adhoc

completed
2026-09-22T18:45:39.428320+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-5-5
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
250.5 s
total steps
322
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl (left), blue bowl, lemon and pear (right side), dark round fruit near centre-left. Right wrist cam shows the pear just ahead and slightly left of the jaws; moving over it.
move_to
right_x0.3300right_y0.0300right_z0.1400right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0174, -0.0124, 0.9991] state[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991 state[joint_eff]: [-0.4991, -1.7983, 9.5658, 1.8095, -0.1099, 0.1441, -0.0855, -0.3624, -1.7846, 9.4291, 1.8339, -0.0806, -0.0708, -0.1001] 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": 0.03, "right_z": 0.14, "right_gripper": 1.0}, "note": "Scene: white bowl (left), blue bowl, lemon and pear (right side), dark round fruit near centre-left. Right wrist cam shows the pear just ahead and slightly left of the jaws; moving over it."})
tool
executing move_to over 3 steps (0.3s)
step 3
top_cam
camera top_cam step 3
left_cam
camera left_cam step 3
right_cam
camera right_cam step 3
assistant
agent notePear is centred on the jaw column in the right wrist view; advancing 2.5 cm and descending around it.
move_to
right_x0.3500right_y0.0330right_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]: [-0.0212, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9993, 0.1467, 1.0229, 0.5209, -0.1196, 0.1043, 0.0601, 0.9991] state[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1793 left_yaw=-0.0007 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3247 right_y=0.033 right_z=0.1291 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0106 right_gripper=0.9991 state[joint_eff]: [0.0068, -1.5658, 7.2684, 1.8242, -0.0659, -0.0513, -0.0122, -0.2803, -3.412, 7.2274, 2.0635, 0.2076, 0.105, -0.1001] camera 'top_cam' (step 3): [image omitted: streamed camera frame] camera 'left_cam' (step 3): [image omitted: streamed camera frame] camera 'right_cam' (step 3): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.033, "right_z": 0.035}, "note": "Pear is centred on the jaw column in the right wrist view; advancing 2.5 cm and descending around it."})
tool
executing move_to over 7 steps (0.7s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
Pear between jaws. Close.
agent notePear fills the view between the jaws at low height; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4019, -0.0139, -0.0315, 0.9993, 0.1326, 1.4738, 0.3351, 0.4763, 0.0891, 0.0479, 0.9991] state[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0271 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3442 right_y=0.0337 right_z=0.0262 right_yaw=0.0328 right_pitch=-0.0902 right_roll=-0.0158 right_gripper=0.9991 state[joint_eff]: [0.0752, -1.6068, 7.1453, 1.8388, -0.0562, -0.022, -0.0122, -0.4444, -5.0667, 4.9162, 2.0, 0.022, -0.022, -0.0171] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
Pear between jaws. Close.
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the view between the jaws at low height; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteEmpty close: the pear sits just ahead of the jaws. Opening and lifting slightly before advancing.
move_to
right_gripper1.0000right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4088, -0.0139, -0.0338, 0.9993, 0.1337, 1.4738, 0.3351, 0.4706, 0.0845, 0.0441, 0.0109] state[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3433 right_y=0.0347 right_z=0.0251 right_yaw=0.0398 right_pitch=-0.0962 right_roll=-0.0165 right_gripper=0.0109 state[joint_eff]: [-0.0479, -1.347, 7.0085, 1.79, -0.0757, -0.0269, -0.0171, -0.1162, -4.7795, 4.9709, 1.707, 0.0659, 0.0073, 0.9304] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.06}, "note": "Empty close: the pear sits just ahead of the jaws. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent notePear is centred but a few cm ahead of the fingertips; advancing ~4.5 cm and lowering to grasp its body.
move_to
right_x0.3850right_y0.0350right_z0.0300right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4171, -0.0139, -0.0338, 0.9993, 0.1345, 1.3315, 0.3859, 0.2485, 0.0765, 0.0349, 0.9954] state[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1728 left_yaw=0.0009 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3366 right_y=0.0355 right_z=0.047 right_yaw=0.052 right_pitch=-0.1256 right_roll=-0.0212 right_gripper=0.9954 state[joint_eff]: [-0.335, -1.3333, 7.0222, 1.8144, -0.0366, -0.0562, -0.0122, -0.3897, -5.2991, 7.7744, 1.7021, 0.0757, 0.1294, -0.0513] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.035, "right_z": 0.03, "right_pitch": 0.0}, "note": "Pear is centred but a few cm ahead of the fingertips; advancing ~4.5 cm and lowering to grasp its body."})
tool
executing move_to over 5 steps (0.5s)
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 notePear body now fills the space between the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4004, 0.6312, 0.0544, 0.0139, 0.9963] state[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9993 right_x=0.3732 right_y=0.0366 right_z=0.0145 right_yaw=0.0619 right_pitch=-0.0606 right_roll=-0.0197 right_gripper=0.9963 state[joint_eff]: [0.0068, -1.5658, 7.1726, 1.7314, -0.0757, -0.0415, -0.0122, -0.5675, -6.3795, 5.9145, 2.0977, 0.0317, -0.0562, 0.0708] 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_gripper": 0.0}, "note": "Pear body now fills the space between the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteSecond close empty; jaws meet just short of the pear. Opening and raising a bit before advancing further.
move_to
right_gripper1.0000right_z0.0400
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]: [-0.0212, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4, 0.6243, 0.0513, 0.0101, 0.0111] state[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1701 left_yaw=0.0009 left_pitch=-0.0542 left_roll=-0.002 left_gripper=0.9993 right_x=0.372 right_y=0.037 right_z=0.013 right_yaw=0.0665 right_pitch=-0.068 right_roll=-0.0213 right_gripper=0.0111 state[joint_eff]: [-0.0615, -1.1419, 6.9949, 1.707, -0.0171, -0.0366, -0.0122, 0.0068, -6.0103, 4.7248, 1.7705, 0.0122, -0.0073, 0.7937] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.04}, "note": "Second close empty; jaws meet just short of the pear. Opening and raising a bit before advancing further."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent notePear still ~4-5 cm ahead of the jaw tips; advancing further to straddle its body.
move_to
right_x0.4200right_y0.0350right_z0.0200right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8143, 0.6132, -0.4339, -0.0139, -0.0338, 0.9993, 0.1139, 1.552, 0.416, 0.4614, 0.0475, 0.0063, 0.9953] state[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1677 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3635 right_y=0.0367 right_z=0.0252 right_yaw=0.0716 right_pitch=-0.1047 right_roll=-0.0236 right_gripper=0.9953 state[joint_eff]: [-0.1299, -1.4974, 7.1316, 1.7753, -0.0366, -0.0611, -0.0171, -0.0889, -7.0359, 7.4188, 1.6728, -0.022, 0.0073, -0.0757] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.035, "right_z": 0.02, "right_pitch": 0.0}, "note": "Pear still ~4-5 cm ahead of the jaw tips; advancing further to straddle its body."})
tool
executing move_to over 5 steps (0.5s)
step 60
top_cam
camera top_cam step 60
left_cam
camera left_cam step 60
right_cam
camera right_cam step 60
assistant
agent notePear body now spans between the jaw tips; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8146, 0.6132, -0.4423, -0.0139, -0.0338, 0.9992, 0.0933, 1.8122, 0.5266, 0.6586, 0.0212, -0.0128, 0.9962] state[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.001 left_pitch=-0.0744 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4078 right_y=0.038 right_z=0.0056 right_yaw=0.0837 right_pitch=-0.0577 right_roll=-0.0216 right_gripper=0.9962 state[joint_eff]: [-0.0342, -1.3607, 6.9949, 1.7265, -0.0806, -0.0806, -0.0171, -0.6769, -7.3915, 5.8325, 2.0342, 0.0122, -0.0757, 0.0806] camera 'top_cam' (step 60): [image omitted: streamed camera frame] camera 'left_cam' (step 60): [image omitted: streamed camera frame] camera 'right_cam' (step 60): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear body now spans between the jaw tips; closing."})
tool
executing move_to over 10 steps (1.0s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteGripper settled at 0.71 (~6.7 cm) — pear grasped. Lifting to carry height.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8146, 0.6132, -0.4461, -0.0139, -0.0338, 0.9993, 0.0944, 1.8122, 0.5262, 0.6548, 0.0177, -0.0166, 0.7084] state[eef_state]: left_x=0.2879 left_y=-0.0 left_z=0.1652 left_yaw=0.001 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9993 right_x=0.407 right_y=0.039 right_z=0.0047 right_yaw=0.0898 right_pitch=-0.062 right_roll=-0.0227 right_gripper=0.7084 state[joint_eff]: [-0.0068, -1.1556, 7.1863, 1.7118, -0.0317, -0.0611, -0.0073, -0.4171, -7.241, 4.588, 1.7363, -0.0024, -0.022, 1.033] camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Gripper settled at 0.71 (~6.7 cm) \u2014 pear grasped. Lifting to carry height."})
tool
executing move_to over 12 steps (1.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent notePear held; the blue bowl is ~10 cm to the left and slightly ahead. Carrying the pear over the bowl.
move_to
right_x0.4400right_y0.1400right_z0.1900right_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]: [-0.0212, 0.8146, 0.6128, -0.4503, -0.0139, -0.0338, 0.9993, 0.0952, 1.3899, 0.8738, -0.2134, 0.017, -0.02, 0.7114] state[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0828 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3973 right_y=0.0385 right_z=0.1387 right_yaw=0.093 right_pitch=-0.1605 right_roll=-0.0253 right_gripper=0.7114 state[joint_eff]: [-0.1846, -1.0735, 7.1863, 1.7216, -0.0464, -0.0659, -0.0171, -0.4308, -8.759, 9.9487, 1.9707, 0.0415, 0.0073, 0.5983] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.14, "right_z": 0.19, "right_pitch": 0.0}, "note": "Pear held; the blue bowl is ~10 cm to the left and slightly ahead. Carrying the pear over the bowl."})
tool
executing move_to over 9 steps (0.9s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteArm fell short of the last target (still at y 0.06); retrying with a slightly lower, closer target over the blue bowl.
move_to
right_x0.4300right_y0.1400right_z0.1700right_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]: [-0.0212, 0.8146, 0.6132, -0.4538, -0.0139, -0.0338, 0.9993, 0.1745, 1.4242, 0.9043, -0.2371, 0.0589, 0.0105, 0.7128] state[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.001 left_pitch=-0.0858 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3981 right_y=0.0633 right_z=0.1344 right_yaw=0.1197 right_pitch=-0.1866 right_roll=-0.0321 right_gripper=0.7128 state[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6874, -0.0757, -0.022, -0.0171, -0.4444, -7.0085, 7.5145, 2.0049, 0.1832, 0.1343, 0.4322] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.14, "right_z": 0.17, "right_pitch": 0.0}, "note": "Arm fell short of the last target (still at y 0.06); retrying with a slightly lower, closer target over the blue bowl."})
tool
executing move_to over 7 steps (0.7s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteGripper with pear now appears over the blue bowl in the top view; lowering toward the bowl before releasing.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8165, 0.6132, -0.4618, -0.0135, -0.0338, 0.9993, 0.4156, 1.5272, 0.952, -0.136, 0.1917, 0.0929, 0.7154] state[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1616 left_yaw=0.0007 left_pitch=-0.0957 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4067 right_y=0.1466 right_z=0.134 right_yaw=0.2042 right_pitch=-0.1274 right_roll=-0.0528 right_gripper=0.7154 state[joint_eff]: [-0.335, -1.0598, 6.9675, 1.7656, -0.0513, -0.0562, -0.0122, -1.2786, -6.8718, 10.8513, 2.0879, 0.5299, 0.2466, 0.6813] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.09}, "note": "Gripper with pear now appears over the blue bowl in the top view; lowering toward the bowl before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent notePear is held just above the blue bowl; opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8173, 0.6132, -0.4686, -0.0139, -0.0338, 0.9993, 0.4114, 1.5795, 0.8585, -0.0212, 0.2043, 0.0937, 0.7148] state[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1601 left_yaw=0.001 left_pitch=-0.1034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4026 right_y=0.1405 right_z=0.0952 right_yaw=0.188 right_pitch=-0.1558 right_roll=-0.0672 right_gripper=0.7148 state[joint_eff]: [-0.3624, -1.3607, 6.9538, 1.7167, -0.0757, -0.0562, -0.0171, 0.0752, -7.4325, 6.5162, 1.9805, -0.0366, -0.0562, 0.486] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "Pear is held just above the blue bowl; opening to drop it in."})
tool
executing move_to over 3 steps (0.3s)
step 104
top_cam
camera top_cam step 104
left_cam
camera left_cam step 104
right_cam
camera right_cam step 104
assistant
agent notePear released into the blue bowl. Lifting and backing off to see the bowl and the lemon.
move_to
right_z0.2000right_x0.3300right_y0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8173, 0.6132, -0.4721, -0.0139, -0.0338, 0.9993, 0.4152, 1.6249, 0.8215, 0.0223, 0.1864, 0.0872, 0.9955] state[eef_state]: left_x=0.2841 left_y=0.0 left_z=0.1594 left_yaw=0.001 left_pitch=-0.1068 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3967 right_y=0.143 right_z=0.0695 right_yaw=0.209 right_pitch=-0.1967 right_roll=-0.0681 right_gripper=0.9955 state[joint_eff]: [-0.0479, -1.1009, 6.9538, 1.6825, -0.0708, -0.0317, -0.0171, -0.294, -8.9915, 7.4188, 1.7705, 0.0513, 0.1148, -0.0757] camera 'top_cam' (step 104): [image omitted: streamed camera frame] camera 'left_cam' (step 104): [image omitted: streamed camera frame] camera 'right_cam' (step 104): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.33, "right_y": 0.05}, "note": "Pear released into the blue bowl. Lifting and backing off to see the bowl and the lemon."})
tool
executing move_to over 9 steps (0.9s)
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 noteThe pear landed just short of the blue bowl (bowl is further forward than estimated). Pear is right under the jaws; descending to regrasp it.
move_to
right_z0.0300right_x0.4100right_y0.1300right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8173, 0.6132, -0.4759, -0.0139, -0.0338, 0.9993, 0.329, 1.5566, 0.8616, -0.0856, 0.0834, 0.0032, 0.9962] state[eef_state]: left_x=0.2835 left_y=0.0 left_z=0.1587 left_yaw=0.001 left_pitch=-0.1106 left_roll=-0.0008 left_gripper=0.9993 right_x=0.399 right_y=0.1245 right_z=0.0921 right_yaw=0.2569 right_pitch=-0.2093 right_roll=-0.0562 right_gripper=0.9962 state[joint_eff]: [-0.335, -0.9641, 7.0085, 1.7265, -0.0806, -0.0269, -0.0171, -3.1521, -13.7231, 12.4376, 2.5079, -0.0122, 0.022, 0.0611] 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_z": 0.03, "right_x": 0.41, "right_y": 0.13, "right_yaw": 0.0}, "note": "The pear landed just short of the blue bowl (bowl is further forward than estimated). Pear is right under the jaws; descending to regrasp it."})
tool
executing move_to over 5 steps (0.5s)
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 noteMoves are being speed-clamped and stopping short; re-sending the descent onto the pear lying beside the blue bowl.
