adhoc

completed
2026-09-22T22:03:56.776405+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
330.2 s
total steps
258
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteTwo lemons sit in front of the right arm with the blue bowl beyond them; I'm moving the right gripper above the nearer lemon to line up a grasp.
move_to
right_x0.3300right_y0.0400right_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, 0.6144, -0.3817, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6186, -0.3874, -0.0174, -0.0334, 0.9994] state[eef_state]: left_x=0.2962 left_y=-0.0004 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.1983, -1.7983, 9.4974, 1.7949, -0.1099, 0.1148, -0.1392, -0.1983, -1.7846, 9.347, 1.8974, -0.0562, 0.1636, -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": 0.33, "right_y": 0.04, "right_z": 0.15, "right_gripper": 1}, "note": "Two lemons sit in front of the right arm with the blue bowl beyond them; I'm moving the right gripper above the nearer lemon to line up a grasp."})
tool
executing move_to over 4 steps (0.4s)
step 4
top_cam
camera top_cam step 4
left_cam
camera left_cam step 4
right_cam
camera right_cam step 4
assistant
agent noteWrist view shows the near lemon just right of the jaw column and a bit short of the fingertips; advancing 2 cm radially, 1 cm right and descending to 8 cm.
move_to
right_x0.3500right_y0.0300right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6151, -0.3862, -0.0139, -0.0307, 0.9987, 0.2001, 1.021, 0.5652, -0.1596, 0.1532, 0.0647, 0.9994] state[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3264 right_y=0.0424 right_z=0.142 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0168 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.3744, 7.0085, 1.7705, -0.0366, 0.0073, -0.022, -0.1573, -3.5214, 6.8034, 2.0098, 0.1783, 0.1538, -0.0708] camera 'top_cam' (step 4): [image omitted: streamed camera frame] camera 'left_cam' (step 4): [image omitted: streamed camera frame] camera 'right_cam' (step 4): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.03, "right_z": 0.08}, "note": "Wrist view shows the near lemon just right of the jaw column and a bit short of the fingertips; advancing 2 cm radially, 1 cm right and descending to 8 cm."})
tool
executing move_to over 5 steps (0.5s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteLemon is centered on the jaw column and close; descending to mid-lemon height to grasp.
move_to
right_x0.3600right_y0.0300right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4004, -0.0139, -0.0334, 0.9987, 0.1215, 1.2755, 0.4267, 0.205, 0.0879, 0.0151, 0.9994] state[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=0.0015 left_pitch=-0.024 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3459 right_y=0.0302 right_z=0.0728 right_yaw=0.0292 right_pitch=-0.0722 right_roll=-0.0227 right_gripper=0.9994 state[joint_eff]: [-0.2256, -1.6342, 7.0222, 1.8828, -0.0366, -0.0366, -0.0122, -0.1162, -4.6017, 5.9556, 1.9609, -0.0513, -0.0122, -0.0171] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.03, "right_z": 0.03}, "note": "Lemon is centered on the jaw column and close; descending to mid-lemon height to grasp."})
tool
executing move_to over 3 steps (0.3s)
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 noteJaws straddle the lemon; closing to grasp.
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, 0.8085, 0.6147, -0.4084, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4603, 0.0734, 0.0074, 0.9994] state[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1751 left_yaw=0.0015 left_pitch=-0.0347 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3531 right_y=0.0316 right_z=0.0202 right_yaw=0.0395 right_pitch=-0.1187 right_roll=-0.0236 right_gripper=0.9994 state[joint_eff]: [-0.0342, -1.4564, 7.2, 1.8339, -0.0269, -0.0171, -0.0122, -0.5675, -5.6274, 4.9846, 2.0, 0.0269, -0.0024, -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": 0.05}, "note": "Jaws straddle the lemon; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteGripper reads 0.75 (~7 cm object) so the fruit is held; lifting it clear of the table.
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, 0.8089, 0.6147, -0.4168, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4591, 0.0734, 0.0002, 0.754] state[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3529 right_y=0.0316 right_z=0.02 right_yaw=0.0434 right_pitch=-0.1199 right_roll=-0.0294 right_gripper=0.754 state[joint_eff]: [-0.0615, -1.0325, 7.1453, 1.7998, -0.0366, -0.0464, -0.0122, -0.0068, -5.2171, 4.9162, 1.6337, -0.0415, 0.0366, 1.0232] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22}, "note": "Gripper reads 0.75 (~7 cm object) so the fruit is held; lifting it clear of the table."})
tool
executing move_to over 13 steps (1.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteHolding the green pear; moving over the blue bowl (up-left in the wrist view) to drop it in.
move_to
right_x0.4000right_y0.1300right_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, 0.8135, 0.6147, -0.424, -0.0139, -0.0338, 0.9987, 0.1158, 1.1717, 0.9771, -0.5629, 0.0727, -0.0113, 0.754] state[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3471 right_y=0.0311 right_z=0.1977 right_yaw=0.0496 right_pitch=-0.1868 right_roll=-0.0422 right_gripper=0.754 state[joint_eff]: [-0.212, -1.7026, 6.9812, 1.7607, -0.0611, -0.0708, -0.0171, -0.3214, -5.3402, 9.6752, 1.9219, -0.0317, 0.0513, 1.0232] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.13, "right_z": 0.25}, "note": "Holding the green pear; moving over the blue bowl (up-left in the wrist view) to drop it in."})
tool
executing move_to over 9 steps (0.9s)
step 44
top_cam
camera top_cam step 44
left_cam
camera left_cam step 44
right_cam
camera right_cam step 44
assistant
agent noteThe blue bowl still shows beyond the fingertips in the wrist view, so I'm reaching 3 cm further out and lowering slightly before releasing the pear.
move_to
right_x0.4300right_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, 0.8135, 0.6147, -0.4248, -0.0139, -0.0334, 0.9987, 0.4301, 1.515, 1.4147, -0.7807, 0.2771, 0.1844, 0.7583] state[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1704 left_yaw=0.0016 left_pitch=-0.0561 left_roll=-0.0018 left_gripper=0.9987 right_x=0.3893 right_y=0.1294 right_z=0.2258 right_yaw=0.0753 right_pitch=-0.2697 right_roll=-0.0783 right_gripper=0.7583 state[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6679, -0.0415, -0.0757, -0.0122, -0.1436, -7.5692, 9.3333, 1.7753, 0.3101, 0.2466, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 44): [image omitted: streamed camera frame] camera 'left_cam' (step 44): [image omitted: streamed camera frame] camera 'right_cam' (step 44): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_z": 0.2}, "note": "The blue bowl still shows beyond the fingertips in the wrist view, so I'm reaching 3 cm further out and lowering slightly before releasing the pear."})
tool
executing move_to over 4 steps (0.4s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent notePrevious move fell short (x only 0.40); pushing further out over the blue bowl before releasing.
move_to
right_x0.4400right_z0.1900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.4313, -0.0139, -0.0338, 0.9987, 0.4026, 1.6012, 1.4143, -0.7643, 0.2569, 0.165, 0.7604] state[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1688 left_yaw=0.0018 left_pitch=-0.0637 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4024 right_y=0.1265 right_z=0.1933 right_yaw=0.0683 right_pitch=-0.3421 right_roll=-0.1004 right_gripper=0.7604 state[joint_eff]: [-0.1983, -1.3607, 6.9812, 1.7753, -0.0708, -0.0708, -0.0122, -0.1573, -8.9504, 7.3915, 1.7363, 0.1001, -0.0952, 0.9304] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.19}, "note": "Previous move fell short (x only 0.40); pushing further out over the blue bowl before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteArm won't extend past x≈0.40, so I'm lowering instead; as the tool descends the bowl should drop toward the jaw row in the wrist view, confirming the pear is over it.
move_to
right_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, 0.8173, 0.6147, -0.4328, -0.0139, -0.0334, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604] state[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1678 left_yaw=0.0016 left_pitch=-0.0679 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604 state[joint_eff]: [-0.0068, -1.5521, 7.0769, 1.6874, -0.0611, -0.0415, -0.0122, -0.1709, -9.0872, 7.4051, 1.6679, 0.1148, -0.0659, 0.9841] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12}, "note": "Arm won't extend past x\u22480.40, so I'm lowering instead; as the tool descends the bowl should drop toward the jaw row in the wrist view, confirming the pear is over it."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent noteThe right arm stopped tracking (identical state twice); backing off to a simpler, more upright pose to re-establish control.
move_to
right_x0.3600right_y0.1300right_z0.2500right_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, 0.8192, 0.6147, -0.4458, -0.0139, -0.0338, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1647 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604 state[joint_eff]: [0.0342, -1.5111, 7.2137, 1.8144, -0.0806, -0.0464, -0.0122, -0.253, -9.2786, 7.5419, 1.6484, 0.1148, -0.0513, 1.0037] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.13, "right_z": 0.25, "right_pitch": 0.0}, "note": "The right arm stopped tracking (identical state twice); backing off to a simpler, more upright pose to re-establish control."})
tool
executing move_to over 12 steps (1.2s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteArm is tracking again; moving forward and down toward the blue bowl to drop the pear in.
move_to
right_x0.4000right_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, 0.8249, 0.6147, -0.4496, -0.0135, -0.0334, 0.9987, 0.5278, 1.2877, 1.113, -0.5457, 0.3985, 0.165, 0.7604] state[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1624 left_yaw=0.0013 left_pitch=-0.0923 left_roll=-0.0012 left_gripper=0.9987 right_x=0.355 right_y=0.1318 right_z=0.2285 right_yaw=0.0953 right_pitch=-0.0892 right_roll=-0.1121 right_gripper=0.7604 state[joint_eff]: [-0.0068, -1.853, 6.9538, 1.746, -0.0269, -0.0269, -0.0171, 0.1436, -6.188, 7.2821, 2.1319, 0.3492, 0.0024, 0.9988] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_z": 0.13}, "note": "Arm is tracking again; moving forward and down toward the blue bowl to drop the pear in."})
tool
executing move_to over 7 steps (0.7s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteBlue bowl mouth is centered just above the jaw column; nudging 2.5 cm further out and slightly up so the pear hangs over the bowl's middle.
move_to
right_x0.4100right_y0.1350right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8261, 0.6147, -0.4541, -0.0139, -0.0334, 0.9987, 0.4568, 1.4868, 0.894, -0.2012, 0.3359, 0.1162, 0.7616] state[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3837 right_y=0.1277 right_z=0.1192 right_yaw=0.0977 right_pitch=-0.177 right_roll=-0.1383 right_gripper=0.7616 state[joint_eff]: [-0.1162, -1.4427, 6.9538, 1.6923, -0.0513, -0.0317, -0.0122, -0.4581, -6.3111, 6.8308, 1.8779, 0.2515, -0.022, 0.8962] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.135, "right_z": 0.14}, "note": "Blue bowl mouth is centered just above the jaw column; nudging 2.5 cm further out and slightly up so the pear hangs over the bowl's middle."})
tool
executing move_to over 3 steps (0.3s)
step 78
top_cam
camera top_cam step 78
left_cam
camera left_cam step 78
right_cam
camera right_cam step 78
assistant
agent notePear is over the blue bowl; opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8265, 0.6147, -0.4641, -0.0139, -0.0334, 0.9987, 0.4465, 1.557, 1.0019, -0.2573, 0.3222, 0.1036, 0.7648] state[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1592 left_yaw=0.0017 left_pitch=-0.1083 left_roll=-0.0005 left_gripper=0.9987 right_x=0.4012 right_y=0.134 right_z=0.1255 right_yaw=0.1044 right_pitch=-0.1986 right_roll=-0.1446 right_gripper=0.7648 state[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.7949, -0.0317, -0.0513, -0.0171, -0.7863, -7.1043, 8.5812, 1.5702, 0.2222, -0.0464, 0.6471] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 78): [image omitted: streamed camera frame] camera 'left_cam' (step 78): [image omitted: streamed camera frame] camera 'right_cam' (step 78): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pear is over the blue bowl; opening the gripper to drop it in."})
tool
executing move_to over 3 steps (0.3s)
step 81
top_cam
camera top_cam step 81
left_cam
camera left_cam step 81
right_cam
camera right_cam step 81
assistant
agent notePear released into the blue bowl; backing the arm off to see the result and to line up on the yellow lemon.
move_to
right_x0.3300right_y0.0500right_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, 0.8276, 0.6147, -0.4683, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.297, 0.3172, 0.0967, 0.9959] state[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1581 left_yaw=0.0017 left_pitch=-0.1137 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4015 right_y=0.133 right_z=0.1261 right_yaw=0.1061 right_pitch=-0.2209 right_roll=-0.1535 right_gripper=0.9959 state[joint_eff]: [-0.0205, -1.4701, 6.9402, 1.7265, -0.0562, -0.0464, -0.0122, -0.4444, -7.4325, 8.8684, 1.5849, 0.1587, 0.0806, -0.0708] camera 'top_cam' (step 81): [image omitted: streamed camera frame] camera 'left_cam' (step 81): [image omitted: streamed camera frame] camera 'right_cam' (step 81): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.05, "right_z": 0.25}, "note": "Pear released into the blue bowl; backing the arm off to see the result and to line up on the yellow lemon."})
tool
executing move_to over 8 steps (0.8s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
agent noteThe pear is in the blue bowl. Now moving over the yellow lemon, which sits just left of the bowl in the wrist view.
move_to
right_x0.3800right_y0.2200right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4698, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.2962, 0.3172, 0.0963, 0.9966] state[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1571 left_yaw=0.0017 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4016 right_y=0.133 right_z=0.1262 right_yaw=0.1064 right_pitch=-0.2202 right_roll=-0.1535 right_gripper=0.9966 state[joint_eff]: [-0.1573, -1.4564, 6.9402, 1.707, -0.0317, -0.0366, -0.0122, -0.4581, -7.4462, 8.5538, 1.619, 0.2125, 0.0171, 0.0562] camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.22, "right_z": 0.2}, "note": "The pear is in the blue bowl. Now moving over the yellow lemon, which sits just left of the bowl in the wrist view."})
tool
executing move_to over 8 steps (0.8s)
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 just left of the jaw column in the wrist view; descending onto it with a small left nudge.
move_to
right_x0.3900right_y0.2350right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8337, 0.6147, -0.4759, -0.0139, -0.0338, 0.9987, 0.7021, 1.6527, 1.396, -0.6476, 0.4377, 0.255, 0.9966] state[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9987 right_x=0.379 right_y=0.2272 right_z=0.1902 right_yaw=0.1757 right_pitch=-0.2327 right_roll=-0.1555 right_gripper=0.9966 state[joint_eff]: [-0.1573, -1.6889, 6.9538, 1.6874, -0.0366, -0.0757, -0.0122, -0.6359, -7.6786, 8.1709, 1.2088, 0.4567, 0.1978, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). 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": 0.39, "right_y": 0.235, "right_z": 0.08}, "note": "Lemon is just left of the jaw column in the wrist view; descending onto it with a small left nudge."})
tool
executing move_to over 8 steps (0.8s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe lemon sits well left of the jaw column in the wrist view; shifting the tool ~4 cm to the arm's left to center it.
move_to
right_y0.2700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6147, -0.4767, -0.0135, -0.0338, 0.9987, 0.6994, 1.7802, 1.1278, -0.2974, 0.4324, 0.2508, 0.9966] state[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1548 left_yaw=0.0016 left_pitch=-0.1286 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3821 right_y=0.2294 right_z=0.0819 right_yaw=0.1736 right_pitch=-0.2745 right_roll=-0.1782 right_gripper=0.9966 state[joint_eff]: [-0.0752, -1.4701, 6.9265, 1.6288, -0.0317, -0.0659, -0.0171, -0.3624, -8.1162, 6.0923, 1.5653, 0.1783, -0.022, -0.0122] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.27}, "note": "The lemon sits well left of the jaw column in the wrist view; shifting the tool ~4 cm to the arm's left to center it."})
tool
executing move_to over 4 steps (0.4s)
step 109
top_cam
camera top_cam step 109
left_cam
camera left_cam step 109
right_cam
camera right_cam step 109
assistant
agent noteLemon now centered on the jaw column but a few cm beyond the fingertips; advancing 3 cm and dropping to mid-lemon height.
move_to
right_x0.4100right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8379, 0.6147, -0.487, -0.0135, -0.0334, 0.9987, 0.7776, 1.8664, 1.2377, -0.3412, 0.4526, 0.2901, 0.9966] state[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1518 left_yaw=0.0014 left_pitch=-0.1427 left_roll=0.0 left_gripper=0.9987 right_x=0.3793 right_y=0.2701 right_z=0.0803 right_yaw=0.2115 right_pitch=-0.2794 right_roll=-0.1766 right_gripper=0.9966 state[joint_eff]: [-0.1162, -1.7436, 7.1043, 1.7363, -0.0513, -0.0415, -0.0122, -0.3897, -8.9094, 7.6239, 0.9939, 0.4762, 0.2955, -0.0122] camera 'top_cam' (step 109): [image omitted: streamed camera frame] camera 'left_cam' (step 109): [image omitted: streamed camera frame] camera 'right_cam' (step 109): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_z": 0.03}, "note": "Lemon now centered on the jaw column but a few cm beyond the fingertips; advancing 3 cm and dropping to mid-lemon height."})
tool
executing move_to over 4 steps (0.4s)
step 113
top_cam
camera top_cam step 113
left_cam
camera left_cam step 113
right_cam
camera right_cam step 113
assistant
agent noteLemon is now a bit right of the jaw center; shifting ~1.7 cm to the arm's right to straddle it before closing.
move_to
right_y0.2470
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8398, 0.6147, -0.4919, -0.0139, -0.0334, 0.9987, 0.728, 2.014, 1.2442, -0.2359, 0.4244, 0.2504, 0.9966] state[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1504 left_yaw=0.0018 left_pitch=-0.1495 left_roll=0.0004 left_gripper=0.9987 right_x=0.4003 right_y=0.2642 right_z=0.028 right_yaw=0.1999 right_pitch=-0.3264 right_roll=-0.202 right_gripper=0.9966 state[joint_eff]: [-0.1299, -1.5521, 7.0496, 1.6386, -0.0366, -0.0366, -0.0122, -0.3487, -10.9607, 5.4769, 1.5116, 0.2662, -0.0024, -0.0122] camera 'top_cam' (step 113): [image omitted: streamed camera frame] camera 'left_cam' (step 113): [image omitted: streamed camera frame] camera 'right_cam' (step 113): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.247}, "note": "Lemon is now a bit right of the jaw center; shifting ~1.7 cm to the arm's right to straddle it before closing."})
tool
executing move_to over 2 steps (0.2s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe small sideways nudge barely registered; commanding a larger 3 cm shift to the arm's right (and lifting slightly) so the jaws straddle the lemon.
move_to
right_y0.2320right_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, 0.8398, 0.6147, -0.4919, -0.0135, -0.0334, 0.9987, 0.7189, 2.0304, 1.2266, -0.1963, 0.4107, 0.2424, 0.9966] state[eef_state]: left_x=0.2821 left_y=-0.0002 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1495 left_roll=0.0002 left_gripper=0.9987 right_x=0.4021 right_y=0.2629 right_z=0.0187 right_yaw=0.207 right_pitch=-0.328 right_roll=-0.1937 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.3744, 7.1043, 1.5995, -0.0317, -0.0415, -0.0171, -0.5812, -13.1761, 5.2855, 1.2869, 0.188, -0.0611, -0.0171] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.232, "right_z": 0.035}, "note": "The small sideways nudge barely registered; commanding a larger 3 cm shift to the arm's right (and lifting slightly) so the jaws straddle the lemon."})
tool
executing move_to over 3 steps (0.3s)
step 118
top_cam
camera top_cam step 118
left_cam
camera left_cam step 118
right_cam
camera right_cam step 118
assistant
agent noteSideways moves are being resisted near the table; lifting to 14 cm and repositioning 3 cm to the arm's right, then I'll descend again onto the lemon.
move_to
right_z0.1400right_y0.2250right_x0.3900
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, 0.8444, 0.6147, -0.4946, -0.0135, -0.0334, 0.9987, 0.7105, 2.0274, 1.2179, -0.2184, 0.4103, 0.2352, 0.9966] state[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1487 left_yaw=0.0015 left_pitch=-0.1568 left_roll=0.0004 left_gripper=0.9987 right_x=0.3989 right_y=0.255 right_z=0.0144 right_yaw=0.1981 right_pitch=-0.3532 right_roll=-0.2126 right_gripper=0.9966 state[joint_eff]: [-0.0479, -1.6342, 6.9265, 1.5897, -0.0415, -0.0464, -0.0122, -0.0205, -13.1624, 5.7641, 1.1795, 0.1734, -0.0317, -0.0122] camera 'top_cam' (step 118): [image omitted: streamed camera frame] camera 'left_cam' (step 118): [image omitted: streamed camera frame] camera 'right_cam' (step 118): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14, "right_y": 0.225, "right_x": 0.39}, "note": "Sideways moves are being resisted near the table; lifting to 14 cm and repositioning 3 cm to the arm's right, then I'll descend again onto the lemon."})
tool
executing move_to over 9 steps (0.9s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteLemon is centered on the jaw column; advancing 2 cm and descending to grasp height.
move_to
right_x0.4200right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8455, 0.6147, -0.498, -0.0139, -0.0338, 0.9987, 0.6727, 1.8503, 1.343, -0.477, 0.3813, 0.1989, 0.9966] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1478 left_yaw=0.002 left_pitch=-0.1613 left_roll=0.0004 left_gripper=0.9987 right_x=0.4029 right_y=0.2415 right_z=0.1043 right_yaw=0.2111 right_pitch=-0.3303 right_roll=-0.1918 right_gripper=0.9966 state[joint_eff]: [-0.1162, -1.5658, 6.9128, 1.6044, -0.0513, -0.0757, -0.0171, -0.2667, -10.7145, 7.6513, 1.1355, 0.2271, -0.0366, -0.0122] camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_z": 0.03}, "note": "Lemon is centered on the jaw column; advancing 2 cm and descending to grasp height."})
tool
executing move_to over 5 steps (0.5s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteLemon fills the wrist view right at the jaws; closing to grasp it.
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, 0.8471, 0.6147, -0.4984, -0.0139, -0.0338, 0.9987, 0.6502, 2.009, 1.2324, -0.3191, 0.3611, 0.1814, 0.9966] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1632 left_roll=0.0005 left_gripper=0.9987 right_x=0.3989 right_y=0.2295 right_z=0.013 right_yaw=0.1952 right_pitch=-0.4399 right_roll=-0.2391 right_gripper=0.9966 state[joint_eff]: [0.0479, -1.5795, 7.0496, 1.5653, -0.0513, -0.0757, -0.0122, -0.6359, -10.7966, 6.3521, 1.5653, 0.149, -0.0562, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Lemon fills the wrist view right at the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThe close was empty — the lemon sits just beyond the fingertips; reopening and reaching 5 cm further out.
move_to
right_gripper1.0000right_x0.4500right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8471, 0.6147, -0.4984, -0.0139, -0.0334, 0.9987, 0.6506, 2.0113, 1.227, -0.3191, 0.3611, 0.1745, 0.0546] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.0018 left_pitch=-0.1632 left_roll=0.0008 left_gripper=0.9987 right_x=0.3972 right_y=0.2284 right_z=0.0103 right_yaw=0.198 right_pitch=-0.4477 right_roll=-0.2469 right_gripper=0.0546 state[joint_eff]: [-0.0889, -1.4974, 6.9538, 1.5604, -0.0562, -0.0513, -0.0122, -0.0479, -10.5915, 6.1744, 1.1306, 0.1685, 0.0415, -0.0122] approver: 1 step(s) modified (delta_clamped). 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, "right_x": 0.45, "right_z": 0.02}, "note": "The close was empty \u2014 the lemon sits just beyond the fingertips; reopening and reaching 5 cm further out."})
tool
executing move_to over 10 steps (1.0s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteNow the lemon sits between the jaws in the wrist view; closing to grasp.
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, 0.8471, 0.6147, -0.4992, -0.0139, -0.0334, 0.9987, 0.5854, 2.1204, 1.4292, -0.4076, 0.3229, 0.0959, 0.9956] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1472 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4398 right_y=0.2286 right_z=0.0157 right_yaw=0.2119 right_pitch=-0.4678 right_roll=-0.2561 right_gripper=0.9956 state[joint_eff]: [-0.1436, -1.4701, 7.0222, 1.5507, -0.022, -0.0708, -0.0122, -0.8821, -10.4137, 7.8154, 1.1404, 0.1636, 0.1001, -0.1441] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Now the lemon sits between the jaws in the wrist view; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 162
top_cam
camera top_cam step 162
assistant
agent noteSecond close was empty and nudged the lemon further to the arm's left; reopening and repositioning 3 cm left and 2 cm further out.
move_to
right_gripper1.0000right_y0.2580right_x0.4600right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8474, 0.6147, -0.4988, -0.0139, -0.0334, 0.9987, 0.5854, 2.1227, 1.4342, -0.4194, 0.3164, 0.0887, 0.0547] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1471 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4384 right_y=0.229 right_z=0.0147 right_yaw=0.2201 right_pitch=-0.4795 right_roll=-0.2579 right_gripper=0.0547 state[joint_eff]: [-0.1846, -1.306, 6.9128, 1.6288, -0.0317, -0.022, -0.0122, -0.0615, -11.7538, 5.6274, 1.2332, 0.232, 0.0464, -0.0562] camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.258, "right_x": 0.46, "right_z": 0.03}, "note": "Second close was empty and nudged the lemon further to the arm's left; reopening and repositioning 3 cm left and 2 cm further out."})
tool
executing move_to over 10 steps (1.0s)
step 172
assistant
agent noteLemon is centered between the jaws but a touch forward; creeping 1.5 cm out and down before closing.
move_to
right_x0.4750right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8528, 0.6147, -0.5129, -0.0135, -0.0338, 0.9987, 0.6117, 2.2063, 1.6341, -0.5671, 0.313, 0.0925, 0.9957] state[eef_state]: left_x=0.2791 left_y=-0.0001 left_z=0.1432 left_yaw=0.0018 left_pitch=-0.1835 left_roll=0.0007 left_gripper=0.9987 right_x=0.4506 right_y=0.254 right_z=0.0261 right_yaw=0.2412 right_pitch=-0.5092 right_roll=-0.2653 right_gripper=0.9957 state[joint_eff]: [-0.0205, -1.894, 6.9675, 1.7411, -0.0269, -0.0024, -0.0122, 0.1026, -10.4, 8.7863, 1.2283, 0.2515, 0.1245, -0.1148] camera 'top_cam' (step 172): [image omitted: streamed camera frame] camera 'left_cam' (step 172): [image omitted: streamed camera frame] camera 'right_cam' (step 172): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_z": 0.02}, "note": "Lemon is centered between the jaws but a touch forward; creeping 1.5 cm out and down before closing."})
tool
executing move_to over 2 steps (0.2s)
step 174
assistant
agent noteLemon is between the jaws; closing to grasp.
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, 0.8528, 0.6147, -0.5156, -0.0135, -0.0334, 0.9987, 0.6048, 2.2501, 1.7077, -0.6006, 0.3023, 0.0742, 0.9966] state[eef_state]: left_x=0.2786 left_y=-0.0001 left_z=0.1427 left_yaw=0.0016 left_pitch=-0.1861 left_roll=0.0011 left_gripper=0.9987 right_x=0.4602 right_y=0.2586 right_z=0.0252 right_yaw=0.2541 right_pitch=-0.5188 right_roll=-0.2665 right_gripper=0.9966 state[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5897, 0.0024, -0.0269, -0.0171, -1.6342, -11.6718, 6.9949, 1.0085, 0.2027, 0.022, 0.0708] camera 'top_cam' (step 174): [image omitted: streamed camera frame] camera 'left_cam' (step 174): [image omitted: streamed camera frame] camera 'right_cam' (step 174): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.05}, "note": "Lemon is between the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 184
assistant
agent noteThird empty close — the lemon keeps sitting just past the fingertips, so reopening and pushing 3 cm further out at table level.
move_to
right_gripper1.0000right_x0.4900
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, 0.8539, 0.6147, -0.5205, -0.0135, -0.0338, 0.9987, 0.6048, 2.2852, 1.7149, -0.6052, 0.2935, 0.0666, 0.0541] state[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1415 left_yaw=0.0018 left_pitch=-0.1922 left_roll=0.0009 left_gripper=0.9987 right_x=0.4578 right_y=0.2586 right_z=0.0091 right_yaw=0.2601 right_pitch=-0.5532 right_roll=-0.2746 right_gripper=0.0541 state[joint_eff]: [-0.212, -1.5795, 6.8991, 1.6337, -0.0122, -0.0708, -0.0122, -0.1299, -15.5282, 5.5043, 1.0672, 0.2076, 0.0513, 0.1441] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.49}, "note": "Third empty close \u2014 the lemon keeps sitting just past the fingertips, so reopening and pushing 3 cm further out at table level."})
tool
executing move_to over 10 steps (1.0s)
step 194
assistant
agent noteLemon now fills the jaw opening; closing 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, 0.8539, 0.6147, -0.5209, -0.0139, -0.0334, 0.9987, 0.5755, 2.3611, 1.8732, -0.6846, 0.2749, 0.0147, 0.9956] state[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1414 left_yaw=0.002 left_pitch=-0.1926 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2595 right_z=0.0147 right_yaw=0.2804 right_pitch=-0.5635 right_roll=-0.2811 right_gripper=0.9956 state[joint_eff]: [-0.1709, -1.347, 7.0359, 1.536, -0.0317, -0.0757, -0.0122, -0.9778, -10.9197, 8.2393, 1.0867, 0.149, 0.1197, -0.1148] camera 'top_cam' (step 194): [image omitted: streamed camera frame] camera 'left_cam' (step 194): [image omitted: streamed camera frame] camera 'right_cam' (step 194): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Lemon now fills the jaw opening; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 203
assistant
agent noteGripper settled at 0.32 (~3 cm) with high effort, suggesting the lemon is held; lifting to verify.
