll=-0.1454 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1692, 6.9402, 1.6044, -0.0659, -0.0757, -0.0122, 0.3214, -5.3128, 4.3829, 1.5604, 0.3492, 0.2222, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:622633d951f8d8df2012bd17f606aad645c9933899f87f7611e20f951f860ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448b68f088277e2cba3b245d8ede1372ae4de3443509d1f90e1e32fccebf688a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cc80841111d896b97cd38862ea439646c3345f3e6a791e80aa5802704558d78e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 23.16 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4934, -0.0139, -0.0307, 0.9987, 0.7616, 1.7206, 1.1164, -0.6594, 0.2611, 0.3832, 0.9957]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1548 left_yaw=0.0008 left_pitch=-0.1297 left_roll=0.002 left_gripper=0.9987 right_x=0.2952 right_y=0.2234 right_z=0.0539 right_yaw=0.2266 right_pitch=-0.6125 right_roll=-0.133 right_gripper=0.9957\nstate[joint_eff]: [-0.0752, -1.1145, 6.9812, 1.7265, -0.0415, -0.0611, -0.0073, 0.1983, -7.2684, 8.335, 0.735, 0.2662, 0.1001, -0.1245]",
      "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, 0.8192, 0.6132, -0.4946, -0.0135, -0.0307, 0.9987, 0.9112, 1.5547, 0.593, 0.1493, 0.5995, 0.3244, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1546 left_yaw=0.0005 left_pitch=-0.1308 left_roll=0.0018 left_gripper=0.9987 right_x=0.2927 right_y=0.2206 right_z=0.0528 right_yaw=0.2375 right_pitch=-0.0829 right_roll=-0.1585 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.6093, -0.022, -0.0366, -0.0122, 0.4308, -7.3504, 5.4085, 1.8242, 0.4957, -0.022, 0.0757]",
      "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, 0.8192, 0.6132, -0.4946, -0.0139, -0.0307, 0.9987, 0.9382, 1.5917, 0.5533, 0.2531, 0.6201, 0.3336, 0.9966]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1546 left_yaw=0.0008 left_pitch=-0.1308 left_roll=0.002 left_gripper=0.9987 right_x=0.2885 right_y=0.226 right_z=0.0443 right_yaw=0.2457 right_pitch=-0.0519 right_roll=-0.1454 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1692, 6.9402, 1.6044, -0.0659, -0.0757, -0.0122, 0.3214, -5.3128, 4.3829, 1.5604, 0.3492, 0.2222, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:622633d951f8d8df2012bd17f606aad645c9933899f87f7611e20f951f860ef6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:448b68f088277e2cba3b245d8ede1372ae4de3443509d1f90e1e32fccebf688a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 192):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc80841111d896b97cd38862ea439646c3345f3e6a791e80aa5802704558d78e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStAkKjgEIEhgCKkBueD3mT9KMhIRiVxZefBJPKZWQsi+AEbAlPJT2oj/ebVTd3QDHrd1I0iy+mPD+7+gP1MUcoZDiwONVi6D4Fxu+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYXYy9UGEgydRSezIOMy3+jZcmIaDHXVz5E3wtxjEdddjCIwB9V5QqWmotwYDnxTxZmSfyRsLnDn3vIje+AXqZVD+bvwHBsz+ZdTO1zqb6vgJTr5KtIHGwVD0YhvNXqXcV79OO23lYadAZirota8bC85V9Ba/uVIz8a5scnTO6PCBmRNBGetNgknOXVHEjameqH+v0GYGjXXO3jBgHKb+2qvemOUiYt8W8fVjfIoKK45GS0e3J6Hd8qE5mLZedCYL2TFRZqxOsI35xXNNOYtEC1xD0r0gkx5Y1e7VM4tj0Am0Aq1iUWPKYmzWVC5yX1WV1NJ10brE0tUleXUh8C7vQZ99jgvL7b0JjOjBC/y4y1vO7KAT1GnNJtB0c2e6d5QL/GUx4UsXNIAd66q2x+/GCmsG2R+mX+3z4wZQ2Bp7buljOe2D96orFYl3MiJxeMEt+jDh9/ltiswLXP5tL49fb59NNDylMSTtJpuBe1e5gmIhwhQpDv5biKTm5yKxjcQgC0XZMJX4hgjjVw6rz7wZDBgjrEUbnFd0zeDIkhx8Tas2a0jnDaJMMm4qCYiKm9XGTef2ibYskgrCZHtWQDfKsUTl6fbT4pXka0u/7QBvU/I+091yzh6yvHnsfKXZtq3omvVY2OgGLpn5WB5KpuHC6+SgM9BDKziMixYo1sQKSuThhRDdaEQPNt67a3QsdJL7Dt31T0i7a3+kAixnA28RAmCOYp3ibrs8VH+fttMADM//adE6R1zvg5ASpbH60LHP9QzbF/VZNEDIezv9VbFCNdtouS8LQHI1DqoGL6zHKNBMEUSf1PCC3CHIX1WiUsCqCdDTOKONynriJqRcTrv0MNW8xOHz0P/WnAnV5trZr3v6KwDvpu4Fx+D9xJMjpqmIzRvUfvl/+GG67vlYDqHWeR/fWHuTeCJgFJ1ewym1THkIgdwkwT2LB7kcUfzbzLkUwC+x9BTVGzKZIBhkDNLUz5qjJwexCBAiPl7/1cMld3meZNqoxU7uNN/QF3vVop0bU0JAlq80qd+zHUINbYQrflq7Up4vC/29QfwHqu0rmrm4l8SV6mfVC2DGNqv/cZt1Nk93A1WqEZvzoJLreRWOaGaY4Ls4bhE3XPXY682yiHXvz5Am8FL1mmVSO+EEzGbArVBtQEBi03Clh6n4dkPtvhpQW4jYif6zTpv4gSyobQX/39pmadKX2kXwp1UkCSEk6xiubf9r7J8JNhQ/p1BcZQQ/Dh+Wfpi/2EdG2df+0EI1ZBnNiQvyHo+L9iFhTnLga5c4HBaY0Jfbzs2kHgP3mpV0dSkhvyeUmuzAt8lvbozbSYF07sMSXkOR4bz8d4QQ1n/mCSTmCdTrWggjkzfdb6FSbDmyRgddncy96o6giArf7tD2B1wNWTq4DKDc9H2tLoSCXDtjuHLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QSBsv7Vipj2mi25QtGjfJX",
      "input": {
        "note": "I can't tell where the lemon is with the arm occluding that area; retracting and raising the right arm to get a clear top-camera view of the table.",
        "targets": {
          "right_x": 0.25,
          "right_y": 0.05,
          "right_z": 0.3
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 17 steps (1.7s)",
      "tool_use_id": "toolu_01QSBsv7Vipj2mi25QtGjfJX",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.5129, -0.0135, -0.0307, 0.9987, 0.2569, 0.8288, 1.1088, -0.8959, 0.1379, -0.0998, 0.9966]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1495 left_yaw=0.0006 left_pitch=-0.1552 left_roll=0.0023 left_gripper=0.9987 right_x=0.2573 right_y=0.0462 right_z=0.2906 right_yaw=0.1883 right_pitch=-0.0483 right_roll=-0.1491 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.1966, 6.9538, 1.8046, -0.0317, -0.0366, -0.0122, -0.0342, -0.4171, 7.5556, 1.6484, -0.0415, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:addad3f6512def57bf457c25a77b95cf54daf9267a85f436665b7194c2b572fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096ed140f83b50e4e470c07e9db7d29b0bd476681893aeea600921dc41c1a598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1ae05aa028402a9a12a065b3becb5d1984a0645d81a4d9f4d69dbb3bd388761",
        "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 · 3.567 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4946, -0.0135, -0.0307, 0.9987, 0.9112, 1.5547, 0.593, 0.1493, 0.5995, 0.3244, 0.9965]\nstate[eef_state]: left_x=0.2806 left_y=-0.0002 left_z=0.1546 left_yaw=0.0005 left_pitch=-0.1308 left_roll=0.0018 left_gripper=0.9987 right_x=0.2927 right_y=0.2206 right_z=0.0528 right_yaw=0.2375 right_pitch=-0.0829 right_roll=-0.1585 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3197, 6.9402, 1.6093, -0.022, -0.0366, -0.0122, 0.4308, -7.3504, 5.4085, 1.8242, 0.4957, -0.022, 0.0757]",
      "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, 0.8192, 0.6132, -0.4946, -0.0139, -0.0307, 0.9987, 0.9382, 1.5917, 0.5533, 0.2531, 0.6201, 0.3336, 0.9966]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1546 left_yaw=0.0008 left_pitch=-0.1308 left_roll=0.002 left_gripper=0.9987 right_x=0.2885 right_y=0.226 right_z=0.0443 right_yaw=0.2457 right_pitch=-0.0519 right_roll=-0.1454 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1692, 6.9402, 1.6044, -0.0659, -0.0757, -0.0122, 0.3214, -5.3128, 4.3829, 1.5604, 0.3492, 0.2222, 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 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, 0.8249, 0.6128, -0.5129, -0.0135, -0.0307, 0.9987, 0.2569, 0.8288, 1.1088, -0.8959, 0.1379, -0.0998, 0.9966]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1495 left_yaw=0.0006 left_pitch=-0.1552 left_roll=0.0023 left_gripper=0.9987 right_x=0.2573 right_y=0.0462 right_z=0.2906 right_yaw=0.1883 right_pitch=-0.0483 right_roll=-0.1491 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.1966, 6.9538, 1.8046, -0.0317, -0.0366, -0.0122, -0.0342, -0.4171, 7.5556, 1.6484, -0.0415, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:addad3f6512def57bf457c25a77b95cf54daf9267a85f436665b7194c2b572fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:096ed140f83b50e4e470c07e9db7d29b0bd476681893aeea600921dc41c1a598",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 209):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1ae05aa028402a9a12a065b3becb5d1984a0645d81a4d9f4d69dbb3bd388761",
        "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_01Uqc2dajT1M6kg3q77kAf1i",
      "input": {
        "note": "Clear view now: lemon on the table between the bases, eggplant near the white bowl, quince already in the blue bowl. Moving the vertical gripper down over the lemon at its estimated position.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.27,