move_to
right_z0.0300right_x0.4100right_y0.1300right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4801, -0.0139, -0.0334, 0.9993, 0.3897, 1.589, 0.9398, -0.1818, 0.178, 0.1139, 0.9963] state[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3997 right_y=0.1342 right_z=0.0956 right_yaw=0.1735 right_pitch=-0.2459 right_roll=-0.0536 right_gripper=0.9963 state[joint_eff]: [-0.0889, -1.0598, 6.9675, 1.7265, -0.0269, -0.022, -0.0122, -0.8274, -8.3214, 6.8308, 1.5751, 0.3101, 0.1245, -0.0024] approver: 5 step(s) modified (delta_clamped ×5). 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": 0.03, "right_x": 0.41, "right_y": 0.13, "right_yaw": 0.0, "right_pitch": 0.0}, "note": "Moves are being speed-clamped and stopping short; re-sending the descent onto the pear lying beside the blue bowl."})
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 noteDescent is blocked: the left jaw is resting on the pear. Raising and shifting ~3 cm left so the pear sits between the jaws.
move_to
right_z0.1300right_y0.1550right_x0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4843, -0.0139, -0.0338, 0.9993, 0.3775, 1.586, 0.9398, -0.1852, 0.2092, 0.1242, 0.9963] state[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1561 left_yaw=0.0003 left_pitch=-0.1228 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4021 right_y=0.1238 right_z=0.097 right_yaw=0.1289 right_pitch=-0.2406 right_roll=-0.0695 right_gripper=0.9963 state[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6728, -0.0757, -0.0708, -0.0122, -0.3761, -8.3214, 6.8308, 1.5604, 0.1978, 0.2076, -0.0122] approver: 1 step(s) modified (delta_clamped). 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_z": 0.13, "right_y": 0.155, "right_x": 0.4}, "note": "Descent is blocked: the left jaw is resting on the pear. Raising and shifting ~3 cm left so the pear sits between the jaws."})
tool
executing move_to over 3 steps (0.3s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent notePear is now between the jaws (bowl just ahead); descending to regrasp it.
move_to
right_z0.0300right_x0.4050right_y0.1600right_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, 0.8211, 0.6128, -0.4908, -0.0139, -0.0338, 0.9993, 0.4706, 1.586, 0.923, -0.1089, 0.2588, 0.1585, 0.9963] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1547 left_yaw=0.0003 left_pitch=-0.1297 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3992 right_y=0.1564 right_z=0.1046 right_yaw=0.1649 right_pitch=-0.1723 right_roll=-0.0628 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.3197, 6.9402, 1.6728, -0.0366, -0.0562, -0.0171, -0.6222, -8.0068, 9.2513, 1.7265, 0.4664, 0.1441, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.03, "right_x": 0.405, "right_y": 0.16, "right_pitch": 0.0}, "note": "Pear is now between the jaws (bowl just ahead); descending to regrasp it."})
tool
executing move_to over 6 steps (0.6s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent notePear sits between the jaws at table level; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4923, -0.0139, -0.0338, 0.9993, 0.4877, 1.7977, 0.6636, 0.4049, 0.2882, 0.1379, 0.9963] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0003 left_pitch=-0.1308 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3894 right_y=0.1538 right_z=0.0132 right_yaw=0.1708 right_pitch=-0.1263 right_roll=-0.0846 right_gripper=0.9963 state[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.6386, -0.0317, -0.0366, -0.0171, 0.253, -7.3231, 4.7385, 1.8291, 0.1783, -0.1197, -0.0073] camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear sits between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 146
top_cam
camera top_cam step 146
left_cam
camera left_cam step 146
right_cam
camera right_cam step 146
assistant
agent notePear regrasped (gripper 0.75). Lifting straight up to clear the bowl rim just ahead.
move_to
right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4923, -0.0139, -0.0334, 0.9993, 0.4881, 1.808, 0.6571, 0.4656, 0.2874, 0.1314, 0.754] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0001 left_pitch=-0.1308 left_roll=-0.0 left_gripper=0.9993 right_x=0.3947 right_y=0.1569 right_z=0.0179 right_yaw=0.1768 right_pitch=-0.0851 right_roll=-0.0756 right_gripper=0.754 state[joint_eff]: [-0.0068, -1.1829, 6.9402, 1.6239, -0.0415, 0.0024, -0.0122, -0.2393, -8.5675, 5.5863, 1.0965, 0.0757, 0.0317, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 146): [image omitted: streamed camera frame] camera 'left_cam' (step 146): [image omitted: streamed camera frame] camera 'right_cam' (step 146): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.18}, "note": "Pear regrasped (gripper 0.75). Lifting straight up to clear the bowl rim just ahead."})
tool
executing move_to over 11 steps (1.1s)
step 157
top_cam
camera top_cam step 157
left_cam
camera left_cam step 157
right_cam
camera right_cam step 157
assistant
agent notePear lifted; blue bowl is ~7 cm ahead and slightly left in the wrist view. Moving over its centre.
move_to
right_x0.4600right_y0.1700right_z0.1700right_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, 0.8211, 0.6128, -0.4934, -0.0139, -0.0334, 0.9993, 0.4881, 1.4826, 0.997, -0.2329, 0.2794, 0.1299, 0.754] state[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1324 left_roll=0.0 left_gripper=0.9993 right_x=0.394 right_y=0.1581 right_z=0.1559 right_yaw=0.1832 right_pitch=-0.1183 right_roll=-0.0819 right_gripper=0.754 state[joint_eff]: [-0.0479, -1.3197, 7.1316, 1.5995, -0.0562, -0.0122, -0.0122, -0.0615, -9.0462, 8.8, 1.6825, 0.1587, -0.0464, 1.0232] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 157): [image omitted: streamed camera frame] camera 'left_cam' (step 157): [image omitted: streamed camera frame] camera 'right_cam' (step 157): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.17, "right_z": 0.17, "right_pitch": 0.0}, "note": "Pear lifted; blue bowl is ~7 cm ahead and slightly left in the wrist view. Moving over its centre."})
tool
executing move_to over 6 steps (0.6s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteBowl is still slightly ahead-left of the pear; nudging forward and left to centre over it.
move_to
right_x0.4750right_y0.1900right_z0.1500right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4953, -0.0139, -0.0338, 0.9993, 0.4477, 1.665, 1.1034, -0.1547, 0.2543, 0.0765, 0.754] state[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.153 left_yaw=0.0004 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4378 right_y=0.1649 right_z=0.1371 right_yaw=0.1926 right_pitch=-0.1235 right_roll=-0.1068 right_gripper=0.754 state[joint_eff]: [-0.0342, -1.1145, 7.1043, 1.6581, -0.0415, -0.0366, -0.0122, -0.7453, -8.3214, 9.2923, 1.9023, 0.105, -0.0464, 1.0281] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.475, "right_y": 0.19, "right_z": 0.15, "right_pitch": 0.0}, "note": "Bowl is still slightly ahead-left of the pear; nudging forward and left to centre over it."})
tool
executing move_to over 5 steps (0.5s)
step 168
top_cam
camera top_cam step 168
left_cam
camera left_cam step 168
right_cam
camera right_cam step 168
assistant
agent noteBowl centre still appears a few cm beyond the fingertips; advancing ~3 cm more before releasing.
move_to
right_x0.4900right_y0.1950right_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, 0.8268, 0.6128, -0.4984, -0.0135, -0.0338, 0.9993, 0.4725, 1.7805, 1.1427, -0.0891, 0.2695, 0.0647, 0.7623] state[eef_state]: left_x=0.2802 left_y=-0.0002 left_z=0.1517 left_yaw=0.0001 left_pitch=-0.143 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4536 right_y=0.183 right_z=0.113 right_yaw=0.2107 right_pitch=-0.132 right_roll=-0.1285 right_gripper=0.7623 state[joint_eff]: [-0.335, -1.5111, 7.2137, 1.6337, -0.0269, -0.022, -0.0122, 0.0615, -9.5932, 9.7573, 2.2247, 0.3492, 0.0415, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 168): [image omitted: streamed camera frame] camera 'left_cam' (step 168): [image omitted: streamed camera frame] camera 'right_cam' (step 168): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.49, "right_y": 0.195, "right_z": 0.13}, "note": "Bowl centre still appears a few cm beyond the fingertips; advancing ~3 cm more before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteArm barely advanced (speed clamping cuts short moves); commanding a slight overshoot to get the pear over the bowl centre.
move_to
right_x0.5200right_y0.2000right_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, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9992, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0593, 0.768] state[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9992 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2123 right_pitch=-0.0988 right_roll=-0.1283 right_gripper=0.768 state[joint_eff]: [-0.3624, -1.3333, 6.8991, 1.5946, -0.0366, -0.0317, -0.0171, -0.4991, -9.9487, 9.5795, 2.1368, 0.2222, -0.0024, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.52, "right_y": 0.2, "right_z": 0.14}, "note": "Arm barely advanced (speed clamping cuts short moves); commanding a slight overshoot to get the pear over the bowl centre."})
tool
executing move_to over 5 steps (0.5s)
step 176
top_cam
camera top_cam step 176
assistant
agent noteThe arm is held at x≈0.46 (pear probably resting on the bowl rim), with the pear's body extending over the bowl; releasing so it drops 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, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0597, 0.768] state[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2121 right_pitch=-0.0988 right_roll=-0.128 right_gripper=0.768 state[joint_eff]: [-0.0752, -1.1145, 7.0359, 1.5995, -0.0122, -0.0757, -0.0073, -0.4855, -9.9624, 9.5795, 2.1416, 0.2125, 0.0611, 1.0281] camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The arm is held at x\u22480.46 (pear probably resting on the bowl rim), with the pear's body extending over the bowl; releasing so it drops in."})
tool
executing move_to over 3 steps (0.3s)
step 179
assistant
agent notePear is now in the blue bowl. Backing the right arm off and moving the left arm toward the dark plum seen at the lower right of its wrist view.
move_to
right_x0.3300right_y0.1000right_z0.2000left_x0.3300left_y-0.0800left_z0.1200left_pitch0.0000left_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, 0.8268, 0.6132, -0.4984, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1511, -0.0456, 0.2768, 0.0536, 0.996] state[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1519 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4613 right_y=0.1875 right_z=0.1219 right_yaw=0.2154 right_pitch=-0.087 right_roll=-0.1297 right_gripper=0.996 state[joint_eff]: [-0.253, -0.9778, 6.9402, 1.6435, -0.0415, -0.0171, -0.0171, -0.294, -9.7573, 9.9487, 2.0733, 0.232, 0.1001, -0.0611] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.1, "right_z": 0.2, "left_x": 0.33, "left_y": -0.08, "left_z": 0.12, "left_pitch": 0.0, "left_gripper": 1.0}, "note": "Pear is now in the blue bowl. Backing the right arm off and moving the left arm toward the dark plum seen at the lower right of its wrist view."})
tool
executing move_to over 11 steps (1.1s)
step 190
assistant
agent notePlum is at the bottom of the left wrist view, slightly right of the jaws; shifting ~2 cm right and descending around it.
move_to
left_x0.3350left_y-0.1000left_z0.0200left_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]: [-0.4171, 1.113, 0.5079, -0.0719, -0.3199, -0.2478, 0.9993, 0.3969, 1.1378, 0.8818, -0.3862, 0.2237, 0.0074, 0.9968] state[eef_state]: left_x=0.3205 left_y=-0.0774 left_z=0.11 left_yaw=-0.023 left_pitch=-0.0675 left_roll=0.017 left_gripper=0.9993 right_x=0.3417 right_y=0.1046 right_z=0.2027 right_yaw=0.206 right_pitch=-0.06 right_roll=-0.1263 right_gripper=0.9968 state[joint_eff]: [-0.3897, -3.4803, 6.1607, 1.873, -0.2808, -0.0317, -0.0904, -0.1846, -4.1094, 6.3658, 1.7998, -0.0611, -0.0366, 0.0806] camera 'top_cam' (step 190): [image omitted: streamed camera frame] camera 'left_cam' (step 190): [image omitted: streamed camera frame] camera 'right_cam' (step 190): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_y": -0.1, "left_z": 0.02, "left_pitch": 0.0}, "note": "Plum is at the bottom of the left wrist view, slightly right of the jaws; shifting ~2 cm right and descending around it."})
tool
executing move_to over 6 steps (0.6s)
step 196
assistant
agent notePlum is centred at the bottom of the jaw gap, slightly ahead; advancing ~2 cm so it's between the fingertips.
move_to
left_x0.3450left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4915, 1.5684, 0.3252, 0.495, -0.382, -0.2703, 0.9992, 0.3965, 1.1446, 0.8757, -0.4141, 0.2123, -0.001, 0.9969] state[eef_state]: left_x=0.3207 left_y=-0.0929 left_z=0.0043 left_yaw=-0.0321 left_pitch=-0.1152 left_roll=0.0659 left_gripper=0.9992 right_x=0.3371 right_y=0.1047 right_z=0.1921 right_yaw=0.2191 right_pitch=-0.102 right_roll=-0.1336 right_gripper=0.9969 state[joint_eff]: [-0.4991, -5.8735, 3.5487, 1.8584, -0.4029, -0.0904, -0.022, -0.1846, -4.3009, 7.4462, 1.9316, 0.1685, 0.0122, -0.0024] camera 'top_cam' (step 196): [image omitted: streamed camera frame] camera 'left_cam' (step 196): [image omitted: streamed camera frame] camera 'right_cam' (step 196): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_z": 0.01}, "note": "Plum is centred at the bottom of the jaw gap, slightly ahead; advancing ~2 cm so it's between the fingertips."})
tool
executing move_to over 2 steps (0.2s)
step 198
assistant
agent notePlum is now under the fingertips (just off the bottom of the wrist view); closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4648, 1.618, 0.3588, 0.5556, -0.3756, -0.2653, 0.9987, 0.3965, 1.1446, 0.8757, -0.4168, 0.2119, -0.0013, 0.9969] state[eef_state]: left_x=0.3377 left_y=-0.0929 left_z=0.0094 left_yaw=-0.0152 left_pitch=-0.0771 left_roll=0.0463 left_gripper=0.9987 right_x=0.3367 right_y=0.1046 right_z=0.1916 right_yaw=0.2196 right_pitch=-0.1047 right_roll=-0.1341 right_gripper=0.9969 state[joint_eff]: [0.294, -5.5043, 6.5983, 1.663, 0.0171, 0.1099, -0.0659, -0.0068, -3.7949, 7.159, 1.7118, 0.0415, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 198): [image omitted: streamed camera frame] camera 'left_cam' (step 198): [image omitted: streamed camera frame] camera 'right_cam' (step 198): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum is now under the fingertips (just off the bottom of the wrist view); closing."})
tool
executing move_to over 10 steps (1.0s)
step 208
assistant
agent notePlum grasped (gripper 0.52). Carrying it toward the blue bowl, which sits near the left arm's cross-over limit.
move_to
left_z0.1700left_x0.4600left_y-0.4000left_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]: [-0.4644, 1.6215, 0.3614, 0.5282, -0.3706, -0.2668, 0.518, 0.3962, 1.145, 0.8757, -0.421, 0.2115, -0.0013, 0.9969] state[eef_state]: left_x=0.3344 left_y=-0.0919 left_z=0.004 left_yaw=-0.0168 left_pitch=-0.1039 left_roll=0.0544 left_gripper=0.518 right_x=0.3362 right_y=0.1043 right_z=0.1906 right_yaw=0.2194 right_pitch=-0.1093 right_roll=-0.1347 right_gripper=0.9969 state[joint_eff]: [-0.1846, -5.6274, 4.1641, 1.8388, -0.2466, -0.0171, 1.033, 0.0068, -3.8222, 6.9538, 1.6777, 0.0366, -0.0366, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 208): [image omitted: streamed camera frame] camera 'left_cam' (step 208): [image omitted: streamed camera frame] camera 'right_cam' (step 208): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.17, "left_x": 0.46, "left_y": -0.4, "left_pitch": 0.0}, "note": "Plum grasped (gripper 0.52). Carrying it toward the blue bowl, which sits near the left arm's cross-over limit."})
tool
executing move_to over 28 steps (2.8s)
step 236
assistant
agent noteLeft wrist view shows the blue bowl (with pear) just below-right of the jaws; pushing to the y limit and lowering before release.