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, 0.8539, 0.6147, -0.5205, -0.0139, -0.0334, 0.9987, 0.5739, 2.3676, 1.8778, -0.6868, 0.2714, 0.0067, 0.3153] state[eef_state]: left_x=0.2778 left_y=-0.0 left_z=0.1415 left_yaw=0.002 left_pitch=-0.1922 left_roll=0.0015 left_gripper=0.9987 right_x=0.4818 right_y=0.2594 right_z=0.0125 right_yaw=0.2863 right_pitch=-0.5696 right_roll=-0.283 right_gripper=0.3153 state[joint_eff]: [-0.0479, -1.5111, 7.0222, 1.5507, -0.0659, -0.0366, -0.0122, -0.0752, -14.106, 5.8735, 0.9939, 0.105, 0.0317, 0.9109] approver: 9 step(s) modified (delta_clamped ×9). camera 'top_cam' (step 203): [image omitted: streamed camera frame] camera 'left_cam' (step 203): [image omitted: streamed camera frame] camera 'right_cam' (step 203): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2}, "note": "Gripper settled at 0.32 (~3 cm) with high effort, suggesting the lemon is held; lifting to verify."})
tool
executing move_to over 13 steps (1.3s)
step 216
assistant
agent noteMango is firmly held; the blue bowl shows at the lower right of the wrist view, so I'm moving right and slightly back to hover over it.
move_to
right_x0.4400right_y0.1900right_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, 0.8577, 0.6147, -0.5285, -0.0139, -0.0338, 0.9987, 0.5766, 2.5774, 2.8979, -1.5074, 0.2638, -0.0086, 0.3148] state[eef_state]: left_x=0.2765 left_y=-0.0 left_z=0.1391 left_yaw=0.0022 left_pitch=-0.2041 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2625 right_z=0.1643 right_yaw=0.3038 right_pitch=-0.5838 right_roll=-0.2861 right_gripper=0.3148 state[joint_eff]: [-0.0342, -1.7846, 6.9265, 1.6044, -0.0659, -0.0513, -0.0122, -0.6222, -16.9641, 8.1299, 1.0379, 0.1538, 0.0952, 0.2906] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.19, "right_z": 0.22}, "note": "Mango is firmly held; the blue bowl shows at the lower right of the wrist view, so I'm moving right and slightly back to hover over it."})
tool
executing move_to over 7 steps (0.7s)
step 223
assistant
agent noteArm was resisting at full extension; retracting toward the blue bowl's estimated position (x 0.40, y 0.15) at carry height.
move_to
right_x0.4000right_y0.1500right_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, 0.8585, 0.6147, -0.5358, -0.0135, -0.0338, 0.9987, 0.572, 2.5816, 2.9593, -1.5837, 0.2562, -0.0273, 0.3186] state[eef_state]: left_x=0.2753 left_y=-0.0001 left_z=0.1376 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0014 left_gripper=0.9987 right_x=0.4723 right_y=0.2551 right_z=0.1734 right_yaw=0.315 right_pitch=-0.607 right_roll=-0.2931 right_gripper=0.3186 state[joint_eff]: [-0.1983, -1.388, 6.9128, 1.6581, -0.0464, -0.0562, -0.0122, -0.4991, -12.7932, 6.8581, 1.0867, 0.1197, 0.0562, 0.3883] camera 'top_cam' (step 223): [image omitted: streamed camera frame] camera 'left_cam' (step 223): [image omitted: streamed camera frame] camera 'right_cam' (step 223): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.15, "right_z": 0.25}, "note": "Arm was resisting at full extension; retracting toward the blue bowl's estimated position (x 0.40, y 0.15) at carry height."})
tool
executing move_to over 9 steps (0.9s)
step 232
assistant
agent noteTop view confirms the pear is already in the blue bowl; lowering the mango over the bowl centre before releasing.
move_to
right_x0.4100right_y0.1400right_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, 0.8631, 0.6147, -0.5388, -0.0139, -0.0338, 0.9987, 0.4263, 1.9465, 2.2475, -1.3979, 0.2199, -0.1406, 0.3215] state[eef_state]: left_x=0.2749 left_y=0.0 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2197 left_roll=0.0019 left_gripper=0.9987 right_x=0.4184 right_y=0.1516 right_z=0.2719 right_yaw=0.2876 right_pitch=-0.524 right_roll=-0.2876 right_gripper=0.3215 state[joint_eff]: [-0.0889, -1.4154, 6.8581, 1.5604, -0.0513, -0.0806, -0.0171, 1.265, -5.9145, 5.1624, 1.7949, -0.0757, -0.0073, 0.2906] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.14, "right_z": 0.18}, "note": "Top view confirms the pear is already in the blue bowl; lowering the mango over the bowl centre before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 238
assistant
agent noteMango is over the blue bowl; opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.865, 0.6147, -0.5423, -0.0139, -0.0334, 0.9987, 0.4091, 1.8027, 1.6344, -1.0462, 0.2073, -0.1585, 0.3236] state[eef_state]: left_x=0.2743 left_y=0.0 left_z=0.1348 left_yaw=0.0021 left_pitch=-0.225 left_roll=0.0023 left_gripper=0.9987 right_x=0.3956 right_y=0.1358 right_z=0.1595 right_yaw=0.2839 right_pitch=-0.6449 right_roll=-0.3014 right_gripper=0.3236 state[joint_eff]: [-0.0889, -1.6889, 6.8581, 1.6093, -0.0659, -0.0269, -0.0122, -0.3487, -11.7812, 7.4051, 1.4628, 0.0806, -0.0317, 0.2125] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 238): [image omitted: streamed camera frame] camera 'left_cam' (step 238): [image omitted: streamed camera frame] camera 'right_cam' (step 238): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Mango is over the blue bowl; opening the gripper to drop it in."})
tool
executing move_to over 7 steps (0.7s)
step 245
assistant
agent noteThe mango bounced out onto the table, but the pear is in the blue bowl; with the budget nearly spent I'll do the pour: positioning over the far-left rim of the blue bowl to grip it.
move_to
right_x0.4000right_y0.2150right_z0.0900right_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, 0.8669, 0.6147, -0.543, -0.0135, -0.0334, 0.9987, 0.4103, 1.7855, 1.57, -0.9878, 0.2081, -0.1665, 0.9956] state[eef_state]: left_x=0.2742 left_y=-0.0 left_z=0.1342 left_yaw=0.0018 left_pitch=-0.2277 left_roll=0.0021 left_gripper=0.9987 right_x=0.3942 right_y=0.1356 right_z=0.1496 right_yaw=0.2904 right_pitch=-0.6351 right_roll=-0.3043 right_gripper=0.9956 state[joint_eff]: [-0.0615, -1.7162, 7.0632, 1.5653, -0.0464, -0.0513, -0.0122, 0.0205, -10.8376, 6.2291, 0.9744, 0.1148, 0.0317, -0.1636] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 245): [image omitted: streamed camera frame] camera 'left_cam' (step 245): [image omitted: streamed camera frame] camera 'right_cam' (step 245): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.215, "right_z": 0.09, "right_gripper": 1}, "note": "The mango bounced out onto the table, but the pear is in the blue bowl; with the budget nearly spent I'll do the pour: positioning over the far-left rim of the blue bowl to grip it."})
tool
executing move_to over 7 steps (0.7s)
step 252
assistant
agent noteBlue bowl sits to the right of the jaws in the wrist view; shifting 2 cm right and dropping to rim height to grip the bowl's left rim.
move_to
right_y0.1850right_z0.0500right_x0.4100
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, 0.8696, 0.6147, -0.5541, -0.0139, -0.0334, 0.9987, 0.5808, 1.94, 1.5211, -0.8303, 0.2611, -0.0326, 0.9987] state[eef_state]: left_x=0.2723 left_y=0.0001 left_z=0.1316 left_yaw=0.0022 left_pitch=-0.2414 left_roll=0.0027 left_gripper=0.9987 right_x=0.3905 right_y=0.206 right_z=0.0851 right_yaw=0.3141 right_pitch=-0.6483 right_roll=-0.3149 right_gripper=0.9987 state[joint_eff]: [-0.1983, -1.6068, 6.8718, 1.5849, -0.0659, -0.0464, -0.0122, 0.4444, -9.935, 8.7179, 0.8278, 0.2662, 0.2173, -0.149] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.185, "right_z": 0.05, "right_x": 0.41}, "note": "Blue bowl sits to the right of the jaws in the wrist view; shifting 2 cm right and dropping to rim height to grip the bowl's left rim."})
tool
executing move_to over 3 steps (0.3s)
step 255
assistant
agent noteRim still right of the jaw column; shifting 2 cm further right so the jaws straddle the bowl's near-left rim.
move_to
right_y0.1630right_z0.0450
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, 0.8696, 0.6147, -0.5549, -0.0135, -0.0334, 0.9987, 0.5297, 1.9507, 1.3865, -0.6907, 0.2489, -0.0753, 0.9986] state[eef_state]: left_x=0.2722 left_y=0.0 left_z=0.1315 left_yaw=0.0019 left_pitch=-0.2422 left_roll=0.0024 left_gripper=0.9987 right_x=0.3929 right_y=0.1837 right_z=0.0477 right_yaw=0.3019 right_pitch=-0.6639 right_roll=-0.3217 right_gripper=0.9986 state[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.4921, -0.0611, -0.0659, -0.0122, -0.212, -9.4564, 6.7897, 1.1209, 0.1343, 0.2222, -0.022] camera 'top_cam' (step 255): [image omitted: streamed camera frame] camera 'left_cam' (step 255): [image omitted: streamed camera frame] camera 'right_cam' (step 255): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.163, "right_z": 0.045}, "note": "Rim still right of the jaw column; shifting 2 cm further right so the jaws straddle the bowl's near-left rim."})
tool
executing move_to over 2 steps (0.2s)
step 257
assistant
agent notePartial success: I picked the green pear and placed it in the blue bowl, then picked the yellow mango but it bounced out of the bowl on release. A dark plum remains on the table on the left side, and I ran out of call budget before grasping the blue bowl to pour it into the white bowl.
done
hindsightKey lessons on this rig: (1) The right arm frequently stops tracking small Cartesian deltas, especially lateral (y) moves near the table and at x>0.40 with large induced pitch — a repeated identical readback means you must retract/raise and re-approach with a large delta, not re-send. (2) Wrist-camera depth is very deceptive here: objects that look like they are between the jaws are often 3-5 cm beyond the fingertips; I needed three empty closes before reaching x=0.49 to grasp a lemon whose overhead estimate was x≈0.40. Bias radial estimates outward. (3) Top-cam mapping that worked: right_y ≈ (195 - img_x)/2.54 cm, i.e. ~2.5 px/cm horizontally in the far half; image row ~85 ≈ x 0.40, row ~115 ≈ x 0.33. (4) Release fruit no more than ~3-4 cm above the bowl interior and near its centre, otherwise it bounces out. (5) The white bowl (right_y≈0.49) is out of the right arm's reach, so pouring requires handing the blue bowl over or using the left arm; plan the arm assignment before spending calls. (6) Budget: each grasp took ~6-8 calls; 40 calls is not enough for 3 fruits plus a pour unless moves are combined aggressively.
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, 0.8696, 0.6147, -0.5552, -0.0139, -0.0334, 0.9987, 0.514, 1.9583, 1.3769, -0.6254, 0.2493, -0.0982, 0.9986] state[eef_state]: left_x=0.2721 left_y=0.0001 left_z=0.1315 left_yaw=0.0022 left_pitch=-0.2426 left_roll=0.0027 left_gripper=0.9987 right_x=0.4057 right_y=0.1831 right_z=0.0467 right_yaw=0.3082 right_pitch=-0.6208 right_roll=-0.3198 right_gripper=0.9986 state[joint_eff]: [-0.2256, -1.5521, 6.9402, 1.5165, -0.0171, -0.0464, -0.0171, -0.212, -10.1812, 6.2291, 1.0916, 0.1392, -0.105, -0.0073] 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
done({"summary": "Partial success: I picked the green pear and placed it in the blue bowl, then picked the yellow mango but it bounced out of the bowl on release. A dark plum remains on the table on the left side, and I ran out of call budget before grasping the blue bowl to pour it into the white bowl.", "hindsight": "Key lessons on this rig: (1) The right arm frequently stops tracking small Cartesian deltas, especially lateral (y) moves near the table and at x>0.40 with large induced pitch \u2014 a repeated identical readback means you must retract/raise and re-approach with a large delta, not re-send. (2) Wrist-camera depth is very deceptive here: objects that look like they are between the jaws are often 3-5 cm beyond the fingertips; I needed three empty closes before reaching x=0.49 to grasp a lemon whose overhead estimate was x\u22480.40. Bias radial estimates outward. (3) Top-cam mapping that worked: right_y \u2248 (195 - img_x)/2.54 cm, i.e. ~2.5 px/cm horizontally in the far half; image row ~85 \u2248 x 0.40, row ~115 \u2248 x 0.33. (4) Release fruit no more than ~3-4 cm above the bowl interior and near its centre, otherwise it bounces out. (5) The white bowl (right_y\u22480.49) is out of the right arm's reach, so pouring requires handing the blue bowl over or using the left arm; plan the arm assignment before spending calls. (6) Budget: each grasp took ~6-8 calls; 40 calls is not enough for 3 fruits plus a pour unless moves are combined aggressively."})
tool
done: Partial success: I picked the green pear and placed it in the blue bowl, then picked the yellow mango but it bounced out of the bowl on release. A dark plum remains on the table on the left side, and I ran out of call budget before grasping the blue bowl to pour it into the white bowl.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 23.09 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, 0.6144, -0.3817, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6186, -0.3874, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0004 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.7983, 9.4974, 1.7949, -0.1099, 0.1148, -0.1392, -0.1983, -1.7846, 9.347, 1.8974, -0.0562, 0.1636, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e41b77c104ac4fa1b5f5f2cbf61f53f72f0163edfb1a8e57b1c3b3d11e2b757f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3034f7f6def9dcf49d90dd2845a3dfb34568be94f8f66d3c32390b25c9b4efa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:291c5433f148611f13cdd08b54aa44f5109b9b69a3d94735ab1f1febe872dea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 8.282 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, 0.6144, -0.3817, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6186, -0.3874, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0004 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.7983, 9.4974, 1.7949, -0.1099, 0.1148, -0.1392, -0.1983, -1.7846, 9.347, 1.8974, -0.0562, 0.1636, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e41b77c104ac4fa1b5f5f2cbf61f53f72f0163edfb1a8e57b1c3b3d11e2b757f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3034f7f6def9dcf49d90dd2845a3dfb34568be94f8f66d3c32390b25c9b4efa9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:291c5433f148611f13cdd08b54aa44f5109b9b69a3d94735ab1f1febe872dea2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01M9Fv5ghxroT2oGzYMmmMyz",
      "input": {
        "note": "Two lemons sit in front of the right arm with the blue bowl beyond them; I'm moving the right gripper above the nearer lemon to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.33,
          "right_y": 0.04,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01M9Fv5ghxroT2oGzYMmmMyz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6151, -0.3862, -0.0139, -0.0307, 0.9987, 0.2001, 1.021, 0.5652, -0.1596, 0.1532, 0.0647, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3264 right_y=0.0424 right_z=0.142 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0085, 1.7705, -0.0366, 0.0073, -0.022, -0.1573, -3.5214, 6.8034, 2.0098, 0.1783, 0.1538, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25a51751a45a22e902b4feb4f93fce4b8dc9c45d87075ec5ca0eb19712cc07b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d710b0a92bf8f4bb588dd6b276392ebd616f152d09ff1a5512e6001e202e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9f31019abcdb7ff9d8a81dc1e51e198987b7a1b37c6af8691c0587793fe48fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 4.596 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, 0.6144, -0.3817, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6186, -0.3874, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0004 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.7983, 9.4974, 1.7949, -0.1099, 0.1148, -0.1392, -0.1983, -1.7846, 9.347, 1.8974, -0.0562, 0.1636, -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, 0.8021, 0.6151, -0.3862, -0.0139, -0.0307, 0.9987, 0.2001, 1.021, 0.5652, -0.1596, 0.1532, 0.0647, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3264 right_y=0.0424 right_z=0.142 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0085, 1.7705, -0.0366, 0.0073, -0.022, -0.1573, -3.5214, 6.8034, 2.0098, 0.1783, 0.1538, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b25a51751a45a22e902b4feb4f93fce4b8dc9c45d87075ec5ca0eb19712cc07b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7d710b0a92bf8f4bb588dd6b276392ebd616f152d09ff1a5512e6001e202e08",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 4):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f31019abcdb7ff9d8a81dc1e51e198987b7a1b37c6af8691c0587793fe48fbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQcKjgEIEhgCKkAUcCUm1CHvJiQ0Ddm/hq6hDOtnLrBLgHjZOqZU2bTvD4o8799qyG0up9GQe8LQ5mkooYu+wTcVX2KHUehrXqQNMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfz2y9UGEgz3tMsJSU4Sw92nCf0aDKWY1LIK08ViEmT+XCIwydyUpW3crCva83Q7crGn17Q9RUBsbktq+7Sc7uDjzpb9aE1ESPqUIoj8z0tcWzWMKr8FBvcairtl0b3CjVKdqWRdZr+SpEH2CgAptAVdU/s4SpJ/ObA8WAHQgzsSAtewdX8Agc8+2MUwsV8guJ8bhWYWjuEnVan/8hIAfGdtCs78eW5aX6c5HBfijoJda+kecKZUBwxEoQV33kZ/9A2HbWKvAQ7e/xaWgXjPC63fNc2cnWzVEIFCSlydMMTKlKJxnrWkd+KhPCmSe9EXQqTXC2AOBi9anYqMWH9qlVX5SZsFFPvjBcOqEqg4CazeNpenJs+EUBBmeeLvUGLKQjVWyakrIYl5W46cihpHeI25AWgaL9MxF+mJiSypRzIdnAcXLZ9LhMDwxG8lt7V2QyjvAilpAa84z/fTCYckh+mzXXXsgDMCXlKf2uzXfJv7IMcJIg/m6hpDs6skr40pGF+0DIBMJU27qEyoLRpZiBfHJjKmLKd1un6sYdBbXt4dRRUcthfg7fdAHIlEZa54b29y2IGhNwaOzVTgUxkiTCfVY3nPWYIKYdCE2SZarSNNaLiy3kxlzHhfKVYml/ATGfT8Qov9IGcQnD9sVkPBvrX7brUnScwXO3+U73+bNbQYDzkmQ5DlSLffGOYKja/Lyy4tLBXg7FMwaM1l1tagcpLFhSVRvgX4Fudg9fUW08hj2EtMKCBfA6psFAbKfgpJDakh/lQIUfjZSS0VxWUvTFjJZOTodOioMJFxnqrsZyun0Ciou6GBXxMe24e4OHqElmO9h0PZ89hVhyTze4nxOsJyB4PzrT1yRA5UdKBnK1nxZtA1d74pKeJKg+G9PwDLBMVYfr4lgHiHtaTAn4O2DQQSTgGD8dv6dtobM0U3T18hd7k5gvxP9MzMFa/vdLZKPkYPX1KB8F/SiPSfRoDcJyV6T+iTRHEclLDyV0+xyp0K97bMDwGQo+qibPcY81VMc9X+mENAE5xfyeY5J8Rb7j6WYt8dUxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EGx3dWREKXCBPau6sr6qHK",
      "input": {
        "note": "Wrist view shows the near lemon just right of the jaw column and a bit short of the fingertips; advancing 2 cm radially, 1 cm right and descending to 8 cm.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.03,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01EGx3dWREKXCBPau6sr6qHK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6147, -0.4004, -0.0139, -0.0334, 0.9987, 0.1215, 1.2755, 0.4267, 0.205, 0.0879, 0.0151, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=0.0015 left_pitch=-0.024 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3459 right_y=0.0302 right_z=0.0728 right_yaw=0.0292 right_pitch=-0.0722 right_roll=-0.0227 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.6342, 7.0222, 1.8828, -0.0366, -0.0366, -0.0122, -0.1162, -4.6017, 5.9556, 1.9609, -0.0513, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84513c6c1c23fef47ca991d35be81d94f953a307538047f771aa2dad88d98495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73fbdea56db7699563986aba35845701041a059d7b13bbf84c5ed7d87b2335e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bbb43c8b3b316642c334b7d1a17a73707f3fac9138ae7f2cc4954b59571bc77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 7.784 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, 0.6144, -0.3817, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6186, -0.3874, -0.0174, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2962 left_y=-0.0004 left_z=0.1827 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.296 right_y=-0.0001 right_z=0.1834 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.1983, -1.7983, 9.4974, 1.7949, -0.1099, 0.1148, -0.1392, -0.1983, -1.7846, 9.347, 1.8974, -0.0562, 0.1636, -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, 0.8021, 0.6151, -0.3862, -0.0139, -0.0307, 0.9987, 0.2001, 1.021, 0.5652, -0.1596, 0.1532, 0.0647, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3264 right_y=0.0424 right_z=0.142 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0085, 1.7705, -0.0366, 0.0073, -0.022, -0.1573, -3.5214, 6.8034, 2.0098, 0.1783, 0.1538, -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, 0.8059, 0.6147, -0.4004, -0.0139, -0.0334, 0.9987, 0.1215, 1.2755, 0.4267, 0.205, 0.0879, 0.0151, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=0.0015 left_pitch=-0.024 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3459 right_y=0.0302 right_z=0.0728 right_yaw=0.0292 right_pitch=-0.0722 right_roll=-0.0227 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.6342, 7.0222, 1.8828, -0.0366, -0.0366, -0.0122, -0.1162, -4.6017, 5.9556, 1.9609, -0.0513, -0.0122, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84513c6c1c23fef47ca991d35be81d94f953a307538047f771aa2dad88d98495",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73fbdea56db7699563986aba35845701041a059d7b13bbf84c5ed7d87b2335e5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbb43c8b3b316642c334b7d1a17a73707f3fac9138ae7f2cc4954b59571bc77a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISygQKjgEIEhgCKkDh9WSGZkTUEj4vkTYpq9xnkfpjRzXGURz+YOprAdo4lj+cqRqPDMXMWcYiyEcGkqoYWJ3nAuQKIBXlm8F2vqNsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYX3y9UGEgw7tSCDIvFwNNVE2TAaDKnuPH/DDMWh1UpCmCIwLJg3uPz/+e2hhcFl2IHJgdjevQcnbFg4L2eP0D7U+wFzs3Wrk0g/7ttCBnqDBEi3KugCshPqDnSsbCC1HHDcCWlEt7MQZ2uYJbAq2dNMq+ZAR6dXDSnXjirJm24rcmQPFJsZPC1OtD269BSv1EDvyNC+Zn8mfuvf36xBV/k0IXRrIJFhHrk7INhkz5SkbEASRB9iWSKzBnTay2KZf8mBN1frpHXyo+iSUIa17kmR3cpUb5/DxsY2yJqKK+M/R7XkYwV5cY0B1hzS4ViJBMSQh9hiV+afWvFetB2aH0or2Xr+kWwuiVLqcMjLADW0kwL0wXdypwr6IcuV8CB4R1JmvTqbrMcz+QWfI5KrNXTtLuQJVHKPvbpP+1aIUjIcLZyU/9S+lYczu6SIPV2Rq6zMKN5nDeh9UEYulotuYuk7CjcUFrPbXVuQYHimz40BewHNI6u1y4ZxzPACzWk/PIfCgNydcfwI82Dh0KIWsvdOB+XJOyzNK29Jr3usbtstP0zOrd9hGHxCmBL9jjetRZMkPp+zlWV+No3e9BVYGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BJco2z14UiS8J6rgKugV4C",
      "input": {
        "note": "Lemon is centered on the jaw column and close; descending to mid-lemon height to grasp.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.03,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BJco2z14UiS8J6rgKugV4C",
      "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, 0.8085, 0.6147, -0.4084, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4603, 0.0734, 0.0074, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1751 left_yaw=0.0015 left_pitch=-0.0347 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3531 right_y=0.0316 right_z=0.0202 right_yaw=0.0395 right_pitch=-0.1187 right_roll=-0.0236 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.4564, 7.2, 1.8339, -0.0269, -0.0171, -0.0122, -0.5675, -5.6274, 4.9846, 2.0, 0.0269, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bc8b88513fdedb6923445f28b12cab6a073498a28e1bc49378087ff67f0f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1e53318a95ecb879ea83d7c3d5dc5633c19051044eab63bfbcb7961feefbf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1a78546ee7eedf69711df0f61f3dc220e85facb1229ac5c883a82fca6c7e5b80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 8.784 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, 0.8021, 0.6151, -0.3862, -0.0139, -0.0307, 0.9987, 0.2001, 1.021, 0.5652, -0.1596, 0.1532, 0.0647, 0.9994]\nstate[eef_state]: left_x=0.2958 left_y=-0.0004 left_z=0.1816 left_yaw=0.0001 left_pitch=-0.0057 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3264 right_y=0.0424 right_z=0.142 right_yaw=0.0264 right_pitch=-0.0385 right_roll=-0.0168 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.3744, 7.0085, 1.7705, -0.0366, 0.0073, -0.022, -0.1573, -3.5214, 6.8034, 2.0098, 0.1783, 0.1538, -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, 0.8059, 0.6147, -0.4004, -0.0139, -0.0334, 0.9987, 0.1215, 1.2755, 0.4267, 0.205, 0.0879, 0.0151, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=0.0015 left_pitch=-0.024 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3459 right_y=0.0302 right_z=0.0728 right_yaw=0.0292 right_pitch=-0.0722 right_roll=-0.0227 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.6342, 7.0222, 1.8828, -0.0366, -0.0366, -0.0122, -0.1162, -4.6017, 5.9556, 1.9609, -0.0513, -0.0122, -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, 0.8085, 0.6147, -0.4084, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4603, 0.0734, 0.0074, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1751 left_yaw=0.0015 left_pitch=-0.0347 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3531 right_y=0.0316 right_z=0.0202 right_yaw=0.0395 right_pitch=-0.1187 right_roll=-0.0236 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.4564, 7.2, 1.8339, -0.0269, -0.0171, -0.0122, -0.5675, -5.6274, 4.9846, 2.0, 0.0269, -0.0024, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79bc8b88513fdedb6923445f28b12cab6a073498a28e1bc49378087ff67f0f4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dc1e53318a95ecb879ea83d7c3d5dc5633c19051044eab63bfbcb7961feefbf6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a78546ee7eedf69711df0f61f3dc220e85facb1229ac5c883a82fca6c7e5b80",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISggMKjgEIEhgCKkApbLpupr1Hh4+H6IWzuZwkyfV+b5gaWcVyoUdxR7jgfTtZKfUumuzzE9lAaNkJTcqZkV2PMTfk0S/mTSXAD9eeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZD3y9UGEgxJLjtTMEz0d8rpQGsaDK+ttIWTuh+EXPm95CIwbKGenoQJPlt+IZ1SUumt2HoNELpmxGqQiNDEXXyxqVc8OkurFgQZ0Yty8dglkxppKqAB7Ly6vAGpfzDOJ7Q1M+SmSIpV3EyHWign0ld+IZhM65GG5Qua2YDOFVaXaFc/ZCGN+LbpA3OWFD7rYC652DxMcqGLKnaA+d54rKyrB3MZfevKkyc9vLN/kNte1a7uA3P1EBndGAHEMjOJN3PPTR2JIdxjOq/zlTfiiLFf8UUxyrexSrsz7gYEpLcOpddurtQmIRl8q2H/K8ksNZPTaWGKfBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WUdgi4fD8UfRYAzWuvAq7w",