          "right_y": 0.22,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 18 steps (1.8s)",
      "tool_use_id": "toolu_01Uqc2dajT1M6kg3q77kAf1i",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0157, 1.6611, 0.4553, 0.3054, 0.7212, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1469 left_yaw=0.0006 left_pitch=-0.1678 left_roll=0.0026 left_gripper=0.9987 right_x=0.2612 right_y=0.2067 right_z=0.0087 right_yaw=0.209 right_pitch=-0.0775 right_roll=-0.2214 right_gripper=0.9966\nstate[joint_eff]: [0.1162, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0122, 0.2667, -7.2137, 5.7641, 0.6227, -0.0952, -0.3492, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beeb5bdf76b0068e7060f9f55282a53d714b1e1224f164ab1fe4a1e17683c1d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a340b5303736ea0a7f29c185bcb3fa7b8eaa7e177826d9c4d67549b27626f846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:281cb23e53b4151a2d812691d63bcb9478ae15d19aa2fc395d4e1024699f45a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 26 attempt 0 · /messages · status 200 · 5.134 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4946, -0.0139, -0.0307, 0.9987, 0.9382, 1.5917, 0.5533, 0.2531, 0.6201, 0.3336, 0.9966]\nstate[eef_state]: left_x=0.2806 left_y=-0.0001 left_z=0.1546 left_yaw=0.0008 left_pitch=-0.1308 left_roll=0.002 left_gripper=0.9987 right_x=0.2885 right_y=0.226 right_z=0.0443 right_yaw=0.2457 right_pitch=-0.0519 right_roll=-0.1454 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.1692, 6.9402, 1.6044, -0.0659, -0.0757, -0.0122, 0.3214, -5.3128, 4.3829, 1.5604, 0.3492, 0.2222, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.5129, -0.0135, -0.0307, 0.9987, 0.2569, 0.8288, 1.1088, -0.8959, 0.1379, -0.0998, 0.9966]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1495 left_yaw=0.0006 left_pitch=-0.1552 left_roll=0.0023 left_gripper=0.9987 right_x=0.2573 right_y=0.0462 right_z=0.2906 right_yaw=0.1883 right_pitch=-0.0483 right_roll=-0.1491 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.1966, 6.9538, 1.8046, -0.0317, -0.0366, -0.0122, -0.0342, -0.4171, 7.5556, 1.6484, -0.0415, -0.0122, -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 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, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0157, 1.6611, 0.4553, 0.3054, 0.7212, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1469 left_yaw=0.0006 left_pitch=-0.1678 left_roll=0.0026 left_gripper=0.9987 right_x=0.2612 right_y=0.2067 right_z=0.0087 right_yaw=0.209 right_pitch=-0.0775 right_roll=-0.2214 right_gripper=0.9966\nstate[joint_eff]: [0.1162, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0122, 0.2667, -7.2137, 5.7641, 0.6227, -0.0952, -0.3492, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:beeb5bdf76b0068e7060f9f55282a53d714b1e1224f164ab1fe4a1e17683c1d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a340b5303736ea0a7f29c185bcb3fa7b8eaa7e177826d9c4d67549b27626f846",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:281cb23e53b4151a2d812691d63bcb9478ae15d19aa2fc395d4e1024699f45a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywIKjgEIEhgCKkCw5uoQtkSVR0s9BuaQqcELwvIbs7ZPt2Ln9BnGWBus5PIdQRpgn/WK2vDiqb8ANm1p2vm+SHApKuuZPYhKa1gyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTYy9UGEgyz4IEEAQlIY4L6eOAaDFIkLA9t6JLDTDAmliIwtngNHniBG+NECsBZpqX+1zDnrnfhcMSC8aPYcNu/PSWlvLWiyIpj6OlrmN8C8KBAKmrCp+AOCRQXxlBzVzji2bfeUDtJGf/y4yac+R0XbUxx+nfejVy+7/nkwAlgxdKc2XbyD8ieV4bR+BFV/RQUQEC6kpPQZrOcVgva+unAgAUHaa0/81UGWszDmK5utwpWmgPkG7KJM5aJAfIlGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EN1abrJF3e8Cm49HpweitZ",
      "input": {
        "note": "The lemon is squarely between the open jaws in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01EN1abrJF3e8Cm49HpweitZ",
      "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, 0.8307, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0172, 1.6752, 0.4587, 0.3138, 0.7208, 0.4034, 0.626]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1468 left_yaw=0.0006 left_pitch=-0.1682 left_roll=0.0026 left_gripper=0.9987 right_x=0.2614 right_y=0.2081 right_z=0.0065 right_yaw=0.2116 right_pitch=-0.0796 right_roll=-0.2244 right_gripper=0.626\nstate[joint_eff]: [-0.0615, -1.388, 7.3094, 1.6288, -0.0366, -0.0562, -0.0122, -0.2256, -7.0906, 4.0, 1.2283, 0.232, -0.0171, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b315132259b6c951243ac7455e47132b74eedd30fbf6a8ed87e616caccc7990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae52241c7c09826b382eb395884b9877311d5d8b09418302c9a9d3f416cabeb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d050050e53a08da3fc33a11e85d1c29312c9d0a447e40d0a0c5a6344685b0601",
        "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 · 5.716 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.5129, -0.0135, -0.0307, 0.9987, 0.2569, 0.8288, 1.1088, -0.8959, 0.1379, -0.0998, 0.9966]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1495 left_yaw=0.0006 left_pitch=-0.1552 left_roll=0.0023 left_gripper=0.9987 right_x=0.2573 right_y=0.0462 right_z=0.2906 right_yaw=0.1883 right_pitch=-0.0483 right_roll=-0.1491 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.1966, 6.9538, 1.8046, -0.0317, -0.0366, -0.0122, -0.0342, -0.4171, 7.5556, 1.6484, -0.0415, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0157, 1.6611, 0.4553, 0.3054, 0.7212, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1469 left_yaw=0.0006 left_pitch=-0.1678 left_roll=0.0026 left_gripper=0.9987 right_x=0.2612 right_y=0.2067 right_z=0.0087 right_yaw=0.209 right_pitch=-0.0775 right_roll=-0.2214 right_gripper=0.9966\nstate[joint_eff]: [0.1162, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0122, 0.2667, -7.2137, 5.7641, 0.6227, -0.0952, -0.3492, -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, 0.8307, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0172, 1.6752, 0.4587, 0.3138, 0.7208, 0.4034, 0.626]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1468 left_yaw=0.0006 left_pitch=-0.1682 left_roll=0.0026 left_gripper=0.9987 right_x=0.2614 right_y=0.2081 right_z=0.0065 right_yaw=0.2116 right_pitch=-0.0796 right_roll=-0.2244 right_gripper=0.626\nstate[joint_eff]: [-0.0615, -1.388, 7.3094, 1.6288, -0.0366, -0.0562, -0.0122, -0.2256, -7.0906, 4.0, 1.2283, 0.232, -0.0171, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b315132259b6c951243ac7455e47132b74eedd30fbf6a8ed87e616caccc7990",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae52241c7c09826b382eb395884b9877311d5d8b09418302c9a9d3f416cabeb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d050050e53a08da3fc33a11e85d1c29312c9d0a447e40d0a0c5a6344685b0601",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlwQKjgEIEhgCKkDJc1Us7nffFkQy58YB1bedWOXiAfhn4tc+Yke2mFl0vCg0ngr/NOtVttXYC+M8eEKinpossWtnKtziNl7GFkmGMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAarYy9UGEgw99QYZb1j6dfRUlqEaDNHgB5Su1iMAbRGqfSIwBoOurtsAYnzWD6s7RuPX9a6gc1+m/+BluOJFrlc2GFjxvEuS+A0X+yrCTZKabRFyKrUCrlAZPCQG8TEk+TyUqW4qvuesR/VAS3YbdfIPlFxKxTDjnXCRNja452Jb7itoL5CjhESannb8/VOGu++jfNzYEmKQlFs7LCDkOjrKKZ7opC+yJZgQ8yhhXis+DYupZ0uBEXw6T9xbIBuWyld89BfaG5nMwNPQP6LibAjrW0JkCwne/UpoxpHsK21cgtRzFGO8td/vInmuPtp+2kVau5FFbNKgq2tWQAixrrVR6nj6tJRwE87FTnIDUDSnllT1MlfXJB3Rfz/ghmBS4zfiZp3/e2wgNsy47Lgx1EjdguIy1K16uJZcobT+mI30wS4NW2zS5xPDYXdvZ3fe+GwVJLOPeNcBK9JPxPTVc6khuVm3WS8okDQGLgIo/1iDsVSpuwxsfFAU4Mr4B7QuZl116GAVOvJc+QaMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PytP5QL5UJBnM5BEkvUFch",
      "input": {
        "note": "Gripper settled at 0.63 (≈6 cm), so the lemon is held. Lifting and moving toward the blue bowl.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.13,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01PytP5QL5UJBnM5BEkvUFch",