move_to
left_z0.1000left_y-0.4000left_x0.4700
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]: [-0.889, 2.3592, 2.1246, -0.6128, -0.7258, -0.5919, 0.5183, 0.3706, 1.1435, 0.8757, -0.4179, 0.2562, 0.0311, 0.9969] state[eef_state]: left_x=0.4677 left_y=-0.3846 left_z=0.1481 left_yaw=0.0046 left_pitch=-0.0269 left_roll=0.0611 left_gripper=0.5183 right_x=0.3405 right_y=0.0881 right_z=0.1929 right_yaw=0.1392 right_pitch=-0.0966 right_roll=-0.1361 right_gripper=0.9969 state[joint_eff]: [-2.5641, -15.3778, 8.5675, 0.9499, -0.5006, 0.0806, 0.7692, 1.0462, -3.4667, 6.9538, 1.7411, 0.0073, -0.0904, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.1, "left_y": -0.4, "left_x": 0.47}, "note": "Left wrist view shows the blue bowl (with pear) just below-right of the jaws; pushing to the y limit and lowering before release."})
tool
executing move_to over 4 steps (0.4s)
step 240
assistant
agent noteBlue bowl is directly under the jaws now; releasing the plum into it.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9005, 2.4382, 2.101, -0.5499, -0.7258, -0.6033, 0.5201, 0.3702, 1.1458, 0.8757, -0.4332, 0.239, 0.0113, 0.997] state[eef_state]: left_x=0.4675 left_y=-0.3952 left_z=0.1017 left_yaw=0.0005 left_pitch=-0.0513 left_roll=0.0828 left_gripper=0.5201 right_x=0.338 right_y=0.0902 right_z=0.1888 right_yaw=0.1634 right_pitch=-0.1177 right_roll=-0.1448 right_gripper=0.997 state[joint_eff]: [-0.5538, -14.5436, 6.1607, 1.4579, -0.442, -0.0806, 0.7204, 0.0068, -4.041, 6.9402, 1.7656, 0.188, 0.1832, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 240): [image omitted: streamed camera frame] camera 'left_cam' (step 240): [image omitted: streamed camera frame] camera 'right_cam' (step 240): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Blue bowl is directly under the jaws now; releasing the plum into it."})
tool
executing move_to over 5 steps (0.5s)
step 245
assistant
agent notePlum released into the blue bowl. Parking the left arm and moving the right arm over the lemon lying near the table centre.
move_to
left_z0.1800left_x0.3000left_y0.0000right_x0.3100right_y0.2100right_z0.1200right_yaw0.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9009, 2.4619, 2.0884, -0.5457, -0.7212, -0.6109, 0.9952, 0.3702, 1.1465, 0.8757, -0.4393, 0.2382, 0.0093, 0.9969] state[eef_state]: left_x=0.4658 left_y=-0.3943 left_z=0.0834 left_yaw=0.0029 left_pitch=-0.0736 left_roll=0.0996 left_gripper=0.9952 right_x=0.3371 right_y=0.09 right_z=0.1874 right_yaw=0.1649 right_pitch=-0.1247 right_roll=-0.1472 right_gripper=0.9969 state[joint_eff]: [-0.0068, -16.4444, 7.6103, 1.2772, -0.3932, 0.0366, -0.0024, -0.0615, -3.8359, 7.2274, 1.6874, 0.0757, -0.0464, -0.0171] 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": {"left_z": 0.18, "left_x": 0.3, "left_y": 0.0, "right_x": 0.31, "right_y": 0.21, "right_z": 0.12, "right_yaw": 0.0, "right_pitch": 0.0}, "note": "Plum released into the blue bowl. Parking the left arm and moving the right arm over the lemon lying near the table centre."})
tool
executing move_to over 36 steps (3.6s)
step 281
assistant
agent notePear and plum are both in the blue bowl. The lemon is at the bottom-left of the right wrist view; shifting ~3.5 cm left and descending onto it.
move_to
right_x0.3100right_y0.2400right_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]: [-0.1108, 0.8951, 0.6888, -0.432, -0.1822, -0.0414, 0.9963, 0.9264, 1.5009, 0.8013, -0.2253, 0.7811, 0.5209, 0.9969] state[eef_state]: left_x=0.305 left_y=0.0019 left_z=0.1814 left_yaw=0.0571 left_pitch=-0.0594 left_roll=0.0921 left_gripper=0.9963 right_x=0.304 right_y=0.2036 right_z=0.1075 right_yaw=0.0262 right_pitch=-0.0457 right_roll=-0.1883 right_gripper=0.9969 state[joint_eff]: [0.212, -2.441, 6.8991, 1.6679, 0.1587, 0.1245, 0.1001, 0.4308, -5.6684, 8.7043, 1.409, 0.4713, 0.105, -0.0073] camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.31, "right_y": 0.24, "right_z": 0.02}, "note": "Pear and plum are both in the blue bowl. The lemon is at the bottom-left of the right wrist view; shifting ~3.5 cm left and descending onto it."})
tool
executing move_to over 6 steps (0.6s)
step 287
assistant
agent noteLemon is just left of the left jaw (top view shows it ~5 cm left). Raising and shifting left over it to avoid pushing it.
move_to
right_y0.2850right_z0.0800right_x0.3150
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]: [-0.1081, 0.8982, 0.6861, -0.4477, -0.1715, -0.0341, 0.9964, 0.9756, 1.8317, 0.7765, 0.0372, 0.7948, 0.5625, 0.9969] state[eef_state]: left_x=0.3026 left_y=0.0011 left_z=0.1761 left_yaw=0.0471 left_pitch=-0.0818 left_roll=0.095 left_gripper=0.9964 right_x=0.3049 right_y=0.2318 right_z=0.0187 right_yaw=0.0402 right_pitch=-0.0885 right_roll=-0.2357 right_gripper=0.9969 state[joint_eff]: [-0.3077, -2.1402, 7.3094, 1.7998, -0.1636, -0.1099, -0.0073, 0.3897, -7.8974, 5.8462, 1.1844, 0.5153, 0.1734, -0.0073] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.285, "right_z": 0.08, "right_x": 0.315}, "note": "Lemon is just left of the left jaw (top view shows it ~5 cm left). Raising and shifting left over it to avoid pushing it."})
tool
executing move_to over 5 steps (0.5s)
step 292
assistant
agent noteLemon rolled further left and forward (upper-left of right wrist view). Moving over it at 8 cm height.
move_to
right_y0.3600right_x0.3700right_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]: [-0.1093, 0.8993, 0.6861, -0.45, -0.1783, -0.0341, 0.9964, 1.0332, 1.8565, 1.079, -0.255, 0.7998, 0.6052, 0.9969] state[eef_state]: left_x=0.3023 left_y=0.002 left_z=0.1755 left_yaw=0.0518 left_pitch=-0.0846 left_roll=0.0997 left_gripper=0.9964 right_x=0.3157 right_y=0.2892 right_z=0.0705 right_yaw=0.0715 right_pitch=-0.0883 right_roll=-0.216 right_gripper=0.9969 state[joint_eff]: [-0.0205, -1.9214, 6.9949, 1.6581, 0.0171, -0.0806, -0.0122, 0.253, -9.4974, 6.9265, 1.0672, 0.6276, 0.232, -0.0122] camera 'top_cam' (step 292): [image omitted: streamed camera frame] camera 'left_cam' (step 292): [image omitted: streamed camera frame] camera 'right_cam' (step 292): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.36, "right_x": 0.37, "right_z": 0.08}, "note": "Lemon rolled further left and forward (upper-left of right wrist view). Moving over it at 8 cm height."})
tool
executing move_to over 6 steps (0.6s)
step 298
assistant
agent noteRight arm can't reach further left (stalled). Switching to the left arm for the lemon, which lies right of the white bowl; moving the right arm back.
move_to
right_x0.3000right_y0.1000right_z0.1800left_x0.4000left_y-0.1700left_z0.1000left_pitch0.0000left_yaw0.0000left_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1093, 0.8993, 0.6861, -0.4503, -0.1787, -0.0341, 0.9964, 1.037, 1.8561, 1.1099, -0.3412, 0.8078, 0.6216, 0.9969] state[eef_state]: left_x=0.3022 left_y=0.002 left_z=0.1754 left_yaw=0.0521 left_pitch=-0.0849 left_roll=0.1 left_gripper=0.9964 right_x=0.3125 right_y=0.2849 right_z=0.0731 right_yaw=0.0578 right_pitch=-0.1115 right_roll=-0.2526 right_gripper=0.9969 state[joint_eff]: [-0.253, -1.9214, 7.159, 1.663, -0.105, -0.0806, -0.0171, -0.1846, -9.6342, 6.735, 1.0427, 0.5739, 0.1197, -0.0073] camera 'top_cam' (step 298): [image omitted: streamed camera frame] camera 'left_cam' (step 298): [image omitted: streamed camera frame] camera 'right_cam' (step 298): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.1, "right_z": 0.18, "left_x": 0.4, "left_y": -0.17, "left_z": 0.1, "left_pitch": 0.0, "left_yaw": 0.0, "left_roll": 0.0}, "note": "Right arm can't reach further left (stalled). Switching to the left arm for the lemon, which lies right of the white bowl; moving the right arm back."})
tool
executing move_to over 16 steps (1.6s)
step 314
assistant
agent noteLemon is just below-right of the left jaws; shifting ~3 cm right and descending to straddle it.
move_to
left_x0.4000left_y-0.1900left_z0.0150left_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]: [-0.5957, 1.6207, 0.7834, 0.0967, -0.4763, -0.3676, 0.9964, 0.622, 1.1141, 0.823, -0.5171, 0.5739, 0.2108, 0.9969] state[eef_state]: left_x=0.3864 left_y=-0.1597 left_z=0.0808 left_yaw=-0.0094 left_pitch=-0.0742 left_roll=0.0407 left_gripper=0.9964 right_x=0.3029 right_y=0.1035 right_z=0.1783 right_yaw=0.035 right_pitch=-0.1035 right_roll=-0.2418 right_gripper=0.9969 state[joint_eff]: [-0.4171, -7.747, 7.9248, 1.79, -0.3883, -0.0415, -0.0122, -0.1983, -3.7128, 6.3932, 1.536, 0.2515, -0.0317, -0.0073] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 314): [image omitted: streamed camera frame] camera 'left_cam' (step 314): [image omitted: streamed camera frame] camera 'right_cam' (step 314): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.19, "left_z": 0.015, "left_pitch": 0.0}, "note": "Lemon is just below-right of the left jaws; shifting ~3 cm right and descending to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 319
assistant
agent noteLemon is centred just ahead of the jaws; advancing 2 cm so it sits between the fingertips.
move_to
left_x0.4200left_y-0.2000left_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.6598, 1.8908, 0.7639, 0.4461, -0.5316, -0.3901, 0.9964, 0.6189, 1.1183, 0.823, -0.5419, 0.5522, 0.1928, 0.9969] state[eef_state]: left_x=0.4011 left_y=-0.1933 left_z=0.0273 left_yaw=-0.0195 left_pitch=-0.0042 left_roll=0.0173 left_gripper=0.9964 right_x=0.2994 right_y=0.1039 right_z=0.1719 right_yaw=0.0559 right_pitch=-0.139 right_roll=-0.2581 right_gripper=0.9969 state[joint_eff]: [-0.3761, -8.4855, 4.041, 1.6874, -0.4225, 0.0415, -0.0122, 0.1299, -3.7265, 6.7487, 1.6484, 0.359, 0.1148, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 319): [image omitted: streamed camera frame] camera 'left_cam' (step 319): [image omitted: streamed camera frame] camera 'right_cam' (step 319): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.42, "left_y": -0.2, "left_z": 0.01}, "note": "Lemon is centred just ahead of the jaws; advancing 2 cm so it sits between the fingertips."})
tool
executing move_to over 2 steps (0.2s)
step 321
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]: [-0.6525, 1.9766, 0.791, 0.4774, -0.5369, -0.3908, 0.9964, 0.6197, 1.1202, 0.823, -0.5457, 0.551, 0.1928, 0.9969] state[eef_state]: left_x=0.407 left_y=-0.1928 left_z=0.0059 left_yaw=-0.0075 left_pitch=-0.0241 left_roll=0.0358 left_gripper=0.9964 right_x=0.2988 right_y=0.104 right_z=0.1707 right_yaw=0.0571 right_pitch=-0.1443 right_roll=-0.2605 right_gripper=0.9969 state[joint_eff]: [0.5128, -8.6085, 6.0513, 1.5458, -0.1294, 0.1294, -0.0122, -0.212, -3.535, 6.8444, 1.4921, 0.1685, -0.0366, -0.0073] camera 'top_cam' (step 321): [image omitted: streamed camera frame] camera 'left_cam' (step 321): [image omitted: streamed camera frame] camera 'right_cam' (step 321): [image omitted: streamed camera frame]
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "input_schema": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "name": "move_to"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "done"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "input_schema": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "name": "give_up"
  }
]
System (trial initial)
[
  {
    "cache_control": {
      "type": "ephemeral"
    },
    "text": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
    "type": "text"
  }
]
call 0 attempt 0 · /messages · status 200 · 13.62 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0174, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.7983, 9.5658, 1.8095, -0.1099, 0.1441, -0.0855, -0.3624, -1.7846, 9.4291, 1.8339, -0.0806, -0.0708, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf30e52d0c19ecee3dca50348efdda3122edaac7a5e135a2e0746c9be67afed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f7944b4239ac60f2ee7e39b3bd0ff45178bcd6f6364cfc594147887897f2fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:09e95a59271d0d45476dfcf839a8396453f046599f990e86f0ea1b2286110664",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 3.16 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0174, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.7983, 9.5658, 1.8095, -0.1099, 0.1441, -0.0855, -0.3624, -1.7846, 9.4291, 1.8339, -0.0806, -0.0708, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf30e52d0c19ecee3dca50348efdda3122edaac7a5e135a2e0746c9be67afed8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9f7944b4239ac60f2ee7e39b3bd0ff45178bcd6f6364cfc594147887897f2fe7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e95a59271d0d45476dfcf839a8396453f046599f990e86f0ea1b2286110664",