      "input": {
        "note": "Jaws straddle the lemon; closing to grasp.",
        "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_01WUdgi4fD8UfRYAzWuvAq7w",
      "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, 0.6147, -0.4168, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4591, 0.0734, 0.0002, 0.754]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3529 right_y=0.0316 right_z=0.02 right_yaw=0.0434 right_pitch=-0.1199 right_roll=-0.0294 right_gripper=0.754\nstate[joint_eff]: [-0.0615, -1.0325, 7.1453, 1.7998, -0.0366, -0.0464, -0.0122, -0.0068, -5.2171, 4.9162, 1.6337, -0.0415, 0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a19e260242374d49c03d7fcb1dad12d1a0298f0a6be1d317af1d10e9e2d8bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1aec88c0f2f257abe3c65bdd3dbe6d3bc2259e4e196bb99c20a60e3fed86bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd8c5fd4f6d60984391e95d8f477cba70749b704c745f20fbe852d3181ed20e8",
        "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 · 4.819 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, 0.8059, 0.6147, -0.4004, -0.0139, -0.0334, 0.9987, 0.1215, 1.2755, 0.4267, 0.205, 0.0879, 0.0151, 0.9994]\nstate[eef_state]: left_x=0.2941 left_y=-0.0004 left_z=0.1774 left_yaw=0.0015 left_pitch=-0.024 left_roll=-0.0025 left_gripper=0.9987 right_x=0.3459 right_y=0.0302 right_z=0.0728 right_yaw=0.0292 right_pitch=-0.0722 right_roll=-0.0227 right_gripper=0.9994\nstate[joint_eff]: [-0.2256, -1.6342, 7.0222, 1.8828, -0.0366, -0.0366, -0.0122, -0.1162, -4.6017, 5.9556, 1.9609, -0.0513, -0.0122, -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, 0.8085, 0.6147, -0.4084, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4603, 0.0734, 0.0074, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1751 left_yaw=0.0015 left_pitch=-0.0347 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3531 right_y=0.0316 right_z=0.0202 right_yaw=0.0395 right_pitch=-0.1187 right_roll=-0.0236 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.4564, 7.2, 1.8339, -0.0269, -0.0171, -0.0122, -0.5675, -5.6274, 4.9846, 2.0, 0.0269, -0.0024, -0.0171]",
      "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, 0.6147, -0.4168, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4591, 0.0734, 0.0002, 0.754]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3529 right_y=0.0316 right_z=0.02 right_yaw=0.0434 right_pitch=-0.1199 right_roll=-0.0294 right_gripper=0.754\nstate[joint_eff]: [-0.0615, -1.0325, 7.1453, 1.7998, -0.0366, -0.0464, -0.0122, -0.0068, -5.2171, 4.9162, 1.6337, -0.0415, 0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a19e260242374d49c03d7fcb1dad12d1a0298f0a6be1d317af1d10e9e2d8bfd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be1aec88c0f2f257abe3c65bdd3dbe6d3bc2259e4e196bb99c20a60e3fed86bb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd8c5fd4f6d60984391e95d8f477cba70749b704c745f20fbe852d3181ed20e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gUKjgEIEhgCKkBhthDV+Mi0yIB2vRbth/lFekKtKCMN1K7koGjzt25MkBuP7aeJETrjP6vuLZrHb7Ea6pa0yBobNdqx+Q1YCoIQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZr3y9UGEgz+eQ7VWaIBWvNo6CUaDH3GdtpR1K+iJYCueiIwbkSVHwpORrIewwVyKJ/WlN0OeNzJ6FjaaBNXla7XgazuPoUFG0BPWn81G8SjN4AhKvgDzrNH/vz6oaLKrgsjZIwKIbEEOICa/kA/H+ENXctFhSgmQYHpfnaMR7UuwKW7qNhKrhOs0gA+xD1GR/igLwPWXkxAMzhaY66BrW5ZVPV20l/jIn2OEznj7fyKwYA4H2ioBnKm+/c8ysq1hyMkvFu85BZ+9OYMVOm/VVdwDxJeT5nztBFYmPxs0b4eIjPF2rvZCQ+uuOGJfEoKW02LgIwxlyARrrrK7hIPk7a7zWFLM0m0CFRoLG04pjcDjAmYYZplHxaTxUfeJTZ/FLEWsIZKW9qDNdw8oPzMYZUL0Vse87dX+mYMLC1o/dH8wtilv10LyFLT9IkZGDY7tV8IQGU/UtT96AYkzDGXBVv+jBiwz3jeq/NKjOFazawli9AXQ2GCJqdg1/Bs5kxAWNyaHGhz5ex1auSBC1FRJDyM9Ei0600+VYJJUzka5vQ6UNMRZViIfzmrD1Z74hkcFAyXKhh9k6J5U8ED/2TsDepQR3IDTzSbNbsAoVeS6pJB2PF6QFsEMZZAMPxEfxEGdZf2s1YG8PWzYqj2yCrEDnhZhoX7QF0Nd4CS/FJYPPiKB805Yhob/JhnFm94nbSOoTp7R9bXiLFAMGCC7FnY1Vr0V/gmObJY4l6Nb1FB6HGDs+wFO7ue3l/zkI2PNzxzDxhigBHYCqtFjvH9m/a0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KJHsm7N63Mz93UVCvdJ4vH",
      "input": {
        "note": "Gripper reads 0.75 (~7 cm object) so the fruit is held; lifting it clear of the table.",
        "targets": {
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01KJHsm7N63Mz93UVCvdJ4vH",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.424, -0.0139, -0.0338, 0.9987, 0.1158, 1.1717, 0.9771, -0.5629, 0.0727, -0.0113, 0.754]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3471 right_y=0.0311 right_z=0.1977 right_yaw=0.0496 right_pitch=-0.1868 right_roll=-0.0422 right_gripper=0.754\nstate[joint_eff]: [-0.212, -1.7026, 6.9812, 1.7607, -0.0611, -0.0708, -0.0171, -0.3214, -5.3402, 9.6752, 1.9219, -0.0317, 0.0513, 1.0232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:866b5bef58c9852a5f4742bc6740ebddc726ac81c7b4f29c629b32282987dae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56023b008500e63a93d5d111548e4bb7f13fa406ec38bed616a9e0acef95ea69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e016aee1d34a95ccb7c3d27fc1eadbdda60e817446ba9196f364c3549d2a73c0",
        "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 · 5.97 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, 0.8085, 0.6147, -0.4084, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4603, 0.0734, 0.0074, 0.9994]\nstate[eef_state]: left_x=0.2932 left_y=-0.0004 left_z=0.1751 left_yaw=0.0015 left_pitch=-0.0347 left_roll=-0.0023 left_gripper=0.9987 right_x=0.3531 right_y=0.0316 right_z=0.0202 right_yaw=0.0395 right_pitch=-0.1187 right_roll=-0.0236 right_gripper=0.9994\nstate[joint_eff]: [-0.0342, -1.4564, 7.2, 1.8339, -0.0269, -0.0171, -0.0122, -0.5675, -5.6274, 4.9846, 2.0, 0.0269, -0.0024, -0.0171]",
      "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, 0.6147, -0.4168, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4591, 0.0734, 0.0002, 0.754]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3529 right_y=0.0316 right_z=0.02 right_yaw=0.0434 right_pitch=-0.1199 right_roll=-0.0294 right_gripper=0.754\nstate[joint_eff]: [-0.0615, -1.0325, 7.1453, 1.7998, -0.0366, -0.0464, -0.0122, -0.0068, -5.2171, 4.9162, 1.6337, -0.0415, 0.0366, 1.0232]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.424, -0.0139, -0.0338, 0.9987, 0.1158, 1.1717, 0.9771, -0.5629, 0.0727, -0.0113, 0.754]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3471 right_y=0.0311 right_z=0.1977 right_yaw=0.0496 right_pitch=-0.1868 right_roll=-0.0422 right_gripper=0.754\nstate[joint_eff]: [-0.212, -1.7026, 6.9812, 1.7607, -0.0611, -0.0708, -0.0171, -0.3214, -5.3402, 9.6752, 1.9219, -0.0317, 0.0513, 1.0232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:866b5bef58c9852a5f4742bc6740ebddc726ac81c7b4f29c629b32282987dae1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56023b008500e63a93d5d111548e4bb7f13fa406ec38bed616a9e0acef95ea69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e016aee1d34a95ccb7c3d27fc1eadbdda60e817446ba9196f364c3549d2a73c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxQQKjgEIEhgCKkBN4sR8J1FH8AEjSXwq8dTRTHo9nb8ZvgowwUFBL/XLeQx94uzds5bE40eAMkww/lLQkTedegp1/fKfkUkxM/28Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaP3y9UGEgx0iJxqtu+noCMgNxoaDH/WRhCqlCUbB1L/GSIwo9JE7lBTZ+eS7uidNg2SgXYx00KY7CdJ6rrueeAwkgAs9NtxOJDwzp5zeb9axgQxKuMCglRpxMpih7V3qYmawfMsBZOH+j531nynHlB13CBgfAfSYhN16LTLRVqklFwes2DHobwTyduo3OmLLrpg5PRUP6jbUKWpSLgR2g0FMgSoG+MLTqxfeYKIdTOWggYoJKfv/R+XF162mk+usnlPaS+/OKpiKHQaGA0CTKHMOHNEpr+Jc9GgvzNf3pBqQ0kenaTJ5WSmos5SQS/tQO+k7y+rEDi2eNwNGuBJ8k4kCAkXrrTtef0Y7an8o9Gw0Zc9Frpyge47sCvGGMrxvn3Nofx2XdvAVWoxe/wHHdMvrikQ9wUI9ObFJsREES7gV6nbkxCKyHE7lxvaHIhIMDG5pWUWoyRGQ2PRlGrlxwhSSYbxqT8Lkgl+vgJAbys7b+jIU7aN4IvmP55U05gxyhgfPdUYTY0MWpxsQKMQlB2wB1L+65QHzFTHzhce7jiRPxxkRH0jERSEgWayhSfLmPV0n5S0c3LkvRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MvUcmSW2AyWGsivxY51frn",
      "input": {
        "note": "Holding the green pear; moving over the blue bowl (up-left in the wrist view) to drop it in.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.13,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01MvUcmSW2AyWGsivxY51frn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.4248, -0.0139, -0.0334, 0.9987, 0.4301, 1.515, 1.4147, -0.7807, 0.2771, 0.1844, 0.7583]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1704 left_yaw=0.0016 left_pitch=-0.0561 left_roll=-0.0018 left_gripper=0.9987 right_x=0.3893 right_y=0.1294 right_z=0.2258 right_yaw=0.0753 right_pitch=-0.2697 right_roll=-0.0783 right_gripper=0.7583\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6679, -0.0415, -0.0757, -0.0122, -0.1436, -7.5692, 9.3333, 1.7753, 0.3101, 0.2466, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ff895a6bd3169722862a30c19594e191de45e4ce687d09eb0153ca027d22a5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06625f8dd6dc0270fd1eca8488054c874cec360e3642987a3e8106984fc54061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c72d4ee4bceee8f4522fccfbcefa4eeb57c944e2dd7e01c1ec8c7d54465b57c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 4.067 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, 0.6147, -0.4168, -0.0139, -0.0334, 0.9987, 0.1158, 1.5307, 0.3809, 0.4591, 0.0734, 0.0002, 0.754]\nstate[eef_state]: left_x=0.292 left_y=-0.0004 left_z=0.1733 left_yaw=0.0015 left_pitch=-0.0435 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3529 right_y=0.0316 right_z=0.02 right_yaw=0.0434 right_pitch=-0.1199 right_roll=-0.0294 right_gripper=0.754\nstate[joint_eff]: [-0.0615, -1.0325, 7.1453, 1.7998, -0.0366, -0.0464, -0.0122, -0.0068, -5.2171, 4.9162, 1.6337, -0.0415, 0.0366, 1.0232]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6147, -0.424, -0.0139, -0.0338, 0.9987, 0.1158, 1.1717, 0.9771, -0.5629, 0.0727, -0.0113, 0.754]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3471 right_y=0.0311 right_z=0.1977 right_yaw=0.0496 right_pitch=-0.1868 right_roll=-0.0422 right_gripper=0.754\nstate[joint_eff]: [-0.212, -1.7026, 6.9812, 1.7607, -0.0611, -0.0708, -0.0171, -0.3214, -5.3402, 9.6752, 1.9219, -0.0317, 0.0513, 1.0232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8135, 0.6147, -0.4248, -0.0139, -0.0334, 0.9987, 0.4301, 1.515, 1.4147, -0.7807, 0.2771, 0.1844, 0.7583]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1704 left_yaw=0.0016 left_pitch=-0.0561 left_roll=-0.0018 left_gripper=0.9987 right_x=0.3893 right_y=0.1294 right_z=0.2258 right_yaw=0.0753 right_pitch=-0.2697 right_roll=-0.0783 right_gripper=0.7583\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6679, -0.0415, -0.0757, -0.0122, -0.1436, -7.5692, 9.3333, 1.7753, 0.3101, 0.2466, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ff895a6bd3169722862a30c19594e191de45e4ce687d09eb0153ca027d22a5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06625f8dd6dc0270fd1eca8488054c874cec360e3642987a3e8106984fc54061",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 44):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c72d4ee4bceee8f4522fccfbcefa4eeb57c944e2dd7e01c1ec8c7d54465b57c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS9QUKjgEIEhgCKkB2jLbsJjETDvQiOr85XLR6cmCafDjqTc33JV3r3aD5cqS6kw4EJA+MzIb8dIo9O88Qms71NFrDGpUhr1L1ALXcMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbH3y9UGEgwOTlsXWnWpFb+yklMaDDE8YC18KwFK0vHOfSIwbo1BCn/UPLGZY7vYL5Oiwlxo4o/UYkI4+4jS07AedXCekoUXHOgmqv8GR5ra/LOAKpME2Jr6AF3ivcrI+OcgjSRc75bCvWE/zox88LSNe/eXkflYF9m1L4rLpthW4QigFu5R4qGue8e5fxbybWT97EAdiIWn3uEogVijVLEHySncDHr2a940Utgi98RFVPIdWRVyEGK8xx+tv70DFJKIMQ/oQEpmlud33Xy5qPCJRK/BssSWBvao+B5MDphYdYXuksKp1IAw3uTyDDy6FU7d4BlhFIGN8Cx28ye8TVHUoQOiKu8bpYKaLx5RgOTxUUqSnAsPDjqCCcXbTeW6a09THtaYAeWfHtDGiN5SPPCqi9+zwMw66nbvRZOfnTIy5tSZ7Yi9Aru1EaL4VAJaRGlSniCdeTN3sA1WKvd3QgTx/2BiCykwICuSOO2S4Z+USfP5b1Q/Bau6ePOpoFCPB5z2l5ugs3oX5GWjTSfPhi8R+QiDZP/8GdYKcBpVOFuGLlHFYJomMpCTx1HBj+y3gCrmRolCqsQMIob8PjfGS9jtkPn4gPkYB2yC1HE1sGOi4kIz97/9vgivMa0AhGCQnaM0HVgIjhCwW1jYq090lnwi4f5sqBe/DdtI7VwqjJ9pZnQOhjdMPMV/nzxTXZe9F9k59aifh78BMf7KeJEwp1RqBzHAwUosbVwQ13PlolbbrliKMgzirjo9JY+q9v7WdGyqwi+KXu3K2Gk1ssNh+c+Kobul2XHB5Iata3setGWCKfrKCnnbRgehGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NEq1hk7UNE3bm31CDVM5jf",
      "input": {
        "note": "The blue bowl still shows beyond the fingertips in the wrist view, so I'm reaching 3 cm further out and lowering slightly before releasing the pear.",
        "targets": {
          "right_x": 0.43,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01NEq1hk7UNE3bm31CDVM5jf",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8146, 0.6147, -0.4313, -0.0139, -0.0338, 0.9987, 0.4026, 1.6012, 1.4143, -0.7643, 0.2569, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1688 left_yaw=0.0018 left_pitch=-0.0637 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4024 right_y=0.1265 right_z=0.1933 right_yaw=0.0683 right_pitch=-0.3421 right_roll=-0.1004 right_gripper=0.7604\nstate[joint_eff]: [-0.1983, -1.3607, 6.9812, 1.7753, -0.0708, -0.0708, -0.0122, -0.1573, -8.9504, 7.3915, 1.7363, 0.1001, -0.0952, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7ca2816fcc6066596e0a5a9a2df5c8f4301c5d8c89e1ae47cf2903b7312f62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310cdf07dd8653cc76f0891ba4045bd3c3085c3d992357db9e448bfeb88040c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb326e13b3401b841ce5abe3edd4ecc3b716743f5020fd5123f8a89a5fdc91d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 7.546 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, 0.8135, 0.6147, -0.424, -0.0139, -0.0338, 0.9987, 0.1158, 1.1717, 0.9771, -0.5629, 0.0727, -0.0113, 0.754]\nstate[eef_state]: left_x=0.2913 left_y=-0.0003 left_z=0.1706 left_yaw=0.0018 left_pitch=-0.0553 left_roll=-0.0021 left_gripper=0.9987 right_x=0.3471 right_y=0.0311 right_z=0.1977 right_yaw=0.0496 right_pitch=-0.1868 right_roll=-0.0422 right_gripper=0.754\nstate[joint_eff]: [-0.212, -1.7026, 6.9812, 1.7607, -0.0611, -0.0708, -0.0171, -0.3214, -5.3402, 9.6752, 1.9219, -0.0317, 0.0513, 1.0232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8135, 0.6147, -0.4248, -0.0139, -0.0334, 0.9987, 0.4301, 1.515, 1.4147, -0.7807, 0.2771, 0.1844, 0.7583]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1704 left_yaw=0.0016 left_pitch=-0.0561 left_roll=-0.0018 left_gripper=0.9987 right_x=0.3893 right_y=0.1294 right_z=0.2258 right_yaw=0.0753 right_pitch=-0.2697 right_roll=-0.0783 right_gripper=0.7583\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6679, -0.0415, -0.0757, -0.0122, -0.1436, -7.5692, 9.3333, 1.7753, 0.3101, 0.2466, 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, 0.8146, 0.6147, -0.4313, -0.0139, -0.0338, 0.9987, 0.4026, 1.6012, 1.4143, -0.7643, 0.2569, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1688 left_yaw=0.0018 left_pitch=-0.0637 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4024 right_y=0.1265 right_z=0.1933 right_yaw=0.0683 right_pitch=-0.3421 right_roll=-0.1004 right_gripper=0.7604\nstate[joint_eff]: [-0.1983, -1.3607, 6.9812, 1.7753, -0.0708, -0.0708, -0.0122, -0.1573, -8.9504, 7.3915, 1.7363, 0.1001, -0.0952, 0.9304]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c7ca2816fcc6066596e0a5a9a2df5c8f4301c5d8c89e1ae47cf2903b7312f62",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310cdf07dd8653cc76f0891ba4045bd3c3085c3d992357db9e448bfeb88040c2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb326e13b3401b841ce5abe3edd4ecc3b716743f5020fd5123f8a89a5fdc91d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowQKjgEIEhgCKkDbt2vCl1nUm2URDtZ0QEdV3C8jVWCJCOfhEmD7SlFM0r8GES2k22PVGeb5RwEXMIbaxCe4To+Z68MfitTdFpvZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbb3y9UGEgwOcFxA5TCD2fKwfEQaDIq2qnsWsI/SppkayiIw2PHu6g7HhKQDsVS1ijA65hS4b62QeRA/k7dcz4Qbde6OjXSiesfzFeqy11C4WWviKsEC9uDHmLqGec+FPLJL4Xdyf89ZwrnI4ZoEX6/KAW2s4K8Utzs/xHKg/6t3JdOpkKbwYeIByaQGrEHRec8GaFdLfpAEP3Am3yPaSRzVNXLK0ZbyJ96Wag1K7fYuMniarMoatVva20ZKcxh2g+5DusTbDaDjGz4ymOM7GhgP3D2ZeDipzF099lvQpMP6tSqrSEjeJY91JYihWV0oF/WvGsGA4MqNkoLpYzHLsisXAzhFFtX+MYEXRs2BlIqQrhwFrzLJaY0HdqGn9il27PQolLgdM+PPBeYOqzpHy6g6ZGF3xTjaC0B2ytlVkyAmL0fwId/nDum6++MuvhnbEc6PKZAZFGfCg0Q0W8E+uBbNdqd9bV5Xq2S2REv9y0KYYTAax9cq8PBzLcqXva2+B84zx9oM3TXVWboUiXmk7EbUn2seoysWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019R8byncrhMeqNeniATB57e",
      "input": {
        "note": "Previous move fell short (x only 0.40); pushing further out over the blue bowl before releasing.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_019R8byncrhMeqNeniATB57e",
      "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, 0.8173, 0.6147, -0.4328, -0.0139, -0.0334, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1678 left_yaw=0.0016 left_pitch=-0.0679 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.5521, 7.0769, 1.6874, -0.0611, -0.0415, -0.0122, -0.1709, -9.0872, 7.4051, 1.6679, 0.1148, -0.0659, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2410a063e77725037a9225ab5eca90b6da910ee72717fcb45b097bb7681c06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80681c5c11f5780f8fe1d324b089f503680ff869821c9576e1f049e615063d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3620bf78d5fe0af60a9479ad0b5ec74378129654938978a59b9ac4c5b416f06f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 10.37 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, 0.8135, 0.6147, -0.4248, -0.0139, -0.0334, 0.9987, 0.4301, 1.515, 1.4147, -0.7807, 0.2771, 0.1844, 0.7583]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1704 left_yaw=0.0016 left_pitch=-0.0561 left_roll=-0.0018 left_gripper=0.9987 right_x=0.3893 right_y=0.1294 right_z=0.2258 right_yaw=0.0753 right_pitch=-0.2697 right_roll=-0.0783 right_gripper=0.7583\nstate[joint_eff]: [-0.1299, -1.347, 6.9675, 1.6679, -0.0415, -0.0757, -0.0122, -0.1436, -7.5692, 9.3333, 1.7753, 0.3101, 0.2466, 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, 0.8146, 0.6147, -0.4313, -0.0139, -0.0338, 0.9987, 0.4026, 1.6012, 1.4143, -0.7643, 0.2569, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1688 left_yaw=0.0018 left_pitch=-0.0637 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4024 right_y=0.1265 right_z=0.1933 right_yaw=0.0683 right_pitch=-0.3421 right_roll=-0.1004 right_gripper=0.7604\nstate[joint_eff]: [-0.1983, -1.3607, 6.9812, 1.7753, -0.0708, -0.0708, -0.0122, -0.1573, -8.9504, 7.3915, 1.7363, 0.1001, -0.0952, 0.9304]\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, 0.8173, 0.6147, -0.4328, -0.0139, -0.0334, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1678 left_yaw=0.0016 left_pitch=-0.0679 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.5521, 7.0769, 1.6874, -0.0611, -0.0415, -0.0122, -0.1709, -9.0872, 7.4051, 1.6679, 0.1148, -0.0659, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2410a063e77725037a9225ab5eca90b6da910ee72717fcb45b097bb7681c06",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a80681c5c11f5780f8fe1d324b089f503680ff869821c9576e1f049e615063d8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3620bf78d5fe0af60a9479ad0b5ec74378129654938978a59b9ac4c5b416f06f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwwgKjgEIEhgCKkCC3AeK5SAIHWznNODEfn+8nTh5N8nsPVDqmkC8ulaXZiqucTwJ+kIL9IyCJyXPbhXZ7qR7YbTS224LM8lHdhz4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb33y9UGEgwtUONyJYUVBu3XJ2caDDiMzCEsr3tPWjUndCIwfdHzFc1yfzaF3iSPzZ3ROJaU33oGiU7/1t845frrF45lAUcu9IBa2TbdYKRdlImyKuEGLztOkR1m0aSHCko5jmxIaYKHhBSpPl5IIS4BcDQr9iDFZzn/81PO95Qil3Fj1LhTIEaILZlzNWSt8LS30rgHextZH5KHCXZeH6jQPLdbdgam22SOCL8XktfOn6XeI/BLNMujmYK5Jy2MAEzS0pNJAIsx37hmHCIesqdcQAdjn2YVC/XPf+zVpS2XWB6DinJ8/5vWenAedFtbuOqcjzF3TSopo+117J/bpGMJnedjTuxSILnccj+2z9WcydWQDlDwwWaDVPjZilGxh2nELmmdS5HhIzy0AcfilDsXuINVDlKTHMTQhhckdR3wCjYsks6hajj4dLeLhw2LtvyBAf/UL/kDq+e93DiAI5vPbab1K6M/73w3NuHc7PiszFaHOtBu88thiCfBgbIla8qjS+kIOKTWePFrz0OlzyWsBdF/u01uw52QnTHfjTZCcykYVp5hiw5kd8WdDiCsRi0cshFGHN0OfwJOx/vUMjIjSMKVIRN27zwl1IZRb6hLZ+HogFKZC28UflfhAr1Be3k6W+rA4Nw0l+R3YonOtpF/nTlpeVD3Xi9ezV4IpGdy29yF2cLY1/7oScOJeUEzIwkJ1571DR/QAKPZ3+Xbx1E3eZvA8rd00RrTN8fzKD5X1VGohAF4RLqWWTFLeHXHRrAJkMTP7S7wJAuF+cg32ddRMB6d+ZBIZDE+FNIyHx7w2RC9LkG7QEN/Sj6IimWHMuYw7TeufmxAz08kV/CmD9arQqNLBWMUe9tqMsupaG6SsQ0fHKXx4/M4WT5ulwM88Vacl0LyX5xX1dGEvCg00c85r0d/r7kCwpbEIuN/BZlHwXm5Y/gr9p/hPgbvZEp9AWPrTvlZguNKiOhKeCC3acMs21Ba1f0YujjUUZVb4AfCRV6jBFFOLduEzUNeVAPgSv1VU0brzZLQkNQyJQn6iOBHIsOZkqx7GKtRdm/d35Ks8yGtpe+DXy5PwT4CiB2bD0t+hDWIrlSf0IJQiBn2puJasz8rQzqyucV0r8JpFM9KuFEcQpk6aGyuu/0BCstepb02UMf5cNkpCwde4Wqw8POX8rr9Qff1jMOsctT/ULMy0V8Y2/icIjh2B0D5m4OnNapqh9jW3s9GF+PrBA/twpeXGBomXjeOVLpw45A+aasw+blMH/F+8BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GinaA6P8YCpgjHfnJWe9fe",
      "input": {
        "note": "Arm won't extend past x≈0.40, so I'm lowering instead; as the tool descends the bowl should drop toward the jaw row in the wrist view, confirming the pear is over it.",
        "targets": {
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01GinaA6P8YCpgjHfnJWe9fe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4458, -0.0139, -0.0338, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1647 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [0.0342, -1.5111, 7.2137, 1.8144, -0.0806, -0.0464, -0.0122, -0.253, -9.2786, 7.5419, 1.6484, 0.1148, -0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d291c5682960fdd0fa9772a2ab7e464dcf6266cb7cf10a6ab9d64b2a7d34261f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:941c0df1e3c63d09708a4c03b4d6b637f58ed58d7c455bda2de1baea9a7c553e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad61b1d5029dc9fa218b965d552c2be1a6608d01b601b6cdf51231e3f76814fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 8.571 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, 0.8146, 0.6147, -0.4313, -0.0139, -0.0338, 0.9987, 0.4026, 1.6012, 1.4143, -0.7643, 0.2569, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2903 left_y=-0.0003 left_z=0.1688 left_yaw=0.0018 left_pitch=-0.0637 left_roll=-0.0019 left_gripper=0.9987 right_x=0.4024 right_y=0.1265 right_z=0.1933 right_yaw=0.0683 right_pitch=-0.3421 right_roll=-0.1004 right_gripper=0.7604\nstate[joint_eff]: [-0.1983, -1.3607, 6.9812, 1.7753, -0.0708, -0.0708, -0.0122, -0.1573, -8.9504, 7.3915, 1.7363, 0.1001, -0.0952, 0.9304]\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, 0.8173, 0.6147, -0.4328, -0.0139, -0.0334, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1678 left_yaw=0.0016 left_pitch=-0.0679 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.5521, 7.0769, 1.6874, -0.0611, -0.0415, -0.0122, -0.1709, -9.0872, 7.4051, 1.6679, 0.1148, -0.0659, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4458, -0.0139, -0.0338, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1647 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [0.0342, -1.5111, 7.2137, 1.8144, -0.0806, -0.0464, -0.0122, -0.253, -9.2786, 7.5419, 1.6484, 0.1148, -0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d291c5682960fdd0fa9772a2ab7e464dcf6266cb7cf10a6ab9d64b2a7d34261f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:941c0df1e3c63d09708a4c03b4d6b637f58ed58d7c455bda2de1baea9a7c553e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad61b1d5029dc9fa218b965d552c2be1a6608d01b601b6cdf51231e3f76814fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QQKjgEIEhgCKkCqrbpVrUK0Fp1NRAzh07VZWxL19asdOXU2iEjzD4PetrwfGjHQ6mDoaErIz/BB3MMPGJ2/Elr1JYVHHvQpnrTBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcj3y9UGEgxhpSh/9RsEsdwT/WkaDGCvFF7IHKWdAQS/PyIw2S0PDI7UFd665GCqNinXEVF1ExmDal8XbDSK0Gr7P9Z8UdTDKMAWbKnrfBtyMg8+KpsD6dbhBDAMvO62+JOfYQ5lvibJv1IRHZ0iZuBwl3NHmD4fJPfYJw1iGtcOH9fllAV6fTYFTHEYRwfrAn+VAyaAwwOcTFMu2DFR2s6h7/7hUsxapp9whGoS68OwDstsVDhbnEHzctrDxGG2gegvjPyT9XCgQyFFY+0DRyVqQwK8InLBCscp9jiBrPna0Z5AT3CMfStb2qHcxqfJRLnJakKJr66k7EaAoHqJYKvV/Zp8Wa2HOmt/Q9RydIkKyhwNqUNanGGRtybbisRv8HlVsrfGxLXLqoQ36u7xfCZGvNtM6GD8tVnslBgA0U3t1IIaoyAVQZr2AeVuiPQJOwNBLgrE7Kluyd/BPRJ0/lVf9DEsRJrzwsLW1SLnpQlJ24VrB+9cpX/f8Y27mhmqxIEIqH/tclNFrl9CUEbAgKpQkhS0+Fo4r7DufdpXr4V4QposSm8rjHMezk2lVyaJD9+lfQIgg24RW7NYPWIcRGVKgN/E3GryMyD3RdInC5eJJScagAS/GJuPqspl+1UwlncDbp+nLWeLhUDyKP9wXTJeGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01AcoHERU9evmBM4gPhqbhaC",