      "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, 0.833, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.4149, 1.4723, 1.0851, -0.2691, 0.2996, -0.0658, 0.6272]\nstate[eef_state]: left_x=0.2767 left_y=-0.0001 left_z=0.146 left_yaw=0.0006 left_pitch=-0.1716 left_roll=0.0027 left_gripper=0.9987 right_x=0.4158 right_y=0.13 right_z=0.1922 right_yaw=0.192 right_pitch=-0.0708 right_roll=-0.2226 right_gripper=0.6272\nstate[joint_eff]: [-0.1846, -1.4017, 6.8991, 1.5702, -0.0415, -0.0757, -0.0122, -0.212, -6.188, 8.2393, 1.536, 0.0806, -0.0806, 0.5983]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86749416d1d3872ee31bbd131f9678c1d8d38e16bfcba7b19b78d348dbad7b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf1fb774637a54261b38970ccdcfcd7700ac495981f9027caee39bf57ac08ddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:451851f6aa6d89dbb904bd9ec4ed6b5f6da24e0556e812655f1ce1fbf12107c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 5.56 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0157, 1.6611, 0.4553, 0.3054, 0.7212, 0.4053, 0.9966]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1469 left_yaw=0.0006 left_pitch=-0.1678 left_roll=0.0026 left_gripper=0.9987 right_x=0.2612 right_y=0.2067 right_z=0.0087 right_yaw=0.209 right_pitch=-0.0775 right_roll=-0.2214 right_gripper=0.9966\nstate[joint_eff]: [0.1162, -1.7573, 6.9538, 1.6288, -0.0464, -0.0366, -0.0122, 0.2667, -7.2137, 5.7641, 0.6227, -0.0952, -0.3492, -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, 0.8307, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0172, 1.6752, 0.4587, 0.3138, 0.7208, 0.4034, 0.626]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1468 left_yaw=0.0006 left_pitch=-0.1682 left_roll=0.0026 left_gripper=0.9987 right_x=0.2614 right_y=0.2081 right_z=0.0065 right_yaw=0.2116 right_pitch=-0.0796 right_roll=-0.2244 right_gripper=0.626\nstate[joint_eff]: [-0.0615, -1.388, 7.3094, 1.6288, -0.0366, -0.0562, -0.0122, -0.2256, -7.0906, 4.0, 1.2283, 0.232, -0.0171, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.833, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.4149, 1.4723, 1.0851, -0.2691, 0.2996, -0.0658, 0.6272]\nstate[eef_state]: left_x=0.2767 left_y=-0.0001 left_z=0.146 left_yaw=0.0006 left_pitch=-0.1716 left_roll=0.0027 left_gripper=0.9987 right_x=0.4158 right_y=0.13 right_z=0.1922 right_yaw=0.192 right_pitch=-0.0708 right_roll=-0.2226 right_gripper=0.6272\nstate[joint_eff]: [-0.1846, -1.4017, 6.8991, 1.5702, -0.0415, -0.0757, -0.0122, -0.212, -6.188, 8.2393, 1.536, 0.0806, -0.0806, 0.5983]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:86749416d1d3872ee31bbd131f9678c1d8d38e16bfcba7b19b78d348dbad7b28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cf1fb774637a54261b38970ccdcfcd7700ac495981f9027caee39bf57ac08ddc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 249):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:451851f6aa6d89dbb904bd9ec4ed6b5f6da24e0556e812655f1ce1fbf12107c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6gQKjgEIEhgCKkCNezqsAZYSen2luQ0L/JqWZFSfAuZGJiOo1Ve+iat6AQpCJnLRuRtOhUWefQvfw8bgFP6YmD/CACB4LCHX1kW4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbDYy9UGEgxtq4mpmApC+XU0i7MaDFj3KIlKljXYzTAzHSIwTOmmVgj5dlX4vS7pqX4lG5T7+mggKUPNX54PoFAhIrnMCeAbFvhp6A1Ecm74Ly8OKogDllXm0Y5EynfIbxMzaSzOhqfJokPAvjhDgl64Q1yX6wBIADEtveUUxZS+fr/PDbZr52x/wXE2CsPe7WX+7wu3zn4fw+MFVVQJj8VA4xCdEC9vKYd/YGoQg6z0gbV5RyJJA4XeiKUkTJEphGV+SpNQVT6ANezJijf64SVL08UnvSMXXwMKtSE283MOPoFqvWq43XwEPOq97dQcDbF/KJ7Qi2ZVIKmvGcEEbaLSsW8WMHT7XP6uC6KRLSNcKMeUFY7vjYH5mSoNya+gTLDh3szfT4xpkwfdDRFLeXFurlI3PjbkE6hjCoNpa54K6ri1ECd0HZLOoMjHQO7n/iES1V06E5G300zkMLEhMlVB9aFqRaBICvHfHDCPiVBclvikcHECp3TyZvZWzWD6WcS6cTbwHorpP5IHvtW5cKaYFBfVuKjkNq1Kxgv0kh6d3hugtwZlidSeOeRL3APViBUU1zFKFVZGjmhwGSkKwijsrliAyDesXJMjQ1H/jFPvRio6aS1jVfRtpn1tXbcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017VqXVhemgH61MipxfGpKmT",
      "input": {
        "note": "Blue bowl is just ahead and to the right of the held lemon in the wrist view; centering over the bowl before releasing.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.09,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_017VqXVhemgH61MipxfGpKmT",
      "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, 0.6132, -0.5213, -0.0135, -0.0307, 0.9987, 0.2676, 1.5452, 1.1, -0.2493, 0.2028, -0.1486, 0.6299]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1459 left_yaw=0.0006 left_pitch=-0.172 left_roll=0.0027 left_gripper=0.9987 right_x=0.4396 right_y=0.0874 right_z=0.1691 right_yaw=0.1694 right_pitch=-0.1284 right_roll=-0.2341 right_gripper=0.6299\nstate[joint_eff]: [-0.1573, -1.347, 6.9265, 1.5897, -0.0171, -0.0562, -0.0122, -0.1846, -7.3504, 7.3094, 2.1661, -0.149, 0.0513, 0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:174b6309662c97e8849154348e8689fe15880a06a43ac8fc7236642507009a72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6b377d31700821c8b787d8fc2c0c0d8978170e376940da0d0d7c8bfe40965f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fe10ef7557d3ced11b384e93e5d4715a52a3e7531e332b479cf31bf9c2b5e130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 4.374 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6132, -0.5205, -0.0135, -0.0307, 0.9987, 1.0172, 1.6752, 0.4587, 0.3138, 0.7208, 0.4034, 0.626]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1468 left_yaw=0.0006 left_pitch=-0.1682 left_roll=0.0026 left_gripper=0.9987 right_x=0.2614 right_y=0.2081 right_z=0.0065 right_yaw=0.2116 right_pitch=-0.0796 right_roll=-0.2244 right_gripper=0.626\nstate[joint_eff]: [-0.0615, -1.388, 7.3094, 1.6288, -0.0366, -0.0562, -0.0122, -0.2256, -7.0906, 4.0, 1.2283, 0.232, -0.0171, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.833, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.4149, 1.4723, 1.0851, -0.2691, 0.2996, -0.0658, 0.6272]\nstate[eef_state]: left_x=0.2767 left_y=-0.0001 left_z=0.146 left_yaw=0.0006 left_pitch=-0.1716 left_roll=0.0027 left_gripper=0.9987 right_x=0.4158 right_y=0.13 right_z=0.1922 right_yaw=0.192 right_pitch=-0.0708 right_roll=-0.2226 right_gripper=0.6272\nstate[joint_eff]: [-0.1846, -1.4017, 6.8991, 1.5702, -0.0415, -0.0757, -0.0122, -0.212, -6.188, 8.2393, 1.536, 0.0806, -0.0806, 0.5983]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8337, 0.6132, -0.5213, -0.0135, -0.0307, 0.9987, 0.2676, 1.5452, 1.1, -0.2493, 0.2028, -0.1486, 0.6299]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1459 left_yaw=0.0006 left_pitch=-0.172 left_roll=0.0027 left_gripper=0.9987 right_x=0.4396 right_y=0.0874 right_z=0.1691 right_yaw=0.1694 right_pitch=-0.1284 right_roll=-0.2341 right_gripper=0.6299\nstate[joint_eff]: [-0.1573, -1.347, 6.9265, 1.5897, -0.0171, -0.0562, -0.0122, -0.1846, -7.3504, 7.3094, 2.1661, -0.149, 0.0513, 0.2759]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:174b6309662c97e8849154348e8689fe15880a06a43ac8fc7236642507009a72",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db6b377d31700821c8b787d8fc2c0c0d8978170e376940da0d0d7c8bfe40965f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 253):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fe10ef7557d3ced11b384e93e5d4715a52a3e7531e332b479cf31bf9c2b5e130",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgQKjgEIEhgCKkBrc5RVN65Jx4ODYLbKGTi1Sr7iHOEd+C4v2Dy0y1hA1b3RhM991zOWNuZ0vVPLnMk2AUGxS/HO/23BYlFWvpOSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbbYy9UGEgxrLxKRYFeemxbHkVcaDC8zm518olONTmrd+CIw0M3bPEwQZrfEejBYi5PeOFmZ/gYCrJZBzrByEJ1OidSeqDkNvuaYe+qMBKdDTG5oKswCAtpCaIUph/GEpVZ3sTqcbELCHTNkUK+Ti2drc6Zdx6kTcgCCQBjECMt/tcHoCLLgQ8wCeQIygNrSrSTXfSS5aJcrcusYcPlyB05s/HYUyg4QB74elaN6Lvkw/1hfrzn2NPpw/QMIPsTwclVXoYbzhpfDbb5e6p2tTxHmdtm/LouEXVO0dyimF17Z00JW2NcPZdlrbsJ26IlpdzRVnJvQLDL6HQXeARBOtRO6saLSIaXPEHdaD7maUsqUSjcCY1+wZ8q6bwCa5sRYsEi9CZf9cAiHDvjkI9tMJ9DorOGUrReIqsbCv4aQNO2w/CsfQw0ud7NAF1g10hUkjYOl6+3Qg2wYUnDfE5NGt5LDDROZU6aKzkWDL3fxV35tq6i8MRDR5rbsZ1OB5YMkwZCUV2orh882gufoZmAtzQx0sTpfkeP1regiU4rlrKCx6OMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013nVJqFY3Sdcs2FunDYiyam",
      "input": {
        "note": "The bowl drifted left of the jaw column, so moving back 3.5 cm to the arm's left to center it under the lemon.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.125,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_013nVJqFY3Sdcs2FunDYiyam",