        "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_013XbXZeaPGrXdgMK5yZBEWM",
      "input": {
        "note": "Scene: white bowl (left), blue bowl, lemon and pear (right side), dark round fruit near centre-left. Right wrist cam shows the pear just ahead and slightly left of the jaws; moving over it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.03,
          "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_013XbXZeaPGrXdgMK5yZBEWM",
      "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]: [-0.0212, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9993, 0.1467, 1.0229, 0.5209, -0.1196, 0.1043, 0.0601, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1793 left_yaw=-0.0007 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3247 right_y=0.033 right_z=0.1291 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.5658, 7.2684, 1.8242, -0.0659, -0.0513, -0.0122, -0.2803, -3.412, 7.2274, 2.0635, 0.2076, 0.105, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63d87a501e15eb1f86c7e231215e3a866db72c2b173a98579e9d6f09bc197fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5d54396152c56d702668d549f43d3676eacec8d69cb584fea5569e594d2a69e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:87848e4be54d79541f3265dc79144a59fcbf2e466cf7b27d385d7cc215cfc21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 2.598 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0174, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.7983, 9.5658, 1.8095, -0.1099, 0.1441, -0.0855, -0.3624, -1.7846, 9.4291, 1.8339, -0.0806, -0.0708, -0.1001]",
      "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]: [-0.0212, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9993, 0.1467, 1.0229, 0.5209, -0.1196, 0.1043, 0.0601, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1793 left_yaw=-0.0007 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3247 right_y=0.033 right_z=0.1291 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.5658, 7.2684, 1.8242, -0.0659, -0.0513, -0.0122, -0.2803, -3.412, 7.2274, 2.0635, 0.2076, 0.105, -0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b63d87a501e15eb1f86c7e231215e3a866db72c2b173a98579e9d6f09bc197fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b5d54396152c56d702668d549f43d3676eacec8d69cb584fea5569e594d2a69e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 3):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87848e4be54d79541f3265dc79144a59fcbf2e466cf7b27d385d7cc215cfc21d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AYKEAgSGAI4AUIIdGhpbmtpbmcSDB2kPRAaYY8NNoU1RRoMZf/fyWsWghK9X85oIjBgOtgZUxi/fmpYGIR/SLy0CNXDV+5e3BehCR7NjisxtU0StzUR8Ux5bc9PVFCet6wq9QUnqpBIMf+ML00pkTzSZHnRTq3MwYPg5l533DE7i+x0Hqxjs1xuMBx5pC/p7NLuMYqy7Tdki50hs9TfzxWCV7aZrIfPP7i7MoE2u/b2sw9dhvcxnlq/KlmDM72rsu51qHIReJPK03m0LN17BTL0MsjJYXV5JSe42xrsAsFITUpEvWDaSqbdDHmHYdrLKBFY2WVRnLgnYwkRbLValSxPxSSib+i+ARBrXs6MjIOE4BRU+QtJSab8gBqZXFgQv/HRUyEkEJNJwkxgv7/k1RzXp33P/stSPMcLn5z0yRbdYS0sJjy2e4I3hV5P/+M9LriwCI8+2iv2xTxURBheWHoyV9TKRis9OqGwCFqTGENxKnBSSsYmsm2dzU4Xoj1phEHW0GDd6BglyIavefAlOxsQ2kjh+XiNiBjigzuZXLQvHjiVw9TCz5KXv+TZ+oaaCfDzvuILFxe03LxkKx6VYnoCLJebRvertEG4DFF3PkYRleD0PqugboNzkPwGAXnvdJIb/KIS+rZs70KTWWPrSUrc6kkqY9/aPklo4LR0AZHwAo+bsdcwE93EvQ6lCZQ9weYdtXR0c1bMjDNrNyMXuLTCMnikDgxWh93o8qqkOhnCTOZLnuG51e8cCPHmU6nioryF89SeiA5KCLY6u1Ad0DbsCs/5CFjWxsqZnSG2kpBubCoyX22AID7vBVgo/LHu2C8iXHT2c1IUtJMzzoH5jN8bNEtOEVinF7t6TFvKsEPrz9lcQXltPuXRP5wMV4V2NNQGVrIwbxHoHtej36A6zgSMYgSasePxqZpL3ySXMN5CE5jgUxtGyeizSLBLEPJQThxqK75z0oZOeUDGsxgy62rn5dtqg71GF6b2/IGo4nuUx+5lIiub+8bGc6/4vqA5ShaPE4ZnbO56ksaUZM1byutlxgujsJxI7N7aTtZHL7c7SwOVo6n7AzxeX3SRfU/kCA1logPk90h6GvfEhY0nLpf5c8U5PCD20636ZswIgypajQ04udty90MCGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014WXmvzhrfqbRRuQKzZ5WLi",
      "input": {
        "note": "Pear is centred on the jaw column in the right wrist view; advancing 2.5 cm and descending around it.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.033,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_014WXmvzhrfqbRRuQKzZ5WLi",
      "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]: [-0.0212, 0.8078, 0.6132, -0.4019, -0.0139, -0.0315, 0.9993, 0.1326, 1.4738, 0.3351, 0.4763, 0.0891, 0.0479, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0271 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3442 right_y=0.0337 right_z=0.0262 right_yaw=0.0328 right_pitch=-0.0902 right_roll=-0.0158 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.6068, 7.1453, 1.8388, -0.0562, -0.022, -0.0122, -0.4444, -5.0667, 4.9162, 2.0, 0.022, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb9ce59ac355c110b1c5fd95facb4499447bc0577855fae2bbed59d995a88b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:071fa75e2023518b1298918138229009919b6f31ac71e15d86cc1918c858ed9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dad7b2ad97b12c0a0e72096bf5d487cee0b2bb30fc994cbf1f79bb3178db9aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 3.824 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.3824, -0.0139, -0.0299, 0.9993, -0.0227, 0.8005, 0.6186, -0.3874, -0.0174, -0.0124, 0.9991]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9993 right_x=0.296 right_y=-0.0001 right_z=0.1833 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9991\nstate[joint_eff]: [-0.4991, -1.7983, 9.5658, 1.8095, -0.1099, 0.1441, -0.0855, -0.3624, -1.7846, 9.4291, 1.8339, -0.0806, -0.0708, -0.1001]",
      "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]: [-0.0212, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9993, 0.1467, 1.0229, 0.5209, -0.1196, 0.1043, 0.0601, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1793 left_yaw=-0.0007 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3247 right_y=0.033 right_z=0.1291 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.5658, 7.2684, 1.8242, -0.0659, -0.0513, -0.0122, -0.2803, -3.412, 7.2274, 2.0635, 0.2076, 0.105, -0.1001]",
      "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]: [-0.0212, 0.8078, 0.6132, -0.4019, -0.0139, -0.0315, 0.9993, 0.1326, 1.4738, 0.3351, 0.4763, 0.0891, 0.0479, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0271 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3442 right_y=0.0337 right_z=0.0262 right_yaw=0.0328 right_pitch=-0.0902 right_roll=-0.0158 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.6068, 7.1453, 1.8388, -0.0562, -0.022, -0.0122, -0.4444, -5.0667, 4.9162, 2.0, 0.022, -0.022, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb9ce59ac355c110b1c5fd95facb4499447bc0577855fae2bbed59d995a88b13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:071fa75e2023518b1298918138229009919b6f31ac71e15d86cc1918c858ed9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dad7b2ad97b12c0a0e72096bf5d487cee0b2bb30fc994cbf1f79bb3178db9aef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "text": "Pear between jaws. Close.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016oX3R9i3Ryf5Ji3efGQ9Cq",
      "input": {
        "note": "Pear fills the view between the jaws at low height; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016oX3R9i3Ryf5Ji3efGQ9Cq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4088, -0.0139, -0.0338, 0.9993, 0.1337, 1.4738, 0.3351, 0.4706, 0.0845, 0.0441, 0.0109]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3433 right_y=0.0347 right_z=0.0251 right_yaw=0.0398 right_pitch=-0.0962 right_roll=-0.0165 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -1.347, 7.0085, 1.79, -0.0757, -0.0269, -0.0171, -0.1162, -4.7795, 4.9709, 1.707, 0.0659, 0.0073, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d1a9262a369c4f6e2607df00773a1a205f7836619c58080a995a287b133c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54bd64df528a6de404fa48772eda15df3fe68dc3d4ff4c5699964b52aa2101e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f83d0c9aed1e8cca95526a4a14cdca2fde4d6cb73e2f1517f067d499d793c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 3.502 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.804, 0.6132, -0.3904, -0.0139, -0.0307, 0.9993, 0.1467, 1.0229, 0.5209, -0.1196, 0.1043, 0.0601, 0.9991]\nstate[eef_state]: left_x=0.2952 left_y=-0.0002 left_z=0.1793 left_yaw=-0.0007 left_pitch=-0.0118 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3247 right_y=0.033 right_z=0.1291 right_yaw=0.0277 right_pitch=-0.0485 right_roll=-0.0106 right_gripper=0.9991\nstate[joint_eff]: [0.0068, -1.5658, 7.2684, 1.8242, -0.0659, -0.0513, -0.0122, -0.2803, -3.412, 7.2274, 2.0635, 0.2076, 0.105, -0.1001]",
      "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]: [-0.0212, 0.8078, 0.6132, -0.4019, -0.0139, -0.0315, 0.9993, 0.1326, 1.4738, 0.3351, 0.4763, 0.0891, 0.0479, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0271 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3442 right_y=0.0337 right_z=0.0262 right_yaw=0.0328 right_pitch=-0.0902 right_roll=-0.0158 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.6068, 7.1453, 1.8388, -0.0562, -0.022, -0.0122, -0.4444, -5.0667, 4.9162, 2.0, 0.022, -0.022, -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]: [-0.0212, 0.8078, 0.6132, -0.4088, -0.0139, -0.0338, 0.9993, 0.1337, 1.4738, 0.3351, 0.4706, 0.0845, 0.0441, 0.0109]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3433 right_y=0.0347 right_z=0.0251 right_yaw=0.0398 right_pitch=-0.0962 right_roll=-0.0165 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -1.347, 7.0085, 1.79, -0.0757, -0.0269, -0.0171, -0.1162, -4.7795, 4.9709, 1.707, 0.0659, 0.0073, 0.9304]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61d1a9262a369c4f6e2607df00773a1a205f7836619c58080a995a287b133c48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c54bd64df528a6de404fa48772eda15df3fe68dc3d4ff4c5699964b52aa2101e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f83d0c9aed1e8cca95526a4a14cdca2fde4d6cb73e2f1517f067d499d793c2c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS1QcKEAgSGAI4AUIIdGhpbmtpbmcSDPlOMkv+GfKflq+/qBoMRItOz5p22Mb5VDFGIjC7/eddodVBvYGclOmMFHsMIkDvVUwGyTEQIxq9UAwDWsfE5vsOqAzB7hBTSErf2tkq8gaK/VXyUrL2TjBX1yFJvvZUAZXf+/b4pugZ1pS+6e3116Ee3EsWDU6hpSf0pIB0e4m8hRU71t2mZk+mzkZWT+v4YY+IC75fvl76GXZr9N5fuR/cQ4DIOc0LVnEmTbtym6oSA+SEM/70aJdOiBURR+ysmWevfBw0u+POBlE9lut1gnD5ixmr2Dub615Wvpw4Igj/vU/Cb2mjUR/Y5Y3EqwfrbK4eZYdFIHHWCQNWOae+gzDDDRAn4IXVfLTeXRzjo7C4vOsts8ehOEyopsQ9KC+ncLS849pMJFPiTws4DfwyzvkNAxIIIuuIiDGrk9O3if0/vIErrabs5AW4Bl0GYEs9WhPUJ+Bn5QhNGzXsqYl7XHYxenjF3Iokze68JXZwjHVmlgKdHDiQbVbCyE9E3H856J+58pOcPWwP9YdgZH3S2XBQrRP49qpaM9yJBYbWJIjydS0YP+jcdKI9EpRMyt9qzpVisY5i4OXpp2cFaC2LdeOlPO6KxlJwAhlE8u6YAJu2nwSjT1OHXymMqJM855Qt9Uy6wgf/zXLErQswXv0TWiv4iJHWPr2JfUbiFIvHCWCXBt02cX19CXDUuwawqLaa8lQdkCOKWN8Bd7JSV8sQ7Jln6mpBnY6gL/c2C6vA+/23AIaO5ZzmGKv+Stzhl9Br/erTv5ADfs0okIb+BBEgIk27tzqyyE2mxFVmyyDSWGcK+cPjA+m2jjHNQjg5ZdpKBhn4ebhV+tGw3CJ8FjTmM1DooRoYIbBQ0yUh2IcRh2rMDSWPHDXzo8qGNgmnzD6zL8KJsz4rf5usRCs4HQ0TznopadM1joqmHpFIC485AKkmZ4QbufxvB+oXSjSRvEmW0U0KOYbdwCOMY1aRz8+2pKQroowmSEJXt7uBfKuuBSLdDd6NIUXV7S6eKmz36KhRZXKxcTnodVIqpHJnibHxzBw+c7pEplCCY3y/prJ+KLl+6Y7zF/BkZPziAkU4muOH1QZkRYuNGaLjm83sAK/b8RK+WZE18+YzKfZCzxBy36UFmK2yE9pvORmxpF1S1adERht/nPiPZsrYN+Rv9UIzkY4C4/p3+9leFLpT/o5MRc6qbM7Fja+03q/xQtlfvvOK75uFUqi7Mf4rz1nJ2OcuE42tGLDGdTWSoK8oxP+ZVMC7+yFNNj48+YsU+act58gGLZQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019GKU3LBYxNHtg28cmtEgJA",
      "input": {
        "note": "Empty close: the pear sits just ahead of the jaws. Opening and lifting slightly before advancing.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019GKU3LBYxNHtg28cmtEgJA",