      "input": {
        "note": "The right arm stopped tracking (identical state twice); backing off to a simpler, more upright pose to re-establish control.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.36,
          "right_y": 0.13,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01AcoHERU9evmBM4gPhqbhaC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4496, -0.0135, -0.0334, 0.9987, 0.5278, 1.2877, 1.113, -0.5457, 0.3985, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1624 left_yaw=0.0013 left_pitch=-0.0923 left_roll=-0.0012 left_gripper=0.9987 right_x=0.355 right_y=0.1318 right_z=0.2285 right_yaw=0.0953 right_pitch=-0.0892 right_roll=-0.1121 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.853, 6.9538, 1.746, -0.0269, -0.0269, -0.0171, 0.1436, -6.188, 7.2821, 2.1319, 0.3492, 0.0024, 0.9988]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c077f5335cae2c890caa08f1089fef889b8f1c9d60036fefd377a3a4090b49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ec46c45f81c477ad09fc7aa814919ae20cd2135db1b317ef034128a24fcbac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7d0484353b7f31636e7c6497e47aad657477d0153dc23239653c7a25905c09ba",
        "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 · 6.504 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, 0.8173, 0.6147, -0.4328, -0.0139, -0.0334, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1678 left_yaw=0.0016 left_pitch=-0.0679 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.5521, 7.0769, 1.6874, -0.0611, -0.0415, -0.0122, -0.1709, -9.0872, 7.4051, 1.6679, 0.1148, -0.0659, 0.9841]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6147, -0.4458, -0.0139, -0.0338, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1647 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [0.0342, -1.5111, 7.2137, 1.8144, -0.0806, -0.0464, -0.0122, -0.253, -9.2786, 7.5419, 1.6484, 0.1148, -0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4496, -0.0135, -0.0334, 0.9987, 0.5278, 1.2877, 1.113, -0.5457, 0.3985, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1624 left_yaw=0.0013 left_pitch=-0.0923 left_roll=-0.0012 left_gripper=0.9987 right_x=0.355 right_y=0.1318 right_z=0.2285 right_yaw=0.0953 right_pitch=-0.0892 right_roll=-0.1121 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.853, 6.9538, 1.746, -0.0269, -0.0269, -0.0171, 0.1436, -6.188, 7.2821, 2.1319, 0.3492, 0.0024, 0.9988]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:85c077f5335cae2c890caa08f1089fef889b8f1c9d60036fefd377a3a4090b49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:38ec46c45f81c477ad09fc7aa814919ae20cd2135db1b317ef034128a24fcbac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d0484353b7f31636e7c6497e47aad657477d0153dc23239653c7a25905c09ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwoKjgEIEhgCKkA1h32BfgW2jrQRGwtLcKnhU6IIIuB8IYKnMEWT3VDbNLf60DY1YOcS0gqkytHiy4dUHiEyQkNKOV7um5TJW2OzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdL3y9UGEgwMP3EJ86few+nP35IaDI05La4q2r4fh08FtSIwK4gcVNyaxLtTA47lCKtZWXDHYSqV/E+YSIG2EoDGV63kJUpDb7/6y7EcSxOPUcxLKt0IxqNcOoPnmBEUtntTHOX0RP5T+NJOQQMpyI6Uw6oHFwUpuwPmHUglYQBM0JXQnCKTrxWLEIkOzrwlpQceOi4WiuMXyKIGmsGG2uBeoidMt1OuFheqmweIyJM7l5tyFL3t+l3wruVYYwXclXUzOKuEdwdCS0C0E4b7/k1GXFDBMLnU4LBN8QG5tsptH0+dIjz0I6S0xnKOJZBtR9a1ki6MnlU0JmRkHW8qBBtN5w50eS2RCk6txlPapEdByYPcXHWmXLGyO5HYGXu4oNvRQ1Golf3N8ct6AZapsTPuPOZPOKYtdfh3EG0FoUj/VPKN4JQgb9XdYuzDrk6qp1LGNeo77sirSNBL3kKC/+QYaE3uMS5LlfeIpJmOFhMJEw5J285qKJIF6sgu2GKB4qREGjgg7UPwqGShTo4aFbukQV3X2ugUI6BUURTCpkpD5w/zxCbzNbpyw5GnlPLk3BDQo2Uutf5AUUvqtuiPIy5ggxQekups/4XxX24BKVPLwCLn4G/SJZJdkI6QazX3MWYnqsgl918mJfUSLs+b1iivJQi7erpvt5B4GNH2WOF0BxN8BI4PHhkLQ1f2CS/oDCMEBGj7WNRBJH3D04VohlO0CgNnXVbnysd1E3FHhZ5DSBctNSBfKyMxkbdEpJ/6uZvmMY5d+ZP6KGmYjxRLkuhFMKkYp/hMy/1pakd9OW78aiRK7WGSPPPaKDbG5RA0F7zxZBIfR282ACrwbmNjkbpwVi5Ts7k+gfB0UzzBxiresYu2o1oAYEpPhgiI810XPbn+KJEo9DnURpeCbLv6erOlrl1phmY18zvizF4wH73qEYJ+o/JK+gnq1ckCUgxt6waItkvKoOYhRyFDHuI6wFPdNNkyo/32YRCq0Dk8LJFBgJTd9efwnldX4WAtxAUvDiM/X7HrJpuOJK81ensgDdTBLvROS2ZRtx8+wWDz6N8yxqMdhSb+tEecS5bUgTqUC5mbolt6AfQZ1Ktdt4nNfIlWIMDmzm2oX5Us2W0K1mg9z4CawNxgLnXFzRbuqVw32zTb4FXwidFQl4TA5Dgk2+9fnHu6oGBg16QrLOOvsXFiEOimeIk9lqhDSfq5eaIkTuTGQ2HRVgfltFyAGW66k9rE+IGANhTXy6SYnIBaD4RtfYJCrey5IsUfW1VOmOBXBTdYdY9qou2H9OcWMRhWqfd0i9bf3E8iHA0fZlaa1NzU+2+gX2wsaEk7dQO/9RdPQlYXGDxrrHpq6GtUC7P1MYi0+pZk8M6FVAUXusX4oFlnJYOBZWab+qsnGrg0BmApS0aOnY+PYNH+PSy8aJmXjc/hX897mAt37U3rutuIS7Kh9TI552KTFPrjhLg/qMgeh2h4dbMFefwmOwTXX56VceQxlrn7o0mOfccqqZxAGSlR9fkMdOfCEyMSILWuBN5+aeCV8BDp0zdhBdeQnyCPOAqDumNWelAER+xGiJVbcXm2e1LB7apd42RUb0p7c7g30umTLBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ExsPPFv4d1Jsnhu1jfPvGK",
      "input": {
        "note": "Arm is tracking again; moving forward and down toward the blue bowl to drop the pear in.",
        "targets": {
          "right_x": 0.4,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01ExsPPFv4d1Jsnhu1jfPvGK",
      "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, 0.8261, 0.6147, -0.4541, -0.0139, -0.0334, 0.9987, 0.4568, 1.4868, 0.894, -0.2012, 0.3359, 0.1162, 0.7616]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3837 right_y=0.1277 right_z=0.1192 right_yaw=0.0977 right_pitch=-0.177 right_roll=-0.1383 right_gripper=0.7616\nstate[joint_eff]: [-0.1162, -1.4427, 6.9538, 1.6923, -0.0513, -0.0317, -0.0122, -0.4581, -6.3111, 6.8308, 1.8779, 0.2515, -0.022, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8134e3f55f48ec26c0769dea3cd936c46400689d27f6d99f793b5e8088a0b46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2de926b6d46c31454a5bddb9abfad69831fdb36a5b4ed372e49a8ba112db6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:40acbf5329d308aad0b32f61262d8540e25c9a4f5fa34dcc0b3f3838bf7759a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 2.307 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, 0.8192, 0.6147, -0.4458, -0.0139, -0.0338, 0.9987, 0.4038, 1.5986, 1.4143, -0.7567, 0.2539, 0.1646, 0.7604]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1647 left_yaw=0.0018 left_pitch=-0.0828 left_roll=-0.0015 left_gripper=0.9987 right_x=0.4033 right_y=0.128 right_z=0.1953 right_yaw=0.0735 right_pitch=-0.3332 right_roll=-0.0946 right_gripper=0.7604\nstate[joint_eff]: [0.0342, -1.5111, 7.2137, 1.8144, -0.0806, -0.0464, -0.0122, -0.253, -9.2786, 7.5419, 1.6484, 0.1148, -0.0513, 1.0037]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6147, -0.4496, -0.0135, -0.0334, 0.9987, 0.5278, 1.2877, 1.113, -0.5457, 0.3985, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1624 left_yaw=0.0013 left_pitch=-0.0923 left_roll=-0.0012 left_gripper=0.9987 right_x=0.355 right_y=0.1318 right_z=0.2285 right_yaw=0.0953 right_pitch=-0.0892 right_roll=-0.1121 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.853, 6.9538, 1.746, -0.0269, -0.0269, -0.0171, 0.1436, -6.188, 7.2821, 2.1319, 0.3492, 0.0024, 0.9988]\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 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, 0.8261, 0.6147, -0.4541, -0.0139, -0.0334, 0.9987, 0.4568, 1.4868, 0.894, -0.2012, 0.3359, 0.1162, 0.7616]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3837 right_y=0.1277 right_z=0.1192 right_yaw=0.0977 right_pitch=-0.177 right_roll=-0.1383 right_gripper=0.7616\nstate[joint_eff]: [-0.1162, -1.4427, 6.9538, 1.6923, -0.0513, -0.0317, -0.0122, -0.4581, -6.3111, 6.8308, 1.8779, 0.2515, -0.022, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8134e3f55f48ec26c0769dea3cd936c46400689d27f6d99f793b5e8088a0b46f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2de926b6d46c31454a5bddb9abfad69831fdb36a5b4ed372e49a8ba112db6ca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:40acbf5329d308aad0b32f61262d8540e25c9a4f5fa34dcc0b3f3838bf7759a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAYKjgEIEhgCKkCSqSuAFeeyP29SeTyagFlamGKJlbs5OSRPAH1IfwjIIGlHsH6QCX2WFApXvtYdtMYJQdbOjc6sWdNK/TzeavyMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdn3y9UGEgxLvQgFdDePm39ERZYaDBTutvG3r5xNw/4h8CIwmYm5Ub3gCXGbjRtUNcqc8Pb+WJOwZcb6kepTxYuA4rib5b895su9zHyZTUlykNRBKrIETPn8EER1267oT+O1pfWmpUN/3L681FibQZjNicOokpUe5R7loHSZUaFqoaJSmm7nGRoptKXnyH4aUSUZs896F1dyn7aiO2r7BV145/hg6N/nSKglM4ZmaB3bLuMz7ve7hHp1v/yg3SFV23Q3touM1fsLfBeCopfB0rWauO3ZTAbg/jdYbw4UVPdtoGeLVUxS6w0loZ5P4mRg4Ki/LZERodYyvDjjoAXqaZ88siccdAWxRkAoX1OxBnP9UJZVJgR5p7OhzOVZvZVuHYzXy1XZhZ4jdUCpRkLBIeAhwSRCLjQamMzDf/p2mLimrCJrUQpo4gARhffEK56HQNeAoDzKw50I8JmxzTyLJnvw/tSqOiBS6Fp7HcM/3bhL6lYbUyyI/SdlDRHw4QNaZPTU9ngN8NX71l/Sv97D7sm1KomecKy6KmLIzXJvhpDNFhtKC2Zy3BaTA8T/kmpdOchZ1iHDYY2v8Gb3eLGFob8TTudWyYYXG9vVcENJAly3ABoHOKyxjHl3IjCLMihj9n/WQIT+O7Dy+GhKPxyiZYsqB7j/86XmVTlwogAeQHZt/kkPnIoqWOVWShbacRf+/Zuh1Qq87Ms7HMYwwrOaFgksBGtvuFSJDKqznHgV38Nab2Zy746wDpElDlC+qsvcZPT13fcfHJ7dFJfQqZQkSLK6YKqj0/jwjpB2HYMi/58AlCURBPwyNOzejEajCPrncDw5CNNz6oXz6dO5CQGrnDkldxdncHSJRBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FaeNGcjHR2cR7UYeFCEiqa",
      "input": {
        "note": "Blue bowl mouth is centered just above the jaw column; nudging 2.5 cm further out and slightly up so the pear hangs over the bowl's middle.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.135,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01FaeNGcjHR2cR7UYeFCEiqa",
      "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, 0.8265, 0.6147, -0.4641, -0.0139, -0.0334, 0.9987, 0.4465, 1.557, 1.0019, -0.2573, 0.3222, 0.1036, 0.7648]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1592 left_yaw=0.0017 left_pitch=-0.1083 left_roll=-0.0005 left_gripper=0.9987 right_x=0.4012 right_y=0.134 right_z=0.1255 right_yaw=0.1044 right_pitch=-0.1986 right_roll=-0.1446 right_gripper=0.7648\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.7949, -0.0317, -0.0513, -0.0171, -0.7863, -7.1043, 8.5812, 1.5702, 0.2222, -0.0464, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7c0e6a5d5b95672a48dbe693542536c1b6f5317a919d228bbdbff0031804269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cac3906344ad396df7ecf5491da7442694f4b0c5544317c5143d1a1b0ee472c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9cd7d0391de2dde33000680647efe0b46ed027d09712f84b3698b9cabe5900b7",
        "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 · 5.444 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, 0.8249, 0.6147, -0.4496, -0.0135, -0.0334, 0.9987, 0.5278, 1.2877, 1.113, -0.5457, 0.3985, 0.165, 0.7604]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1624 left_yaw=0.0013 left_pitch=-0.0923 left_roll=-0.0012 left_gripper=0.9987 right_x=0.355 right_y=0.1318 right_z=0.2285 right_yaw=0.0953 right_pitch=-0.0892 right_roll=-0.1121 right_gripper=0.7604\nstate[joint_eff]: [-0.0068, -1.853, 6.9538, 1.746, -0.0269, -0.0269, -0.0171, 0.1436, -6.188, 7.2821, 2.1319, 0.3492, 0.0024, 0.9988]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8261, 0.6147, -0.4541, -0.0139, -0.0334, 0.9987, 0.4568, 1.4868, 0.894, -0.2012, 0.3359, 0.1162, 0.7616]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3837 right_y=0.1277 right_z=0.1192 right_yaw=0.0977 right_pitch=-0.177 right_roll=-0.1383 right_gripper=0.7616\nstate[joint_eff]: [-0.1162, -1.4427, 6.9538, 1.6923, -0.0513, -0.0317, -0.0122, -0.4581, -6.3111, 6.8308, 1.8779, 0.2515, -0.022, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6147, -0.4641, -0.0139, -0.0334, 0.9987, 0.4465, 1.557, 1.0019, -0.2573, 0.3222, 0.1036, 0.7648]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1592 left_yaw=0.0017 left_pitch=-0.1083 left_roll=-0.0005 left_gripper=0.9987 right_x=0.4012 right_y=0.134 right_z=0.1255 right_yaw=0.1044 right_pitch=-0.1986 right_roll=-0.1446 right_gripper=0.7648\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.7949, -0.0317, -0.0513, -0.0171, -0.7863, -7.1043, 8.5812, 1.5702, 0.2222, -0.0464, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7c0e6a5d5b95672a48dbe693542536c1b6f5317a919d228bbdbff0031804269",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0cac3906344ad396df7ecf5491da7442694f4b0c5544317c5143d1a1b0ee472c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 78):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9cd7d0391de2dde33000680647efe0b46ed027d09712f84b3698b9cabe5900b7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjgIKjgEIEhgCKkA/wB3WyZmify9OUBmJU3hXC5/KUO4hXmvTxUcF4NIXKX0jntAmVzMKkPn3ZvusTC2jFkibl2J3Tn9Pv9yruSb3Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdz3y9UGEgwtm99EwmSiHP+jRdgaDKAT09vFFd8ojUFEnCIwLoYFbksD6/gBqt9RM4BOahICQxYjthETWBATGDrrRn720D4XRdpbFEtHygkR+XToKi3M0lTQVaZjveCdBgY7HVWiZT/JSCiF1/BvSEULffTniH6nZSzHgdEMki19oUMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011UXwoC7eW4tgAShUywGtXb",
      "input": {
        "note": "Pear is over the blue bowl; opening the gripper to drop it 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_011UXwoC7eW4tgAShUywGtXb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6147, -0.4683, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.297, 0.3172, 0.0967, 0.9959]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1581 left_yaw=0.0017 left_pitch=-0.1137 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4015 right_y=0.133 right_z=0.1261 right_yaw=0.1061 right_pitch=-0.2209 right_roll=-0.1535 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.4701, 6.9402, 1.7265, -0.0562, -0.0464, -0.0122, -0.4444, -7.4325, 8.8684, 1.5849, 0.1587, 0.0806, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4891d47106daee18f0acf1ba2419f743a460c64993f943115a41e3cd43bcd541",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41c06a18eae986a337d461434e6121f38d3c3c95ffd39dcddf7ffbec104445d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b0baad67cbf9b0669dd576e7f7d9521290c579fdd8a01cfc64bd985bde887a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 12.89 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, 0.8261, 0.6147, -0.4541, -0.0139, -0.0334, 0.9987, 0.4568, 1.4868, 0.894, -0.2012, 0.3359, 0.1162, 0.7616]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1612 left_yaw=0.0016 left_pitch=-0.098 left_roll=-0.0008 left_gripper=0.9987 right_x=0.3837 right_y=0.1277 right_z=0.1192 right_yaw=0.0977 right_pitch=-0.177 right_roll=-0.1383 right_gripper=0.7616\nstate[joint_eff]: [-0.1162, -1.4427, 6.9538, 1.6923, -0.0513, -0.0317, -0.0122, -0.4581, -6.3111, 6.8308, 1.8779, 0.2515, -0.022, 0.8962]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8265, 0.6147, -0.4641, -0.0139, -0.0334, 0.9987, 0.4465, 1.557, 1.0019, -0.2573, 0.3222, 0.1036, 0.7648]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1592 left_yaw=0.0017 left_pitch=-0.1083 left_roll=-0.0005 left_gripper=0.9987 right_x=0.4012 right_y=0.134 right_z=0.1255 right_yaw=0.1044 right_pitch=-0.1986 right_roll=-0.1446 right_gripper=0.7648\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.7949, -0.0317, -0.0513, -0.0171, -0.7863, -7.1043, 8.5812, 1.5702, 0.2222, -0.0464, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6147, -0.4683, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.297, 0.3172, 0.0967, 0.9959]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1581 left_yaw=0.0017 left_pitch=-0.1137 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4015 right_y=0.133 right_z=0.1261 right_yaw=0.1061 right_pitch=-0.2209 right_roll=-0.1535 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.4701, 6.9402, 1.7265, -0.0562, -0.0464, -0.0122, -0.4444, -7.4325, 8.8684, 1.5849, 0.1587, 0.0806, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4891d47106daee18f0acf1ba2419f743a460c64993f943115a41e3cd43bcd541",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:41c06a18eae986a337d461434e6121f38d3c3c95ffd39dcddf7ffbec104445d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 81):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0baad67cbf9b0669dd576e7f7d9521290c579fdd8a01cfc64bd985bde887a33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlAUKjgEIEhgCKkC7hw1J7RS2HSlKRoGMWD6ZMPAAJ5P3DWpYfc0Z9n9LbMYcXlV/Fmeiec/Ov9akixTnqNQ/KInxqWg9ZUHAwiqBMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeH3y9UGEgy4zK0gLCz29j6vb+gaDPzTFJ2RQQ0TuLQ8OCIwq2yS72s/g9250EdvSlBW6jOOlBnAKEAKWpgxJSm06HuKuh+MVnEhEja6B2x+Q/mBKrIDfO4MwkcmE7TWKLLYM0wWGCq2Ms9rkIayCD0OjMV55pnwHWKzuY+EJj++nZBvbC55gpapwOxsvvq+OxMThb1jnWiBaaUe+nBD1PYoqtiBo0PbLErW3tK+NQcZOvmW9MOZkI+GJTdkXvMFHw5HtMATUs0w8FQ5DMUKtPQshtFFcQ88dlaIOxXciGyhukbaWbDeHDnAtIe1B1w6UjQuBTNB9mg+/3PADgd0vLZMDl+psp0JWsNIELYjLuAsWzjYmTEPfYYBrzHuqPmUXvssIUT29lsh4lDg19VSHKF8JmlzqLl2bCXqAt8Q8RJOrZCKZB8AI4SEnDJzHJVaZ8RWdRa2tsHdRyruuNLTIDageqjuP//KxEALB6RZJEX1ID1dxWHWijDdle7y749UmBjaBbiDXym6/ZT+tX9nghxi++JMXXjlwoy+jQBH51UpbanAOJKrKSuUghU8iC07apj2KgxhQb+e21knjhr/Tn+DnS7VX1FDgK8q2PDTi+GdVHRk4EXYFGScTLExcsXlTgnJNnKBhPWk1/WUgM4XWDF3eB+oTW3SKlfbIOS4MHEE4uq4hhT8O64YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017WeWuoB4bSZSPQkaQCL9nN",
      "input": {
        "note": "Pear released into the blue bowl; backing the arm off to see the result and to line up on the yellow lemon.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.05,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_017WeWuoB4bSZSPQkaQCL9nN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4698, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.2962, 0.3172, 0.0963, 0.9966]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1571 left_yaw=0.0017 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4016 right_y=0.133 right_z=0.1262 right_yaw=0.1064 right_pitch=-0.2202 right_roll=-0.1535 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.4564, 6.9402, 1.707, -0.0317, -0.0366, -0.0122, -0.4581, -7.4462, 8.5538, 1.619, 0.2125, 0.0171, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807317cc8d85a1eb3e18082b6bb1f8f55fa7c825025250a48728c1d287e53cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6f2b48f629334cd9247efb0b688ffe09a003ac103df57a11aaf0c59abcdf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d081b861aa57e196af519e3540ead02c551ae8b96c88393ae52b4634dbf8990c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 15 attempt 0 · /messages · status 200 · 4.47 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, 0.8265, 0.6147, -0.4641, -0.0139, -0.0334, 0.9987, 0.4465, 1.557, 1.0019, -0.2573, 0.3222, 0.1036, 0.7648]\nstate[eef_state]: left_x=0.2859 left_y=-0.0002 left_z=0.1592 left_yaw=0.0017 left_pitch=-0.1083 left_roll=-0.0005 left_gripper=0.9987 right_x=0.4012 right_y=0.134 right_z=0.1255 right_yaw=0.1044 right_pitch=-0.1986 right_roll=-0.1446 right_gripper=0.7648\nstate[joint_eff]: [-0.0068, -1.3333, 7.0085, 1.7949, -0.0317, -0.0513, -0.0171, -0.7863, -7.1043, 8.5812, 1.5702, 0.2222, -0.0464, 0.6471]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8276, 0.6147, -0.4683, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.297, 0.3172, 0.0967, 0.9959]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1581 left_yaw=0.0017 left_pitch=-0.1137 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4015 right_y=0.133 right_z=0.1261 right_yaw=0.1061 right_pitch=-0.2209 right_roll=-0.1535 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.4701, 6.9402, 1.7265, -0.0562, -0.0464, -0.0122, -0.4444, -7.4325, 8.8684, 1.5849, 0.1587, 0.0806, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4698, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.2962, 0.3172, 0.0963, 0.9966]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1571 left_yaw=0.0017 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4016 right_y=0.133 right_z=0.1262 right_yaw=0.1064 right_pitch=-0.2202 right_roll=-0.1535 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.4564, 6.9402, 1.707, -0.0317, -0.0366, -0.0122, -0.4581, -7.4462, 8.5538, 1.619, 0.2125, 0.0171, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807317cc8d85a1eb3e18082b6bb1f8f55fa7c825025250a48728c1d287e53cf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a6f2b48f629334cd9247efb0b688ffe09a003ac103df57a11aaf0c59abcdf2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d081b861aa57e196af519e3540ead02c551ae8b96c88393ae52b4634dbf8990c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01C1AqhFsAQfkC9FvArJE2mE",
      "input": {
        "note": "The pear is in the blue bowl. Now moving over the yellow lemon, which sits just left of the bowl in the wrist view.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.22,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01C1AqhFsAQfkC9FvArJE2mE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8337, 0.6147, -0.4759, -0.0139, -0.0338, 0.9987, 0.7021, 1.6527, 1.396, -0.6476, 0.4377, 0.255, 0.9966]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9987 right_x=0.379 right_y=0.2272 right_z=0.1902 right_yaw=0.1757 right_pitch=-0.2327 right_roll=-0.1555 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6889, 6.9538, 1.6874, -0.0366, -0.0757, -0.0122, -0.6359, -7.6786, 8.1709, 1.2088, 0.4567, 0.1978, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d30a2ecc2835765a0b074261cd3f9124e03efe8df501613fc1047c53d862a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c575842fd3327788bff1d75a555604d397a4f5e42efc69589e8c3ca71cd7d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:926ecc7492c6e34ce4a816252a6c81dc1c17be2e94d10128f47dd0491b31f17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 16 attempt 0 · /messages · status 200 · 5.225 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, 0.8276, 0.6147, -0.4683, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.297, 0.3172, 0.0967, 0.9959]\nstate[eef_state]: left_x=0.2853 left_y=-0.0002 left_z=0.1581 left_yaw=0.0017 left_pitch=-0.1137 left_roll=-0.0004 left_gripper=0.9987 right_x=0.4015 right_y=0.133 right_z=0.1261 right_yaw=0.1061 right_pitch=-0.2209 right_roll=-0.1535 right_gripper=0.9959\nstate[joint_eff]: [-0.0205, -1.4701, 6.9402, 1.7265, -0.0562, -0.0464, -0.0122, -0.4444, -7.4325, 8.8684, 1.5849, 0.1587, 0.0806, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6147, -0.4698, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.2962, 0.3172, 0.0963, 0.9966]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1571 left_yaw=0.0017 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4016 right_y=0.133 right_z=0.1262 right_yaw=0.1064 right_pitch=-0.2202 right_roll=-0.1535 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.4564, 6.9402, 1.707, -0.0317, -0.0366, -0.0122, -0.4581, -7.4462, 8.5538, 1.619, 0.2125, 0.0171, 0.0562]",