      "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, 0.8345, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.3561, 1.6608, 1.1908, -0.271, 0.2394, -0.1226, 0.6319]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1456 left_yaw=0.0006 left_pitch=-0.1732 left_roll=0.0027 left_gripper=0.9987 right_x=0.4517 right_y=0.1272 right_z=0.1545 right_yaw=0.2122 right_pitch=-0.1683 right_roll=-0.2441 right_gripper=0.6319\nstate[joint_eff]: [-0.0479, -1.4291, 6.9128, 1.5507, -0.0073, -0.0415, -0.0122, -0.7453, -8.8137, 9.388, 1.5507, 0.3687, 0.2369, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adcfdffdaf7adbeb6928054d4fb20537b88644ff8bb75cba84617528f4c23da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:726f473393812f860957405912256e10290d400db28acec3b73f16511e43410e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e341964a855ad4833f1ff4367601549ff6ebf9f07e3aeceb280284d267767a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 4.343 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.833, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.4149, 1.4723, 1.0851, -0.2691, 0.2996, -0.0658, 0.6272]\nstate[eef_state]: left_x=0.2767 left_y=-0.0001 left_z=0.146 left_yaw=0.0006 left_pitch=-0.1716 left_roll=0.0027 left_gripper=0.9987 right_x=0.4158 right_y=0.13 right_z=0.1922 right_yaw=0.192 right_pitch=-0.0708 right_roll=-0.2226 right_gripper=0.6272\nstate[joint_eff]: [-0.1846, -1.4017, 6.8991, 1.5702, -0.0415, -0.0757, -0.0122, -0.212, -6.188, 8.2393, 1.536, 0.0806, -0.0806, 0.5983]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8337, 0.6132, -0.5213, -0.0135, -0.0307, 0.9987, 0.2676, 1.5452, 1.1, -0.2493, 0.2028, -0.1486, 0.6299]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1459 left_yaw=0.0006 left_pitch=-0.172 left_roll=0.0027 left_gripper=0.9987 right_x=0.4396 right_y=0.0874 right_z=0.1691 right_yaw=0.1694 right_pitch=-0.1284 right_roll=-0.2341 right_gripper=0.6299\nstate[joint_eff]: [-0.1573, -1.347, 6.9265, 1.5897, -0.0171, -0.0562, -0.0122, -0.1846, -7.3504, 7.3094, 2.1661, -0.149, 0.0513, 0.2759]",
      "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, 0.8345, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.3561, 1.6608, 1.1908, -0.271, 0.2394, -0.1226, 0.6319]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1456 left_yaw=0.0006 left_pitch=-0.1732 left_roll=0.0027 left_gripper=0.9987 right_x=0.4517 right_y=0.1272 right_z=0.1545 right_yaw=0.2122 right_pitch=-0.1683 right_roll=-0.2441 right_gripper=0.6319\nstate[joint_eff]: [-0.0479, -1.4291, 6.9128, 1.5507, -0.0073, -0.0415, -0.0122, -0.7453, -8.8137, 9.388, 1.5507, 0.3687, 0.2369, 0.1978]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:adcfdffdaf7adbeb6928054d4fb20537b88644ff8bb75cba84617528f4c23da8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:726f473393812f860957405912256e10290d400db28acec3b73f16511e43410e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e341964a855ad4833f1ff4367601549ff6ebf9f07e3aeceb280284d267767a6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISqQMKjgEIEhgCKkCy05rCg/w1XcMKJ8yN+9GJ/9peX4E0XQ5MyGUrxEoIcmFf3ZzUtCwF9RvXg4RqaBin3gP+APktTc5IvMey+BdkMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbvYy9UGEgzAsjvoNy0WdR16czYaDFoAZFJRCoy8a2/B5yIw5VQ6gaHXKS76zuSMIO++JPrnHZyFziMiGAG8Sb3Dwm+OQ/rZdQDlDjBjza2Vf8T4KscBL717kWtll+6Sj8aiLDW6KRo8NAU0cedMpqma2zTeutiN/LGQ4CcjR5xC//iScWi74Zhp+whFV9zJiqDiAWwX1D2lnbS/MykIIV7OgaVnwxcdhMye+ArxXE/Zy/i0TCRY5gT5zQ/1moVY3UIhGtMtwfVRLIX8Q9KUaLX5mfEToG32wxz6DTNsWDS/b9XEAgOQmbneX2mLcjlWR6s5vQEbpYWovvC+h94SDbp0yBotxRWgRWeydWz0zPZ5JgCeMjWJMQxjF0emGhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011nFRJefbKNQwzP4EMoeWEQ",
      "input": {
        "note": "Bowl is under the jaws; nudging slightly forward, lowering to just above the rim and opening to drop the lemon in.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.475,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_011nFRJefbKNQwzP4EMoeWEQ",
      "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, 0.8371, 0.6128, -0.5213, -0.0139, -0.0307, 0.9987, 0.3378, 1.7592, 1.2003, -0.2344, 0.2272, -0.1413, 0.9957]\nstate[eef_state]: left_x=0.2768 left_y=-0.0 left_z=0.1449 left_yaw=0.001 left_pitch=-0.1758 left_roll=0.003 left_gripper=0.9987 right_x=0.4639 right_y=0.1246 right_z=0.1198 right_yaw=0.2129 right_pitch=-0.2238 right_roll=-0.2565 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.6068, 6.9812, 1.5849, -0.0317, -0.0659, -0.0171, -0.3624, -9.4838, 7.4872, 1.956, 0.0806, 0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:331157e624239b92312986ff37d265b33f84eb97c144c2cfc6032cf7fbba967d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8acdf712e85503a55eeebca0ccaf737d9cc492cf4522e77034a998750916cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a24cd334b820e17d0bd3834469ee0dc916b0fd17d0af2da7975a05920ec38bb",
        "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 · 44.51 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8337, 0.6132, -0.5213, -0.0135, -0.0307, 0.9987, 0.2676, 1.5452, 1.1, -0.2493, 0.2028, -0.1486, 0.6299]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1459 left_yaw=0.0006 left_pitch=-0.172 left_roll=0.0027 left_gripper=0.9987 right_x=0.4396 right_y=0.0874 right_z=0.1691 right_yaw=0.1694 right_pitch=-0.1284 right_roll=-0.2341 right_gripper=0.6299\nstate[joint_eff]: [-0.1573, -1.347, 6.9265, 1.5897, -0.0171, -0.0562, -0.0122, -0.1846, -7.3504, 7.3094, 2.1661, -0.149, 0.0513, 0.2759]",
      "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, 0.8345, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.3561, 1.6608, 1.1908, -0.271, 0.2394, -0.1226, 0.6319]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1456 left_yaw=0.0006 left_pitch=-0.1732 left_roll=0.0027 left_gripper=0.9987 right_x=0.4517 right_y=0.1272 right_z=0.1545 right_yaw=0.2122 right_pitch=-0.1683 right_roll=-0.2441 right_gripper=0.6319\nstate[joint_eff]: [-0.0479, -1.4291, 6.9128, 1.5507, -0.0073, -0.0415, -0.0122, -0.7453, -8.8137, 9.388, 1.5507, 0.3687, 0.2369, 0.1978]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.5213, -0.0139, -0.0307, 0.9987, 0.3378, 1.7592, 1.2003, -0.2344, 0.2272, -0.1413, 0.9957]\nstate[eef_state]: left_x=0.2768 left_y=-0.0 left_z=0.1449 left_yaw=0.001 left_pitch=-0.1758 left_roll=0.003 left_gripper=0.9987 right_x=0.4639 right_y=0.1246 right_z=0.1198 right_yaw=0.2129 right_pitch=-0.2238 right_roll=-0.2565 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.6068, 6.9812, 1.5849, -0.0317, -0.0659, -0.0171, -0.3624, -9.4838, 7.4872, 1.956, 0.0806, 0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:331157e624239b92312986ff37d265b33f84eb97c144c2cfc6032cf7fbba967d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d8acdf712e85503a55eeebca0ccaf737d9cc492cf4522e77034a998750916cf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a24cd334b820e17d0bd3834469ee0dc916b0fd17d0af2da7975a05920ec38bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6wMKjgEIEhgCKkDg/uxRovZ6+LGDLfofHkUxXMDCuTzifHi4PltxiIR+HkS8O10cHqcHeoy50+q4m7EDtSn9wLeZTP/WJtTuTJgUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcDYy9UGEgxNcmwutGeoc9d6kvwaDNqtxWh4292c+0MX5SIwXsbdQcD/4PcNknVxICaTNllc2SDXcotVIOI8+GjvQ7rtwcTyVLBrE7qyOVWKkYWdKokChGcRZRDZXSDNaYrz14+kstXKy/olT7ZclkBDAwDQqYOXupZsp5IEn7OEApRVxyLqWwipf2D35DJu+isJ8U4p7Ec+0bGPlkZGVSjyw7dHEqO3QrHBWN3Go5dMkynTXmKBTF0Ct6Pc/YS0K8JyE4qnlxdfZj9eTYAgj509AEcFO9ySTJmzF+kfpEavPfSsRqm9yoogLcr8ogkFxEvczIF4NodjeMklfqZ6I/+/NmZC+S6ViQKMCJFiR3fw4ix2inJwu63Zbp52wzb55EXUS6CHG7pQz6NAlAwkT1xM80NybFEPRDSBiCp+SkFJLj0DIE9XpWgTonEq7eHu3EdRqCzjXm3bXwJu716lERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VQ4cx8HUZrYiWGqxD7dYWx",
      "input": {
        "note": "Lemon released over the bowl; retracting the right arm to verify from the top camera whether both fruits are in the blue bowl.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01VQ4cx8HUZrYiWGqxD7dYWx",