      "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]: [-0.0212, 0.8078, 0.6132, -0.4171, -0.0139, -0.0338, 0.9993, 0.1345, 1.3315, 0.3859, 0.2485, 0.0765, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1728 left_yaw=0.0009 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3366 right_y=0.0355 right_z=0.047 right_yaw=0.052 right_pitch=-0.1256 right_roll=-0.0212 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.3333, 7.0222, 1.8144, -0.0366, -0.0562, -0.0122, -0.3897, -5.2991, 7.7744, 1.7021, 0.0757, 0.1294, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4709576898a7967e89755233d0229e1fc9de8a9b61e47e14adc3fcb90310bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:947dbe47be81b19a139ddf11fa910d86a6d7bc5344a1b1e53d09ebcdacf65f6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c558bd89b8311dc450d9e83e20513a97d85a8cbc017d89edc3a29f16de8f454",
        "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 · 2.779 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4019, -0.0139, -0.0315, 0.9993, 0.1326, 1.4738, 0.3351, 0.4763, 0.0891, 0.0479, 0.9991]\nstate[eef_state]: left_x=0.2938 left_y=-0.0002 left_z=0.1759 left_yaw=-0.0003 left_pitch=-0.0271 left_roll=-0.0007 left_gripper=0.9993 right_x=0.3442 right_y=0.0337 right_z=0.0262 right_yaw=0.0328 right_pitch=-0.0902 right_roll=-0.0158 right_gripper=0.9991\nstate[joint_eff]: [0.0752, -1.6068, 7.1453, 1.8388, -0.0562, -0.022, -0.0122, -0.4444, -5.0667, 4.9162, 2.0, 0.022, -0.022, -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]: [-0.0212, 0.8078, 0.6132, -0.4088, -0.0139, -0.0338, 0.9993, 0.1337, 1.4738, 0.3351, 0.4706, 0.0845, 0.0441, 0.0109]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3433 right_y=0.0347 right_z=0.0251 right_yaw=0.0398 right_pitch=-0.0962 right_roll=-0.0165 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -1.347, 7.0085, 1.79, -0.0757, -0.0269, -0.0171, -0.1162, -4.7795, 4.9709, 1.707, 0.0659, 0.0073, 0.9304]",
      "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]: [-0.0212, 0.8078, 0.6132, -0.4171, -0.0139, -0.0338, 0.9993, 0.1345, 1.3315, 0.3859, 0.2485, 0.0765, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1728 left_yaw=0.0009 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3366 right_y=0.0355 right_z=0.047 right_yaw=0.052 right_pitch=-0.1256 right_roll=-0.0212 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.3333, 7.0222, 1.8144, -0.0366, -0.0562, -0.0122, -0.3897, -5.2991, 7.7744, 1.7021, 0.0757, 0.1294, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a4709576898a7967e89755233d0229e1fc9de8a9b61e47e14adc3fcb90310bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:947dbe47be81b19a139ddf11fa910d86a6d7bc5344a1b1e53d09ebcdacf65f6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c558bd89b8311dc450d9e83e20513a97d85a8cbc017d89edc3a29f16de8f454",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAcKEAgSGAI4AUIIdGhpbmtpbmcSDEoKIQXOGsJYS6PHWBoMzjMIu2LTyeIY8H21IjAgsYmYIWwcirMiHXvHyiZ+ovEzgIUp7z7foVqmMXvfKHHCA9ckPaAOnkikOkBi+CYqpQYgCRm7HqedCAhlGTJKTtA0Dk4g1r5AJ5RwgIMWuPPGN8R+mCVZUcdEIyVjacCWEZN6q1r6fsekoU1IRrcsrdNpNpJokMHBuhxA8uUh1d6vP6cxxi3z9PeWNd2nGfgatWQ5X34jwnFMmLmhgfqPoiohm32TzOcWzSfxRGk0oCrtCCnqGvQSXjbXg6wWUWK7WqvYaQi/+tkmWi860+f4jDMCoSUV/8AkGsZmwVPtxqboD3Gedc9OIGtWPnpbHUtrMQM9IMkfdt/H87rGTAExV4CrXIke/qWfYlyibNAJSZXawyLV2HiTKZ7SzqT0MEeXbLe1au/dLU3HqOOEtR3bqDg1xyXiOlWmg+RvPV0giaZPlCt9bP4o1mrqhwKQ+e3fOoRHPV06KXb/eCdDR6Q8ztDxvnWAfG2Nezr72DEedr7nnLlMVRmQrh1uXgSEDcBhfYuu9BVm0V8oy18WxiZCMoii/yofmtStUkDfbIqQhKIAZPVm5mXL630cRNEfVeRsIQ5IPwX0yrHiD0dp/5hvtVIGTpxf36YktRiPt8nEAyuZsLl5ZGzetJy+J9nZro/vgx9ieUehEGAJ2rfDNeGqn49mssQR6cuB8odFCHbiErxeJWJIoTiayxS9QwCgLYY7+eN6Q3i9rb7LKgIASeccQSAE2TPlRwIeYZ/ur3+kXXDms9Ur8y1U9P3zCxnIk59myotGRbUFWt6/MAb1M7qQHF2ej77/EDJM40jATxr2mjvE7Ojpfzl7/bf4y+CkERVIqahwmsU+fO2JPJNybBhUAEzd94X0vxNmcceAn61q/E57Rcpiw3lscAjNWZBnvlPG1sXt+M8+nj1rbr3+rYJzqsFBhuOFDSJTnMBBl4RjaTReZHVgVnQunUlu5d8b62hKje3L2qHuk+m1KUTFEo6b0CwLazOyh1uMNBzhfcwbFAoi1EpgyA1W8TrpiU34ge05yab92VPSdMdPquBkxu+mTr2/V9vH4IWCel8o7fiUOu7FJjF+qRTq+CX5qJQuLk3geIYCnUB0jITkaSyz1mLLhqmvnXuK25vM/e5IAIp1nEKAPTS73+LWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015u6DNZtnGWgEN5SMBa9fag",
      "input": {
        "note": "Pear is centred but a few cm ahead of the fingertips; advancing ~4.5 cm and lowering to grasp its body.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.385,
          "right_y": 0.035,
          "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_015u6DNZtnGWgEN5SMBa9fag",
      "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]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4004, 0.6312, 0.0544, 0.0139, 0.9963]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9993 right_x=0.3732 right_y=0.0366 right_z=0.0145 right_yaw=0.0619 right_pitch=-0.0606 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.5658, 7.1726, 1.7314, -0.0757, -0.0415, -0.0122, -0.5675, -6.3795, 5.9145, 2.0977, 0.0317, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4999906c19f85dee2cd360534c3300f7d2ff9e03cbc7d66fb04b615baf77f1dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eaf31eff5125c3a1ebc3cfe9553c0f28f4da83ac8d6e5e97a27052d09316726",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3ef3aa1260538ef4e7e85f7542c3128e276b751a3fb41da95962320d66c52b12",
        "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 · 4.861 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4088, -0.0139, -0.0338, 0.9993, 0.1337, 1.4738, 0.3351, 0.4706, 0.0845, 0.0441, 0.0109]\nstate[eef_state]: left_x=0.2929 left_y=-0.0002 left_z=0.1745 left_yaw=0.0009 left_pitch=-0.034 left_roll=-0.0025 left_gripper=0.9993 right_x=0.3433 right_y=0.0347 right_z=0.0251 right_yaw=0.0398 right_pitch=-0.0962 right_roll=-0.0165 right_gripper=0.0109\nstate[joint_eff]: [-0.0479, -1.347, 7.0085, 1.79, -0.0757, -0.0269, -0.0171, -0.1162, -4.7795, 4.9709, 1.707, 0.0659, 0.0073, 0.9304]",
      "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]: [-0.0212, 0.8078, 0.6132, -0.4171, -0.0139, -0.0338, 0.9993, 0.1345, 1.3315, 0.3859, 0.2485, 0.0765, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1728 left_yaw=0.0009 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3366 right_y=0.0355 right_z=0.047 right_yaw=0.052 right_pitch=-0.1256 right_roll=-0.0212 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.3333, 7.0222, 1.8144, -0.0366, -0.0562, -0.0122, -0.3897, -5.2991, 7.7744, 1.7021, 0.0757, 0.1294, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4004, 0.6312, 0.0544, 0.0139, 0.9963]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9993 right_x=0.3732 right_y=0.0366 right_z=0.0145 right_yaw=0.0619 right_pitch=-0.0606 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.5658, 7.1726, 1.7314, -0.0757, -0.0415, -0.0122, -0.5675, -6.3795, 5.9145, 2.0977, 0.0317, -0.0562, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4999906c19f85dee2cd360534c3300f7d2ff9e03cbc7d66fb04b615baf77f1dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eaf31eff5125c3a1ebc3cfe9553c0f28f4da83ac8d6e5e97a27052d09316726",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3ef3aa1260538ef4e7e85f7542c3128e276b751a3fb41da95962320d66c52b12",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DLFC1JqYapXRoonKvfoWad",
      "input": {
        "note": "Pear body now fills the space between the jaws; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DLFC1JqYapXRoonKvfoWad",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4, 0.6243, 0.0513, 0.0101, 0.0111]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1701 left_yaw=0.0009 left_pitch=-0.0542 left_roll=-0.002 left_gripper=0.9993 right_x=0.372 right_y=0.037 right_z=0.013 right_yaw=0.0665 right_pitch=-0.068 right_roll=-0.0213 right_gripper=0.0111\nstate[joint_eff]: [-0.0615, -1.1419, 6.9949, 1.707, -0.0171, -0.0366, -0.0122, 0.0068, -6.0103, 4.7248, 1.7705, 0.0122, -0.0073, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0922c49e2b9dded89240798a8271b3b94a0082df02fc5cc55d6219a3524c4c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c51ebfa3369a7bf48724779f9e62fdc609edc84247e5ca23f5e6bb035a8d3cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:46e1577610086df5869e86badc6dfff00d82a1c70feee3dd83fcab033461c461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 3.384 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8078, 0.6132, -0.4171, -0.0139, -0.0338, 0.9993, 0.1345, 1.3315, 0.3859, 0.2485, 0.0765, 0.0349, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=-0.0001 left_z=0.1728 left_yaw=0.0009 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.3366 right_y=0.0355 right_z=0.047 right_yaw=0.052 right_pitch=-0.1256 right_roll=-0.0212 right_gripper=0.9954\nstate[joint_eff]: [-0.335, -1.3333, 7.0222, 1.8144, -0.0366, -0.0562, -0.0122, -0.3897, -5.2991, 7.7744, 1.7021, 0.0757, 0.1294, -0.0513]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4004, 0.6312, 0.0544, 0.0139, 0.9963]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9993 right_x=0.3732 right_y=0.0366 right_z=0.0145 right_yaw=0.0619 right_pitch=-0.0606 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.5658, 7.1726, 1.7314, -0.0757, -0.0415, -0.0122, -0.5675, -6.3795, 5.9145, 2.0977, 0.0317, -0.0562, 0.0708]",
      "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]: [-0.0212, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4, 0.6243, 0.0513, 0.0101, 0.0111]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1701 left_yaw=0.0009 left_pitch=-0.0542 left_roll=-0.002 left_gripper=0.9993 right_x=0.372 right_y=0.037 right_z=0.013 right_yaw=0.0665 right_pitch=-0.068 right_roll=-0.0213 right_gripper=0.0111\nstate[joint_eff]: [-0.0615, -1.1419, 6.9949, 1.707, -0.0171, -0.0366, -0.0122, 0.0068, -6.0103, 4.7248, 1.7705, 0.0122, -0.0073, 0.7937]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0922c49e2b9dded89240798a8271b3b94a0082df02fc5cc55d6219a3524c4c81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c51ebfa3369a7bf48724779f9e62fdc609edc84247e5ca23f5e6bb035a8d3cd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46e1577610086df5869e86badc6dfff00d82a1c70feee3dd83fcab033461c461",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDPcs3LCXkRcUkfJLZBoM8VJP97s2kGW5tkJ1IjAl3AfKsPIRklaWccPBkVplyO9QMpnWhF9g7ltP+C4PXPdLP8Otxu4UBstRFB2Yykgqngfr7ApeYabUvZ5XBBAAOce7NqusBUuPJHXghO6Si38NZA4F87C26gh/KdGYPv6OXGhBvABFpdwFk3AZhWLtq8gmC3JSgOx19JZD1i5t3RR3NVRfSbfTH34qUpjHOVJ22CstonCsAm4UXiXPa0JErnuSEg9O3kwja0Ps0EXBMpvS9ooJio/uNaAhEGYqNGpOGZJTZDBgBSNM2CFDjPrnC6c5t4sBcAYtmHJCrybsrFrtIIcvnU82kZe391NnnfafNpTdQWbsUFBNfkYjgYeKmNSQ2m1GmPvG++Rrz4A18+ZJVNY27U/TVdF5btXK3NxHyBNNdURTRQveCfzp4thMKUzRleVN/6Xx04HY+Blq8wp6MmSnvIaT/aJBc6KmBJDwS9bn/+tjHvE6QHhWPPnuv0KBhzv6UCCXvZhbzRXXUc08soPxrAMBS4W0qrfRoYRtGJjFzC+rjyX9YhLcLruIiqUVIiaVu87W2DA64ySWqEvLBf3tU/QU7glQ89Z0LgMl51vKu7JzVxPyiQ35+MtBF8B/Ngjw7/nsT9VBt8iEebpIDTLWUA0P5mGinIV/mEnJO81MsF2U6m6ZaU2ZMxqTzTiMss7KNLpoTQfSvqad6M8duAj/CBlRdvSC9mvGB9PSATNiAZ1p+Su9IwSm/9U3ldYMaHeG6Mhjo7xP1wzA9IaXrdyH++5RzNAOC8KJrO/micIX7r5fkLkij9E2aB9XLxE9frK9uWUYOgKjRhu5WuuuDazbycjO5r2LRJAuV6AWWDFKxPCZipA4GVkRCkAbegZRMwlynIPOfQdnniRyvHh8PZCNGIvwCFumve3jUcxETXnvKtxj6iRycW1ZB+1/88FcRZ0XJmVmbzQeBf3HO8hIzxeqnTIF61vb1dQkIsbeVMCBwmjhJ4dVSoogDyaHZ6uKA3RDh8u22N5tMzqqXfOr0anNX5IPfk15jG3jDsns5rPKyBHRdNTFeYc0gQ511YkHuHWk9oVPjRyN06yh1dUvzHF7p7Hw2DVaOtzbO47USJuoEZwhiXwjK0LmJYLTDH7X/DQB/icNjwZknxi0xHFxQm8qORttNa0Ve6lJ9icA1dgd1dJcq2zqe/oKZkyxrf4iV8NdBOEFcyE6D01jP650ai4cF421UOFynH0nKEpYJluONSp04HmAvIeAQWe4dfFv8X/FDeG/hpBRdAStLDxRlflHZtVbzYcYpvl9qxXjcsysATk08oYeqxKzAh8zgRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EP32YJi5bpcnpz1ttFK56Y",
      "input": {
        "note": "Second close empty; jaws meet just short of the pear. Opening and raising a bit before advancing further.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01EP32YJi5bpcnpz1ttFK56Y",