      "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, 0.8337, 0.6147, -0.4759, -0.0139, -0.0338, 0.9987, 0.7021, 1.6527, 1.396, -0.6476, 0.4377, 0.255, 0.9966]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9987 right_x=0.379 right_y=0.2272 right_z=0.1902 right_yaw=0.1757 right_pitch=-0.2327 right_roll=-0.1555 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6889, 6.9538, 1.6874, -0.0366, -0.0757, -0.0122, -0.6359, -7.6786, 8.1709, 1.2088, 0.4567, 0.1978, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8d30a2ecc2835765a0b074261cd3f9124e03efe8df501613fc1047c53d862a70",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c575842fd3327788bff1d75a555604d397a4f5e42efc69589e8c3ca71cd7d28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 97):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:926ecc7492c6e34ce4a816252a6c81dc1c17be2e94d10128f47dd0491b31f17b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISxAQKjgEIEhgCKkBLpttluX9ihN3Ova3MoADliHlv+a788E1dsxSfkUa6QFc7SwPHInGiM3a/DxOUcgJlqlTnhREZ2ZpHdfBhncR2Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfT3y9UGEgxt8vFDcrp8wjnCcG0aDN7hyyl2xe7GvE4DvCIwdQS7l8j+MxDLFN14PAhwxhUoY4kyAV/zxDm6MILiMJon9K6d6mcFMpzdm6ZVFnsTKuICCtDu94wt+kxjRUkEZIDAbNI57W6MyhMoqaROY1OmK+H6E4bPwDDWJmh2qguVCvQv5WZdydDk90BYiJFdg/hvXNFHEO+knGXraYPvHUh3sFOXhsqSFH9J/i+gEkUhBx9bxpG1SQ1l19je7yY74f9A5WAKe6F5lzHwfYU2jvykx21r2KHsd7qufZpJ29/oJ7VW/I7lYBVPnXLhNj7fA8wOqsvOf6dRhqpltqIRUcozzr4oxG/bF5SwGV5wuoc2044Wdfk91c7LNOSCeeokgNz4fWhedCkBuDZPzhAlLgRRrWa73i2aZiCZxuiOn6AiZ239P03rFz7hzOLRYDJOV9Gmjy0Fy9IDgesutlTkY191D/TgrGwYdPzYBHb2s3Mnl0awwvcW5Hhq6xG77wKe3JYkrSmUt3q67QEfI8z02CvdKURu1MqB1LAwUgFmFjRXsT0kzJN4aeJotQPJEp9dMhfvs/gpGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WfFQ2gAucnz1M7Lfirrgd6",
      "input": {
        "note": "Lemon is just left of the jaw column in the wrist view; descending onto it with a small left nudge.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.235,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01WfFQ2gAucnz1M7Lfirrgd6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6147, -0.4767, -0.0135, -0.0338, 0.9987, 0.6994, 1.7802, 1.1278, -0.2974, 0.4324, 0.2508, 0.9966]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1548 left_yaw=0.0016 left_pitch=-0.1286 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3821 right_y=0.2294 right_z=0.0819 right_yaw=0.1736 right_pitch=-0.2745 right_roll=-0.1782 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.4701, 6.9265, 1.6288, -0.0317, -0.0659, -0.0171, -0.3624, -8.1162, 6.0923, 1.5653, 0.1783, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24cc6a3a655df4d4817f1c32564def34f673a3b6d21c23ea48851e109cba94fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8451eb030db6db7f363321d7038e7c7e701a81845a6b546490b1699c0a2ccbde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9e4e305e692635ebe1ae48da13676bd59517a34ac0625886bcff07e21fed9175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 5.812 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, 0.8303, 0.6147, -0.4698, -0.0139, -0.0334, 0.9987, 0.4419, 1.5658, 1.0286, -0.2962, 0.3172, 0.0963, 0.9966]\nstate[eef_state]: left_x=0.2852 left_y=-0.0002 left_z=0.1571 left_yaw=0.0017 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4016 right_y=0.133 right_z=0.1262 right_yaw=0.1064 right_pitch=-0.2202 right_roll=-0.1535 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.4564, 6.9402, 1.707, -0.0317, -0.0366, -0.0122, -0.4581, -7.4462, 8.5538, 1.619, 0.2125, 0.0171, 0.0562]",
      "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, 0.8337, 0.6147, -0.4759, -0.0139, -0.0338, 0.9987, 0.7021, 1.6527, 1.396, -0.6476, 0.4377, 0.255, 0.9966]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9987 right_x=0.379 right_y=0.2272 right_z=0.1902 right_yaw=0.1757 right_pitch=-0.2327 right_roll=-0.1555 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6889, 6.9538, 1.6874, -0.0366, -0.0757, -0.0122, -0.6359, -7.6786, 8.1709, 1.2088, 0.4567, 0.1978, -0.0073]\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 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, 0.8341, 0.6147, -0.4767, -0.0135, -0.0338, 0.9987, 0.6994, 1.7802, 1.1278, -0.2974, 0.4324, 0.2508, 0.9966]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1548 left_yaw=0.0016 left_pitch=-0.1286 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3821 right_y=0.2294 right_z=0.0819 right_yaw=0.1736 right_pitch=-0.2745 right_roll=-0.1782 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.4701, 6.9265, 1.6288, -0.0317, -0.0659, -0.0171, -0.3624, -8.1162, 6.0923, 1.5653, 0.1783, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24cc6a3a655df4d4817f1c32564def34f673a3b6d21c23ea48851e109cba94fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8451eb030db6db7f363321d7038e7c7e701a81845a6b546490b1699c0a2ccbde",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e4e305e692635ebe1ae48da13676bd59517a34ac0625886bcff07e21fed9175",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AQKjgEIEhgCKkD9/dU6H1nVWY4kchxz67uLmfF2PL0+sU3xMm8Laeo+bkzqP7l6U2OtRSBC35wDHwfPm+01NYqTzD1RAOjr+NTeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfr3y9UGEgwtVi5bPUAc8LXlI/caDNFKtySZiIyZz/nddCIwdb+rmkdYJpqR5XC9cXZqw1PrYG138f7rsojm2mn3wqY1jEdZwrXhKZVwnQqwxLROKooDIr3eWVxYK0sBiTucSHL01Fp5Bddo1OJTYkKn9w0pKb2N3qMvP/2e+BG2p01JVAGGz7BzCKV2g9mp1bef4ItIVbeJXcpA8EexIMGv80XumLvIO5BtkwoUAg/tD09lFcDEqBzItvPWc5cZfLVJ/o0CmfBGf4dmlksihzhJWxBxXznDYFJS0CGv1Up37VpgrVqDyDWF3HXPJesvrlFfjMjWGr1NH+axrYwjTbbMz9U+xsxNw0wSFtXzESRleXCUhQc538w26QZGM3AL9jUf2HO2O3af/qS7LeDLfJ8ELk++WBcljj4mWegJ6r5w+peu3rpLbqNshTce3RQQGRFP0vYIjvAZseIebMnpyn6NWvUNHKlxxprNxtomDZQjqgWVvuCm3oi4QZybP+2BqfU7Nh2Ah8SsW0n20k0xADivA/2C+ZSvU60CK4Z8e9ZYo5nemDOTcvB+dWBtjsBW9ubANVazASvWcMciqndWRXo4azRuMikprv5sBi6VuaXHyjorR/x4ZKp/6bLkXgtBVxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DA2miAsFDDwahV2U5YG7sL",
      "input": {
        "note": "The lemon sits well left of the jaw column in the wrist view; shifting the tool ~4 cm to the arm's left to center it.",
        "targets": {
          "right_y": 0.27
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DA2miAsFDDwahV2U5YG7sL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6147, -0.487, -0.0135, -0.0334, 0.9987, 0.7776, 1.8664, 1.2377, -0.3412, 0.4526, 0.2901, 0.9966]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1518 left_yaw=0.0014 left_pitch=-0.1427 left_roll=0.0 left_gripper=0.9987 right_x=0.3793 right_y=0.2701 right_z=0.0803 right_yaw=0.2115 right_pitch=-0.2794 right_roll=-0.1766 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7436, 7.1043, 1.7363, -0.0513, -0.0415, -0.0122, -0.3897, -8.9094, 7.6239, 0.9939, 0.4762, 0.2955, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ee78b790e42bbfadc98303d8828d6d10ffbb17529955f9d0b5f1c0e2836af59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23f921e07a22af9307ce754af07f176a52ef82e58392754ce2b7afdfb086f8fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6cbdd6d13617f15214a43c5399f013df72c9b4e6814150730e4063d9c2d7a2ad",
        "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 · 8.264 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, 0.8337, 0.6147, -0.4759, -0.0139, -0.0338, 0.9987, 0.7021, 1.6527, 1.396, -0.6476, 0.4377, 0.255, 0.9966]\nstate[eef_state]: left_x=0.2844 left_y=-0.0002 left_z=0.155 left_yaw=0.0019 left_pitch=-0.1274 left_roll=-0.0004 left_gripper=0.9987 right_x=0.379 right_y=0.2272 right_z=0.1902 right_yaw=0.1757 right_pitch=-0.2327 right_roll=-0.1555 right_gripper=0.9966\nstate[joint_eff]: [-0.1573, -1.6889, 6.9538, 1.6874, -0.0366, -0.0757, -0.0122, -0.6359, -7.6786, 8.1709, 1.2088, 0.4567, 0.1978, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8341, 0.6147, -0.4767, -0.0135, -0.0338, 0.9987, 0.6994, 1.7802, 1.1278, -0.2974, 0.4324, 0.2508, 0.9966]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1548 left_yaw=0.0016 left_pitch=-0.1286 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3821 right_y=0.2294 right_z=0.0819 right_yaw=0.1736 right_pitch=-0.2745 right_roll=-0.1782 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.4701, 6.9265, 1.6288, -0.0317, -0.0659, -0.0171, -0.3624, -8.1162, 6.0923, 1.5653, 0.1783, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6147, -0.487, -0.0135, -0.0334, 0.9987, 0.7776, 1.8664, 1.2377, -0.3412, 0.4526, 0.2901, 0.9966]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1518 left_yaw=0.0014 left_pitch=-0.1427 left_roll=0.0 left_gripper=0.9987 right_x=0.3793 right_y=0.2701 right_z=0.0803 right_yaw=0.2115 right_pitch=-0.2794 right_roll=-0.1766 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7436, 7.1043, 1.7363, -0.0513, -0.0415, -0.0122, -0.3897, -8.9094, 7.6239, 0.9939, 0.4762, 0.2955, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ee78b790e42bbfadc98303d8828d6d10ffbb17529955f9d0b5f1c0e2836af59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23f921e07a22af9307ce754af07f176a52ef82e58392754ce2b7afdfb086f8fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 109):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6cbdd6d13617f15214a43c5399f013df72c9b4e6814150730e4063d9c2d7a2ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnAUKjgEIEhgCKkARRGDzULwWxt3EIPAuloVJSKppSUzxHbLuuyUvJ1UTuRNF++bCj91numOBfJlmYQlw/51n6rDGRXRYDHc1EB7fMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYD4y9UGEgxMdod339zs7Vm3Vm4aDHNzUE9Hy3pjPv9YniIw988thAroAybS3NIFA7TR678ZMuFhkOZddvRgXWSMs/vAiAS+Sz7qpcdd2AQUvBzaKroDmGvZHVzosDdYeZruVEsFZgVTmR5CcE8qCF1kjoBHxjtsRcjPVSzUgCGTX3aGzS/P0MvU8lUixHfHeWdVtGOj/Tu88O36is05EnOkI9dnbLBqy2f0npmexQeg8TN2o1USg3CwEVS8yyVR5M3TsXdmBEeuZD1ckwmy7q0S6RknKwHcx2KOqsNkwAxqOx4JCJ1qxbZ/mG6fVWjTDWKDv0Oyvnt1mZ385OAoO3N+XkvYefCbOWvIj217s9tKBKXDaV6sV1mT5N/cVkHavlt8lykx57mqcNzl1LL3c4X6ebO/Oma/gxpGJPNiSShDap5+MuU/Ygdw/uCg4QAOk43HYBc6rTBm+sEVtpPw8LjeSBj59s9X+N4pZszyoUGDQXzMTp8vfxVgGVH9jbOCS+px2ozy7FUo3quP0XFeFVLa72UQtvH7Y+tKiO1TnDMroNZpcSQUM0aJbl/ldNY2dHHsfHjILWpKWFsKkIyNb765h5iZGHJt1Hoija16seEiRccXaW6YKLcxcE3131ju/Gh4+/fj2eU7HB6JI89OxJgYnyligzm+5eiUwHA0k/VwlOZPylHR1Z8lGLYQivfESBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XXbWCxJMXbuhcsH97RX1TJ",
      "input": {
        "note": "Lemon now centered on the jaw column but a few cm beyond the fingertips; advancing 3 cm and dropping to mid-lemon height.",
        "targets": {
          "right_x": 0.41,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01XXbWCxJMXbuhcsH97RX1TJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6147, -0.4919, -0.0139, -0.0334, 0.9987, 0.728, 2.014, 1.2442, -0.2359, 0.4244, 0.2504, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1504 left_yaw=0.0018 left_pitch=-0.1495 left_roll=0.0004 left_gripper=0.9987 right_x=0.4003 right_y=0.2642 right_z=0.028 right_yaw=0.1999 right_pitch=-0.3264 right_roll=-0.202 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.5521, 7.0496, 1.6386, -0.0366, -0.0366, -0.0122, -0.3487, -10.9607, 5.4769, 1.5116, 0.2662, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3abd04e4eefbd80750bf2eea34097c476b0eb597f3c791e338cea24ec21d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08c528821495bce1555f0ea42dc9cccddde1759139d18cefdc6c92cc3dba65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d7e69938ef87280c18cdbf9ac2831f7174a7cc37b5e727156c6f77d15058a073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 8.148 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, 0.8341, 0.6147, -0.4767, -0.0135, -0.0338, 0.9987, 0.6994, 1.7802, 1.1278, -0.2974, 0.4324, 0.2508, 0.9966]\nstate[eef_state]: left_x=0.2843 left_y=-0.0003 left_z=0.1548 left_yaw=0.0016 left_pitch=-0.1286 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3821 right_y=0.2294 right_z=0.0819 right_yaw=0.1736 right_pitch=-0.2745 right_roll=-0.1782 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.4701, 6.9265, 1.6288, -0.0317, -0.0659, -0.0171, -0.3624, -8.1162, 6.0923, 1.5653, 0.1783, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6147, -0.487, -0.0135, -0.0334, 0.9987, 0.7776, 1.8664, 1.2377, -0.3412, 0.4526, 0.2901, 0.9966]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1518 left_yaw=0.0014 left_pitch=-0.1427 left_roll=0.0 left_gripper=0.9987 right_x=0.3793 right_y=0.2701 right_z=0.0803 right_yaw=0.2115 right_pitch=-0.2794 right_roll=-0.1766 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7436, 7.1043, 1.7363, -0.0513, -0.0415, -0.0122, -0.3897, -8.9094, 7.6239, 0.9939, 0.4762, 0.2955, -0.0122]",
      "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, 0.8398, 0.6147, -0.4919, -0.0139, -0.0334, 0.9987, 0.728, 2.014, 1.2442, -0.2359, 0.4244, 0.2504, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1504 left_yaw=0.0018 left_pitch=-0.1495 left_roll=0.0004 left_gripper=0.9987 right_x=0.4003 right_y=0.2642 right_z=0.028 right_yaw=0.1999 right_pitch=-0.3264 right_roll=-0.202 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.5521, 7.0496, 1.6386, -0.0366, -0.0366, -0.0122, -0.3487, -10.9607, 5.4769, 1.5116, 0.2662, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ed3abd04e4eefbd80750bf2eea34097c476b0eb597f3c791e338cea24ec21d35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b08c528821495bce1555f0ea42dc9cccddde1759139d18cefdc6c92cc3dba65b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d7e69938ef87280c18cdbf9ac2831f7174a7cc37b5e727156c6f77d15058a073",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QcKjgEIEhgCKkBqPswu/Cqfy2ns/cdKEalPBnM3+LaQO+rL1At5kmCthquaUDEAokll6EPATLtMbpH2dzaa6qGR7xWMHYPeXN7jMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYn4y9UGEgynwu9+ZfBoJrPgUbQaDCmtSn3imupYOY6x/iIwq1Ujh9d7lbQeRdZ8XB9/tKS1b9A85j57S54aT3nX/Zp39RqClU1+7tlNgJ8++gGcKoMGKKuws391ynbcvYiDAhWwiMbscFdJ/FlaRa042h9HW/eoYEWahGbB7JC6yYAJMiM+Ow22cug2GJMro5E7z4fqzmUF1dSK6xoHB0cP1n/Z17MlAnRVEgM8utkn6ESDGtwoObX4g4x5efOG4ivq/cAYpc6NzfgNDG6bucRhRn6lwJVWnbxXYVLzAvbVpboYerR8Xalijx1Kl6oMovfrpVRmjdEe6N1s+DEADBYeVRYmrWQzK/poBaHJArY5Au+R3n1HZuyZ1tFZFk7EYUTaPbnEmbQAoRAlC1t09Ktfb8uR6ENA2BM1vmGQ+SvGTZzaaImNni6cyuWhdQrSdDVCk3uyobmrsWNytqyCBeO75CzzGIOUU7AERKvfb7jiWbMb9TCUCIy3Xb30O9SjW0TlfwA09EXOeZx9covdwBK7jm4imm4v/t7srSclqirI70EkwSMfqZeCOx6F/Hr5N2BF/1EdL+GwGi4xNGoeq1YVKbi+TN2xfYucJtG4p5ryPVm/xzztkyEptefO7zsuzDOrRTkB+/R4V6Y1kd/fP/rrmINts7boD48Lf2GSrBpkwP4Z5/5zWHELBhtMeYjsO0ixxk1IwMnGjuS87ubJl3ReYFYMGmNCHCanUMsc03D/qQzoLwQexTdqUnuvXKuizOIFYzqvHWf6wiC6Xj6mJJE+N+/3/OEkzCUF0WopChm034D9tQdyuGKzsBCFwMSqHaGFtRrqUIEs6/m1+OTLPv1tsH5coPjSP9gLdMAnLwGBDZj6Uh94Hoe9xlZo125AbQIDIY0k4a7fG2tTtbEXyu09fhY5k6nNb1V0m8cK+pq+NqnLpqEDi1ulHDaE9UhdVy+0AL5bAQZHKr6aWx4SHgV4UtSJRnkwAYn1SpDqnBa0dCpg4jC2r9L0nTJPMME9rS4IAzc07bB0njj9gBFRIIUqT263sVnh1TKVGyE1iG2jdrAZFcyyGydV7+xKUtT7l9NtWHPU1j4l7VPadYTd+z4wuXaITxTTptflnvafyQEHIMC/IpxLE+81GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DmxjXobAupDay5KwekxA7h",
      "input": {
        "note": "Lemon is now a bit right of the jaw center; shifting ~1.7 cm to the arm's right to straddle it before closing.",
        "targets": {
          "right_y": 0.247
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01DmxjXobAupDay5KwekxA7h",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6147, -0.4919, -0.0135, -0.0334, 0.9987, 0.7189, 2.0304, 1.2266, -0.1963, 0.4107, 0.2424, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0002 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1495 left_roll=0.0002 left_gripper=0.9987 right_x=0.4021 right_y=0.2629 right_z=0.0187 right_yaw=0.207 right_pitch=-0.328 right_roll=-0.1937 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3744, 7.1043, 1.5995, -0.0317, -0.0415, -0.0171, -0.5812, -13.1761, 5.2855, 1.2869, 0.188, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9630752d08867049908de255745f10cb3e71d17ffdbab4c0655d3e0d54116f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06099d7e57cbb6c94fdce2181c7476602197aba14251006a22ccc6e61c233f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4fb7f6566ba8494dfb83784e39193ead64cb8b3de5454885c7c8ae0fe4b69b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 6.556 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, 0.8379, 0.6147, -0.487, -0.0135, -0.0334, 0.9987, 0.7776, 1.8664, 1.2377, -0.3412, 0.4526, 0.2901, 0.9966]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1518 left_yaw=0.0014 left_pitch=-0.1427 left_roll=0.0 left_gripper=0.9987 right_x=0.3793 right_y=0.2701 right_z=0.0803 right_yaw=0.2115 right_pitch=-0.2794 right_roll=-0.1766 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.7436, 7.1043, 1.7363, -0.0513, -0.0415, -0.0122, -0.3897, -8.9094, 7.6239, 0.9939, 0.4762, 0.2955, -0.0122]",
      "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, 0.8398, 0.6147, -0.4919, -0.0139, -0.0334, 0.9987, 0.728, 2.014, 1.2442, -0.2359, 0.4244, 0.2504, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1504 left_yaw=0.0018 left_pitch=-0.1495 left_roll=0.0004 left_gripper=0.9987 right_x=0.4003 right_y=0.2642 right_z=0.028 right_yaw=0.1999 right_pitch=-0.3264 right_roll=-0.202 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.5521, 7.0496, 1.6386, -0.0366, -0.0366, -0.0122, -0.3487, -10.9607, 5.4769, 1.5116, 0.2662, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6147, -0.4919, -0.0135, -0.0334, 0.9987, 0.7189, 2.0304, 1.2266, -0.1963, 0.4107, 0.2424, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0002 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1495 left_roll=0.0002 left_gripper=0.9987 right_x=0.4021 right_y=0.2629 right_z=0.0187 right_yaw=0.207 right_pitch=-0.328 right_roll=-0.1937 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3744, 7.1043, 1.5995, -0.0317, -0.0415, -0.0171, -0.5812, -13.1761, 5.2855, 1.2869, 0.188, -0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9630752d08867049908de255745f10cb3e71d17ffdbab4c0655d3e0d54116f43",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06099d7e57cbb6c94fdce2181c7476602197aba14251006a22ccc6e61c233f81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4fb7f6566ba8494dfb83784e39193ead64cb8b3de5454885c7c8ae0fe4b69b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISlggKjgEIEhgCKkCJQxD64Mb60Ul7cPsEOS+zUq4yq/z1Ho56SvfsavyKYcfDDq29dFcp6OlaHzIzKxEXYHdKphI9nrKIs6M+Yf0WMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZH4y9UGEgxlzEaIAcOVe4VqcooaDI1dM0OMILNX7viCaCIwroCmnFU4uBviB3/oPBU/STETccY6t6tUjHNgRQB3d+c4WV6BSoNe38zenF2XlrKdKrQGsOpJu5o8GlwPeX12AytoowPRMffwpJU3Oo1yfuXpJ6Ezkjm1E+00UzwN3r6bQCeFmCyzeI1fPzEzYOK+1lFb0rqz5otmfZU9QpTMbEpdQ/07jzfzp7qAUpQyZ2rwKC5YBguEdPcmmedlcvlQV0z9mtFZJg/JIJ3c63NzjKTBmBcDsmfltcvDSM/F4QAGMh0DmDB15dcTv/4MdpoBKPUURxPhOU4RPpzXaNGdeQ6xB1QemminkSi415jwb1mz8z9pw3jWA8d120THWkgsqM7NXh804C+XOy4fvTmfk9K7YzZAlmz7MtY+ogEidhrHNIZAQMOQ4VywefqwWO0lk/uLCWqi4axVyqEssnRpMNIQJgeM+NA3o4SY8uB8HsmZ5bMhmj96MDkdAjBtrVEzJg4vJtEiY7qrJNCLfMRwUm0NtSi9sUT3dBOXO0pC9DeC7ppxwh91jbfy/ZRiU0ONfysSWC3Pgc51JlzN3ryWMhA4y+gtmznykeAjvYAk8iDI+X6f/To8pcNn5kX8kBm5aG+sBeCYJAD5UIUmDsE9TxXUyGiNErQUEkdk0a4blXYcb6NaXC/dFwneagRvKh0yK1XtxvysZUiQ+LIrgJobLBuAfgaFEqnWRsvviSiISAij4UUpPkZYIjh59zpsNogs9yPukMXB7iWI6yim0lFktV4CTssI4ULor7nGvmltMzafs+Zjz6rs4VJtMtfER5JBN2ZNyrvDodiTjJii11oQ0j9z2vn2EwbjmFSKwV4Mpb5DGMo7OtQavDu+kDDI9fjYZiWIjBP/mLt74rHOsNqq2iqv3lGuCNwYORBnFVeITJWysS8sZ8Lb5Ac/mu+oxfJOGEsuDZ3gsrddBZMlnHJKrCnryX0mfOMsdcijR5JiYmIERnfOggUC6zFFUm6YiR/Phc4WoDFutHfyKzXaraNgNAF7QdFQQGUUXkShF/uYKkb6EQskiBofOkyFOqtC0HiD/l9Fo1cb0sR+ATJpNOSre9iMkTqIBv/Cce1vQNeoeRDNKFC4akZAnCbWDAQuj21CrkG3uHkkSNvPa3AFkpkAAFGeqqmOJZaJJnG4XNjMgPaviRwWiqm8fhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BfBRkJJYfU9tZr5B23y9FP",
      "input": {
        "note": "The small sideways nudge barely registered; commanding a larger 3 cm shift to the arm's right (and lifting slightly) so the jaws straddle the lemon.",
        "targets": {
          "right_y": 0.232,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BfBRkJJYfU9tZr5B23y9FP",
      "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, 0.8444, 0.6147, -0.4946, -0.0135, -0.0334, 0.9987, 0.7105, 2.0274, 1.2179, -0.2184, 0.4103, 0.2352, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1487 left_yaw=0.0015 left_pitch=-0.1568 left_roll=0.0004 left_gripper=0.9987 right_x=0.3989 right_y=0.255 right_z=0.0144 right_yaw=0.1981 right_pitch=-0.3532 right_roll=-0.2126 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.6342, 6.9265, 1.5897, -0.0415, -0.0464, -0.0122, -0.0205, -13.1624, 5.7641, 1.1795, 0.1734, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39fa91d591c48714b93800f34d47ae4fd1efc2494314550351bed51736bf7562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273daf23d69328d712af345015a5f402275b77e38ec3cb36925cc8fa0991f92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:29d3ce3d90764de3dd10cd82ce3ce62c8483da36336e34ffba09159c71f7a43e",
        "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 · 4.836 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, 0.8398, 0.6147, -0.4919, -0.0139, -0.0334, 0.9987, 0.728, 2.014, 1.2442, -0.2359, 0.4244, 0.2504, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0001 left_z=0.1504 left_yaw=0.0018 left_pitch=-0.1495 left_roll=0.0004 left_gripper=0.9987 right_x=0.4003 right_y=0.2642 right_z=0.028 right_yaw=0.1999 right_pitch=-0.3264 right_roll=-0.202 right_gripper=0.9966\nstate[joint_eff]: [-0.1299, -1.5521, 7.0496, 1.6386, -0.0366, -0.0366, -0.0122, -0.3487, -10.9607, 5.4769, 1.5116, 0.2662, -0.0024, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6147, -0.4919, -0.0135, -0.0334, 0.9987, 0.7189, 2.0304, 1.2266, -0.1963, 0.4107, 0.2424, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0002 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1495 left_roll=0.0002 left_gripper=0.9987 right_x=0.4021 right_y=0.2629 right_z=0.0187 right_yaw=0.207 right_pitch=-0.328 right_roll=-0.1937 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3744, 7.1043, 1.5995, -0.0317, -0.0415, -0.0171, -0.5812, -13.1761, 5.2855, 1.2869, 0.188, -0.0611, -0.0171]",
      "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, 0.8444, 0.6147, -0.4946, -0.0135, -0.0334, 0.9987, 0.7105, 2.0274, 1.2179, -0.2184, 0.4103, 0.2352, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1487 left_yaw=0.0015 left_pitch=-0.1568 left_roll=0.0004 left_gripper=0.9987 right_x=0.3989 right_y=0.255 right_z=0.0144 right_yaw=0.1981 right_pitch=-0.3532 right_roll=-0.2126 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.6342, 6.9265, 1.5897, -0.0415, -0.0464, -0.0122, -0.0205, -13.1624, 5.7641, 1.1795, 0.1734, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39fa91d591c48714b93800f34d47ae4fd1efc2494314550351bed51736bf7562",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:273daf23d69328d712af345015a5f402275b77e38ec3cb36925cc8fa0991f92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:29d3ce3d90764de3dd10cd82ce3ce62c8483da36336e34ffba09159c71f7a43e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvAYKjgEIEhgCKkCaM+1/OCw/7lJ0m6V7Nq+nm9igOWgfzj7+CDl9hBqNhlcxfI2c3IneNMQCVE0QSqnioz9oMCTdQMJMN0XjHaZZMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZj4y9UGEgz7XgZLZFApSPLvCrAaDGfhMVMcOaQnMt5yZyIwhP6w5C3hT49jQnWrrf8aF8znFlwcBysqSqnHBTyHNSHzyunsv/jlHKY42po03EE9KtoEHoHmm0ylqs7vu0bAYHJxkbZ7KAcCkACwyTVzypzo3o3m7kwbgEHYI7/LGfihXxMrgsGSPiXM5DEyKwABA6ntpc40Bl9ZC7IDTIAhs/Yi3OJsfNVb2x67SPzUtiIaHu9RksFAq+wvh1Gf1QpIQcLMsgMamRBe81AbiOiXxrZfYvWT+hKJEf/sZLM0DxuHIVfvm6de53Tf+0PWFMUZSquZuzN2g+VY8I4Kob2ao6IIXTQyDat+MoFDJPfDdMONQKyv/yKdssqoeUdSlDmhTAkMahJF4kqTVFBd5EebkfC3J6mMyrobZItvxJ8qL/eNva7ldMpwKJmcd4wfgfRxHyIZW/MJYTygRJtMs07heKe0FmsAYwsRMdrWhllSfVP4ipcQmnm1INh7rX2WPHXxAO4+QsVwCDOtOAzeCMeLQFJTpHLMx5MxQ7N4YhhyUvugLlFQvWW7J9Q4tXfrXhns571HKB1/t+U/9i1iHxEeBtJbphqO99eAGsB19cJ/GbKKyC8T8cCGS0GjQmYw5MqOTCLAcTWdIZP0eVZhdhnLPCVYfx/ykDZQUzgdFNAeM3bjWyPIOHsvHYDQCjRjNqzhSn1kZ/Npl4AUsGdvBoNCL8UMLFND1M4/Ag3VXffHMJ9bls2kjLQO/9s3cC6jesrLi/j5lLZA3T2sci1mjYmcgM0WnF6q/UubrJdXTtPlYQ4l3mQSFu2+00cTTIKJZ9rimRom6AFl9qbjUHlScW8uNS6e3Ey2OVbYEOIQSncwPVivUGhBfiJk7pQH0+WQ7fe8Kf3A36xWGlfIliLwFdUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BztKUi7xjMkBHxqHcxt8YD",
      "input": {