      "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, 0.8413, 0.6128, -0.5354, -0.0135, -0.0307, 0.9987, -0.0166, 1.0573, 1.087, -0.8005, 0.0067, -0.3672, 0.9966]\nstate[eef_state]: left_x=0.2746 left_y=-0.0 left_z=0.1412 left_yaw=0.0007 left_pitch=-0.1941 left_roll=0.0032 left_gripper=0.9987 right_x=0.3105 right_y=-0.0027 right_z=0.2375 right_yaw=0.1716 right_pitch=-0.228 right_roll=-0.2612 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.7299, 7.1043, 1.7216, -0.0269, -0.0269, -0.0122, -0.1983, -3.3983, 9.2239, 1.6386, -0.1197, 0.0024, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d8ae29e23c76e45993fff7ab1e3097ee20fdc167d00f3a0635bc2d7879fac48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67c22107a97cdcc36ba9ba68a44c28f5c597f794adbd531b54681555cb51056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3845edd72b72e7d214c890df5cdaa85f2ff5089be105e4a3d8a9a5d776c4a5b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 6.73 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6132, -0.5217, -0.0135, -0.0307, 0.9987, 0.3561, 1.6608, 1.1908, -0.271, 0.2394, -0.1226, 0.6319]\nstate[eef_state]: left_x=0.2768 left_y=-0.0001 left_z=0.1456 left_yaw=0.0006 left_pitch=-0.1732 left_roll=0.0027 left_gripper=0.9987 right_x=0.4517 right_y=0.1272 right_z=0.1545 right_yaw=0.2122 right_pitch=-0.1683 right_roll=-0.2441 right_gripper=0.6319\nstate[joint_eff]: [-0.0479, -1.4291, 6.9128, 1.5507, -0.0073, -0.0415, -0.0122, -0.7453, -8.8137, 9.388, 1.5507, 0.3687, 0.2369, 0.1978]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.5213, -0.0139, -0.0307, 0.9987, 0.3378, 1.7592, 1.2003, -0.2344, 0.2272, -0.1413, 0.9957]\nstate[eef_state]: left_x=0.2768 left_y=-0.0 left_z=0.1449 left_yaw=0.001 left_pitch=-0.1758 left_roll=0.003 left_gripper=0.9987 right_x=0.4639 right_y=0.1246 right_z=0.1198 right_yaw=0.2129 right_pitch=-0.2238 right_roll=-0.2565 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.6068, 6.9812, 1.5849, -0.0317, -0.0659, -0.0171, -0.3624, -9.4838, 7.4872, 1.956, 0.0806, 0.0806, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8413, 0.6128, -0.5354, -0.0135, -0.0307, 0.9987, -0.0166, 1.0573, 1.087, -0.8005, 0.0067, -0.3672, 0.9966]\nstate[eef_state]: left_x=0.2746 left_y=-0.0 left_z=0.1412 left_yaw=0.0007 left_pitch=-0.1941 left_roll=0.0032 left_gripper=0.9987 right_x=0.3105 right_y=-0.0027 right_z=0.2375 right_yaw=0.1716 right_pitch=-0.228 right_roll=-0.2612 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.7299, 7.1043, 1.7216, -0.0269, -0.0269, -0.0122, -0.1983, -3.3983, 9.2239, 1.6386, -0.1197, 0.0024, 0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1d8ae29e23c76e45993fff7ab1e3097ee20fdc167d00f3a0635bc2d7879fac48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d67c22107a97cdcc36ba9ba68a44c28f5c597f794adbd531b54681555cb51056",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3845edd72b72e7d214c890df5cdaa85f2ff5089be105e4a3d8a9a5d776c4a5b9",
        "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_012pc9ZGMMw25vFEnFmFHMa5",
      "input": {
        "note": "Both yellow fruits are in the blue bowl. Now positioning the right gripper above the bowl's right-hand rim so the jaws can straddle the rim wall for the lift-and-pour.",
        "targets": {
          "right_pitch": 0,
          "right_x": 0.455,
          "right_y": 0.005,
          "right_yaw": 0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_012pc9ZGMMw25vFEnFmFHMa5",
      "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, 0.8452, 0.6128, -0.5457, -0.0139, -0.0307, 0.9987, 0.0864, 1.6363, 0.7933, 0.1585, 0.1783, -0.2253, 0.9966]\nstate[eef_state]: left_x=0.2729 left_y=0.0001 left_z=0.1385 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4349 right_y=0.0098 right_z=0.0783 right_yaw=0.0494 right_pitch=-0.1301 right_roll=-0.2772 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4838, 6.8581, 1.7363, -0.0708, -0.0269, -0.0122, -0.1026, -7.8427, 6.5162, 2.0684, 0.2173, 0.2955, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944ccab43449595b5a788aa9a8f6aae5406f1d5026f084968196270a81470fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ba197004d0b871b9df271767eeecafa3a6dde20aa93f9368e809952fba9948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c234ca07a97f9c4484c40acb8a86382e08aa5e24540da7b67c9e586db6152af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 7.019 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.5213, -0.0139, -0.0307, 0.9987, 0.3378, 1.7592, 1.2003, -0.2344, 0.2272, -0.1413, 0.9957]\nstate[eef_state]: left_x=0.2768 left_y=-0.0 left_z=0.1449 left_yaw=0.001 left_pitch=-0.1758 left_roll=0.003 left_gripper=0.9987 right_x=0.4639 right_y=0.1246 right_z=0.1198 right_yaw=0.2129 right_pitch=-0.2238 right_roll=-0.2565 right_gripper=0.9957\nstate[joint_eff]: [-0.1436, -1.6068, 6.9812, 1.5849, -0.0317, -0.0659, -0.0171, -0.3624, -9.4838, 7.4872, 1.956, 0.0806, 0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8413, 0.6128, -0.5354, -0.0135, -0.0307, 0.9987, -0.0166, 1.0573, 1.087, -0.8005, 0.0067, -0.3672, 0.9966]\nstate[eef_state]: left_x=0.2746 left_y=-0.0 left_z=0.1412 left_yaw=0.0007 left_pitch=-0.1941 left_roll=0.0032 left_gripper=0.9987 right_x=0.3105 right_y=-0.0027 right_z=0.2375 right_yaw=0.1716 right_pitch=-0.228 right_roll=-0.2612 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.7299, 7.1043, 1.7216, -0.0269, -0.0269, -0.0122, -0.1983, -3.3983, 9.2239, 1.6386, -0.1197, 0.0024, 0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5457, -0.0139, -0.0307, 0.9987, 0.0864, 1.6363, 0.7933, 0.1585, 0.1783, -0.2253, 0.9966]\nstate[eef_state]: left_x=0.2729 left_y=0.0001 left_z=0.1385 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4349 right_y=0.0098 right_z=0.0783 right_yaw=0.0494 right_pitch=-0.1301 right_roll=-0.2772 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4838, 6.8581, 1.7363, -0.0708, -0.0269, -0.0122, -0.1026, -7.8427, 6.5162, 2.0684, 0.2173, 0.2955, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:944ccab43449595b5a788aa9a8f6aae5406f1d5026f084968196270a81470fa4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5ba197004d0b871b9df271767eeecafa3a6dde20aa93f9368e809952fba9948",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 286):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c234ca07a97f9c4484c40acb8a86382e08aa5e24540da7b67c9e586db6152af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxgYKjgEIEhgCKkBQa37cxDTIgT16RubdAuR0NAPql5nBADsSd2xZXaC4KKVrkZdcGzbDLa9WiJaEVu3aNGAryqb7t1B+F2CKtef9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfXYy9UGEgwIbEPAvagze81OA8saDMn7/Hvgh+lvL3ioziIwxQWIoBt/dhaS8DqL/r7AiHPmAPrItjptdgHKD/XrXUVytEkScszwDwib9EHErGJRKuQEIBYHn7C8S3PjN4nnJKTzh0y9u0m8Wpe1kKUN15VpiYe3m48c7auNOiDTbqlfaZDSMDg5MDv4PeonmUKs7enHcveTz+f7iVIQD79rtSrJeGTH7RIGsYwZy7FnYoNMUR1F9lpZwKn2TLBcyYOOcHl1tEYwqBIZVm5FiE2lqd1jf7SiOwQqzkST3h2YHabnBc1SJBxDl85OC68cnf355Sy/p2tTWUhxOqMznzg5pQtXvbAAp0lt9c3kAJk70SuH6u7uvJMYt+VTMIWCw+UuBiHmYsqcsmJ67HmNXyWi11HsVD7yo44IuFfHAu3xv2Y9nn2g0kWOXdrM+hn0K7mrNkItyirvKko12I5TA8BGI62n9aeLEzlh2UDUwKsVak5Wl/5+VrQ9U58DRSSD0QaheBbkhHt//c+3MgwL95E+ANZY5ojDzcXxxyFeTU2k1fqEOSGBZMsSsbbJhpmUBUpHReL5m7QxR832bevbR2OFwbk889LRp8YdI+AFJglO0TmyJ0FpJvSAr7KtfXx488ZuCEmTphUX9EJOPhf9uz/2Uxe4Ntj+iwrUkRDNhcAlyyu2PsYPaOthHD+c+qZDe/d/kfoPQGHdatQ1zFvrv1B7tMDU1X5c2o9tIJjcetMHsJ1KWaLVS5ebQy7COuHhWIbMmfqo5fqmAsTIpC1KhB8W9v5E7gvJEVy6nPEzhNSb0FB7YyMoQKrduX9metr/cPSnD80lUEcV0cwAQ4nhW9Fh5McRCt0hF3P2RSgXeavHZTVFseZew+O5wdRaLOLhJrg0NDMlZOrB4v3J/OxjxR8mtm41wExtCz1dGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014Ao7SDLpVHcxVM2KmXN7hQ",
      "input": {
        "note": "The bowl rim appears at the far left of the wrist view, so the gripper is several cm right of it; shifting 4 cm toward the arm's left to sit over the rim.",
        "targets": {