      "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]: [-0.0212, 0.8143, 0.6132, -0.4339, -0.0139, -0.0338, 0.9993, 0.1139, 1.552, 0.416, 0.4614, 0.0475, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1677 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3635 right_y=0.0367 right_z=0.0252 right_yaw=0.0716 right_pitch=-0.1047 right_roll=-0.0236 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.4974, 7.1316, 1.7753, -0.0366, -0.0611, -0.0171, -0.0889, -7.0359, 7.4188, 1.6728, -0.022, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42c0d2773b0b45a69d4fd1b2869bbde8046bc897bc66e91734458243b6cf9b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebff5b175cdaedf1b880a36eeea3682f372fc762575bd158fc25be9c62460923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6db4253077761061fb9dd4edc34b325876a29de12ea224bdeafc179f054ac0ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 2.983 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.424, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4004, 0.6312, 0.0544, 0.0139, 0.9963]\nstate[eef_state]: left_x=0.291 left_y=-0.0001 left_z=0.1702 left_yaw=0.0009 left_pitch=-0.0538 left_roll=-0.002 left_gripper=0.9993 right_x=0.3732 right_y=0.0366 right_z=0.0145 right_yaw=0.0619 right_pitch=-0.0606 right_roll=-0.0197 right_gripper=0.9963\nstate[joint_eff]: [0.0068, -1.5658, 7.1726, 1.7314, -0.0757, -0.0415, -0.0122, -0.5675, -6.3795, 5.9145, 2.0977, 0.0317, -0.0562, 0.0708]",
      "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]: [-0.0212, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4, 0.6243, 0.0513, 0.0101, 0.0111]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1701 left_yaw=0.0009 left_pitch=-0.0542 left_roll=-0.002 left_gripper=0.9993 right_x=0.372 right_y=0.037 right_z=0.013 right_yaw=0.0665 right_pitch=-0.068 right_roll=-0.0213 right_gripper=0.0111\nstate[joint_eff]: [-0.0615, -1.1419, 6.9949, 1.707, -0.0171, -0.0366, -0.0122, 0.0068, -6.0103, 4.7248, 1.7705, 0.0122, -0.0073, 0.7937]\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]: [-0.0212, 0.8143, 0.6132, -0.4339, -0.0139, -0.0338, 0.9993, 0.1139, 1.552, 0.416, 0.4614, 0.0475, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1677 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3635 right_y=0.0367 right_z=0.0252 right_yaw=0.0716 right_pitch=-0.1047 right_roll=-0.0236 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.4974, 7.1316, 1.7753, -0.0366, -0.0611, -0.0171, -0.0889, -7.0359, 7.4188, 1.6728, -0.022, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42c0d2773b0b45a69d4fd1b2869bbde8046bc897bc66e91734458243b6cf9b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebff5b175cdaedf1b880a36eeea3682f372fc762575bd158fc25be9c62460923",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6db4253077761061fb9dd4edc34b325876a29de12ea224bdeafc179f054ac0ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+gYKEAgSGAI4AUIIdGhpbmtpbmcSDPp4uoZjOVmoYLqYzBoME8TC3j5h09/ZYifUIjAskqcJ+G2gRx+qbdcqZo2yBZ88276RKA9S7f4yqKn620YIYFRYxX3LULivC0grj40qlwbaPuHAtd+jyk3xi7PgD2Vbo9n3OykgyKE9tvrCsN9fNig1FS+EgR6wURLDdFi/pcrXlquGLZ0YduHwjjXUZRdHu21XCjDW65LO7ylZFZQmNo+z+dNzjvvxJ/PCcfqrDHZCbtjXmzUqMpcLihYTxRKmPxaWVovHfF//Xy2Qdl3eOpuJ93im1Gv232AVrTGqMg2U6R9CCa+sW3OWvLcx4q4DC9t4guJlVR3f/H8GkwU/RjUgJ9zQN6TYSBRbV9NXtWSmVwTDnPaCGh2jCqPo51GB0U8TzII6YOolXP0rggv3TK2BYlhFOA9FhPElJoPTBXisyVWsQmeJXKQWfqpaK10b3s+fx+088IRCkT7anH4KXU3gTBii4XdsDC+GveIDUbs1I1InoreOoOMRH8pszt8p4ZVV2GcHv7uQ64C2tjTh/vIFFBJ2dxFIPY9RdrsK5uFhJ6/8eCkWT1GxPeWonv348Q242/CXIKYXPCRMotMRLYeW/IhfQlFKmDU7XSm19EstxxudpceuPcOAhKAtjn9JYGs+8nnCZA7/NSRJ8xzwo8QFLgibzA+wrJFMX3dE5ufa1jM0ah/8hETFQgXN5+7j59RGbIQ1Zhzz+2nLDlMXjdwN2wUy7A9x18fE0bN9CmCD0NPwd6iVKgSoIxodC98nOeVujebL5SEdyfH7KdsAsbmsfzLkFPp+MFsZDLNwTnERO0yfLCiKL8zwH8lIrXOcvgDiVIgPci13Q5vLZ91J06qe1mDm0WEE7dqvZC98HLWHcWgDZlW9kLg6z/G3NGPJ6ZThayh4C/+g+K8NCrl+PvfIj97BL8VWPzIs30a+sNYsTQL6sB2kM0XrT0X+xuCQXRrzuLlkQ4Kfivwp9vnmZdiqaU3xtk6E8gkM58sdW9i/Gju2zKKZXxqJJhUlLpJ4w1DBqJ2B8ZrMlZB4mFXUBe4yFIjBdCuKSEUzIbhjS9AGPF5meBUTILL8FrXvlnDF6hrNPoXClgftvpeWaKi+N9NA/UbW7cEI06Kroc/u2zMRWYsEJUNVYtMosx62n4Gb//hDqu2aTBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VMUtEhC8BVMtdejGZjJMrW",
      "input": {
        "note": "Pear still ~4-5 cm ahead of the jaw tips; advancing further to straddle its body.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.035,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VMUtEhC8BVMtdejGZjJMrW",
      "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]: [-0.0212, 0.8146, 0.6132, -0.4423, -0.0139, -0.0338, 0.9992, 0.0933, 1.8122, 0.5266, 0.6586, 0.0212, -0.0128, 0.9962]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.001 left_pitch=-0.0744 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4078 right_y=0.038 right_z=0.0056 right_yaw=0.0837 right_pitch=-0.0577 right_roll=-0.0216 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.3607, 6.9949, 1.7265, -0.0806, -0.0806, -0.0171, -0.6769, -7.3915, 5.8325, 2.0342, 0.0122, -0.0757, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea0048e9f42c4a710fcea5d34125ab8a15faf4108bb581c470ba45d04b8ba09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e8aaf293e89230d31128b990cc346a75a93cf83ea06e59714aee8b9adcc837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b32d100e02c6474e9f54e7ab2173caf29586a2af44e173e57b95798aeca93052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 9 attempt 0 · /messages · status 200 · 4.398 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, 0.1139, 1.6623, 0.4, 0.6243, 0.0513, 0.0101, 0.0111]\nstate[eef_state]: left_x=0.2909 left_y=-0.0001 left_z=0.1701 left_yaw=0.0009 left_pitch=-0.0542 left_roll=-0.002 left_gripper=0.9993 right_x=0.372 right_y=0.037 right_z=0.013 right_yaw=0.0665 right_pitch=-0.068 right_roll=-0.0213 right_gripper=0.0111\nstate[joint_eff]: [-0.0615, -1.1419, 6.9949, 1.707, -0.0171, -0.0366, -0.0122, 0.0068, -6.0103, 4.7248, 1.7705, 0.0122, -0.0073, 0.7937]\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]: [-0.0212, 0.8143, 0.6132, -0.4339, -0.0139, -0.0338, 0.9993, 0.1139, 1.552, 0.416, 0.4614, 0.0475, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1677 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3635 right_y=0.0367 right_z=0.0252 right_yaw=0.0716 right_pitch=-0.1047 right_roll=-0.0236 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.4974, 7.1316, 1.7753, -0.0366, -0.0611, -0.0171, -0.0889, -7.0359, 7.4188, 1.6728, -0.022, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.0212, 0.8146, 0.6132, -0.4423, -0.0139, -0.0338, 0.9992, 0.0933, 1.8122, 0.5266, 0.6586, 0.0212, -0.0128, 0.9962]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.001 left_pitch=-0.0744 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4078 right_y=0.038 right_z=0.0056 right_yaw=0.0837 right_pitch=-0.0577 right_roll=-0.0216 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.3607, 6.9949, 1.7265, -0.0806, -0.0806, -0.0171, -0.6769, -7.3915, 5.8325, 2.0342, 0.0122, -0.0757, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ea0048e9f42c4a710fcea5d34125ab8a15faf4108bb581c470ba45d04b8ba09d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55e8aaf293e89230d31128b990cc346a75a93cf83ea06e59714aee8b9adcc837",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b32d100e02c6474e9f54e7ab2173caf29586a2af44e173e57b95798aeca93052",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AYKEAgSGAI4AUIIdGhpbmtpbmcSDK/b0yt2PqFZyp6NrxoMaa/m/EPbS6L8BSz2IjAZRb60jIQhfyxHvo6EBNUOE8cOPbdPfBxCY46tdtGy8btKRPrmLrMvRP/Xd9toaHUqhQYxmKg/ZIcsbciyvhQsU+3ByvHYnkfJMuSKjHbGZLETDGIYfXXgV4vE5CMWwC1SSpOUU/8pJWgZ99ZEubFc0TKe2tAxPq5Z/MT+L4zUZTZwns3BqZEjMeleqtqiQLygfhhBzNWSLjegjFBwuuG4q+wnkH/c3wd508fMoSfmK72O9RWX5uF9vT7ztRn+IlWR4vhomgSOwZqNHVenbsxncgi3roHkMfbiULjvtkir/9FLcTsp+Z+LzcByJLWP/07e1dAtyq9bEKXFO+0/KvxHVDKJwStZltOojb4A9WrFsNlU6lQzy89+Tz2cHQEQHuL47wZTDpWrsSYEyszJGTDfgRvQq5k2X02DBuKcALdXwoyiGFaSOPROLG2Nt9fRu+bpXpr8GRV3yF7GjjizMiiHxj29uLfuV0ocqnNEKS9ZCqkUEgQJnDyUvarEQu+qEuqt9dIbmcNkV3srPY0grWYdyDNdJP41gRMSGVG/lPGdAjsVlQQTgEYRrgwcWAC84wmogm2yJXMXw3Pt0bDy20w4YLatmkqJaVVvRXFYqJa6C/UcmXsOootNAiIq5hx8BF65ypX8f0HY9uYldLowmaX0VzEwcaYSCFGKfbrGopkToliDkKTZVBQG3AESiMnoiegbi2fe21RfYG0kyA5qDGCoRAiO5uxof72i5pETGYa2h2N1P4sPn5sRAthxRW5jWTMX1ufg8p4otP23I4w2/lr+4hl9qIhT1m8ZasmQQOtdAuL/FWH+pxsRSa4tdXLf07RnBuVZUgPac5gpttrh/QDRkKCp7ohs1dpJsV9CoocqEqBbg10Nz65IpTqUPrTX+yw5/A9O+eP+T032QsWsQEAn2kpLAoJc3pD31LLktB7iGVmRxYVZNmMegTDyVXqqTq3GT8fc0Me1DBqURPgHqaSW+x6UD/oIUc6DfhdVpI4U/0qPBMr78tm7UBJI4l++ywKe0AngfDEp4gvsnht1gNW+CsB9hFNavcOMtfgXBFIS3ObFpJ4LPbK8udUf3uUC4V2zaPx+Hzd0YxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NQuF2VrU6YfqTu5Q6oPWLa",
      "input": {
        "note": "Pear body now spans between the jaw tips; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01NQuF2VrU6YfqTu5Q6oPWLa",
      "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]: [-0.0212, 0.8146, 0.6132, -0.4461, -0.0139, -0.0338, 0.9993, 0.0944, 1.8122, 0.5262, 0.6548, 0.0177, -0.0166, 0.7084]\nstate[eef_state]: left_x=0.2879 left_y=-0.0 left_z=0.1652 left_yaw=0.001 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9993 right_x=0.407 right_y=0.039 right_z=0.0047 right_yaw=0.0898 right_pitch=-0.062 right_roll=-0.0227 right_gripper=0.7084\nstate[joint_eff]: [-0.0068, -1.1556, 7.1863, 1.7118, -0.0317, -0.0611, -0.0073, -0.4171, -7.241, 4.588, 1.7363, -0.0024, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4414c94ce27f905f86c0a7c5eb4486a2510e3100d99260097d2bba711cd5cd9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f5da640e323f32375c8068fe8dd182cbe2bb9af205ef14d19bafb4974f37014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7f8a8596cc32446f6a79904e99d1b13736e842295d5e32ce18668bf35f95ca85",
        "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 · 4.206 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8143, 0.6132, -0.4339, -0.0139, -0.0338, 0.9993, 0.1139, 1.552, 0.416, 0.4614, 0.0475, 0.0063, 0.9953]\nstate[eef_state]: left_x=0.2897 left_y=-0.0001 left_z=0.1677 left_yaw=0.001 left_pitch=-0.0656 left_roll=-0.0018 left_gripper=0.9993 right_x=0.3635 right_y=0.0367 right_z=0.0252 right_yaw=0.0716 right_pitch=-0.1047 right_roll=-0.0236 right_gripper=0.9953\nstate[joint_eff]: [-0.1299, -1.4974, 7.1316, 1.7753, -0.0366, -0.0611, -0.0171, -0.0889, -7.0359, 7.4188, 1.6728, -0.022, 0.0073, -0.0757]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.0212, 0.8146, 0.6132, -0.4423, -0.0139, -0.0338, 0.9992, 0.0933, 1.8122, 0.5266, 0.6586, 0.0212, -0.0128, 0.9962]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.001 left_pitch=-0.0744 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4078 right_y=0.038 right_z=0.0056 right_yaw=0.0837 right_pitch=-0.0577 right_roll=-0.0216 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.3607, 6.9949, 1.7265, -0.0806, -0.0806, -0.0171, -0.6769, -7.3915, 5.8325, 2.0342, 0.0122, -0.0757, 0.0806]",
      "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]: [-0.0212, 0.8146, 0.6132, -0.4461, -0.0139, -0.0338, 0.9993, 0.0944, 1.8122, 0.5262, 0.6548, 0.0177, -0.0166, 0.7084]\nstate[eef_state]: left_x=0.2879 left_y=-0.0 left_z=0.1652 left_yaw=0.001 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9993 right_x=0.407 right_y=0.039 right_z=0.0047 right_yaw=0.0898 right_pitch=-0.062 right_roll=-0.0227 right_gripper=0.7084\nstate[joint_eff]: [-0.0068, -1.1556, 7.1863, 1.7118, -0.0317, -0.0611, -0.0073, -0.4171, -7.241, 4.588, 1.7363, -0.0024, -0.022, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4414c94ce27f905f86c0a7c5eb4486a2510e3100d99260097d2bba711cd5cd9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f5da640e323f32375c8068fe8dd182cbe2bb9af205ef14d19bafb4974f37014",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7f8a8596cc32446f6a79904e99d1b13736e842295d5e32ce18668bf35f95ca85",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1AkKEAgSGAI4AUIIdGhpbmtpbmcSDIqWv6NOmPLmPDlj+BoMsuwiJZ2zw4GNbE3wIjByU4li8vxsH6c4TQlClZQwe8+RzcPphRZdtPXCnnWzoXLa7eowwdYhPxSwPvaMcFcq8QhvwKPxlg9VyazSMvCqHok5167eFEwXrduuf6zjmWZyIJC4xK9bUjDhRzTv29/bFgK5mX+7YPB4ZV5+TtZNEeo37RG6QllCdtoUJ/wpLYbYoS55BbcItjC0+kT2HwNQo7++HiLlgft4ONo152RSZwNnLD8gOmlZrkE1bH7YsXSYFUIHbKLkGSpoOoMhwku4cNtx34SFqk0CRfkxACFgrtBhduA54yG0Mrj6F+CEGqsg0vgHqEcNzxVLg9dnT88yZYkdmfwKS5NldFbv9F/1xJVnEA4zcYhooIGRhg4vsHSTKeWVAGlMBgF/1A+b/SuiUi3fnUdKmjfdqb2duY0UQzw3bKo+nzCUt0IXMIx9wxgGeS6DZ4ZGBrM2eaAt8HNuPLd8Erb+qK0PWw7Sxc41Z95Y+VDQFTjHJ0RZjAKE0Vz6p4LNDwficRe4ikQX8QTrg7Ci1kmPK98AqSlgBtIXdKWGRWdI0kItZqYPGfmHufwt3FrND8G5Ka31erEHa176MsOWnZmsYegPpuwV72AnklwEJXhMcUpy/G3xb4vjCtOpIJsy1M8difATnpGzKLEO01s4Ms7RjXeIFZpuxiMx9p9lxPI/v4ZOVQgVAIqz9wjS6sVP5MNtSr8FaiYOO3ZoIRVjAQ6zaDL3xAJnIl63efRmz93UrDVO8ZnGuUMC2xuSft4WCB8rmArH/qPbm4cbUitDk7W6FuGVPaqEdryDqbQJZZL+RDB3DlcDDSnFQaX9JT+0EXkxKe4yzWU9ydGyZ+6zkNuc/XQIDerC+Ru9xVDGVOCFSq27CwhMBg2R8nuvJOI7sWb9WH/gCsrB5+ZQk8KwTonOr8TMuVjVHukgHMpfqhWd42N97EF4jz6WVFdnaezFLudnRlzeM96kvAl3PhKaKIftWt43QHy7CiwPV/MK670PgsShzUZSaLoVCUmmlf3AxahB7EBdURRqEc9a6Ei1hby2hzm172v7L31J2x6jXNt2WwuudQaK/GPQZP+eCecrcBEbNi2eFpoa482Prbveo6vZAwe6Ya7S9Zji/S4aAL7+LBxVm7NjHF4AXO4F2sMRRCtgLxGGNioPF3aoowXuC1gseXjAXw0QH/Cizj2TwNwgZ+qWoHA4E11oTgwK+HymIKIWZGyKhNX0SA7PyjIYq/oFrhdukNOK4akLyKoxadiXJfJTufr5fBSWvRLBKquG7jkulvSmTZofFcPyuzpwyYNnDflOn+wa4W35C3TO0GOGzBS0/1lx8dPejuNW8Ef5bNf+MfBhlaD1s3Y02LkR/UW0A1aouOKzlJWfpbKkucjPLBHM0TEOEWge0CAXm5Nmy6P/q8sh312QnCOBbfUJE1WhlepstKNBXBunaZgAL2wzNujakcN1Nqg/Z5RWzMPxaleCPVYviUp1FB7Qr7FQ4VIt3d/p1GaG/OWHAkofP+n6CvEJxNIQOow3SS5aco4Ry6EQk93+4eklaGRKjW4ncZW3l+5kbJDpDzNyp7QcfrDpUXbh+ifSTfVAHMOij10YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SmbVmjrNTpfhWrE6THjtAu",