        "note": "Sideways moves are being resisted near the table; lifting to 14 cm and repositioning 3 cm to the arm's right, then I'll descend again onto the lemon.",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.225,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01BztKUi7xjMkBHxqHcxt8YD",
      "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, 0.8455, 0.6147, -0.498, -0.0139, -0.0338, 0.9987, 0.6727, 1.8503, 1.343, -0.477, 0.3813, 0.1989, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1478 left_yaw=0.002 left_pitch=-0.1613 left_roll=0.0004 left_gripper=0.9987 right_x=0.4029 right_y=0.2415 right_z=0.1043 right_yaw=0.2111 right_pitch=-0.3303 right_roll=-0.1918 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.5658, 6.9128, 1.6044, -0.0513, -0.0757, -0.0171, -0.2667, -10.7145, 7.6513, 1.1355, 0.2271, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c72e7e08b6e31e35b10d400b8c9660fd852a5537866e677ae264f4b95503bf02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd5a3ef5b7a5e1037d73868097d5dda1b201762ba431b9d6f597ba2d894fb5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4f08ce98c5f8bb13ced938c4e0b64097f1636075c9be3b4b37533f62c4b9cda",
        "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 · 5.522 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, 0.8398, 0.6147, -0.4919, -0.0135, -0.0334, 0.9987, 0.7189, 2.0304, 1.2266, -0.1963, 0.4107, 0.2424, 0.9966]\nstate[eef_state]: left_x=0.2821 left_y=-0.0002 left_z=0.1504 left_yaw=0.0015 left_pitch=-0.1495 left_roll=0.0002 left_gripper=0.9987 right_x=0.4021 right_y=0.2629 right_z=0.0187 right_yaw=0.207 right_pitch=-0.328 right_roll=-0.1937 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.3744, 7.1043, 1.5995, -0.0317, -0.0415, -0.0171, -0.5812, -13.1761, 5.2855, 1.2869, 0.188, -0.0611, -0.0171]",
      "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, 0.8444, 0.6147, -0.4946, -0.0135, -0.0334, 0.9987, 0.7105, 2.0274, 1.2179, -0.2184, 0.4103, 0.2352, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1487 left_yaw=0.0015 left_pitch=-0.1568 left_roll=0.0004 left_gripper=0.9987 right_x=0.3989 right_y=0.255 right_z=0.0144 right_yaw=0.1981 right_pitch=-0.3532 right_roll=-0.2126 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.6342, 6.9265, 1.5897, -0.0415, -0.0464, -0.0122, -0.0205, -13.1624, 5.7641, 1.1795, 0.1734, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6147, -0.498, -0.0139, -0.0338, 0.9987, 0.6727, 1.8503, 1.343, -0.477, 0.3813, 0.1989, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1478 left_yaw=0.002 left_pitch=-0.1613 left_roll=0.0004 left_gripper=0.9987 right_x=0.4029 right_y=0.2415 right_z=0.1043 right_yaw=0.2111 right_pitch=-0.3303 right_roll=-0.1918 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.5658, 6.9128, 1.6044, -0.0513, -0.0757, -0.0171, -0.2667, -10.7145, 7.6513, 1.1355, 0.2271, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c72e7e08b6e31e35b10d400b8c9660fd852a5537866e677ae264f4b95503bf02",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dd5a3ef5b7a5e1037d73868097d5dda1b201762ba431b9d6f597ba2d894fb5a3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4f08ce98c5f8bb13ced938c4e0b64097f1636075c9be3b4b37533f62c4b9cda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5AQKjgEIEhgCKkAAKqpyDxZZkIAITkqhtFk3mOssG6EG5YIOs9CISNtLv4+tQIPSemYGBa0VM3rNuxgMxRidJo9CeO5tnAYBQS9zMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ34y9UGEgzbGH7NK51qWnZ4riAaDDtEnS1cGECKm/rXNCIwEnQdHqdeKbl9f5n8uhmjrf6+S6QMhRAttMb6Dolpzmx4JkmV4gF7BWSpJ+Ih8jZFKoID7Yz+wkUZT/jdO7CkdWwb8nS5+pnFowMcdV2awSZ7JxxJ9Hs1r8dZBqBrKfdr1d8QzhYzyBtpkjJ9SgHeM2cuSb/iDyBXHA5Mbgz6lxaQq7kInYpYPmB9BEx6ZdrsVOS99vjpMoV+QsTSVQZjZkVcP3vwyyQdnOdw/0/3yOJBRCv9KBAGBO7DS7OiiXRZxmQZFz5URK6zIK4V8o86SYRW7wxVuHnVmUdP3jCIvv5LRfHXeBDRg7AFb5x5zp5CxgzIAXc+eHjZpVqQzQO2Z0wPZjVfcwx8i+og52u+QH5xK+EGOLOFnqHGAKWN5iW+kP0Gv7lYU2DkPGeFaulvOqnoMb5ZF6U84uV7PVEyXFbiRyOrQN/UjOvAKbzbbxXcgHtKIo+QNNWO57Rm5K0h94NI2wq0dvJcVj9vQSjbcG1pQY0wDpxKeElkCKSQFVsKjEUu/68FXDkCTtG6VR3qS4v/qCYMGCx+SZsEwZRapfVDrKxeeZ01KgoM5HePFXFbkCiCmdQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XQJDS3VncspJWmC8By6Fk8",
      "input": {
        "note": "Lemon is centered on the jaw column; advancing 2 cm and descending to grasp height.",
        "targets": {
          "right_x": 0.42,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01XQJDS3VncspJWmC8By6Fk8",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6147, -0.4984, -0.0139, -0.0338, 0.9987, 0.6502, 2.009, 1.2324, -0.3191, 0.3611, 0.1814, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1632 left_roll=0.0005 left_gripper=0.9987 right_x=0.3989 right_y=0.2295 right_z=0.013 right_yaw=0.1952 right_pitch=-0.4399 right_roll=-0.2391 right_gripper=0.9966\nstate[joint_eff]: [0.0479, -1.5795, 7.0496, 1.5653, -0.0513, -0.0757, -0.0122, -0.6359, -10.7966, 6.3521, 1.5653, 0.149, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d16e920195d8c568337f7d0a34778b5eb7f378a17633fd2f0d01eec0e79e8566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023dc192108b8f21fda17711e547b9f1cc8e54edfe091e973b5b364d43a2464e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70fbd5124c779f1e1c84388fb9edd44bcae77e0ae954d90f04a5c4f81fee7057",
        "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 · 7.585 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, 0.8444, 0.6147, -0.4946, -0.0135, -0.0334, 0.9987, 0.7105, 2.0274, 1.2179, -0.2184, 0.4103, 0.2352, 0.9966]\nstate[eef_state]: left_x=0.2818 left_y=-0.0002 left_z=0.1487 left_yaw=0.0015 left_pitch=-0.1568 left_roll=0.0004 left_gripper=0.9987 right_x=0.3989 right_y=0.255 right_z=0.0144 right_yaw=0.1981 right_pitch=-0.3532 right_roll=-0.2126 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.6342, 6.9265, 1.5897, -0.0415, -0.0464, -0.0122, -0.0205, -13.1624, 5.7641, 1.1795, 0.1734, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6147, -0.498, -0.0139, -0.0338, 0.9987, 0.6727, 1.8503, 1.343, -0.477, 0.3813, 0.1989, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1478 left_yaw=0.002 left_pitch=-0.1613 left_roll=0.0004 left_gripper=0.9987 right_x=0.4029 right_y=0.2415 right_z=0.1043 right_yaw=0.2111 right_pitch=-0.3303 right_roll=-0.1918 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.5658, 6.9128, 1.6044, -0.0513, -0.0757, -0.0171, -0.2667, -10.7145, 7.6513, 1.1355, 0.2271, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6147, -0.4984, -0.0139, -0.0338, 0.9987, 0.6502, 2.009, 1.2324, -0.3191, 0.3611, 0.1814, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1632 left_roll=0.0005 left_gripper=0.9987 right_x=0.3989 right_y=0.2295 right_z=0.013 right_yaw=0.1952 right_pitch=-0.4399 right_roll=-0.2391 right_gripper=0.9966\nstate[joint_eff]: [0.0479, -1.5795, 7.0496, 1.5653, -0.0513, -0.0757, -0.0122, -0.6359, -10.7966, 6.3521, 1.5653, 0.149, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d16e920195d8c568337f7d0a34778b5eb7f378a17633fd2f0d01eec0e79e8566",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:023dc192108b8f21fda17711e547b9f1cc8e54edfe091e973b5b364d43a2464e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70fbd5124c779f1e1c84388fb9edd44bcae77e0ae954d90f04a5c4f81fee7057",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIStwUKjgEIEhgCKkAgF+FVITD8WXOf3GJ63CcRTCc3y/763qvgkyT4qtAqsdzALViXxuVPqFihRF3UVBrOwvL+v206Dm/cZtcnMpWHMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaT4y9UGEgw/haRxYq+IfDWLl9EaDAVtsMLrj/28R++vtyIw1sAcxFDqm00eXqJSVTp9Mz1t/LSDeW9yvGiko+hikZPwBPC6Ia7RGCpAyJXW0sj5KtUDxAlMCQTRzztMsCFNUQWoS8mHzLD6Tv8mqbvpek/8VP7Hke/2lLeOSAKWjFsgNLAlvrtlRa0+I+Jm7Lb0tOixfEAzO9EtCVAnmGfSs1OWrawjDvZLV1OppxE5pcznKzakX/Sf1S+zYsXKprkq0p3inv6b0eq+d3t4nxcjmK9/mtbeDns1nMOWAP+0xxVWn/rE5+fR6qJC8Islntmgl6pUzSiWEmJSB8cFsejJlHtUxtfwKKDJ3FqPbvIArjZjy63puNgnd4N5xnL2rqD8jvCzVIl9MfSKVQQGjEc/biMn8ZONRbqwLlHJzm8989bE8v9KY1vfvHiZf+oCf9PvenSqK2X/AnFUiccDFTgvc5R1MOWf2Llj+NZjgm0fvj180WIZnYguZ6QVB9qMOrboatQvbaXEjQLw/x7hfaAo4vq6cI2T5djIItVZnLDhH5xH3rsZRRJuQBZe+0cPxc4/LHH2WJSmN9UIJ8S6Abm5jcb7/4MMfERmXBVOOjqdxW+B0WO5K4Ocv8u+4XZo8t+Yq1a7M96P4riQB4EXznz3jF79HHLBjNRmBErQE/ga1OlC4adJBVaB+6gRsCkNCXcPuRJYb9mPxpZWcVWuusBRcuGbGqRGQd16vBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LRXiq2ABubucL5UYuH2QFQ",
      "input": {
        "note": "Lemon fills the wrist view right at the jaws; closing to grasp it.",
        "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_01LRXiq2ABubucL5UYuH2QFQ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6147, -0.4984, -0.0139, -0.0334, 0.9987, 0.6506, 2.0113, 1.227, -0.3191, 0.3611, 0.1745, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.0018 left_pitch=-0.1632 left_roll=0.0008 left_gripper=0.9987 right_x=0.3972 right_y=0.2284 right_z=0.0103 right_yaw=0.198 right_pitch=-0.4477 right_roll=-0.2469 right_gripper=0.0546\nstate[joint_eff]: [-0.0889, -1.4974, 6.9538, 1.5604, -0.0562, -0.0513, -0.0122, -0.0479, -10.5915, 6.1744, 1.1306, 0.1685, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b514f6aad327173210b33b6e0e9e737aadb63b909fe3f1678967faa1efda885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af51170c2582fd15843e16dfc3c806d380cc7b987d3974a20148cde6a3012d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:eb8a2ac7005a684ffd23f7a079b6c8fd73e5df8ad15ba288bc160f88ab86382e",
        "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 · 3.082 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, 0.8455, 0.6147, -0.498, -0.0139, -0.0338, 0.9987, 0.6727, 1.8503, 1.343, -0.477, 0.3813, 0.1989, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1478 left_yaw=0.002 left_pitch=-0.1613 left_roll=0.0004 left_gripper=0.9987 right_x=0.4029 right_y=0.2415 right_z=0.1043 right_yaw=0.2111 right_pitch=-0.3303 right_roll=-0.1918 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.5658, 6.9128, 1.6044, -0.0513, -0.0757, -0.0171, -0.2667, -10.7145, 7.6513, 1.1355, 0.2271, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6147, -0.4984, -0.0139, -0.0338, 0.9987, 0.6502, 2.009, 1.2324, -0.3191, 0.3611, 0.1814, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1632 left_roll=0.0005 left_gripper=0.9987 right_x=0.3989 right_y=0.2295 right_z=0.013 right_yaw=0.1952 right_pitch=-0.4399 right_roll=-0.2391 right_gripper=0.9966\nstate[joint_eff]: [0.0479, -1.5795, 7.0496, 1.5653, -0.0513, -0.0757, -0.0122, -0.6359, -10.7966, 6.3521, 1.5653, 0.149, -0.0562, -0.0171]\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 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, 0.8471, 0.6147, -0.4984, -0.0139, -0.0334, 0.9987, 0.6506, 2.0113, 1.227, -0.3191, 0.3611, 0.1745, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.0018 left_pitch=-0.1632 left_roll=0.0008 left_gripper=0.9987 right_x=0.3972 right_y=0.2284 right_z=0.0103 right_yaw=0.198 right_pitch=-0.4477 right_roll=-0.2469 right_gripper=0.0546\nstate[joint_eff]: [-0.0889, -1.4974, 6.9538, 1.5604, -0.0562, -0.0513, -0.0122, -0.0479, -10.5915, 6.1744, 1.1306, 0.1685, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b514f6aad327173210b33b6e0e9e737aadb63b909fe3f1678967faa1efda885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af51170c2582fd15843e16dfc3c806d380cc7b987d3974a20148cde6a3012d41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eb8a2ac7005a684ffd23f7a079b6c8fd73e5df8ad15ba288bc160f88ab86382e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AgKjgEIEhgCKkAatAGs5HyAgZwMBU6dQkcAW7sPRnvsybAthGyf+GID4YVBUk6qM6wvcJszlLvN2DmZFNke0r2fZlF68T5GsMAQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaz4y9UGEgwrHf0fpHHxK05BDfUaDIO86DXGipkOhQDBVSIwKCdoCe7J1bLSd4kKd5wS6qykw5AlCa7D6Dq96nk101iK3rahtCOTiXdsLTQk5gv3KooHo+M/Ob2eH8wd5ZbrSY0u99lrk6g1VYWb2Yml+ZO1BNJzJa9ZGdQe8BxHLJDUZMBLKa2tZ5bziWlcE5MbMUtuzT8HhiPoPQE239Be66UPZDf0DGkkS0m1vhfno2bKkR2iZ6n/Cug720SyA45jdWeAzCpNVfxAn6KqmZxcdUVmKCoFIbEs3P6d8hPIX+Hw6lQ6GOf7Jq0eeDImZkn4AAvMtuXFziscs/3WgdLxosLZBLupR5jGniOtt1wXhiAWVYDQVDM3fc8tcDnYs4GuhQVC8AEhselgS2LLAwrw1qjX6MI8oTK24yyvRFVH/7IKnWKdSSopfrmw6y1LMR7uXPVEVN2+duuqMpTKyd1TmZliHxZxzJ3degw+rU8/A/rqTbEHSrraOkyA1Nxmbb0R3Kzp9LtZXLe5IpOdC+ucKLrSxpdlP3ZPtrpiTasUcy7GVY7EhNlk1zvbAzVbjJ+cPYxuBTydgthr5MOksaZviXz2sTgA/+JXArGcMk/ndViccMfBhseBlR1QWO5WEe2d5mPPIlesRhYSNrHV6h6Df5/aNcEURP0kg8OdbWokVDoL29z0ygRyOH0shwCPRVk3ZrZPN+lknOuGYzaDYpcl+gvU5Rhx6To0gxS6kyricAgew8zqoxR+tMl9INKOngUUKz7tkSt1dRTE3VUFr59YycmvSq0+uO12qYhWHrKdyT3bi3AjyWiflAWS5w0lbuZ6XIxpy3FxDaL/NSY38XB/eUtAsZIZLOkG5fs3iOglje+QvC94SEC5UUAOitB8fgIRZBPE3hXVgKRNM9v6S92Wshq3Bul2ooVbBphYSXZ4lCAB0g50XYtg8F3kftfM5JgONjLOrBF1OdlX0+RDUZi9o3foKIkrxTx5ifo5igeuY93BBkHlCh8yTVe9OuINSTVz0HeMjDtamvNYsbdn1PVImzBVl8fTk2br6IAtiiOnJ51JbMfSfR7Dxov/GyQT4ZWn38rzLuYfEOBqZpjcu7ykvB98znCjTeH9Y9NqQBw/WEeEYu/oFODZoq7PEkxHz7wCgObexJKRovw0RcsV0M1jL1GFVNLkcry8jXpcM5gV8MjkZZXRnPXs+eJJUI0HTBL8HLVMHUAXgDMU/RjjlmTFxu3RyZAOb2nLz6XKy9rm4W2+Mxl0LT/ngo/EatwsIwltqvnOgUoCciRzJ7t5EjvLsUSm3p+AlbVwz5Hn5c9zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MJ36Bwgg8ZNuSexjhRHp1Z",
      "input": {
        "note": "The close was empty — the lemon sits just beyond the fingertips; reopening and reaching 5 cm further out.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.45,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01MJ36Bwgg8ZNuSexjhRHp1Z",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8471, 0.6147, -0.4992, -0.0139, -0.0334, 0.9987, 0.5854, 2.1204, 1.4292, -0.4076, 0.3229, 0.0959, 0.9956]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1472 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4398 right_y=0.2286 right_z=0.0157 right_yaw=0.2119 right_pitch=-0.4678 right_roll=-0.2561 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4701, 7.0222, 1.5507, -0.022, -0.0708, -0.0122, -0.8821, -10.4137, 7.8154, 1.1404, 0.1636, 0.1001, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef61cfd44b94a10be9486d83f5ebc9714bdfafe917c9ff46c632cfc0bef345f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b02204e8acee96dc12c29756f1d5172ceb18b730bcd647da1d8da34b940a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2abd104f95ab72dbf85d03ecab00708621b8c8b0a5311f5b9591b46e8e99120b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 9.235 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, 0.8471, 0.6147, -0.4984, -0.0139, -0.0338, 0.9987, 0.6502, 2.009, 1.2324, -0.3191, 0.3611, 0.1814, 0.9966]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.002 left_pitch=-0.1632 left_roll=0.0005 left_gripper=0.9987 right_x=0.3989 right_y=0.2295 right_z=0.013 right_yaw=0.1952 right_pitch=-0.4399 right_roll=-0.2391 right_gripper=0.9966\nstate[joint_eff]: [0.0479, -1.5795, 7.0496, 1.5653, -0.0513, -0.0757, -0.0122, -0.6359, -10.7966, 6.3521, 1.5653, 0.149, -0.0562, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8471, 0.6147, -0.4984, -0.0139, -0.0334, 0.9987, 0.6506, 2.0113, 1.227, -0.3191, 0.3611, 0.1745, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.0018 left_pitch=-0.1632 left_roll=0.0008 left_gripper=0.9987 right_x=0.3972 right_y=0.2284 right_z=0.0103 right_yaw=0.198 right_pitch=-0.4477 right_roll=-0.2469 right_gripper=0.0546\nstate[joint_eff]: [-0.0889, -1.4974, 6.9538, 1.5604, -0.0562, -0.0513, -0.0122, -0.0479, -10.5915, 6.1744, 1.1306, 0.1685, 0.0415, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8471, 0.6147, -0.4992, -0.0139, -0.0334, 0.9987, 0.5854, 2.1204, 1.4292, -0.4076, 0.3229, 0.0959, 0.9956]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1472 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4398 right_y=0.2286 right_z=0.0157 right_yaw=0.2119 right_pitch=-0.4678 right_roll=-0.2561 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4701, 7.0222, 1.5507, -0.022, -0.0708, -0.0122, -0.8821, -10.4137, 7.8154, 1.1404, 0.1636, 0.1001, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7ef61cfd44b94a10be9486d83f5ebc9714bdfafe917c9ff46c632cfc0bef345f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6b02204e8acee96dc12c29756f1d5172ceb18b730bcd647da1d8da34b940a6f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2abd104f95ab72dbf85d03ecab00708621b8c8b0a5311f5b9591b46e8e99120b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzQIKjgEIEhgCKkBXhfNBjzhLNLUU2L4Q6USB+JHnRVgBKqddWU2qoFMvKVHAeeCRAN0/caxwl2Ajv9GYIp7TnuQCfIkuvmWRc0zyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbD4y9UGEgysko3hE5qBKGMaLaoaDGN0xVWDtDym1U3SbCIwFma8Sd2CuPCH8veGz9UHjxy+nv3rXZqtkMykAteFW61t5IYJYkulAaWZ0EvLj7ATKmzw5XRGlVjPY5zert6c74rdKYBwZM9hIdBd6zY8Xg66YWyb3psin5e0QvQlPM05TM/43XMNvjFblThBb/sU54xqlAY++dRjAIVkvVC8T38DQ4bxb36Fr4dh4G3Au0CWdtqmWvOjlSOlxhEYG8sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MB76ibkRwxq8ia3ZoBuFiT",
      "input": {
        "note": "Now the lemon sits between the jaws in the wrist view; closing to grasp.",
        "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_01MB76ibkRwxq8ia3ZoBuFiT",
      "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, 0.8474, 0.6147, -0.4988, -0.0139, -0.0334, 0.9987, 0.5854, 2.1227, 1.4342, -0.4194, 0.3164, 0.0887, 0.0547]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1471 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4384 right_y=0.229 right_z=0.0147 right_yaw=0.2201 right_pitch=-0.4795 right_roll=-0.2579 right_gripper=0.0547\nstate[joint_eff]: [-0.1846, -1.306, 6.9128, 1.6288, -0.0317, -0.022, -0.0122, -0.0615, -11.7538, 5.6274, 1.2332, 0.232, 0.0464, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807eb8cd302d7ae235ecc155d6f8e5c32310bf860f3f8f608f2c92940e83710e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a59ac0cc7b592635fc7f18628c78ee5d84bff2c56b566b5adcc373dd18418c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7e508235358aea85bddba04484660eae33d36a2c29a85e8b11149b6f87f62df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.765 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, 0.8471, 0.6147, -0.4984, -0.0139, -0.0334, 0.9987, 0.6506, 2.0113, 1.227, -0.3191, 0.3611, 0.1745, 0.0546]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1473 left_yaw=0.0018 left_pitch=-0.1632 left_roll=0.0008 left_gripper=0.9987 right_x=0.3972 right_y=0.2284 right_z=0.0103 right_yaw=0.198 right_pitch=-0.4477 right_roll=-0.2469 right_gripper=0.0546\nstate[joint_eff]: [-0.0889, -1.4974, 6.9538, 1.5604, -0.0562, -0.0513, -0.0122, -0.0479, -10.5915, 6.1744, 1.1306, 0.1685, 0.0415, -0.0122]\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, 0.8471, 0.6147, -0.4992, -0.0139, -0.0334, 0.9987, 0.5854, 2.1204, 1.4292, -0.4076, 0.3229, 0.0959, 0.9956]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1472 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4398 right_y=0.2286 right_z=0.0157 right_yaw=0.2119 right_pitch=-0.4678 right_roll=-0.2561 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4701, 7.0222, 1.5507, -0.022, -0.0708, -0.0122, -0.8821, -10.4137, 7.8154, 1.1404, 0.1636, 0.1001, -0.1441]",
      "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, 0.8474, 0.6147, -0.4988, -0.0139, -0.0334, 0.9987, 0.5854, 2.1227, 1.4342, -0.4194, 0.3164, 0.0887, 0.0547]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1471 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4384 right_y=0.229 right_z=0.0147 right_yaw=0.2201 right_pitch=-0.4795 right_roll=-0.2579 right_gripper=0.0547\nstate[joint_eff]: [-0.1846, -1.306, 6.9128, 1.6288, -0.0317, -0.022, -0.0122, -0.0615, -11.7538, 5.6274, 1.2332, 0.232, 0.0464, -0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:807eb8cd302d7ae235ecc155d6f8e5c32310bf860f3f8f608f2c92940e83710e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a59ac0cc7b592635fc7f18628c78ee5d84bff2c56b566b5adcc373dd18418c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e508235358aea85bddba04484660eae33d36a2c29a85e8b11149b6f87f62df7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AcKjgEIEhgCKkCVx4mi7HYAj2X7T1IsATPlgwkYKA/M0be2y7Z7NTJEB/qLNbkxwTs9iYyZS+LMgnl3EbFED2T8s4h4SWlek85gMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbr4y9UGEgzlt9+3fOPg+4JmeYUaDFPrmpyKW3y9fYF/fiIw5rEIAD2nbwHYqLYCW6LQnBoSFVbzQmEYP9y2XOy1aN4AAEcRoO9pFRg5u1iGSMqjKo4GfSkCxUCVzaqa02OEdAHK69YpYIh6ktAn9p8dWu+de0w73Y9TsAol/fFlcevYwLt5LgvqQ1tC6msN2VZe2PFqtraSsBIMecEyY7MhLRQHf1WshEQVY62rIZI22pfxXSaRxllM7fNTzpcP8HDFb+JgfuTzTyZCFgj2dW1xF6mzd6pIFA9xybUs4ecUONLKll0adsqE5YZNESLv2yx5VtU5sRA/4BA4KmoSC0cJrb9jDaVQkvIWJXsWTXugLorSK0AVBxQBBg3zyxEsa/Jal/G/R2cwnCcX92rcJhJAprmSoJhxJxHItR4nNZqaNf4py0/pWYbiC9yFWJ4yycP5UJzG/4efy/NOxkDKChxT3CFT4oSKdbk8XNPZNsyzAUShFYt1TUcVK+kJNu1GAZXp6OlpQFqFY8CNlgdIktS+62C97ihXvePoefWMma04bKOCytZ9yQSFSsoeJKZy60Dg7w4adsapS5Hvsd6czLbBkn8PzznlXhk3oiPCnSZC3i2s2AY90PdeEPu746dX+pmrmQVCHNQoEvoGhBXuRxvmDo4/5patNjsKw4MxYEI/oqP8sP5EOFY5l4XdWJ7j/kRepo7mm73bIMYFTojHSUjutE3WBMGvkU40CLZdJshH2vgFyEWT01p8c1Bks+ILOnNbcVg/vSrvQsjeTPzjqg/5qpPrjVgzq9SLrF7rFwgSvgKH1FltmeJNHoP6LDGF9aePHFrMENzItzaWJaEKpVFWMZfHai2GCto82bRn0eWc0s4+XvLsaNpWStDCgEBCe8xXYRVZsbe/FZLdnfXo8utOOKOQbQxPC1XkvLtaCIPjzzAQyVs1rMVhWyGfZKLxNvAvS/+n+rBRAaUO0VaPeWaNqsbTj3uLWjahgxMYO+jmMZVc0VlNFUN/S44pkN64cPxGyEU44LpyillghvHbcs1gf6/EPBNQpB7hxE0eWnj9gAeuqAoVRjc5WZUwqd5VxgK6oueaRVHskhIVylKQO2vsrGOZVBPMtNttISxwnWxZ25ngRhlII0k9GbavkrOHG07i5XUYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013B6uDGXrjAdg6cb3jNpPXB",
      "input": {
        "note": "Second close was empty and nudged the lemon further to the arm's left; reopening and repositioning 3 cm left and 2 cm further out.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.46,
          "right_y": 0.258,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_013B6uDGXrjAdg6cb3jNpPXB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6147, -0.5129, -0.0135, -0.0338, 0.9987, 0.6117, 2.2063, 1.6341, -0.5671, 0.313, 0.0925, 0.9957]\nstate[eef_state]: left_x=0.2791 left_y=-0.0001 left_z=0.1432 left_yaw=0.0018 left_pitch=-0.1835 left_roll=0.0007 left_gripper=0.9987 right_x=0.4506 right_y=0.254 right_z=0.0261 right_yaw=0.2412 right_pitch=-0.5092 right_roll=-0.2653 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -1.894, 6.9675, 1.7411, -0.0269, -0.0024, -0.0122, 0.1026, -10.4, 8.7863, 1.2283, 0.2515, 0.1245, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4163eb4ab82ca7d2218e0f3a43164853330749e234b8fc78e1a5529d47d0ee7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ebcb9a764530aeea31b2dea3f97971eb5490f9bf2ee64ec5b1cab4d645937c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:572c891e41d7dfbc0f94ca3a33bde88751296ebc75becb44b146913711e63d66",
        "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 · 3.172 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, 0.8471, 0.6147, -0.4992, -0.0139, -0.0334, 0.9987, 0.5854, 2.1204, 1.4292, -0.4076, 0.3229, 0.0959, 0.9956]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1472 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4398 right_y=0.2286 right_z=0.0157 right_yaw=0.2119 right_pitch=-0.4678 right_roll=-0.2561 right_gripper=0.9956\nstate[joint_eff]: [-0.1436, -1.4701, 7.0222, 1.5507, -0.022, -0.0708, -0.0122, -0.8821, -10.4137, 7.8154, 1.1404, 0.1636, 0.1001, -0.1441]",
      "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, 0.8474, 0.6147, -0.4988, -0.0139, -0.0334, 0.9987, 0.5854, 2.1227, 1.4342, -0.4194, 0.3164, 0.0887, 0.0547]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1471 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4384 right_y=0.229 right_z=0.0147 right_yaw=0.2201 right_pitch=-0.4795 right_roll=-0.2579 right_gripper=0.0547\nstate[joint_eff]: [-0.1846, -1.306, 6.9128, 1.6288, -0.0317, -0.022, -0.0122, -0.0615, -11.7538, 5.6274, 1.2332, 0.232, 0.0464, -0.0562]",