          "right_y": 0.045,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_014Ao7SDLpVHcxVM2KmXN7hQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5446, -0.0139, -0.0307, 0.9987, 0.181, 1.6547, 0.8055, 0.1398, 0.2333, -0.1875, 0.9966]\nstate[eef_state]: left_x=0.2731 left_y=0.0001 left_z=0.1384 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4323 right_y=0.0413 right_z=0.0733 right_yaw=0.077 right_pitch=-0.1467 right_roll=-0.2854 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.388, 6.8581, 1.5263, -0.0464, -0.0513, -0.0122, -0.0615, -9.5248, 8.7179, 1.6581, 0.3297, 0.188, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2445d71589da6f3bb6d85cad1b44b5f7decd9ba22b45b13e2c9fe915b9a593ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a328a1090060411ff5a5c6699197ddfc4abba619a72e9d407f48b3fdf615ff1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:154d5e57c0698e50d2416486a8ba25713ac340298f0794ae1c49e2d60e3cd461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 5.451 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8413, 0.6128, -0.5354, -0.0135, -0.0307, 0.9987, -0.0166, 1.0573, 1.087, -0.8005, 0.0067, -0.3672, 0.9966]\nstate[eef_state]: left_x=0.2746 left_y=-0.0 left_z=0.1412 left_yaw=0.0007 left_pitch=-0.1941 left_roll=0.0032 left_gripper=0.9987 right_x=0.3105 right_y=-0.0027 right_z=0.2375 right_yaw=0.1716 right_pitch=-0.228 right_roll=-0.2612 right_gripper=0.9966\nstate[joint_eff]: [-0.2256, -1.7299, 7.1043, 1.7216, -0.0269, -0.0269, -0.0122, -0.1983, -3.3983, 9.2239, 1.6386, -0.1197, 0.0024, 0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5457, -0.0139, -0.0307, 0.9987, 0.0864, 1.6363, 0.7933, 0.1585, 0.1783, -0.2253, 0.9966]\nstate[eef_state]: left_x=0.2729 left_y=0.0001 left_z=0.1385 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4349 right_y=0.0098 right_z=0.0783 right_yaw=0.0494 right_pitch=-0.1301 right_roll=-0.2772 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4838, 6.8581, 1.7363, -0.0708, -0.0269, -0.0122, -0.1026, -7.8427, 6.5162, 2.0684, 0.2173, 0.2955, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5446, -0.0139, -0.0307, 0.9987, 0.181, 1.6547, 0.8055, 0.1398, 0.2333, -0.1875, 0.9966]\nstate[eef_state]: left_x=0.2731 left_y=0.0001 left_z=0.1384 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4323 right_y=0.0413 right_z=0.0733 right_yaw=0.077 right_pitch=-0.1467 right_roll=-0.2854 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.388, 6.8581, 1.5263, -0.0464, -0.0513, -0.0122, -0.0615, -9.5248, 8.7179, 1.6581, 0.3297, 0.188, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2445d71589da6f3bb6d85cad1b44b5f7decd9ba22b45b13e2c9fe915b9a593ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a328a1090060411ff5a5c6699197ddfc4abba619a72e9d407f48b3fdf615ff1d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 289):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:154d5e57c0698e50d2416486a8ba25713ac340298f0794ae1c49e2d60e3cd461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShQYKjgEIEhgCKkBJZmMWp3rVGHwFPFDTBjcI+a17raMUA5yZ2DJTIS+ZGl+L+yhSs3p5hHZAkj4uMmVgUxeym2arve51Wh7gakj5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAf3Yy9UGEgwUvowo+EY7J0QDLgoaDGbGbbR8SSaydsNZPyIwAzo5tr6WLiSW0kSMCGuZqr399C0RkGfnwIjZDR1Y5gNj19ddmYZHQ37An1svdVxZKqMEBwG1+Rc4u2lg2Dv/tLZk9vjQTS1EJkiDju5ROg7qxRYr1NOoZb62pkHQr417lz3ApyA6/h66T+SIOrOgnTeiM600iQN40PlI5kXKtW1kGEHKbsylOkr663A9/a9Eh+LQI23lbVJFvSYnrbed8z1+WaY//RBpPAl8SzRCC10yxG1JJAi2x1/LN6jGnljmH87Y0XTP3qljp0sac4tS+sZRSe+0+2qnC7grCelXDKhSxmvIzDatf+sUuUFbECRJJJy/JRuU34Tg2fyZAxc1yTTtXNSTXeJRpYq+94+bwB77Dq3lMlG2XRxjaeR5Ic7eXpP5xEu+xm+thr4XACIIuZV2lN0PnZnwCvrcukfyKatGTavNaP1flybH1rSDjNLW6r0s0YBiCssKXKkLjswzBCfQLJpYDfJLZJQ593Ii+6X6MLy5sQvSPaNaLoXR2FOjI9Ya1HU6Iu35FAt5wRwqGMkJhFkArrzCJJ63qTKSUSqf0vVkcPN1k2rMmfNRH2BQXDStKNOc/hmNb2HjynnWyFddtdXMw05sHVnXIsS2q1OhjxTheL7oIBgknGHjGoOlQ9l4QPUysY++koxe7l5AmZ9s/8NsIgkWhxoqmQQJ/ioRrpfZUKpwRAlxUDDJGIh4q6UWljAWN+0BGzoA+m4KNN74/3ErCAwUXMA9NmzJ/H9E0S6qJTrRcoexcgHkw52rip99iBaiTSDqa97DWFtOearfoJMtixgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EgriKwimzrpDEtyGwB3Uh6",
      "input": {
        "note": "Rim is still left of the jaw column; shifting another 3 cm left and dropping to rim height to straddle the bowl wall.",
        "targets": {
          "right_y": 0.075,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01EgriKwimzrpDEtyGwB3Uh6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3744, 6.8855, 1.5653, -0.0757, -0.0513, -0.0122, -0.4034, -9.2239, 7.6103, 1.6435, 0.149, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41348f552927e320d58e2b2cf3e9102c25acdd017bba8a1d4293c624fb88af2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d64e5860849db0baedc232cd13302b95e0e41114d5fc07d75576fffe1c6d7eb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2b017441d054f6d1dc580834efbc794d59ef76c079f75395e5349ba3f34c06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 3.481 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8452, 0.6128, -0.5457, -0.0139, -0.0307, 0.9987, 0.0864, 1.6363, 0.7933, 0.1585, 0.1783, -0.2253, 0.9966]\nstate[eef_state]: left_x=0.2729 left_y=0.0001 left_z=0.1385 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4349 right_y=0.0098 right_z=0.0783 right_yaw=0.0494 right_pitch=-0.1301 right_roll=-0.2772 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4838, 6.8581, 1.7363, -0.0708, -0.0269, -0.0122, -0.1026, -7.8427, 6.5162, 2.0684, 0.2173, 0.2955, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5446, -0.0139, -0.0307, 0.9987, 0.181, 1.6547, 0.8055, 0.1398, 0.2333, -0.1875, 0.9966]\nstate[eef_state]: left_x=0.2731 left_y=0.0001 left_z=0.1384 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4323 right_y=0.0413 right_z=0.0733 right_yaw=0.077 right_pitch=-0.1467 right_roll=-0.2854 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.388, 6.8581, 1.5263, -0.0464, -0.0513, -0.0122, -0.0615, -9.5248, 8.7179, 1.6581, 0.3297, 0.188, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3744, 6.8855, 1.5653, -0.0757, -0.0513, -0.0122, -0.4034, -9.2239, 7.6103, 1.6435, 0.149, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41348f552927e320d58e2b2cf3e9102c25acdd017bba8a1d4293c624fb88af2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d64e5860849db0baedc232cd13302b95e0e41114d5fc07d75576fffe1c6d7eb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2b017441d054f6d1dc580834efbc794d59ef76c079f75395e5349ba3f34c06d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QQKjgEIEhgCKkAExeoLaeAPFXbutWCohb3G6duVUaX8UA+ZQt3wmbGyNe+FHbB6UH0hwnkRFGP1hwXUBQ4/7cQoERX8WfJnBeKZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYLZy9UGEgxEPdUQCdnK2qF9PcEaDM7guVaY3gq6Ti6n0CIwHY7aQ4Y553ZH+DnM3gcQnOt+JWAcDWhtlrmwc7VvRG0GGbUrWDZxovtUkB+WSYfuKoMDn8LzFaA8N5tBPozCcXvidxq7tz/SLl0ahTf4H6MsDHmC+m4L+qBVD4/3I0fnrbhGOUJHm8SUD4caQ1fJYaKtpj3VaMP46F8IOsq5Qh3ZH/StTR69u+0WsSARNTOrqZrrIh0PT8yKRYJuvAH4xRSwNQ9TDfrl8elt5e5nRZhF5us8i8QobA0BVKNbhxYP2jLrJdWtNN/TomBMybU+ZUoHuNQtQfdxQJyfrqrjY6zV1jmHHxYidVBKOjUTarHP+jFICln/5xr2/MwcsiZmmr4Y6mocPhSafCLbaDMEhY1SPI6msaQYEIRTkMjAaeZV8BGftcbxXqArOGfLu6+b3/IVgAdFlzhBjXnnJev5MBK2XjoV9I7XXLrf/f8I1N0+ePnVAahufeb2kR5h8KN5sxmne7nCIBRwOahxVjODiKDJWujxPWYzMibFKReqmh+KOU0IVC6fT0O3h1GetmOyb2jeENlv+pO4zok8W6Z5ypls46g72eShv/d9wtM5bqKKqWEQGkpLGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SNUz4iWYZqiyPppjDYarQL",
      "input": {
        "note": "The arm stalled short of target, probably touching the bowl; lifting to 14 cm and repositioning over the bowl's near-right rim before descending again.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.085,
          "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_01SNUz4iWYZqiyPppjDYarQL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.8718, 1.5018, -0.0708, -0.022, -0.0122, -0.3487, -9.4154, 7.665, 1.6239, 0.1245, 0.188, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b1972af81d8afa53f3f581010439ac3eabc638d8623b23a84a8ecbefe1cc3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c429ec9b966b7b30610454af2329c1a2978f419c95a06c576a3fa5b868bdf2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8966b60eba3dc5d5aa9127f05cb5e760716a7fec038a96e1c3131fd924b550b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 11.45 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5446, -0.0139, -0.0307, 0.9987, 0.181, 1.6547, 0.8055, 0.1398, 0.2333, -0.1875, 0.9966]\nstate[eef_state]: left_x=0.2731 left_y=0.0001 left_z=0.1384 left_yaw=0.0011 left_pitch=-0.2082 left_roll=0.0038 left_gripper=0.9987 right_x=0.4323 right_y=0.0413 right_z=0.0733 right_yaw=0.077 right_pitch=-0.1467 right_roll=-0.2854 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.388, 6.8581, 1.5263, -0.0464, -0.0513, -0.0122, -0.0615, -9.5248, 8.7179, 1.6581, 0.3297, 0.188, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3744, 6.8855, 1.5653, -0.0757, -0.0513, -0.0122, -0.4034, -9.2239, 7.6103, 1.6435, 0.149, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.8718, 1.5018, -0.0708, -0.022, -0.0122, -0.3487, -9.4154, 7.665, 1.6239, 0.1245, 0.188, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37b1972af81d8afa53f3f581010439ac3eabc638d8623b23a84a8ecbefe1cc3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c429ec9b966b7b30610454af2329c1a2978f419c95a06c576a3fa5b868bdf2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8966b60eba3dc5d5aa9127f05cb5e760716a7fec038a96e1c3131fd924b550b0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgAMKjgEIEhgCKkCLb6p2cGp5auPiq1XUxXpA7pqBTS88vT+20MiomR6IxG2Wwx/diphQtJ+iur4SCqIfeOVfWKN4M2PGwknL6zbjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYbZy9UGEgygcrk/W/JGfeh4NVEaDBegwU3bwDHkTA0W3SIw9BRx6Lr36eXpYgbSB7iwPYc+ina9XBS1pD1cx7tSJ3Siuc/HELA4iD0ZD6G8LyOzKp4BVqomVoLy0/T01fmBMvm0qPpLLMC1zBLI5NkEda5/LQ87ajTpJRTzLqjpXllU7KbaW0zD8md7yF29C9YcBRhASKYfvFeMhyMNqpHOOg+vCfzPYEivDWeb/pFzOSeqvT0mYzB13q4O0lBZJ8GLd2PY26Wddpf89bPT+zKyht5hwhjeqNe6Ck/EmQC5X1Wd9KwEfe7iIUH2XfMdunEr/1YYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01A5kPhJuL8tTVmE18UmHvVk",