      "input": {
        "note": "Gripper settled at 0.71 (~6.7 cm) — pear grasped. Lifting to carry height.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01SmbVmjrNTpfhWrE6THjtAu",
      "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]: [-0.0212, 0.8146, 0.6128, -0.4503, -0.0139, -0.0338, 0.9993, 0.0952, 1.3899, 0.8738, -0.2134, 0.017, -0.02, 0.7114]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0828 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3973 right_y=0.0385 right_z=0.1387 right_yaw=0.093 right_pitch=-0.1605 right_roll=-0.0253 right_gripper=0.7114\nstate[joint_eff]: [-0.1846, -1.0735, 7.1863, 1.7216, -0.0464, -0.0659, -0.0171, -0.4308, -8.759, 9.9487, 1.9707, 0.0415, 0.0073, 0.5983]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e24287d420d55356ba101704834f134866411f4b2c71a7f73cec3570f2d995d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d85117818a88af2ce4fab4b55f34b39d4ac6a59d6fdaa80902e33c72b2d889f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:59c1fcc032e0ceabcc3eae0939caf0caff0f10f1f229c59a460f3288610e8709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 4.344 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8146, 0.6132, -0.4423, -0.0139, -0.0338, 0.9992, 0.0933, 1.8122, 0.5266, 0.6586, 0.0212, -0.0128, 0.9962]\nstate[eef_state]: left_x=0.2884 left_y=-0.0001 left_z=0.1659 left_yaw=0.001 left_pitch=-0.0744 left_roll=-0.0016 left_gripper=0.9992 right_x=0.4078 right_y=0.038 right_z=0.0056 right_yaw=0.0837 right_pitch=-0.0577 right_roll=-0.0216 right_gripper=0.9962\nstate[joint_eff]: [-0.0342, -1.3607, 6.9949, 1.7265, -0.0806, -0.0806, -0.0171, -0.6769, -7.3915, 5.8325, 2.0342, 0.0122, -0.0757, 0.0806]",
      "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]: [-0.0212, 0.8146, 0.6132, -0.4461, -0.0139, -0.0338, 0.9993, 0.0944, 1.8122, 0.5262, 0.6548, 0.0177, -0.0166, 0.7084]\nstate[eef_state]: left_x=0.2879 left_y=-0.0 left_z=0.1652 left_yaw=0.001 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9993 right_x=0.407 right_y=0.039 right_z=0.0047 right_yaw=0.0898 right_pitch=-0.062 right_roll=-0.0227 right_gripper=0.7084\nstate[joint_eff]: [-0.0068, -1.1556, 7.1863, 1.7118, -0.0317, -0.0611, -0.0073, -0.4171, -7.241, 4.588, 1.7363, -0.0024, -0.022, 1.033]",
      "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]: [-0.0212, 0.8146, 0.6128, -0.4503, -0.0139, -0.0338, 0.9993, 0.0952, 1.3899, 0.8738, -0.2134, 0.017, -0.02, 0.7114]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0828 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3973 right_y=0.0385 right_z=0.1387 right_yaw=0.093 right_pitch=-0.1605 right_roll=-0.0253 right_gripper=0.7114\nstate[joint_eff]: [-0.1846, -1.0735, 7.1863, 1.7216, -0.0464, -0.0659, -0.0171, -0.4308, -8.759, 9.9487, 1.9707, 0.0415, 0.0073, 0.5983]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e24287d420d55356ba101704834f134866411f4b2c71a7f73cec3570f2d995d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d85117818a88af2ce4fab4b55f34b39d4ac6a59d6fdaa80902e33c72b2d889f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59c1fcc032e0ceabcc3eae0939caf0caff0f10f1f229c59a460f3288610e8709",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSjwgKEAgSGAI4AUIIdGhpbmtpbmcSDJvEcKeUqpAGhKcVAhoM6lheuJWdkLokT9eeIjBC+4LJTX0f8W86C4PlIqXyJCOJ9SW+w6jt3LCE1+/ISTELYacnGjVpqva86jFCfzoqrAcaqqkAEDOT++QwHnGvL1L9GKSlEfXirZlgwnR9V6NEMRc4opcNznR3Bms6QYeNn+JQ/iNH6mjb3qz8VHjx/7aDYDEWP8FvSy9SAs5s6b2dw9Yu5HeXq0zY5Y7rIWGdyKk0wIMIX0LDP8imakc7k8NiqRdYa+a9Qvw90kLqiPDwdlURxkNdgHv4Gn1k/aaf+ctzEqmtTFIBrLCUN+e/mEUcyfC0bvigf7COnLVCsI4mPCMCHZfenndee68MPoE/2vibFfJomoUjsy4A5amL9bapjUoEpfnV1B0oqQo2NLtdEzruGD3yu3VoEe20JDHP9Leqdb/OCUoJuUZRQshamlyliIbugfvg53V2vBbPJqysCKueEQdS+lOLnAkEC0iXz7GR++Ocijhts1xILTpsasOQiEceJbGc3lkxFMPx44nSyacvRPQPZvXCLN8tkrbhWESfjazmyGOIk1Rs5wOlVDshnvuWx06uzwjg0v9fepM/W5NYvQv1TVya5gG0z094zYRKxj9TsZmoP18ZQcqN1reiLZPBgujxqLzwdX0dTx6qdviqEqsVACWgxm9ogYNZulnjnLPmkprZPRv1JPtEKY2epG0BcPvIny/7rLjA9KOGcUr70KaO9fmYml8LQeXxwJDlxFqFgGp4q7a6rTcLldwtF11hgvPgGL/5/jXB4UZp66DVIWGHBROUPVe4hxVhZQTfKh/ET1B3/CHXVYigyIXFYCjk2BhJZNiMNPZLz9gG7lYzy0tCay6stDd5M1yiowvRDwn/OfWDlaKEPvXka5dfS89Q0Rz8EJKADq1gX1WuA9uZrkJD5gOrAUDzTl5DTlHVL2JasSGk2IhtAogd3Z8B01Tzv1PWDa8JGPML8R/ErOVRerJsmTF68lcO+GyfdGD98rRBUHCFE0OR8aGNtG1OTC+zpeAvI/bjlD4W3lJiW2HFBJ7LF1QZzfTpMJ679AFJ+Lfttgkj0QWByjvWadZrB91n+nJHdSjkxBFGtijQtoZqiANNHpStC1qFmFahZoDb9xjmm2A/AsOtLbdbJPvcaHIQrw+BLJ7RN8aHCZ41f3JjW5GKOGk2xX1cxEttmKHYcu5L4/djSC6wtaI/8Aim1+sVVrdrdFrcoJoSfErH7qyvxNotjIxbT+g009+E5lRVCNsIlFZ5Y7MHIuCiOT3a9bwd6Uco4InkN5hGF0UrK3tRtluug37UySMVJPCTLla9RXxT5DMFgdb2QoFL9PJ3hxI00IsH18YE7e6yGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013g29LtFfZ32Rvg9bvqcBin",
      "input": {
        "note": "Pear held; the blue bowl is ~10 cm to the left and slightly ahead. Carrying the pear over the bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.44,
          "right_y": 0.14,
          "right_z": 0.19
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_013g29LtFfZ32Rvg9bvqcBin",
      "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]: [-0.0212, 0.8146, 0.6132, -0.4538, -0.0139, -0.0338, 0.9993, 0.1745, 1.4242, 0.9043, -0.2371, 0.0589, 0.0105, 0.7128]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.001 left_pitch=-0.0858 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3981 right_y=0.0633 right_z=0.1344 right_yaw=0.1197 right_pitch=-0.1866 right_roll=-0.0321 right_gripper=0.7128\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6874, -0.0757, -0.022, -0.0171, -0.4444, -7.0085, 7.5145, 2.0049, 0.1832, 0.1343, 0.4322]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2daea380f67ee22035cda5129a68691e4488555e12034c421415749e22d24d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fed324c816aeac8277b7149ef1eb184b12d23af4957c917cb68a7bad42bb350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6174e99cc5b6455bbb7fdf4090660687ce698b3938e4de2799c097d68a9c7d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.136 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8146, 0.6132, -0.4461, -0.0139, -0.0338, 0.9993, 0.0944, 1.8122, 0.5262, 0.6548, 0.0177, -0.0166, 0.7084]\nstate[eef_state]: left_x=0.2879 left_y=-0.0 left_z=0.1652 left_yaw=0.001 left_pitch=-0.0782 left_roll=-0.0015 left_gripper=0.9993 right_x=0.407 right_y=0.039 right_z=0.0047 right_yaw=0.0898 right_pitch=-0.062 right_roll=-0.0227 right_gripper=0.7084\nstate[joint_eff]: [-0.0068, -1.1556, 7.1863, 1.7118, -0.0317, -0.0611, -0.0073, -0.4171, -7.241, 4.588, 1.7363, -0.0024, -0.022, 1.033]",
      "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]: [-0.0212, 0.8146, 0.6128, -0.4503, -0.0139, -0.0338, 0.9993, 0.0952, 1.3899, 0.8738, -0.2134, 0.017, -0.02, 0.7114]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0828 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3973 right_y=0.0385 right_z=0.1387 right_yaw=0.093 right_pitch=-0.1605 right_roll=-0.0253 right_gripper=0.7114\nstate[joint_eff]: [-0.1846, -1.0735, 7.1863, 1.7216, -0.0464, -0.0659, -0.0171, -0.4308, -8.759, 9.9487, 1.9707, 0.0415, 0.0073, 0.5983]\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 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]: [-0.0212, 0.8146, 0.6132, -0.4538, -0.0139, -0.0338, 0.9993, 0.1745, 1.4242, 0.9043, -0.2371, 0.0589, 0.0105, 0.7128]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.001 left_pitch=-0.0858 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3981 right_y=0.0633 right_z=0.1344 right_yaw=0.1197 right_pitch=-0.1866 right_roll=-0.0321 right_gripper=0.7128\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6874, -0.0757, -0.022, -0.0171, -0.4444, -7.0085, 7.5145, 2.0049, 0.1832, 0.1343, 0.4322]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2daea380f67ee22035cda5129a68691e4488555e12034c421415749e22d24d7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fed324c816aeac8277b7149ef1eb184b12d23af4957c917cb68a7bad42bb350",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6174e99cc5b6455bbb7fdf4090660687ce698b3938e4de2799c097d68a9c7d0d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS2QgKEAgSGAI4AUIIdGhpbmtpbmcSDJ0we5B73+0pwxwRuhoMnpooOEB5nF919RVZIjBRzNINQequaCVCv11r0QD4ZYJd1agLcBHPyx2YjEknZuHHlPIfPOG5CMKA2Bf6WHAq9gcW39tC0Obwccy5j4CaTC/p1Ocwxu8vUGNkrzXbjCkaH2FLbb+mSXDhpzuKCYxWnqaXiPRhLUSLQhI49lmcilZksC4qy6FTPjAr3EJWnKdfxkI597NxL6rLgjgPATUCZBOCw1QdQVqzOZrzlC9lQysYC1OoewgtNQhoEdvqYglNTfHI+l8/YpZJvu69+VIWWAev5k3rh4U1fuBrhyxOHcAxldhc3t+5E8ZpAsy1aaUXdTLKre2Ya/23bXYj66Izn33DaB4x1CpKehzaRRRtFeQtv5Nfkg4Hlai0eFTg3A/cO9U22lNHmgRePHNvJmPUnIiixPbnz8fSAA04hqxSHF9R0WCz/oLtKNd3oBDt1/h38Ktcs3k2sm7p/p1RNEO2/GPTHBNCiWMscS/s7i2CVw6Rb2w5bAXSl20pVL9ShNvTfTJ7GYGVOjvT0SIkEVjR0b12kirygUm5EyjGl4CgCjwKNjlijvs0oQPgUQhWlUJTh+1682rJklTIV+rPl2+fVwbnxtrQ3USMziYd70ji7t9xa5Gn42XWNS3NYQ+VYTu8JdQO10JF3nZAE/AeNmZhB1RODZJPUUySxW9aD2yd8vlhXgZVKLUfvlwGodI+t+szDOeZlGpYcv/kIqgdZhRJs7DybDIjvrqXWRTqYzt/a1Y6ETorDhdtng2QOVxpdxeQ0XpBIWoz/Fyw/PhjHAR7zvMkQHDO4n/5AeRa7Orez1HURAkTInuVp84TD+jxnPLkyid9fU4lJ1sxA+0EO3IwonFZ74hA19mYB8bGusiLON/Xx15UFWpnidnp9AGLS8lBqpGdqtWMxU89NiZez3/bKgHp5vp6m2cygNW1kidGcpBLqO+mfG+RmrfZfKSTa40EGnBjVVxI6bYGkbngg3TYcHbHisbatKlOtD0+n+wVWYHLcQRZfNFF07VUQLIzW64zU9SlSIeGSpyVRTpoxAorFQWiH2C/LughzsPrM+fP13MWpdOQNzuGNi8wwx9FQnDXbHKjl8QEMGHHvSisDd4gAgZDuQrxPvO3KhmH/Ef8XnUmoIViPAdBHIOJJUEUPfJ50vH4NwFT6Yj3OtvN7z9Uqca/b29FntM/mYwXKdomBMiAOshKB+Dz7+sGnwXOvpEYAx2HQqZHs5mMakWUjQTbpt9i5juMwNl8lI6ILgpkasuEcO5HVkgukcX6SPbvn53CHtpI/L1sqGF4JIzVRR7sXrozjZ9O//IadbfrAG9V089l0t60Tk3tq5f3U/jyaarolEvwaDzV5emdNQXAZJaV2wEg0ziAqZgXMzmMIep4J4iqStOtA0VDY+CgqF4C9hs1SFlHsg6h7scbOKyVG1zkyN7RBRw2Ld0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019R5c6ySjDF4F3z9C2kRpdm",
      "input": {
        "note": "Arm fell short of the last target (still at y 0.06); retrying with a slightly lower, closer target over the blue bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.43,
          "right_y": 0.14,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_019R5c6ySjDF4F3z9C2kRpdm",