      "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, 0.8528, 0.6147, -0.5129, -0.0135, -0.0338, 0.9987, 0.6117, 2.2063, 1.6341, -0.5671, 0.313, 0.0925, 0.9957]\nstate[eef_state]: left_x=0.2791 left_y=-0.0001 left_z=0.1432 left_yaw=0.0018 left_pitch=-0.1835 left_roll=0.0007 left_gripper=0.9987 right_x=0.4506 right_y=0.254 right_z=0.0261 right_yaw=0.2412 right_pitch=-0.5092 right_roll=-0.2653 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -1.894, 6.9675, 1.7411, -0.0269, -0.0024, -0.0122, 0.1026, -10.4, 8.7863, 1.2283, 0.2515, 0.1245, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4163eb4ab82ca7d2218e0f3a43164853330749e234b8fc78e1a5529d47d0ee7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ebcb9a764530aeea31b2dea3f97971eb5490f9bf2ee64ec5b1cab4d645937c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 172):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:572c891e41d7dfbc0f94ca3a33bde88751296ebc75becb44b146913711e63d66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmQMKjgEIEhgCKkAH+QJmVYsXO1rqdfWYBg8KYjTlYZimtJZ4usCPWD3tzS0jxbrkm9oTEWMUIGVD442FOV1Ol5uvYlGNS/HYeRGlMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb/4y9UGEgyrOEVn0WgJPHLcttYaDEyeGutbaGFlGlO/VSIwMVYF2jDagbwDl7v+Y4N/kjaN0VYAfZlaForFe87KB5xWryu8IrH9n+eSlhwIm/60KrcB4r9O09JLyOHMrMmhVFzQpbEizuVjXOKFkgHANo8n5b3Jo9Pk7LQwIo5KNjOPzIDh8SY8VKgMuKuZWh0o0hEQf+J6enqUVQZzRZoe6HldWpWfrMnmn3wIT4MmczdDhWyplw3yeEOkjJz1h7EgjDpTNDt+CLrRJdwyHDOTSlY4S1s40ZRXxnUj4sGrtdm6NIzbhYwz/Jr5ZdG0B3WIbX4+gNWM3bj43lgPMaVUczpIheT/hdaJMqFrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BfG31SyukedNEK6VfG4Z5H",
      "input": {
        "note": "Lemon is centered between the jaws but a touch forward; creeping 1.5 cm out and down before closing.",
        "targets": {
          "right_x": 0.475,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01BfG31SyukedNEK6VfG4Z5H",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8528, 0.6147, -0.5156, -0.0135, -0.0334, 0.9987, 0.6048, 2.2501, 1.7077, -0.6006, 0.3023, 0.0742, 0.9966]\nstate[eef_state]: left_x=0.2786 left_y=-0.0001 left_z=0.1427 left_yaw=0.0016 left_pitch=-0.1861 left_roll=0.0011 left_gripper=0.9987 right_x=0.4602 right_y=0.2586 right_z=0.0252 right_yaw=0.2541 right_pitch=-0.5188 right_roll=-0.2665 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5897, 0.0024, -0.0269, -0.0171, -1.6342, -11.6718, 6.9949, 1.0085, 0.2027, 0.022, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff0988d24aa3f07a0e11da23d6fc17366c04c986f664f0c245090db6c6e7a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3eaff2ee9ba9508185cb0e0efcccfb0c58e1844c228f7c3e23992ff268c7a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f79aed45aea4ad1eaff335d3700bedda16d6dd0c98c07b97d1183534ed609a1",
        "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 · 6.518 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, 0.8474, 0.6147, -0.4988, -0.0139, -0.0334, 0.9987, 0.5854, 2.1227, 1.4342, -0.4194, 0.3164, 0.0887, 0.0547]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1471 left_yaw=0.0018 left_pitch=-0.164 left_roll=0.0008 left_gripper=0.9987 right_x=0.4384 right_y=0.229 right_z=0.0147 right_yaw=0.2201 right_pitch=-0.4795 right_roll=-0.2579 right_gripper=0.0547\nstate[joint_eff]: [-0.1846, -1.306, 6.9128, 1.6288, -0.0317, -0.022, -0.0122, -0.0615, -11.7538, 5.6274, 1.2332, 0.232, 0.0464, -0.0562]",
      "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, 0.8528, 0.6147, -0.5129, -0.0135, -0.0338, 0.9987, 0.6117, 2.2063, 1.6341, -0.5671, 0.313, 0.0925, 0.9957]\nstate[eef_state]: left_x=0.2791 left_y=-0.0001 left_z=0.1432 left_yaw=0.0018 left_pitch=-0.1835 left_roll=0.0007 left_gripper=0.9987 right_x=0.4506 right_y=0.254 right_z=0.0261 right_yaw=0.2412 right_pitch=-0.5092 right_roll=-0.2653 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -1.894, 6.9675, 1.7411, -0.0269, -0.0024, -0.0122, 0.1026, -10.4, 8.7863, 1.2283, 0.2515, 0.1245, -0.1148]",
      "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, 0.8528, 0.6147, -0.5156, -0.0135, -0.0334, 0.9987, 0.6048, 2.2501, 1.7077, -0.6006, 0.3023, 0.0742, 0.9966]\nstate[eef_state]: left_x=0.2786 left_y=-0.0001 left_z=0.1427 left_yaw=0.0016 left_pitch=-0.1861 left_roll=0.0011 left_gripper=0.9987 right_x=0.4602 right_y=0.2586 right_z=0.0252 right_yaw=0.2541 right_pitch=-0.5188 right_roll=-0.2665 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5897, 0.0024, -0.0269, -0.0171, -1.6342, -11.6718, 6.9949, 1.0085, 0.2027, 0.022, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff0988d24aa3f07a0e11da23d6fc17366c04c986f664f0c245090db6c6e7a22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3eaff2ee9ba9508185cb0e0efcccfb0c58e1844c228f7c3e23992ff268c7a6c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 174):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f79aed45aea4ad1eaff335d3700bedda16d6dd0c98c07b97d1183534ed609a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WYtfqZPGPxsDUgJhUN8Loj",
      "input": {
        "note": "Lemon is between the jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WYtfqZPGPxsDUgJhUN8Loj",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8539, 0.6147, -0.5205, -0.0135, -0.0338, 0.9987, 0.6048, 2.2852, 1.7149, -0.6052, 0.2935, 0.0666, 0.0541]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1415 left_yaw=0.0018 left_pitch=-0.1922 left_roll=0.0009 left_gripper=0.9987 right_x=0.4578 right_y=0.2586 right_z=0.0091 right_yaw=0.2601 right_pitch=-0.5532 right_roll=-0.2746 right_gripper=0.0541\nstate[joint_eff]: [-0.212, -1.5795, 6.8991, 1.6337, -0.0122, -0.0708, -0.0122, -0.1299, -15.5282, 5.5043, 1.0672, 0.2076, 0.0513, 0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a49962de16beb5404c7e7992e1809ed2300c07dbc5db573a5d899a39525778a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:726ffa43387a28e31aab94aee9c780b763b55195e45fc5207c6ae2be3b8593b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bc2100efd03c00f5dd3aea3f85312ed06ed352aba94bfa4c9f2b023f4dd70760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 29 attempt 0 · /messages · status 200 · 5.134 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, 0.8528, 0.6147, -0.5129, -0.0135, -0.0338, 0.9987, 0.6117, 2.2063, 1.6341, -0.5671, 0.313, 0.0925, 0.9957]\nstate[eef_state]: left_x=0.2791 left_y=-0.0001 left_z=0.1432 left_yaw=0.0018 left_pitch=-0.1835 left_roll=0.0007 left_gripper=0.9987 right_x=0.4506 right_y=0.254 right_z=0.0261 right_yaw=0.2412 right_pitch=-0.5092 right_roll=-0.2653 right_gripper=0.9957\nstate[joint_eff]: [-0.0205, -1.894, 6.9675, 1.7411, -0.0269, -0.0024, -0.0122, 0.1026, -10.4, 8.7863, 1.2283, 0.2515, 0.1245, -0.1148]",
      "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, 0.8528, 0.6147, -0.5156, -0.0135, -0.0334, 0.9987, 0.6048, 2.2501, 1.7077, -0.6006, 0.3023, 0.0742, 0.9966]\nstate[eef_state]: left_x=0.2786 left_y=-0.0001 left_z=0.1427 left_yaw=0.0016 left_pitch=-0.1861 left_roll=0.0011 left_gripper=0.9987 right_x=0.4602 right_y=0.2586 right_z=0.0252 right_yaw=0.2541 right_pitch=-0.5188 right_roll=-0.2665 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5897, 0.0024, -0.0269, -0.0171, -1.6342, -11.6718, 6.9949, 1.0085, 0.2027, 0.022, 0.0708]",
      "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, 0.8539, 0.6147, -0.5205, -0.0135, -0.0338, 0.9987, 0.6048, 2.2852, 1.7149, -0.6052, 0.2935, 0.0666, 0.0541]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1415 left_yaw=0.0018 left_pitch=-0.1922 left_roll=0.0009 left_gripper=0.9987 right_x=0.4578 right_y=0.2586 right_z=0.0091 right_yaw=0.2601 right_pitch=-0.5532 right_roll=-0.2746 right_gripper=0.0541\nstate[joint_eff]: [-0.212, -1.5795, 6.8991, 1.6337, -0.0122, -0.0708, -0.0122, -0.1299, -15.5282, 5.5043, 1.0672, 0.2076, 0.0513, 0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a49962de16beb5404c7e7992e1809ed2300c07dbc5db573a5d899a39525778a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:726ffa43387a28e31aab94aee9c780b763b55195e45fc5207c6ae2be3b8593b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc2100efd03c00f5dd3aea3f85312ed06ed352aba94bfa4c9f2b023f4dd70760",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpwcKjgEIEhgCKkCjrrT2npZUfC/KcUkasZof9Si9ugdQbcQEzPJryX2jGbluAAEcC+Luim0yC63X7f3tSy1JfdiQYRcMZ9bPWfJnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcn4y9UGEgxIkxa66EeC0p1CsFkaDFrteRaky6jLL1mzoyIwwec38yz237R78PHNhGCp51wMrH7oCc7buXKTiUch8FOsHUsm+4comHQ1u1zJAE+RKsUFzydCprDZTCkYQbhEtyEw0a21b2nXIBvuDHxH/cQNexODFygXqVq4AsYLQEduueEksv4r3R3xg2erMSIpp16syU1iNx7AeoOIO0tkOj8Krb/OtyNg0PG6gLMDSIC+h9gzYpb1OQ6ZfaTFA8AQGL1uP3nnKDKlUqPD5DsqrKoWrtiyXXsMZ6rzvfzMtPWKDqLqoWC5RDcjIBsdEtxEMxlFLTxo6z+EgzHB42QwlmFGOj27mkVGbvQGB80f8cfxrcYuCLoCS8aDT7MsiCpLw0nSD8hz2VV62kfEuEP89n2IsRO3WyCNeIepznFlrFUHZ3me56F1ItjVdwUcmJet2jrQiCAJs41SDi+VXxoN5dJGDjwZAyOi6t+mNq9rdu4NQLhf8NkpeiItUFaUszJbuWi2weLSonEPI1Mlc4uVBjF9Dg7CC9ijaor786qQuxTZr2anCjwzBa3eX5lPz4buQ0gSeez0O7kezFFpwT89hdlWsrYEwRNOco0Q2TDPfxWzOt9COnY2RShuM6hILxSU8ejMJ87E5442dPUCXFGHbrXKf7lmXxoFu3WEwg8P47YnMa2pz3fOp7hgBYncs3pjlqto/vViAFhgC1hO4G2ekp1mmdl1Yv/iyoj0eLkuU3rBMlRic6zWGKl3SQVtY4SpzT9t3/nFGaq6v6XL7RUJNk/qI9hvIIOhGGXRXhI+o7I2uJwHOiItydAYtZ2WXl0eksaUyz4OGbt69MZmjHrPL5ZbLu93cu0+SIJ88I91FRqTF+NY339m0xD7pSEkjJHoIJtTVHClqwQV+dubbtRYfJ6+Z6dgNhpx6GcLJv/wBY+2hsyQLug5meQy75VV6DVSbaPoeGq0MZomcv0HDcCR7fL+/t2+gvSSD+3zfvNo47zsvEgHSx7IkwUVFp8r7Jpb67tgOmjHRNbX44bFQ+u1+eny6iBCXB9aKBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YAfghMM1avV3kofrPWn8hq",
      "input": {
        "note": "Third empty close — the lemon keeps sitting just past the fingertips, so reopening and pushing 3 cm further out at table level.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.49
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YAfghMM1avV3kofrPWn8hq",
      "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, 0.8539, 0.6147, -0.5209, -0.0139, -0.0334, 0.9987, 0.5755, 2.3611, 1.8732, -0.6846, 0.2749, 0.0147, 0.9956]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1414 left_yaw=0.002 left_pitch=-0.1926 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2595 right_z=0.0147 right_yaw=0.2804 right_pitch=-0.5635 right_roll=-0.2811 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.536, -0.0317, -0.0757, -0.0122, -0.9778, -10.9197, 8.2393, 1.0867, 0.149, 0.1197, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f402bb3cd0886bee87c17748a7d86303e0642eae1f82a49b7c9458182ced7a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ac1d6089f96168e02e01fdc763a5cda8d4a25e7457ef3817c15f7d0132bf56e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7e2a50a6806c7b11b11af809edae86555c6c3e18f02f286256e2d8f1f3674f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 5.339 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, 0.8528, 0.6147, -0.5156, -0.0135, -0.0334, 0.9987, 0.6048, 2.2501, 1.7077, -0.6006, 0.3023, 0.0742, 0.9966]\nstate[eef_state]: left_x=0.2786 left_y=-0.0001 left_z=0.1427 left_yaw=0.0016 left_pitch=-0.1861 left_roll=0.0011 left_gripper=0.9987 right_x=0.4602 right_y=0.2586 right_z=0.0252 right_yaw=0.2541 right_pitch=-0.5188 right_roll=-0.2665 right_gripper=0.9966\nstate[joint_eff]: [-0.1162, -1.4701, 6.9265, 1.5897, 0.0024, -0.0269, -0.0171, -1.6342, -11.6718, 6.9949, 1.0085, 0.2027, 0.022, 0.0708]",
      "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, 0.8539, 0.6147, -0.5205, -0.0135, -0.0338, 0.9987, 0.6048, 2.2852, 1.7149, -0.6052, 0.2935, 0.0666, 0.0541]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1415 left_yaw=0.0018 left_pitch=-0.1922 left_roll=0.0009 left_gripper=0.9987 right_x=0.4578 right_y=0.2586 right_z=0.0091 right_yaw=0.2601 right_pitch=-0.5532 right_roll=-0.2746 right_gripper=0.0541\nstate[joint_eff]: [-0.212, -1.5795, 6.8991, 1.6337, -0.0122, -0.0708, -0.0122, -0.1299, -15.5282, 5.5043, 1.0672, 0.2076, 0.0513, 0.1441]",
      "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, 0.8539, 0.6147, -0.5209, -0.0139, -0.0334, 0.9987, 0.5755, 2.3611, 1.8732, -0.6846, 0.2749, 0.0147, 0.9956]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1414 left_yaw=0.002 left_pitch=-0.1926 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2595 right_z=0.0147 right_yaw=0.2804 right_pitch=-0.5635 right_roll=-0.2811 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.536, -0.0317, -0.0757, -0.0122, -0.9778, -10.9197, 8.2393, 1.0867, 0.149, 0.1197, -0.1148]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f402bb3cd0886bee87c17748a7d86303e0642eae1f82a49b7c9458182ced7a7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ac1d6089f96168e02e01fdc763a5cda8d4a25e7457ef3817c15f7d0132bf56e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 194):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7e2a50a6806c7b11b11af809edae86555c6c3e18f02f286256e2d8f1f3674f5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvgUKjgEIEhgCKkCgEANTNNMBjTa7nb8GPpflNpJJ1LuYPTAfXHv5W5UnWoqZTQBRXaHn5RhKmvt48AGzeqlwzS/CAq9oB5vG8Ir/Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdD4y9UGEgxDBEcNP1BTacNpWUQaDJ2byPORxpfxXHkihSIwTdEIZ0Bc8OjO3oCrRKIm5mfonSXaHKrb8awdyfMZJVSx3o1bKSSwFAKHSNg3ziumKtwDaYTXPDWfM4WSPUSpQkZShxY6QKsRg7lNhI7BfmBDY4DqvURONbGsEVZR5DvpuXK36CoaQ0AhK6SMNV7okQNG5F4h88rIWDpAyrVx1AX0VQ4aCJeUFJUAyQwzsAS+Ps7v8aL8XAoaFC/QG7MU1WzGtMLlX+pb0kR//WB+0tSW5yBIaUAf28SbURdwISArnwyY4r1Z+rxejpnGkXBGCZDF/JkM8gk+zvNHFINJOttuw3pjhb1h3t3KDWaRfMzKA01qQImW0tvODK9hfP2pm6GZ91LdXhWEb1DTuhzdUdmp0eNqAOjl5toJm8TsoSCH1QWbNPxj7Afcdizh3BUi6gYTWnMh8vJk1+lJGMRo9hqAXVY4vPBLXoB4gNerKOvLtXJK6b4S8b9h/biZfzbxQbu1sbRPqbk99UwzBIg2A6I5CZxHG0sx0Bkyf+wpfsXkKMMjA4W+BdalLeC7JF0ZuTSfxDrWyIRnX0erKDPWgSfZmaUoDhZvV3TfKQKnHYjTSFURD3xtfKdx9T00lRsrinNHj9KVXui7aCdRcb5kaPl+aOtONu/bs3BcmJdBIPOOcWpzHdvrLf0YA9pMRjiQLvxD6/qwwzFJUscGGEyLbo9uYTzCtd9hmHrRCXeFkmsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DHAyd8vtVK9KjC1m1DcUh9",
      "input": {
        "note": "Lemon now fills the jaw opening; closing 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_01DHAyd8vtVK9KjC1m1DcUh9",
      "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, 0.8539, 0.6147, -0.5205, -0.0139, -0.0334, 0.9987, 0.5739, 2.3676, 1.8778, -0.6868, 0.2714, 0.0067, 0.3153]\nstate[eef_state]: left_x=0.2778 left_y=-0.0 left_z=0.1415 left_yaw=0.002 left_pitch=-0.1922 left_roll=0.0015 left_gripper=0.9987 right_x=0.4818 right_y=0.2594 right_z=0.0125 right_yaw=0.2863 right_pitch=-0.5696 right_roll=-0.283 right_gripper=0.3153\nstate[joint_eff]: [-0.0479, -1.5111, 7.0222, 1.5507, -0.0659, -0.0366, -0.0122, -0.0752, -14.106, 5.8735, 0.9939, 0.105, 0.0317, 0.9109]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d42ebfc17c3e04d2d63f1e44e7ef9525390be88738f2f4b150f57c8c6c1ce16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e09662168ed161bd86310b9fe69c098db8b049794d530391acb79791c5b3047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d90f8df685ca096401f10bf36165cc34d097f512da06d08d4687145a65b152d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 7.851 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, 0.8539, 0.6147, -0.5205, -0.0135, -0.0338, 0.9987, 0.6048, 2.2852, 1.7149, -0.6052, 0.2935, 0.0666, 0.0541]\nstate[eef_state]: left_x=0.2778 left_y=-0.0001 left_z=0.1415 left_yaw=0.0018 left_pitch=-0.1922 left_roll=0.0009 left_gripper=0.9987 right_x=0.4578 right_y=0.2586 right_z=0.0091 right_yaw=0.2601 right_pitch=-0.5532 right_roll=-0.2746 right_gripper=0.0541\nstate[joint_eff]: [-0.212, -1.5795, 6.8991, 1.6337, -0.0122, -0.0708, -0.0122, -0.1299, -15.5282, 5.5043, 1.0672, 0.2076, 0.0513, 0.1441]",
      "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, 0.8539, 0.6147, -0.5209, -0.0139, -0.0334, 0.9987, 0.5755, 2.3611, 1.8732, -0.6846, 0.2749, 0.0147, 0.9956]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1414 left_yaw=0.002 left_pitch=-0.1926 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2595 right_z=0.0147 right_yaw=0.2804 right_pitch=-0.5635 right_roll=-0.2811 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.536, -0.0317, -0.0757, -0.0122, -0.9778, -10.9197, 8.2393, 1.0867, 0.149, 0.1197, -0.1148]",
      "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, 0.8539, 0.6147, -0.5205, -0.0139, -0.0334, 0.9987, 0.5739, 2.3676, 1.8778, -0.6868, 0.2714, 0.0067, 0.3153]\nstate[eef_state]: left_x=0.2778 left_y=-0.0 left_z=0.1415 left_yaw=0.002 left_pitch=-0.1922 left_roll=0.0015 left_gripper=0.9987 right_x=0.4818 right_y=0.2594 right_z=0.0125 right_yaw=0.2863 right_pitch=-0.5696 right_roll=-0.283 right_gripper=0.3153\nstate[joint_eff]: [-0.0479, -1.5111, 7.0222, 1.5507, -0.0659, -0.0366, -0.0122, -0.0752, -14.106, 5.8735, 0.9939, 0.105, 0.0317, 0.9109]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9d42ebfc17c3e04d2d63f1e44e7ef9525390be88738f2f4b150f57c8c6c1ce16",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e09662168ed161bd86310b9fe69c098db8b049794d530391acb79791c5b3047",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 203):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d90f8df685ca096401f10bf36165cc34d097f512da06d08d4687145a65b152d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiwQKjgEIEhgCKkC0wPYQF9T2t9sj1Zen1dNHM87nSDHbIDR+cl0Jxae4FhefS4OuAV/mS1zJmOw87dtPKn3VUXRbe0Csz40N2cU5Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdb4y9UGEgw1kN4VbMF+dvScviUaDISSHZrvaEnyvLGi7iIwqRX6XwY9wJfRqzyXQFaEI+kujJ+2pUu9wt+/utSmCU2nEBmPkg0Q349U98iFms4aKqkC46aIm3jTY2FwoVYK64oNMyK8dezCUOWkgJ07Yp96F+srR0r5jnIoL4hx96m2o4xuZeWTihouQWxWtmZqY0nZScSMr9GtkcVigXzSX15MI4D0x2V1U7Qm6rP6HZ8k0ur/8mbcajGg8PlRhW04Vno5DpWPVM8M47rQbZqriv839vtrozkfe48gltsohsjEfX7yFlDQSZISBcQWy+Gx+wOe2LR/ToB+jzVPf07JG8ZAEo6pqljCimwgJQrk+mTSJxoJL7Mi4OeSUYSWuc6fEAjceoLnEV03xZFriUrkhQAAENz0O6eMMrx8qRSATxmK49MTK+BVt943q+NwhZZQMLW/eEGZxr8GCh5iKO4GjarlEobw+JVrAkyAjB1+fss9O+1P28bcWEYe4RNyGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013CTapR87s2RiAgYBy1HUDt",
      "input": {
        "note": "Gripper settled at 0.32 (~3 cm) with high effort, suggesting the lemon is held; lifting to verify.",
        "targets": {
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013CTapR87s2RiAgYBy1HUDt",
      "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, 0.8577, 0.6147, -0.5285, -0.0139, -0.0338, 0.9987, 0.5766, 2.5774, 2.8979, -1.5074, 0.2638, -0.0086, 0.3148]\nstate[eef_state]: left_x=0.2765 left_y=-0.0 left_z=0.1391 left_yaw=0.0022 left_pitch=-0.2041 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2625 right_z=0.1643 right_yaw=0.3038 right_pitch=-0.5838 right_roll=-0.2861 right_gripper=0.3148\nstate[joint_eff]: [-0.0342, -1.7846, 6.9265, 1.6044, -0.0659, -0.0513, -0.0122, -0.6222, -16.9641, 8.1299, 1.0379, 0.1538, 0.0952, 0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee23a1fbd8e45a3645ec487ee56134051b14673942775f1f1aa4c8c695e471c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7004744a04fdc25144d3a0e41de1daed60152dfde893abd1dfa16e98db7b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71456d4bccd2b693e94616c8a7c525e51365120fda9a6a1be35d95e1f5028ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 32 attempt 0 · /messages · status 200 · 5.781 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, 0.8539, 0.6147, -0.5209, -0.0139, -0.0334, 0.9987, 0.5755, 2.3611, 1.8732, -0.6846, 0.2749, 0.0147, 0.9956]\nstate[eef_state]: left_x=0.2777 left_y=-0.0 left_z=0.1414 left_yaw=0.002 left_pitch=-0.1926 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2595 right_z=0.0147 right_yaw=0.2804 right_pitch=-0.5635 right_roll=-0.2811 right_gripper=0.9956\nstate[joint_eff]: [-0.1709, -1.347, 7.0359, 1.536, -0.0317, -0.0757, -0.0122, -0.9778, -10.9197, 8.2393, 1.0867, 0.149, 0.1197, -0.1148]",
      "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, 0.8539, 0.6147, -0.5205, -0.0139, -0.0334, 0.9987, 0.5739, 2.3676, 1.8778, -0.6868, 0.2714, 0.0067, 0.3153]\nstate[eef_state]: left_x=0.2778 left_y=-0.0 left_z=0.1415 left_yaw=0.002 left_pitch=-0.1922 left_roll=0.0015 left_gripper=0.9987 right_x=0.4818 right_y=0.2594 right_z=0.0125 right_yaw=0.2863 right_pitch=-0.5696 right_roll=-0.283 right_gripper=0.3153\nstate[joint_eff]: [-0.0479, -1.5111, 7.0222, 1.5507, -0.0659, -0.0366, -0.0122, -0.0752, -14.106, 5.8735, 0.9939, 0.105, 0.0317, 0.9109]\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 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, 0.8577, 0.6147, -0.5285, -0.0139, -0.0338, 0.9987, 0.5766, 2.5774, 2.8979, -1.5074, 0.2638, -0.0086, 0.3148]\nstate[eef_state]: left_x=0.2765 left_y=-0.0 left_z=0.1391 left_yaw=0.0022 left_pitch=-0.2041 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2625 right_z=0.1643 right_yaw=0.3038 right_pitch=-0.5838 right_roll=-0.2861 right_gripper=0.3148\nstate[joint_eff]: [-0.0342, -1.7846, 6.9265, 1.6044, -0.0659, -0.0513, -0.0122, -0.6222, -16.9641, 8.1299, 1.0379, 0.1538, 0.0952, 0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ee23a1fbd8e45a3645ec487ee56134051b14673942775f1f1aa4c8c695e471c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7004744a04fdc25144d3a0e41de1daed60152dfde893abd1dfa16e98db7b0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71456d4bccd2b693e94616c8a7c525e51365120fda9a6a1be35d95e1f5028ee0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AcKjgEIEhgCKkCdheOxFndwAWXoCQP2HfFBudCaGT/fWPud7tmRgjREhS9yUkFcGsjrNqvpQ6TPJ7RRMaGDMN5qy6P5boQQm3KLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/4y9UGEgyNJXVhcgKTd8D4ZEcaDJLNUs+jkJys+fnc0SIwPss4vfi5P5jIXgXom9wHdLMU9iKVgq8K8elNZwdavRmBE+t01MxBL4Z2/Et0oxcgKvYFeDmJLz7TBiDBxW2zvBNMStA2OC2mBHHZCe435IetVdyWljtpvG5tbDQDdwJ1B2k5r2wDtKRlSvf0aU8aT9DzyFljQ9xnCKOGougoqa4xhMTJpoeJCN5+SLgOBctcVryZmrwQabFxZtCWpfdLv6H5dEAKfgPr+sTcvjHps+pFjc+0vvhSk/lVahlhDXD0ZidRDnnS62El80s/A/sIlHoicHB/eiT1nTojsH5Oh4tgK1lBVFe6cxro8MDcCoUZieuObT39HU6YWUS3Swb8DnqpNksC4SAvQHOzZo2HzoZ0+hVXqaM+o8d9a624yT2u1c09YumxIQl6hDUZNwUpTv2cQdrLS79jQhEzZoW+ISBw7Eyth5dYRzzkSugMMvWVUdcv/Ba0I7wGXtf6nWjxOKex3lt33hHr4Rthv+pEbTgMtGnnEmee/TxKGjjI2rXWPYIQOxsOEakVuvVBkJDe+YGEHPFb351Hjq3zoSHYUxORMrX1mnZGN1jDTDew/ugjBToAhYHV6jJ302TK/q+9mp61sPX1aqYvV6Z7d3ZJc7Hu9lWr31Gej177WHkSGaWwcg68a5KrN5WuZM9zFXTZzycVuVJAjkFjhCLBFFBgeS+LDotl9zOtLKtuvrnbANgXNNmrTRUcbvD/YS1D0/39r538prL5dCusVl7oK0kTKH5rdoXeDTUVXuCoODbSRD2ssphD3qwnhnM1IK7JysKn2547znlr1dgoTdv4Eacq+cN/knZbVuvrSr2wEPtzsCOvFafDwPKApSOcUEEHYiIWVCMRYcTpanX8OHzfx2PgfrvCHmtmvxHAaBpdK1IdjRtT/pHRDWIrLPUkCqLeB91jS6eZdu6Nrb/FVOMZ/XMKGzHPd4WSArplhwWe8VAIARbjAC/CzSBmXHuKermbtkeoLrMhegOTjnQ/7XhT/WH6jZc63k3C9XnX7YT41fDhru+7KMbtX1xufhB/O32OZySKzF7WZRLjs9iKiQj6NZQnWzl9CJwpRqXnsS8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014kne9Qu6reYg11SkFpofsY",
      "input": {
        "note": "Mango is firmly held; the blue bowl shows at the lower right of the wrist view, so I'm moving right and slightly back to hover over it.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.19,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014kne9Qu6reYg11SkFpofsY",
      "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, 0.8585, 0.6147, -0.5358, -0.0135, -0.0338, 0.9987, 0.572, 2.5816, 2.9593, -1.5837, 0.2562, -0.0273, 0.3186]\nstate[eef_state]: left_x=0.2753 left_y=-0.0001 left_z=0.1376 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0014 left_gripper=0.9987 right_x=0.4723 right_y=0.2551 right_z=0.1734 right_yaw=0.315 right_pitch=-0.607 right_roll=-0.2931 right_gripper=0.3186\nstate[joint_eff]: [-0.1983, -1.388, 6.9128, 1.6581, -0.0464, -0.0562, -0.0122, -0.4991, -12.7932, 6.8581, 1.0867, 0.1197, 0.0562, 0.3883]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d84ece5b06815a2188b2ca8162b372714f3f0af797a9c316b14b7e59a78a673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06eaeb6bbab8d865e5492efa793052c5054cb61fe9a551ed43a3c27f7613ba20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f580e56e3080bf216b72efaac4eb009db02f424a98a48ce1a81fd2860d67d1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 5.297 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, 0.8539, 0.6147, -0.5205, -0.0139, -0.0334, 0.9987, 0.5739, 2.3676, 1.8778, -0.6868, 0.2714, 0.0067, 0.3153]\nstate[eef_state]: left_x=0.2778 left_y=-0.0 left_z=0.1415 left_yaw=0.002 left_pitch=-0.1922 left_roll=0.0015 left_gripper=0.9987 right_x=0.4818 right_y=0.2594 right_z=0.0125 right_yaw=0.2863 right_pitch=-0.5696 right_roll=-0.283 right_gripper=0.3153\nstate[joint_eff]: [-0.0479, -1.5111, 7.0222, 1.5507, -0.0659, -0.0366, -0.0122, -0.0752, -14.106, 5.8735, 0.9939, 0.105, 0.0317, 0.9109]\napprover: 9 step(s) modified (delta_clamped ×9).",