      "input": {
        "note": "Arm is not tracking any target; commanding a pure vertical lift to break out of the stalled pose.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01A5kPhJuL8tTVmE18UmHvVk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5468, -0.0135, -0.0307, 0.9987, 0.2066, 1.5146, 1.1618, -0.4179, 0.2539, -0.1829, 0.9966]\nstate[eef_state]: left_x=0.2727 left_y=-0.0 left_z=0.138 left_yaw=0.0008 left_pitch=-0.2105 left_roll=0.0036 left_gripper=0.9987 right_x=0.4281 right_y=0.048 right_z=0.1794 right_yaw=0.0812 right_pitch=-0.2054 right_roll=-0.3031 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4564, 6.8581, 1.5018, -0.0171, -0.0415, -0.0122, -0.3214, -8.4444, 9.4154, 1.7558, 0.0904, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252f12ce2e05a8226a91063897d00073d33bec5009bfed0468acd938ab96d437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d3c154bbb10ba56c9428cbd3f7744f3c4b4a6a13eebad4c8c3fdba0a21e251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:488f8fb5a42c9fa3f52b538f7c7b6194f75ac226893f3ebd9fca07a07b7a956f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 9.759 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.3744, 6.8855, 1.5653, -0.0757, -0.0513, -0.0122, -0.4034, -9.2239, 7.6103, 1.6435, 0.149, 0.1343, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.8718, 1.5018, -0.0708, -0.022, -0.0122, -0.3487, -9.4154, 7.665, 1.6239, 0.1245, 0.188, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5468, -0.0135, -0.0307, 0.9987, 0.2066, 1.5146, 1.1618, -0.4179, 0.2539, -0.1829, 0.9966]\nstate[eef_state]: left_x=0.2727 left_y=-0.0 left_z=0.138 left_yaw=0.0008 left_pitch=-0.2105 left_roll=0.0036 left_gripper=0.9987 right_x=0.4281 right_y=0.048 right_z=0.1794 right_yaw=0.0812 right_pitch=-0.2054 right_roll=-0.3031 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4564, 6.8581, 1.5018, -0.0171, -0.0415, -0.0122, -0.3214, -8.4444, 9.4154, 1.7558, 0.0904, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:252f12ce2e05a8226a91063897d00073d33bec5009bfed0468acd938ab96d437",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8d3c154bbb10ba56c9428cbd3f7744f3c4b4a6a13eebad4c8c3fdba0a21e251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 306):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:488f8fb5a42c9fa3f52b538f7c7b6194f75ac226893f3ebd9fca07a07b7a956f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gsKjgEIEhgCKkC+SZjdUkGQg4da4YnVbBkcrBKSMce5izRB8V2QKyzE6dcmVndsgplOkpeBc+qp/DO4N1LdNUS85UAhAvBTcI60Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZLZy9UGEgz3wmmmhC4HJuFtA3kaDLhue+ZNdytPQZ6/NiIwQl9GxfVSTHyBJ225ynGMDUvJXTdCX3TG8Kpxxuh1iQppPHC4zRge9MairrGL3ZKnKvAJR+VkYd+ojRyiHWOiPZUbUj2UZniflqI6kMCoBYY1S6AkTDkdJ2atI05B7Dvg1Y1hxIljGjovwzP3ZLZFTgQsZgrsxYKC7sAv36CJxW7Fm8pZRwMVZxGvXuNPN0iHkXYQeeIhSyPQWL5e7uTPyYiQWh/8uOlBzPT7wCAfi3VNlc/WfbbsOYVEvhoc40ZtDCAZ8+2w5i5eQEGqrciHS2dAcToxhJyPDPBEyCK9dP4Ua/efmyOzXq09sO0eoXVxjm235YBiuaIUDT3Ce1mGG3ZUTrNGxVN1lxEyNcJNqnvBJxbYgUUGllcWy7RuPoTEToR30iH/kzjYitXLmBgOMhYDZTLyjQ9Z3DyElvF7I0pZG9TjoFsRI0/Xk2xpVBPfCWFuc7tLHCVmuZBMX2DEJFD8sNpvuH3uRJvLcjZhZeWrvihNzCGKL/38iL4kMLeKpZSUkk/64J6MYkCepWUcIhQ8zvpNnYySRBFU+oJTZjboUfErHE+EoU5YQujl8mQ1iEsWmBKpXtXJo6bzzaDK+abUYc8oEaPeD7ivh6rjC8csgkyBMzJ4e/BUC1on5DWLBmoWMQXatuRvL9sUMEQWEedQyQgTz1Tp56P14LdVVddGmPC8ToSFie4brhjfamVDuUqGdEIcuCu+NxpBdOOq28VKm04zPcKaJ+5LLhFCYcU/RWy6RIpmK5b969REK1E9JWOJU+VYBwscq6DFut18oeW4jG3BysGSv5YnYjAZ4dicrr1C7ZFE8nzPUPaaLp2a7IlHHZrDy4jXqT3wRIUJ+tLLcmde3CgS2bnkUT/A6uLdbrbnaTE26pzaXrBcA+W7MwQWhlISx1Edi6CAoKeAUa7L471zX4ihHCTx3Jf3dXUEPZMMSoRJp977+kNif4GTnS21xxaa716V3IBmV5W6lkBZzKuNL107mZ0cKa+deJszc/FLqK2v8h25nmbp7Dzfp3n986rpe9/FV5+WrY/dm/y94hce2YILHQ76BDKABeuH+U1juCCcrzqcILS5aHz+4OpifPcCQ56QZzdC+7CmuX9hve3dGzz5EyVh3lMyl1LBqZxQsuevcyuEqcTK74rm1h0vvHrPzI0LHhp0f+5qR95BH07wy1jiwjbBNrcZLqkwl/szakWJ/rCJ35gigsuq2KOVcmpYUPT2RRT5rWX+wB0PBva9eUViGPRcds4WTOz/BDE4Vaz7yfiL7YpmnFFEjp4//qgGxy353GVOG//ERdkoZ+OZ9iWmjkR3DoJGs1p25i8yJcqSg2l3w/fT3rvUypO2qllqIyWktu9b45IFBdz/8Mqnb5uu3IaejqB7fAA0KbFrEMI/srosGm9lHf5masb+tugRQO5dojkIwXaXCBWK+24utCOc95UaDLJJ/KD0UhwVQF/VvHltx6Q/C1Se1uk8MwlesSD4cWSeqpW5RWUAgXDewNzVyLXUZ6LCfZnp1/vFNLF/Y5AiQpQ8fpgKCOMXvf7AHlI5I2TJBZGdTSaszXlSEcAoiVxZ84qR/J0agWqr0i8+YNDFG1rLtaG/M7ipGsCjsqfkzB2IMaBgwyD1ZttWHTsphaQymuueS/2jSxvUweA0Agib5K2GcKgMbznSKCToEe6L7qxEi3CgP4CAA0r3kk49IHCnq8Ln1SDEJjzs8XcuAmTcGOQ7w0c0dIGotFTxkeE0Yvs4VWDvWcjb7hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QjuyDZrsVdMFGAQYaJinki",
      "input": {
        "note": "Bowl sits to the arm's left of the jaws; descending onto the bowl's near-right rim so the open jaws straddle the rim wall.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.035,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01QjuyDZrsVdMFGAQYaJinki",
      "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, 0.8516, 0.6128, -0.5575, -0.0139, -0.0307, 0.9987, 0.1551, 1.7489, 0.9035, 0.0193, 0.2237, -0.2138, 0.9966]\nstate[eef_state]: left_x=0.271 left_y=0.0001 left_z=0.1348 left_yaw=0.0012 left_pitch=-0.2265 left_roll=0.0042 left_gripper=0.9987 right_x=0.4387 right_y=0.0325 right_z=0.0503 right_yaw=0.0709 right_pitch=-0.2677 right_roll=-0.3092 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.8803, 7.0769, 1.5849, -0.0513, -0.0659, -0.0122, -0.1983, -7.9521, 5.8325, 1.707, -0.0317, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d575c89a744ad4e92ae7fd18a4594b86d9bb6f9debdf021f53d875e93b7d666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4f62ec657255a02896232511be66261ef357d48db91af3470bf8364bac37d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecbbcade330fda27ac65fbf3930471fa9533336743fb6199abd2d2192338ba7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 5.965 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5465, -0.0139, -0.0307, 0.9987, 0.2058, 1.6531, 0.8257, 0.0769, 0.2577, -0.1711, 0.9966]\nstate[eef_state]: left_x=0.2728 left_y=0.0001 left_z=0.138 left_yaw=0.0011 left_pitch=-0.2101 left_roll=0.0038 left_gripper=0.9987 right_x=0.4274 right_y=0.0469 right_z=0.0712 right_yaw=0.0715 right_pitch=-0.1831 right_roll=-0.2943 right_gripper=0.9966\nstate[joint_eff]: [-0.0068, -1.2103, 6.8718, 1.5018, -0.0708, -0.022, -0.0122, -0.3487, -9.4154, 7.665, 1.6239, 0.1245, 0.188, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5468, -0.0135, -0.0307, 0.9987, 0.2066, 1.5146, 1.1618, -0.4179, 0.2539, -0.1829, 0.9966]\nstate[eef_state]: left_x=0.2727 left_y=-0.0 left_z=0.138 left_yaw=0.0008 left_pitch=-0.2105 left_roll=0.0036 left_gripper=0.9987 right_x=0.4281 right_y=0.048 right_z=0.1794 right_yaw=0.0812 right_pitch=-0.2054 right_roll=-0.3031 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4564, 6.8581, 1.5018, -0.0171, -0.0415, -0.0122, -0.3214, -8.4444, 9.4154, 1.7558, 0.0904, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8516, 0.6128, -0.5575, -0.0139, -0.0307, 0.9987, 0.1551, 1.7489, 0.9035, 0.0193, 0.2237, -0.2138, 0.9966]\nstate[eef_state]: left_x=0.271 left_y=0.0001 left_z=0.1348 left_yaw=0.0012 left_pitch=-0.2265 left_roll=0.0042 left_gripper=0.9987 right_x=0.4387 right_y=0.0325 right_z=0.0503 right_yaw=0.0709 right_pitch=-0.2677 right_roll=-0.3092 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.8803, 7.0769, 1.5849, -0.0513, -0.0659, -0.0122, -0.1983, -7.9521, 5.8325, 1.707, -0.0317, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d575c89a744ad4e92ae7fd18a4594b86d9bb6f9debdf021f53d875e93b7d666",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e4f62ec657255a02896232511be66261ef357d48db91af3470bf8364bac37d1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecbbcade330fda27ac65fbf3930471fa9533336743fb6199abd2d2192338ba7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyAoKjgEIEhgCKkAtUxl5k6lc1rB/GOT+2tS8zlZwfAYQTM42R7cWmeJ4eSDBgFf3cZhOgow+qS1JDXrT6m84Y76akDbNNl+v8eoOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ3Zy9UGEgyLUq0xJtXqJeQaIuMaDNcnDnihU1CcZrpSyyIwIM2k8DXinJW4MKONuEjf9VwdECP4ZKV44gEkr4TwupuLUKHAGyzxNtaujZNUIMF+KuYItvvDBa9uFeyxI2RSVSNBIDZ3nOP/WrjaUDbVTjye6/SxpBtEQiyHy2bZ6gTunM3U/JD438mu2aey3rqJWipVcMmrUY/mTHQvl8U+B+sHsbwEZo2lsyFBu+5FZ/cICFc5V/8ILJEpxNO/oStU33dJrtwc1XhG/qau3IzHs8sOxbmm+uybiaFnpsKdURCRdMLYcxINN0fqM6zNR3xfWLBAZAjpE7Ekw07/oIwTlpbQfCNkuzb2SF4q2EfVbm1EMohugA9FoRHvrrKG15ZM95Oo9/TodKUL9l118t1kwGFus/pkGHjv/FfmLspk5LkUPN8hVTwUg1nxx8fLKwf2XHHBfyxNSiAo/wJGznCA/+v2LsjCq9K1wPzqKHK6qhSWCxh22y0prgcfsRENEQSfMdnd+mjAaweYoHj1vFDTyP7HPJl6cOOVRWn7ccJytsh5V+NfpA+LOpgFsMNxczGuyjA3toMxuNJjvjUKSS+Oe0gJEeT3D0M4takJ2epqqOzr04oPOo4mGt9UZO6+jL3nHR4Wm5eL+HwPG2tl3KPepP/hBXbOBvaKPTUfcUlY4I5fQdUX/dHx0lQCzS36Rk9S/w8mjlhXlDPUsPUsR1qXQjzzEeLk9qi2A0LLJ0Nv3ZdexVUgXM5p8Ws83hS3l7MO4/yN86f9So5Ju8WBlYfRrwQYg33XWl09yDORFRlqyrK4jqncAG5M9sm2shLH0co1JXOt8r6I2fdn6CsmY5i2V+I2sNLiV/G7TTSkUyjCGo4lXTNsubZkzj5RyIkjApmiHI/tcWWS0oFiodpydLl6L95f8g8QjT+U18PkFJEhf533dtNfB8stxNcRfe9kXfX9bDINZrrPGuO6GYbeAWD4lFNAIPpYF2Gzt5Odpri0NgfTa+1ZdPQkj3opBjnVCFgqidFEdkvDWFi6L/a6lIOfMGXzqc8JNjKaXTBdBLv3QOAaTYrPwPHHUflr4GQgu6SSJn848YacseJkVygkZZtF2JNEyVWkEQp3BgpP881n21E2LSjhoiVd0K2KOrP8oP5hFjNJ8ooC2dy/OCQwOM86rAHwvkm00zP7/qeXO7x+EvFwk54cLM0e1HKxEo9VTxxsDN4YIIWaVpBOsDA9iO1AMD9fuQkhpZD3Mc/JRgLtcv4ZHtKVT3tShFA3h1q7xjTCVrTD8gxcS3o4Wd9uLKrvVeyQJw2Pe3rs0SGvuI1R9eqnZabLeIfVoFHTWnNi0Zdp0UF2KV9ogRJF6EtPiFqVXLuzy2cQvsABPlwbl3c1a0+IH8bEloRVmfYUkSSZzSh7CgRUeLnYZ98rhf9peV/9BJ88zRsSOaDXggHc6RwLe8O7E5Yms1FxZt1X81QFcJnh+RMg+KZ6Q+SBHwBwKRW81VlWURozcV/CniXDvqcQ0seU+klx2ZetQR6BEA6WuUyngP4LLNtseJkXZC9XNt+HtD66T3MbdqMYunLr8Kivk9JWJZtl1qA2Ze+rzP66FiQ270UU7/4a/pwMjBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JPF8Y8CFR1URaD3S4zWr2U",
      "input": {
        "note": "The rim sits at the left jaw rather than between the jaws; shifting 3 cm to the arm's right so the rim wall falls between the open jaws.",
        "targets": {
          "right_y": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JPF8Y8CFR1URaD3S4zWr2U",
      "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, 0.852, 0.6128, -0.5579, -0.0135, -0.0303, 0.9987, 0.0746, 1.7672, 0.8906, 0.0463, 0.1619, -0.268, 0.9966]\nstate[eef_state]: left_x=0.2709 left_y=0.0 left_z=0.1346 left_yaw=0.0007 left_pitch=-0.2273 left_roll=0.0042 left_gripper=0.9987 right_x=0.44 right_y=0.0079 right_z=0.0407 right_yaw=0.0738 right_pitch=-0.2827 right_roll=-0.2999 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.265, 6.9128, 1.5458, -0.0464, -0.0073, -0.0122, -0.1846, -10.9333, 5.2718, 1.6142, 0.1587, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a39dcb0ecf7d6a1363c14bc2688ef1afe6065e0bda48a26cc15dd31955bb22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:949d06199317b6f76ddc39fb3e9eaa159c7f6b5e796c6b77129cbb797c16164e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e8eeb69c28e2b48f34a665142deea1af058a0dadf66c442bcb485eaeccd73007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 39 attempt 0 · /messages · status 200 · 5.271 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8463, 0.6128, -0.5468, -0.0135, -0.0307, 0.9987, 0.2066, 1.5146, 1.1618, -0.4179, 0.2539, -0.1829, 0.9966]\nstate[eef_state]: left_x=0.2727 left_y=-0.0 left_z=0.138 left_yaw=0.0008 left_pitch=-0.2105 left_roll=0.0036 left_gripper=0.9987 right_x=0.4281 right_y=0.048 right_z=0.1794 right_yaw=0.0812 right_pitch=-0.2054 right_roll=-0.3031 right_gripper=0.9966\nstate[joint_eff]: [-0.1846, -1.4564, 6.8581, 1.5018, -0.0171, -0.0415, -0.0122, -0.3214, -8.4444, 9.4154, 1.7558, 0.0904, 0.0757, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8516, 0.6128, -0.5575, -0.0139, -0.0307, 0.9987, 0.1551, 1.7489, 0.9035, 0.0193, 0.2237, -0.2138, 0.9966]\nstate[eef_state]: left_x=0.271 left_y=0.0001 left_z=0.1348 left_yaw=0.0012 left_pitch=-0.2265 left_roll=0.0042 left_gripper=0.9987 right_x=0.4387 right_y=0.0325 right_z=0.0503 right_yaw=0.0709 right_pitch=-0.2677 right_roll=-0.3092 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.8803, 7.0769, 1.5849, -0.0513, -0.0659, -0.0122, -0.1983, -7.9521, 5.8325, 1.707, -0.0317, -0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.852, 0.6128, -0.5579, -0.0135, -0.0303, 0.9987, 0.0746, 1.7672, 0.8906, 0.0463, 0.1619, -0.268, 0.9966]\nstate[eef_state]: left_x=0.2709 left_y=0.0 left_z=0.1346 left_yaw=0.0007 left_pitch=-0.2273 left_roll=0.0042 left_gripper=0.9987 right_x=0.44 right_y=0.0079 right_z=0.0407 right_yaw=0.0738 right_pitch=-0.2827 right_roll=-0.2999 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.265, 6.9128, 1.5458, -0.0464, -0.0073, -0.0122, -0.1846, -10.9333, 5.2718, 1.6142, 0.1587, 0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a39dcb0ecf7d6a1363c14bc2688ef1afe6065e0bda48a26cc15dd31955bb22e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:949d06199317b6f76ddc39fb3e9eaa159c7f6b5e796c6b77129cbb797c16164e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8eeb69c28e2b48f34a665142deea1af058a0dadf66c442bcb485eaeccd73007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkAYKjgEIEhgCKkCe90dWACy8siSb5LAPQg4VtqnApq3ci/chBUjILlVdqESN9VyNrKn+1qUO2xue6LjsJte/qwz82DqqQ0AU7bNUMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaTZy9UGEgyNeJBgXCkPzeB4p34aDM/f2Q616heSCVh4GCIwg8TnKiyJ4Vn04hDxASF/N0b4l9fbngslKJ60IeK72upzPDmP1+E1kLoXhP2RAORyKq4Enu2zUHIpLefdEIYlbLMLvAr0W2JHhWKk+jlcFdbsK/XP9DQETrNQlrOlHB7IBPH5yIkvUV5kc/RdGMKsty9Px7cVnACO3qj+UvY4EwQp4xu9kaGPmeryBv5RFbfiubHr+ffPjvg/0wmJXd5LwmI5rADq0rhc0nkRtA6mSO9mai3oFP52yKO8teojO3MhpvNQgB5M4G9BZ5C2xExMf5YlY8KvBjrgHNjCs9LXh7JWFeFvJc3LAeFNbvR0RNcrNHx8rqXdvj80KdyktSqFZ17MwsvL5OzOeAMxKNM62clmyk1+roLxuRcWzXA6K09wTGrFOu9/FDWav9iihtNbEOC+oU/eG1uOdZKp1UCLsWkb5aRPK3hPTRSd2nVwTLNS0jx5CGmZSvK8oMHow2HMB/ffT7O0Wf7ONZW5tflR9ctiTohgkbZJyrg0cDK3ydvbOS7lAb7y6tAda1K975bdbS9z/a07I5hEZUvv8t83z7baxuHrd3A1KXI6o+VpHYI/0r2Fei/bxWLD56clGxQ/b5rR8vMQfmnngMAoWodCXBhtpDxU6vqSMLaBcWGeH8pvS1GjCmCtYlao+BuR5Xmx6FcDwC5mWRH4hjY9o+8z/q6q/Mm9FsyKLZKZsYQNDIbR7pJsC6ThOkikqKoN+MhBh5dlqiG8/lCwXWYdcUpVUgMh5jhqTUGXueJSK0lSnmsmBcgCkZgabmzEEXtwQn6G4lbiFzsY2dzQ/dwjs85/QK8DGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RXM4nnX2TJFgHfQ7sXjBSp",
      "input": {
        "note": "Closing the jaws on the blue bowl's rim wall to pick it up for the pour.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RXM4nnX2TJFgHfQ7sXjBSp",
      "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, 0.852, 0.6128, -0.5583, -0.0139, -0.0307, 0.9987, 0.0765, 1.7645, 0.8909, 0.0429, 0.1513, -0.2729, 0.061]\nstate[eef_state]: left_x=0.2709 left_y=0.0001 left_z=0.1345 left_yaw=0.0012 left_pitch=-0.2277 left_roll=0.0043 left_gripper=0.9987 right_x=0.4397 right_y=0.0106 right_z=0.0412 right_yaw=0.0879 right_pitch=-0.2838 right_roll=-0.2951 right_gripper=0.061\nstate[joint_eff]: [-0.1709, -1.4564, 6.9675, 1.5116, -0.0562, -0.0317, -0.0122, -0.5402, -7.9521, 6.2564, 1.2869, 0.2173, -0.0952, 0.6471]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa1fcf9900fbafea21e7b61429d4e60d37e520a1f62a6653d2e148078b1cfb50",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 328):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71d249aa8b00c3cc8f3d97667a485f4aea34901b73294c475338496fb0b9f732",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 328):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2631373bdc052a116485a0fc61c3da17c97e881d07f6fe874a3f367d76ac8177",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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