      "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, 0.8577, 0.6147, -0.5285, -0.0139, -0.0338, 0.9987, 0.5766, 2.5774, 2.8979, -1.5074, 0.2638, -0.0086, 0.3148]\nstate[eef_state]: left_x=0.2765 left_y=-0.0 left_z=0.1391 left_yaw=0.0022 left_pitch=-0.2041 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2625 right_z=0.1643 right_yaw=0.3038 right_pitch=-0.5838 right_roll=-0.2861 right_gripper=0.3148\nstate[joint_eff]: [-0.0342, -1.7846, 6.9265, 1.6044, -0.0659, -0.0513, -0.0122, -0.6222, -16.9641, 8.1299, 1.0379, 0.1538, 0.0952, 0.2906]\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 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, 0.8585, 0.6147, -0.5358, -0.0135, -0.0338, 0.9987, 0.572, 2.5816, 2.9593, -1.5837, 0.2562, -0.0273, 0.3186]\nstate[eef_state]: left_x=0.2753 left_y=-0.0001 left_z=0.1376 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0014 left_gripper=0.9987 right_x=0.4723 right_y=0.2551 right_z=0.1734 right_yaw=0.315 right_pitch=-0.607 right_roll=-0.2931 right_gripper=0.3186\nstate[joint_eff]: [-0.1983, -1.388, 6.9128, 1.6581, -0.0464, -0.0562, -0.0122, -0.4991, -12.7932, 6.8581, 1.0867, 0.1197, 0.0562, 0.3883]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d84ece5b06815a2188b2ca8162b372714f3f0af797a9c316b14b7e59a78a673",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06eaeb6bbab8d865e5492efa793052c5054cb61fe9a551ed43a3c27f7613ba20",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 223):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f580e56e3080bf216b72efaac4eb009db02f424a98a48ce1a81fd2860d67d1e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS4AUKjgEIEhgCKkC1fFCoCoLHIrHYBSq/Z5rl4KXpsSBYBUk3k0OY8QLu5h9VyxCcdhfLuC+9gdYviX0rodz/8MIGFk5UzXZiEUztMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeX4y9UGEgzhgyoTa2hfEEUiim0aDNt/vvzksOdA8FEc8iIwDa6fijYkwTAzYbQZ1PZu3/K48p42fGU7WJTKbiLfSUHVEMelxFO5w/5R+vB3gHxEKv4D3LqveHDEE56IkoVy1EnpgaGxQuS80aTIYk1dCvPBMhiPZgNIMeYZIGnNeyCFEZbw0ARHbNwjFiZLFUyGhhpxDspTKeKit5OJjpk+ClkcTcryM0jykzSLGCu02tsia9rv3Lbhgc4wzbGV+jotp5IUzyavP5/kNcWPhwWYtQcE75uqKyyEbwfspShBZ+t49+suElyfsPZmMubm8abPdaEMRlq73IBMmkNxdRjkrsxekko9n2l/Ot9CR6HrcIO9vg9jxXuwBGN57iRDHvqUUOJjmsmOxA36UEXCsz+D5RG8T2oyji/1BSWEmapVB4/N8zxLW8f7PNsYe172A/zt3FNfgTgDKSNmx4iMQWcINuBChhgtYl0iDc8yVkn2f1b2QWLKmb3Ay24cHSZHr1M6KJHKrmAmdC/2VsTWy1Cfb4Q69xMqtx3/bVKDcAcxV4fnznW7QzeLi1meW1KPp4qlH7kaRrW7+CRTwuJVkFqzQlXeKms4PQMw/Ta0lDMspzks7TfbEfiX8La14/kIQOkqdUEOCTjUj5FnB8cbPTv5xVE7MGHEUQ9Br8daELuVhd5pdekAbGN2R6EhucsrGw7uiD57sRxHeXjVXP2mVtcrbRY72j04Q/UW2RSZtPgGuGA+U2/034Lz1jaKPzMweHiWA+9LvzRkFSgzzHljSc/vIfP0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017ayaqN6z8FjGV2qE6t1qqu",
      "input": {
        "note": "Arm was resisting at full extension; retracting toward the blue bowl's estimated position (x 0.40, y 0.15) at carry height.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.15,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_017ayaqN6z8FjGV2qE6t1qqu",
      "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, 0.8631, 0.6147, -0.5388, -0.0139, -0.0338, 0.9987, 0.4263, 1.9465, 2.2475, -1.3979, 0.2199, -0.1406, 0.3215]\nstate[eef_state]: left_x=0.2749 left_y=0.0 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2197 left_roll=0.0019 left_gripper=0.9987 right_x=0.4184 right_y=0.1516 right_z=0.2719 right_yaw=0.2876 right_pitch=-0.524 right_roll=-0.2876 right_gripper=0.3215\nstate[joint_eff]: [-0.0889, -1.4154, 6.8581, 1.5604, -0.0513, -0.0806, -0.0171, 1.265, -5.9145, 5.1624, 1.7949, -0.0757, -0.0073, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ad5d7b20ab7426a107b6da1430eb59a67e766a70717728a67c786b4062cfd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87eaf2fea8e63cba2130d00946eaabfaacd57d8da9158711eeb22118cd9149e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07f1ff607ae9d29bb766715d5a94bc1fca6199cbcfc1db68d4e2dc9ba470961a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 2.496 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, 0.8577, 0.6147, -0.5285, -0.0139, -0.0338, 0.9987, 0.5766, 2.5774, 2.8979, -1.5074, 0.2638, -0.0086, 0.3148]\nstate[eef_state]: left_x=0.2765 left_y=-0.0 left_z=0.1391 left_yaw=0.0022 left_pitch=-0.2041 left_roll=0.0015 left_gripper=0.9987 right_x=0.4815 right_y=0.2625 right_z=0.1643 right_yaw=0.3038 right_pitch=-0.5838 right_roll=-0.2861 right_gripper=0.3148\nstate[joint_eff]: [-0.0342, -1.7846, 6.9265, 1.6044, -0.0659, -0.0513, -0.0122, -0.6222, -16.9641, 8.1299, 1.0379, 0.1538, 0.0952, 0.2906]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8585, 0.6147, -0.5358, -0.0135, -0.0338, 0.9987, 0.572, 2.5816, 2.9593, -1.5837, 0.2562, -0.0273, 0.3186]\nstate[eef_state]: left_x=0.2753 left_y=-0.0001 left_z=0.1376 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0014 left_gripper=0.9987 right_x=0.4723 right_y=0.2551 right_z=0.1734 right_yaw=0.315 right_pitch=-0.607 right_roll=-0.2931 right_gripper=0.3186\nstate[joint_eff]: [-0.1983, -1.388, 6.9128, 1.6581, -0.0464, -0.0562, -0.0122, -0.4991, -12.7932, 6.8581, 1.0867, 0.1197, 0.0562, 0.3883]",
      "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, 0.8631, 0.6147, -0.5388, -0.0139, -0.0338, 0.9987, 0.4263, 1.9465, 2.2475, -1.3979, 0.2199, -0.1406, 0.3215]\nstate[eef_state]: left_x=0.2749 left_y=0.0 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2197 left_roll=0.0019 left_gripper=0.9987 right_x=0.4184 right_y=0.1516 right_z=0.2719 right_yaw=0.2876 right_pitch=-0.524 right_roll=-0.2876 right_gripper=0.3215\nstate[joint_eff]: [-0.0889, -1.4154, 6.8581, 1.5604, -0.0513, -0.0806, -0.0171, 1.265, -5.9145, 5.1624, 1.7949, -0.0757, -0.0073, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ad5d7b20ab7426a107b6da1430eb59a67e766a70717728a67c786b4062cfd0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87eaf2fea8e63cba2130d00946eaabfaacd57d8da9158711eeb22118cd9149e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07f1ff607ae9d29bb766715d5a94bc1fca6199cbcfc1db68d4e2dc9ba470961a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgUKjgEIEhgCKkAZyGpMdRUx4qzgugiTf1eehqlCaL/yYrZCFOC8boqBO7UZ/WLeyWz/jTV3JoI3+zc1POp/r2IT7Gp4L8YWPwRFMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAev4y9UGEgwkFim3jBhrTrWgnJwaDITq/njeov7uSZ/g2CIwnJDg6okSmS1Nds0FH6jyZbLWIErAtTbMJ69eU+v+rrWhgVMyizZZnht1n6CPxf/iKtADMx3QgelJDPfSI/K7mBSRoidAEiZFiunDa1aADwE9q2hh5mEil7dCcBSZuTN5a+SRNhQKeXJ+DlT8IhC69JL+vkkJEQCSHsuy3dWCPYEvJolCZ12bTbFqj8aITcS1E0rz9w0QWkS/NBqzRrxL0UjWv9r3JiPN5HjM8Lj9MyB4l5/JJkXwyNCvYTOtgImQ6+U9C+73AzqZSKPZ9414vKLfnsTKLpkMAFM/z6WVAjTxUTW5UKuiVRZSL78LrReaCW/yiS6JRpPPY6LrqNh/71GnHAVrbP9tDBgFGdlYHTWfSIJkDnKlfSdygCC7wu6tmXg4woazuy1SL/zNcFVqvxgk2E5IyR2bKRtt58kB95WTBqmS/JTyjf3Z5Bt3fDfFEuZcxdKLZmVXqn8yNgOrm01K4+hkIFXKb6eE1Z2y+YSyT2F7WGhyeeCi1SYS9dxcr/Lq+1f4IRRrDeBwJc3ziDIYQ366WdpUuTpWXeFa0nIKKYgnYySvh/jpwTLGPE31Cmk1CYaGAlB8dd7o9RFxz+XElU0mbyVgDbTGFC0LAzXVNKOat8PLyeS8/a2m0Zt9fSoTai9x4iBpwkwFeeHwneSeI5MXo3Ql21e36chGEyAxrmwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Dd9qqZFn81Lu5t1qjJx25f",
      "input": {
        "note": "Top view confirms the pear is already in the blue bowl; lowering the mango over the bowl centre before releasing.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.14,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01Dd9qqZFn81Lu5t1qjJx25f",
      "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, 0.865, 0.6147, -0.5423, -0.0139, -0.0334, 0.9987, 0.4091, 1.8027, 1.6344, -1.0462, 0.2073, -0.1585, 0.3236]\nstate[eef_state]: left_x=0.2743 left_y=0.0 left_z=0.1348 left_yaw=0.0021 left_pitch=-0.225 left_roll=0.0023 left_gripper=0.9987 right_x=0.3956 right_y=0.1358 right_z=0.1595 right_yaw=0.2839 right_pitch=-0.6449 right_roll=-0.3014 right_gripper=0.3236\nstate[joint_eff]: [-0.0889, -1.6889, 6.8581, 1.6093, -0.0659, -0.0269, -0.0122, -0.3487, -11.7812, 7.4051, 1.4628, 0.0806, -0.0317, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49840ef0c296124a035349dacf3a68c64d47fa58c77be5bebdb975e3c08863f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78438f4eba7216f019585b43e346d8223b093a67f9f31dcd94ba8cb7745b94a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:414529d0ac36ca1607f8cc232a86a64445c5fd79120464ba00c7d183361c53aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 35 attempt 0 · /messages · status 200 · 19.36 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, 0.8585, 0.6147, -0.5358, -0.0135, -0.0338, 0.9987, 0.572, 2.5816, 2.9593, -1.5837, 0.2562, -0.0273, 0.3186]\nstate[eef_state]: left_x=0.2753 left_y=-0.0001 left_z=0.1376 left_yaw=0.0019 left_pitch=-0.2121 left_roll=0.0014 left_gripper=0.9987 right_x=0.4723 right_y=0.2551 right_z=0.1734 right_yaw=0.315 right_pitch=-0.607 right_roll=-0.2931 right_gripper=0.3186\nstate[joint_eff]: [-0.1983, -1.388, 6.9128, 1.6581, -0.0464, -0.0562, -0.0122, -0.4991, -12.7932, 6.8581, 1.0867, 0.1197, 0.0562, 0.3883]",
      "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, 0.8631, 0.6147, -0.5388, -0.0139, -0.0338, 0.9987, 0.4263, 1.9465, 2.2475, -1.3979, 0.2199, -0.1406, 0.3215]\nstate[eef_state]: left_x=0.2749 left_y=0.0 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2197 left_roll=0.0019 left_gripper=0.9987 right_x=0.4184 right_y=0.1516 right_z=0.2719 right_yaw=0.2876 right_pitch=-0.524 right_roll=-0.2876 right_gripper=0.3215\nstate[joint_eff]: [-0.0889, -1.4154, 6.8581, 1.5604, -0.0513, -0.0806, -0.0171, 1.265, -5.9145, 5.1624, 1.7949, -0.0757, -0.0073, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.865, 0.6147, -0.5423, -0.0139, -0.0334, 0.9987, 0.4091, 1.8027, 1.6344, -1.0462, 0.2073, -0.1585, 0.3236]\nstate[eef_state]: left_x=0.2743 left_y=0.0 left_z=0.1348 left_yaw=0.0021 left_pitch=-0.225 left_roll=0.0023 left_gripper=0.9987 right_x=0.3956 right_y=0.1358 right_z=0.1595 right_yaw=0.2839 right_pitch=-0.6449 right_roll=-0.3014 right_gripper=0.3236\nstate[joint_eff]: [-0.0889, -1.6889, 6.8581, 1.6093, -0.0659, -0.0269, -0.0122, -0.3487, -11.7812, 7.4051, 1.4628, 0.0806, -0.0317, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49840ef0c296124a035349dacf3a68c64d47fa58c77be5bebdb975e3c08863f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78438f4eba7216f019585b43e346d8223b093a67f9f31dcd94ba8cb7745b94a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 238):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:414529d0ac36ca1607f8cc232a86a64445c5fd79120464ba00c7d183361c53aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015pJsyFkdRFBRpHjvVWJBme",
      "input": {
        "note": "Mango is over the blue bowl; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_015pJsyFkdRFBRpHjvVWJBme",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8669, 0.6147, -0.543, -0.0135, -0.0334, 0.9987, 0.4103, 1.7855, 1.57, -0.9878, 0.2081, -0.1665, 0.9956]\nstate[eef_state]: left_x=0.2742 left_y=-0.0 left_z=0.1342 left_yaw=0.0018 left_pitch=-0.2277 left_roll=0.0021 left_gripper=0.9987 right_x=0.3942 right_y=0.1356 right_z=0.1496 right_yaw=0.2904 right_pitch=-0.6351 right_roll=-0.3043 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.7162, 7.0632, 1.5653, -0.0464, -0.0513, -0.0122, 0.0205, -10.8376, 6.2291, 0.9744, 0.1148, 0.0317, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d8fb7db5a28f2efe1d26214a81d0594f0ceddbfe8e889c576d96dc185c70f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e57136a2cb48abe62a4fa4e92975a2ca5f00c24ec0f0a38e6a490dafd4674007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:91d1c0b86b7a8492cb46e68551e8f44f67966294734e1e8e37edb25f3d557462",
        "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 · 6.702 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, 0.8631, 0.6147, -0.5388, -0.0139, -0.0338, 0.9987, 0.4263, 1.9465, 2.2475, -1.3979, 0.2199, -0.1406, 0.3215]\nstate[eef_state]: left_x=0.2749 left_y=0.0 left_z=0.1359 left_yaw=0.0023 left_pitch=-0.2197 left_roll=0.0019 left_gripper=0.9987 right_x=0.4184 right_y=0.1516 right_z=0.2719 right_yaw=0.2876 right_pitch=-0.524 right_roll=-0.2876 right_gripper=0.3215\nstate[joint_eff]: [-0.0889, -1.4154, 6.8581, 1.5604, -0.0513, -0.0806, -0.0171, 1.265, -5.9145, 5.1624, 1.7949, -0.0757, -0.0073, 0.2906]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.865, 0.6147, -0.5423, -0.0139, -0.0334, 0.9987, 0.4091, 1.8027, 1.6344, -1.0462, 0.2073, -0.1585, 0.3236]\nstate[eef_state]: left_x=0.2743 left_y=0.0 left_z=0.1348 left_yaw=0.0021 left_pitch=-0.225 left_roll=0.0023 left_gripper=0.9987 right_x=0.3956 right_y=0.1358 right_z=0.1595 right_yaw=0.2839 right_pitch=-0.6449 right_roll=-0.3014 right_gripper=0.3236\nstate[joint_eff]: [-0.0889, -1.6889, 6.8581, 1.6093, -0.0659, -0.0269, -0.0122, -0.3487, -11.7812, 7.4051, 1.4628, 0.0806, -0.0317, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8669, 0.6147, -0.543, -0.0135, -0.0334, 0.9987, 0.4103, 1.7855, 1.57, -0.9878, 0.2081, -0.1665, 0.9956]\nstate[eef_state]: left_x=0.2742 left_y=-0.0 left_z=0.1342 left_yaw=0.0018 left_pitch=-0.2277 left_roll=0.0021 left_gripper=0.9987 right_x=0.3942 right_y=0.1356 right_z=0.1496 right_yaw=0.2904 right_pitch=-0.6351 right_roll=-0.3043 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.7162, 7.0632, 1.5653, -0.0464, -0.0513, -0.0122, 0.0205, -10.8376, 6.2291, 0.9744, 0.1148, 0.0317, -0.1636]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d8fb7db5a28f2efe1d26214a81d0594f0ceddbfe8e889c576d96dc185c70f0f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e57136a2cb48abe62a4fa4e92975a2ca5f00c24ec0f0a38e6a490dafd4674007",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:91d1c0b86b7a8492cb46e68551e8f44f67966294734e1e8e37edb25f3d557462",
        "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_016wEFpSdNhG1SktKr5FPS2n",
      "input": {
        "note": "The mango bounced out onto the table, but the pear is in the blue bowl; with the budget nearly spent I'll do the pour: positioning over the far-left rim of the blue bowl to grip it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.4,
          "right_y": 0.215,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_016wEFpSdNhG1SktKr5FPS2n",
      "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, 0.8696, 0.6147, -0.5541, -0.0139, -0.0334, 0.9987, 0.5808, 1.94, 1.5211, -0.8303, 0.2611, -0.0326, 0.9987]\nstate[eef_state]: left_x=0.2723 left_y=0.0001 left_z=0.1316 left_yaw=0.0022 left_pitch=-0.2414 left_roll=0.0027 left_gripper=0.9987 right_x=0.3905 right_y=0.206 right_z=0.0851 right_yaw=0.3141 right_pitch=-0.6483 right_roll=-0.3149 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.6068, 6.8718, 1.5849, -0.0659, -0.0464, -0.0122, 0.4444, -9.935, 8.7179, 0.8278, 0.2662, 0.2173, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d262e19384a3c9a8f81feade3e4ded053d88b3c7826ac54f3a37a6d572bac19c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ad4695ea351d8be26432178d5e956f0f65ed15ac01c89e8caf5c60d83dc2de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d4d13366e6414c3ddfae57c21b636e12263c1cd628833d34b48b8de187d6ecc",
        "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 · 5.379 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, 0.865, 0.6147, -0.5423, -0.0139, -0.0334, 0.9987, 0.4091, 1.8027, 1.6344, -1.0462, 0.2073, -0.1585, 0.3236]\nstate[eef_state]: left_x=0.2743 left_y=0.0 left_z=0.1348 left_yaw=0.0021 left_pitch=-0.225 left_roll=0.0023 left_gripper=0.9987 right_x=0.3956 right_y=0.1358 right_z=0.1595 right_yaw=0.2839 right_pitch=-0.6449 right_roll=-0.3014 right_gripper=0.3236\nstate[joint_eff]: [-0.0889, -1.6889, 6.8581, 1.6093, -0.0659, -0.0269, -0.0122, -0.3487, -11.7812, 7.4051, 1.4628, 0.0806, -0.0317, 0.2125]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8669, 0.6147, -0.543, -0.0135, -0.0334, 0.9987, 0.4103, 1.7855, 1.57, -0.9878, 0.2081, -0.1665, 0.9956]\nstate[eef_state]: left_x=0.2742 left_y=-0.0 left_z=0.1342 left_yaw=0.0018 left_pitch=-0.2277 left_roll=0.0021 left_gripper=0.9987 right_x=0.3942 right_y=0.1356 right_z=0.1496 right_yaw=0.2904 right_pitch=-0.6351 right_roll=-0.3043 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.7162, 7.0632, 1.5653, -0.0464, -0.0513, -0.0122, 0.0205, -10.8376, 6.2291, 0.9744, 0.1148, 0.0317, -0.1636]\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, 0.8696, 0.6147, -0.5541, -0.0139, -0.0334, 0.9987, 0.5808, 1.94, 1.5211, -0.8303, 0.2611, -0.0326, 0.9987]\nstate[eef_state]: left_x=0.2723 left_y=0.0001 left_z=0.1316 left_yaw=0.0022 left_pitch=-0.2414 left_roll=0.0027 left_gripper=0.9987 right_x=0.3905 right_y=0.206 right_z=0.0851 right_yaw=0.3141 right_pitch=-0.6483 right_roll=-0.3149 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.6068, 6.8718, 1.5849, -0.0659, -0.0464, -0.0122, 0.4444, -9.935, 8.7179, 0.8278, 0.2662, 0.2173, -0.149]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d262e19384a3c9a8f81feade3e4ded053d88b3c7826ac54f3a37a6d572bac19c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34ad4695ea351d8be26432178d5e956f0f65ed15ac01c89e8caf5c60d83dc2de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d4d13366e6414c3ddfae57c21b636e12263c1cd628833d34b48b8de187d6ecc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QYKjgEIEhgCKkAe202463VuRqelrRaH7Dm+jCWIIedZL4Zky+/rmNHsfXAspQbwIpox2fB17E14Me227xXEJF2ZN5y3RJlPJqlzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYr5y9UGEgyNCeu13NSwfdFLzYsaDDaEgffJPiVzfElonyIwtsY3XzopRPGtQGBcyvK7cmKrhq1k47FWF4XRcXGiPAkcG+t9DVq6NQAN5CNZKBrXKoMFQ0cnltbMRA15hjMb9jQiq5hrXLFyz4dhlNuTUqfJ5/lZOgaJp6Hi0XiOO8jc7ymFIAK6ABVh3vZJXKg+Lp2AvteIHRTXZsmPYTXlShJg1EQs6GeR6TQJeAIGa8dnD9roXnbktBjNMDOSEFqfV3ludtV2i0+kAcLZiDCZh4ncyIGW1IydlUzvv3sDYdcx+k0nh+G5V3Dcx33WxRA2IbQf52T6DHoVdYZlliZYc0+nCFPnMD6XKpFj8Q3tv3H/hBHpPqWf0XU49eOFkP+5CBVEfrs7zw+KOC5UHjTDyDfT9zHRMy6YX6UcKgh2w05mWn/vTOPafhgWTGLJrsw8K9STUgFT9VbxIW07eBzBYxkr/40nreef9bNJccPPlyMIN7i1/3PXMYPKmCqxUlsIih+66OxLvFVTD6xmD8Rh/n1dG/hhJCZXkws7UVFNBxT3zXsk80nSb/rJq6w04xIUjzxiT3rc6JUyduQW0DMveIVAgYk504EwLHY/zJRia69B6+1ihAeCHcE8LL4Koov7V4oB9fiNGtqyEFY3fJwrM9JjrTx+oZLO+u6YFqvvqQ0o/AUfKRJ/Sp65H9BiDO20+G5CcfnTdQfbxn7XM4ZYC2hzYpbPkTZ7XjQ+rTPa9V7K8jHCs8bn7Kp3D0d+qBBgOZ9B5voaQAQEyGpS1+2ZutIG/6tcNF4lECir0td+DIEjtOlbPbWX0+n1lNNkWBpW8RozSIenWJfLlD9Kp2r2d/lWHxR2+/07VpzV+GPTCeIjLFRIw4Rythblb81fHRJi9vYe0BWuJgA2m5qonM9YNXPjCVEQZNKZ+z/lrGDJN2UR4GtpQbZxNJFYyMMJ6ABoD0fLd5R+dxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Rt6zaTawc6F4PGuBzEevqN",
      "input": {
        "note": "Blue bowl sits to the right of the jaws in the wrist view; shifting 2 cm right and dropping to rim height to grip the bowl's left rim.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.185,
          "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_01Rt6zaTawc6F4PGuBzEevqN",
      "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, 0.8696, 0.6147, -0.5549, -0.0135, -0.0334, 0.9987, 0.5297, 1.9507, 1.3865, -0.6907, 0.2489, -0.0753, 0.9986]\nstate[eef_state]: left_x=0.2722 left_y=0.0 left_z=0.1315 left_yaw=0.0019 left_pitch=-0.2422 left_roll=0.0024 left_gripper=0.9987 right_x=0.3929 right_y=0.1837 right_z=0.0477 right_yaw=0.3019 right_pitch=-0.6639 right_roll=-0.3217 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.4921, -0.0611, -0.0659, -0.0122, -0.212, -9.4564, 6.7897, 1.1209, 0.1343, 0.2222, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2822be4fb05ad7341625331e074502cd900ac0743dafdf8b3fa05a7f33d50e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60952391e8c939029ec2cf2060d474e2fc4c9138f05ad08cbba241f0d6f76df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:501f424e4e49523b155308c7a159e34d79aa13cd0fb709451bf0645144a7f45c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 11.15 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, 0.8669, 0.6147, -0.543, -0.0135, -0.0334, 0.9987, 0.4103, 1.7855, 1.57, -0.9878, 0.2081, -0.1665, 0.9956]\nstate[eef_state]: left_x=0.2742 left_y=-0.0 left_z=0.1342 left_yaw=0.0018 left_pitch=-0.2277 left_roll=0.0021 left_gripper=0.9987 right_x=0.3942 right_y=0.1356 right_z=0.1496 right_yaw=0.2904 right_pitch=-0.6351 right_roll=-0.3043 right_gripper=0.9956\nstate[joint_eff]: [-0.0615, -1.7162, 7.0632, 1.5653, -0.0464, -0.0513, -0.0122, 0.0205, -10.8376, 6.2291, 0.9744, 0.1148, 0.0317, -0.1636]\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, 0.8696, 0.6147, -0.5541, -0.0139, -0.0334, 0.9987, 0.5808, 1.94, 1.5211, -0.8303, 0.2611, -0.0326, 0.9987]\nstate[eef_state]: left_x=0.2723 left_y=0.0001 left_z=0.1316 left_yaw=0.0022 left_pitch=-0.2414 left_roll=0.0027 left_gripper=0.9987 right_x=0.3905 right_y=0.206 right_z=0.0851 right_yaw=0.3141 right_pitch=-0.6483 right_roll=-0.3149 right_gripper=0.9987\nstate[joint_eff]: [-0.1983, -1.6068, 6.8718, 1.5849, -0.0659, -0.0464, -0.0122, 0.4444, -9.935, 8.7179, 0.8278, 0.2662, 0.2173, -0.149]",
      "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, 0.8696, 0.6147, -0.5549, -0.0135, -0.0334, 0.9987, 0.5297, 1.9507, 1.3865, -0.6907, 0.2489, -0.0753, 0.9986]\nstate[eef_state]: left_x=0.2722 left_y=0.0 left_z=0.1315 left_yaw=0.0019 left_pitch=-0.2422 left_roll=0.0024 left_gripper=0.9987 right_x=0.3929 right_y=0.1837 right_z=0.0477 right_yaw=0.3019 right_pitch=-0.6639 right_roll=-0.3217 right_gripper=0.9986\nstate[joint_eff]: [-0.1162, -1.4291, 7.0359, 1.4921, -0.0611, -0.0659, -0.0122, -0.212, -9.4564, 6.7897, 1.1209, 0.1343, 0.2222, -0.022]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2822be4fb05ad7341625331e074502cd900ac0743dafdf8b3fa05a7f33d50e58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e60952391e8c939029ec2cf2060d474e2fc4c9138f05ad08cbba241f0d6f76df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 255):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:501f424e4e49523b155308c7a159e34d79aa13cd0fb709451bf0645144a7f45c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISwAQKjgEIEhgCKkAdnk8ZIBnutVlNidhK3cNXTs44n1XSksSmrLEyjl/rXYexud3pBIqXTNZIMPjKA3/Lj6bgAgRCATIrOAp3puCyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY/5y9UGEgxmsZW8PMxK3zSPRToaDAlDgyL6lnEc4AEtzyIwatLPyhusqQHc3VkhIyz3iod3g9OmfU5lvjFDKWaoYpeS/soU4gRepo5CwOyQpvyWKt4CYNhFgHKDSI4UCUIzACY65UEFjqKUaP+bgPBcvDzmtzSjZ9+7gzBKQA6kkhnNwKVB11OLO2HJiPoTiD/4nnYzs50Xg5fcTRtp8Qdm1WNltkL/ZvIpyVI6ldXyRk8AOGzCj5Hl7MoW8D2mKkyqrpGY68yRQIpXxyBZuFVVF2rCdWM+IS+seGdZWwrOJ+8KnenkWgG81aSTGBnBuQb89n9pmEHBwAXFXJVjqwIYbY3C5K8B2q8V366cryx+V2mPQI3nIv7iromsK5F1Z2HmelmJWjNjp69HwCtyBIAZyoqW/uWgIfBA3pCVj4q3dK70oPQbQ/XvWLORKsXXB3o2rm0BTiA94YDe6VM39vYoI9/aBPBKWBI6IQqbk4THev/ijYL/eOCnIwqGrhfCTNAUUvznTDdI3flinptr6bUJ/PQlXwWb66wS+k6hH+HDUlg7udj1qmhHMSk2bee3EPiGTYoYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KNs8T2au7TtLGfWQfJkrAR",
      "input": {
        "note": "Rim still right of the jaw column; shifting 2 cm further right so the jaws straddle the bowl's near-left rim.",
        "targets": {
          "right_y": 0.163,
          "right_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01KNs8T2au7TtLGfWQfJkrAR",
      "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, 0.8696, 0.6147, -0.5552, -0.0139, -0.0334, 0.9987, 0.514, 1.9583, 1.3769, -0.6254, 0.2493, -0.0982, 0.9986]\nstate[eef_state]: left_x=0.2721 left_y=0.0001 left_z=0.1315 left_yaw=0.0022 left_pitch=-0.2426 left_roll=0.0027 left_gripper=0.9987 right_x=0.4057 right_y=0.1831 right_z=0.0467 right_yaw=0.3082 right_pitch=-0.6208 right_roll=-0.3198 right_gripper=0.9986\nstate[joint_eff]: [-0.2256, -1.5521, 6.9402, 1.5165, -0.0171, -0.0464, -0.0171, -0.212, -10.1812, 6.2291, 1.0916, 0.1392, -0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1b83046cd8a5529ec750fcf31d86fc06a3b53534c5e59582f2b483ed7934548f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 257):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea380be7a197f0657a771f5ef316475b8eaf3a743c5a4262625fd54624210fcd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 257):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:36522046c2270af48a39f2f78067fd39035d2ffa5b2ea1b47ae0877a7b34c15c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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