      "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]: [-0.0212, 0.8165, 0.6132, -0.4618, -0.0135, -0.0338, 0.9993, 0.4156, 1.5272, 0.952, -0.136, 0.1917, 0.0929, 0.7154]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1616 left_yaw=0.0007 left_pitch=-0.0957 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4067 right_y=0.1466 right_z=0.134 right_yaw=0.2042 right_pitch=-0.1274 right_roll=-0.0528 right_gripper=0.7154\nstate[joint_eff]: [-0.335, -1.0598, 6.9675, 1.7656, -0.0513, -0.0562, -0.0122, -1.2786, -6.8718, 10.8513, 2.0879, 0.5299, 0.2466, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ca1687eb2efccb5384ff3f44c1f59f3edb34e9d27cdc6edd42fcca200419ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f45c68fe0d7627ba9aeb36e9d1b6bb11321215bb82b70871c5fb30e0d28aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b1e178be63fac59b81befe7e6995be3786ca482d58fa7d58669c39db3f8708db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 3.074 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8146, 0.6128, -0.4503, -0.0139, -0.0338, 0.9993, 0.0952, 1.3899, 0.8738, -0.2134, 0.017, -0.02, 0.7114]\nstate[eef_state]: left_x=0.2872 left_y=-0.0 left_z=0.1642 left_yaw=0.001 left_pitch=-0.0828 left_roll=-0.0014 left_gripper=0.9993 right_x=0.3973 right_y=0.0385 right_z=0.1387 right_yaw=0.093 right_pitch=-0.1605 right_roll=-0.0253 right_gripper=0.7114\nstate[joint_eff]: [-0.1846, -1.0735, 7.1863, 1.7216, -0.0464, -0.0659, -0.0171, -0.4308, -8.759, 9.9487, 1.9707, 0.0415, 0.0073, 0.5983]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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]: [-0.0212, 0.8146, 0.6132, -0.4538, -0.0139, -0.0338, 0.9993, 0.1745, 1.4242, 0.9043, -0.2371, 0.0589, 0.0105, 0.7128]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.001 left_pitch=-0.0858 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3981 right_y=0.0633 right_z=0.1344 right_yaw=0.1197 right_pitch=-0.1866 right_roll=-0.0321 right_gripper=0.7128\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6874, -0.0757, -0.022, -0.0171, -0.4444, -7.0085, 7.5145, 2.0049, 0.1832, 0.1343, 0.4322]\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]: [-0.0212, 0.8165, 0.6132, -0.4618, -0.0135, -0.0338, 0.9993, 0.4156, 1.5272, 0.952, -0.136, 0.1917, 0.0929, 0.7154]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1616 left_yaw=0.0007 left_pitch=-0.0957 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4067 right_y=0.1466 right_z=0.134 right_yaw=0.2042 right_pitch=-0.1274 right_roll=-0.0528 right_gripper=0.7154\nstate[joint_eff]: [-0.335, -1.0598, 6.9675, 1.7656, -0.0513, -0.0562, -0.0122, -1.2786, -6.8718, 10.8513, 2.0879, 0.5299, 0.2466, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ca1687eb2efccb5384ff3f44c1f59f3edb34e9d27cdc6edd42fcca200419ddd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6f45c68fe0d7627ba9aeb36e9d1b6bb11321215bb82b70871c5fb30e0d28aa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b1e178be63fac59b81befe7e6995be3786ca482d58fa7d58669c39db3f8708db",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wgKEAgSGAI4AUIIdGhpbmtpbmcSDP5hVDYlJGmcXiXM3RoM2KeULWPpap/mweumIjCAxEjqX1TrlyRiFb8XSSb/dMBEPOAxY4LVcOMYn01ijyu+E/Csw5VvWRquOZCsUJYq/Aen4CgGlH6FUrIDm9Olow8l7E+AiP8ThYAyd9JDiWAoC9eRHCRALmnMG5+oRPm9SH4nGsQ/oTGQ2R6FPV9QIuUVkhUXfxksDUUfSdg0t46Yak4YjUE0YdQw9SDVm2FstGOn3ah9wl52r8xdr/fkYuMpFxuNC0iz/tmDoSWiG6NZQi+AYav34AlvoG2NopKFvalsfvDo9JCQ3+vdDV9OSTO7OE4+Yl60D7h1mczV5Uh7bGjqj+UXa3+dlDIKl5dAFbVeHObGY4JXdk1ewdekfwLpDIvC5+ikA5Tw9DYarh3psheB9HzbDN5BcQQ7xEojjX2BPAZL9YUsgcnPSlYKXBharAqCadn4QELYnDtrVhlhZJ3+qu7cckvsA54x3sHw2s9SEc11BZGcKzbMe86KYVIyb5telhu6/Q49Jwc7bKDfmYpOAPfxsiwQY8efLysz4BPhNB0NTgBc1qu+2607aJGT4J8wNV64y8h/r6RziJJG9X4d5uJdT95JizCrPmSxLjYFBcnJQ5fraeDzAOaTfMlZOKqsHCXkAXfV0PA+k9AgwJuie4OVyMxk9AuPlW0op4Iz4F3WEE8mFZmJyBByqF+7znivyVpcwzJORuvanRTbT2NmH/lw8BWGg99pLdxtBcPj8NMCsFe30oW00MLg59Ksx/Wx3wq8N0Z94WC5i2qrCdScs1FU2ts9HzplLgaiWGJGIoyEtKzbQkrA78lMZv2KXQ6vBpR7IJH3djtuq0luqBrIPNKp7V9g9++PyrNDTVNnDDPuJFc+CsWIbwmOaNkdPl50I1kfSFc3zDd53GvEuXPPbKvbzFtwWHNpmfUzzk8cuU3/P+0FmdtGghSrTTC8r+u4EOM22adIZgfNzxYFoBUYbzw+8bAu9pLheKnz0VvaNRUrbSOTIoKO5BYkfp5n3zTlcsZW775ievG8xJt5BOH+etgo8RrYYwcfptlsJ55wQxs5XAVqTNVCW4wgduIVkBhyZ2NJ27RfKJ8rwGKoQn510K4qT6d4mbukd62I60qEpwTk6+3BaXL7kwmMt0sOySqBnZJ9gRwsV+MawvrMn16HcpUY6EBjFpzs8FfkUZoSmUklUiz5NRieeaLjWzAwhTp2ej1fy7G2MlD3C0PBsWolDT0GF1M0yfGcV0ZrjMpPpGCPReCTKhhnxdtgFt/jorKYG50t6QY5StFyFrdLYe9MmNl+3DrfaW6Gp/H7wJiNxQNyWGFcpIGHSq7MBLfFJ/Lr92xMPZ4PjU69cTngW0yKyM8SyFpWrFmT+JYzLxBErx5H0B0c6W8uKdSpYjicxS3zWZdsJx6zqEQpSIwnyToEXn7YUfHYD/6lZq+9Esl73ADcvvZlGER81RAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RkNRkCZue2HuN5SB3hcLYG",
      "input": {
        "note": "Gripper with pear now appears over the blue bowl in the top view; lowering toward the bowl before releasing.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01RkNRkCZue2HuN5SB3hcLYG",
      "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]: [-0.0212, 0.8173, 0.6132, -0.4686, -0.0139, -0.0338, 0.9993, 0.4114, 1.5795, 0.8585, -0.0212, 0.2043, 0.0937, 0.7148]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1601 left_yaw=0.001 left_pitch=-0.1034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4026 right_y=0.1405 right_z=0.0952 right_yaw=0.188 right_pitch=-0.1558 right_roll=-0.0672 right_gripper=0.7148\nstate[joint_eff]: [-0.3624, -1.3607, 6.9538, 1.7167, -0.0757, -0.0562, -0.0171, 0.0752, -7.4325, 6.5162, 1.9805, -0.0366, -0.0562, 0.486]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73988f29763456389120e658e73d6996e31d33c19970b288094ed4cc214fbf35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde254abf33edc6a6d149bb93b61715caf4703dab967f61de804939d6d17af8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e4c386b653d5ad34a520d26426dfbda410c85e484836453841bcdef371dbc20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.616 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8146, 0.6132, -0.4538, -0.0139, -0.0338, 0.9993, 0.1745, 1.4242, 0.9043, -0.2371, 0.0589, 0.0105, 0.7128]\nstate[eef_state]: left_x=0.2867 left_y=-0.0 left_z=0.1637 left_yaw=0.001 left_pitch=-0.0858 left_roll=-0.0013 left_gripper=0.9993 right_x=0.3981 right_y=0.0633 right_z=0.1344 right_yaw=0.1197 right_pitch=-0.1866 right_roll=-0.0321 right_gripper=0.7128\nstate[joint_eff]: [-0.0889, -1.3197, 6.9949, 1.6874, -0.0757, -0.022, -0.0171, -0.4444, -7.0085, 7.5145, 2.0049, 0.1832, 0.1343, 0.4322]\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]: [-0.0212, 0.8165, 0.6132, -0.4618, -0.0135, -0.0338, 0.9993, 0.4156, 1.5272, 0.952, -0.136, 0.1917, 0.0929, 0.7154]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1616 left_yaw=0.0007 left_pitch=-0.0957 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4067 right_y=0.1466 right_z=0.134 right_yaw=0.2042 right_pitch=-0.1274 right_roll=-0.0528 right_gripper=0.7154\nstate[joint_eff]: [-0.335, -1.0598, 6.9675, 1.7656, -0.0513, -0.0562, -0.0122, -1.2786, -6.8718, 10.8513, 2.0879, 0.5299, 0.2466, 0.6813]\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 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]: [-0.0212, 0.8173, 0.6132, -0.4686, -0.0139, -0.0338, 0.9993, 0.4114, 1.5795, 0.8585, -0.0212, 0.2043, 0.0937, 0.7148]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1601 left_yaw=0.001 left_pitch=-0.1034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4026 right_y=0.1405 right_z=0.0952 right_yaw=0.188 right_pitch=-0.1558 right_roll=-0.0672 right_gripper=0.7148\nstate[joint_eff]: [-0.3624, -1.3607, 6.9538, 1.7167, -0.0757, -0.0562, -0.0171, 0.0752, -7.4325, 6.5162, 1.9805, -0.0366, -0.0562, 0.486]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73988f29763456389120e658e73d6996e31d33c19970b288094ed4cc214fbf35",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde254abf33edc6a6d149bb93b61715caf4703dab967f61de804939d6d17af8a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4c386b653d5ad34a520d26426dfbda410c85e484836453841bcdef371dbc20c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDMh6F42FmZsqcTu0TBoMMcQQA1VB31zqK6oEIjBPPq2CcU69sVKHdtFmVX4wDGOC2njgDTH12cPd+Z8ZegGIL02BcF77GWXkunccLvEquwYxhEexCeQzhyJU7IkEU5/C87Sby9qjem38CdLmwFWjD7r/SY0MyAyJadONWcWxFuGkFUy8KxQY08N1I0A4v+L/t3wdp/4ZK2wJEStVo64GPUEOnvXsmGakvfsKUcAiLGumnANxL5n2ckz3XLWdSK9yAtoVnUa2GfrrtBxOjowXzO36A1REwfYQ42xxMOw47vnQTmsgAFWf1deSsH6oHOQBLrx/vcRZA6ezyL3Y7x/xZbdyDrotaUiPC5oOo3q1rXzgkvPedaZhlqbXPG8DM7hlv7TYy8wMIYyS7UWnzcRwBQvdNA5sjM01GJG354CsuVcUye+hUxZasQ4gLzSBxW/lV6syATzT+UGikHLEK+r5z9YPC3Z+Qk/k2o3unL/A6abataWzVRc+kNLD3ffdkhvK0LnP5IAP3PVnrJ2IAHDS21mVCl0Pnnb/PBobxxc9IRBjRn/ZqZv9rNBtHKsINT+cEwHRkEW3Jfo0X74wtg5iZC+tOTGDjHe9fYxIBcp0hOoUEYkDqr0QkSDe0nJFJaiGxlCFRpehTZ7Yp18IrUcnbYtH/N3bHsm7VDaQBsZn4YpSdD3MUp6vCemSG8qUtmr9LkYuYgMEJrPlOk9D19+D0gtGV/x0s7DORRujbYx/FjyW5+rwA7YX+g7TVo8eHgTe//FyzBO+l8YHMjxCaXo6EOMsPZpSDcHPW7DCacLJ26APXsDd5wyaho7dRVXrlv+IY53A2iJkbRSpRVBSgF9ge4QmYx7mBUHhzZZojScmqds3FL0blQtJdJ4bMCd7biunGKBeMBtJ4u2pCNsUrDUgMuVc0spsL+T2SEDlW6CxzpFS0zgj3VKJucx4ixlcxF4USouBf4mK+5+vqggysjNFfg7KQ+QBRgNHFemeVOzqmW4fps7atD1KCbj8ye8LoiQ8czW2W47uXVaL24bqP0E1JZcnZcpRI0/UPeZpp6Zi7h1750JCrhiiAZgbLci6onnp8YNDk4ypIOBIInDsH/TIyLg5XWX4MlS1ebsf6/fhohB6FUbj3N7e3V7bR5JzWOrIlYNOY4++U5nTRQS8aRSsOWhNdrcD1rXSFfTJLQ0Pb2uJ96mVLenLJ5ZvdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V1JV2fJJWeMWmQn9hUrema",
      "input": {
        "note": "Pear is held just above the blue bowl; opening to drop it in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01V1JV2fJJWeMWmQn9hUrema",
      "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]: [-0.0212, 0.8173, 0.6132, -0.4721, -0.0139, -0.0338, 0.9993, 0.4152, 1.6249, 0.8215, 0.0223, 0.1864, 0.0872, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=0.0 left_z=0.1594 left_yaw=0.001 left_pitch=-0.1068 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3967 right_y=0.143 right_z=0.0695 right_yaw=0.209 right_pitch=-0.1967 right_roll=-0.0681 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.1009, 6.9538, 1.6825, -0.0708, -0.0317, -0.0171, -0.294, -8.9915, 7.4188, 1.7705, 0.0513, 0.1148, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090905e19cf01692834ee2eea70bfedd89e014b944ce0ba11bd7528a222d2d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9188e084a41f04ec4fcddf64c4a6890a777298df43715ffb3afb837eeac61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:61ef588a80cb707fd40e7039cd6e8cdd25ea7f24fdc4dc7ffb2f382ddd301edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /messages · status 200 · 7.649 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8165, 0.6132, -0.4618, -0.0135, -0.0338, 0.9993, 0.4156, 1.5272, 0.952, -0.136, 0.1917, 0.0929, 0.7154]\nstate[eef_state]: left_x=0.2856 left_y=-0.0001 left_z=0.1616 left_yaw=0.0007 left_pitch=-0.0957 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4067 right_y=0.1466 right_z=0.134 right_yaw=0.2042 right_pitch=-0.1274 right_roll=-0.0528 right_gripper=0.7154\nstate[joint_eff]: [-0.335, -1.0598, 6.9675, 1.7656, -0.0513, -0.0562, -0.0122, -1.2786, -6.8718, 10.8513, 2.0879, 0.5299, 0.2466, 0.6813]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0212, 0.8173, 0.6132, -0.4686, -0.0139, -0.0338, 0.9993, 0.4114, 1.5795, 0.8585, -0.0212, 0.2043, 0.0937, 0.7148]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1601 left_yaw=0.001 left_pitch=-0.1034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4026 right_y=0.1405 right_z=0.0952 right_yaw=0.188 right_pitch=-0.1558 right_roll=-0.0672 right_gripper=0.7148\nstate[joint_eff]: [-0.3624, -1.3607, 6.9538, 1.7167, -0.0757, -0.0562, -0.0171, 0.0752, -7.4325, 6.5162, 1.9805, -0.0366, -0.0562, 0.486]\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 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]: [-0.0212, 0.8173, 0.6132, -0.4721, -0.0139, -0.0338, 0.9993, 0.4152, 1.6249, 0.8215, 0.0223, 0.1864, 0.0872, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=0.0 left_z=0.1594 left_yaw=0.001 left_pitch=-0.1068 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3967 right_y=0.143 right_z=0.0695 right_yaw=0.209 right_pitch=-0.1967 right_roll=-0.0681 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.1009, 6.9538, 1.6825, -0.0708, -0.0317, -0.0171, -0.294, -8.9915, 7.4188, 1.7705, 0.0513, 0.1148, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:090905e19cf01692834ee2eea70bfedd89e014b944ce0ba11bd7528a222d2d5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7d9188e084a41f04ec4fcddf64c4a6890a777298df43715ffb3afb837eeac61e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 104):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61ef588a80cb707fd40e7039cd6e8cdd25ea7f24fdc4dc7ffb2f382ddd301edb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSsgcKEAgSGAI4AUIIdGhpbmtpbmcSDKf3cWMFJYRqfmxmbxoMCkYkEVKJ4+c92UBnIjA+E6O1JYPgHnHcr+8CwsyY/XUwCkxraVmZbU5c+jJPY6LeOaAXQQCYEA2VeFgE6LgqzwYCnysFDraQn2GPBsfs5K7D8huAj3CbpX0NIFvehm8xqotBy60S97YgWdX81XHJUp1hx3GLwC5rBINqxnLgYWmeswG2ut4sPuL64TNZ6+ha3paipAP8QAqnLb3VPJ/nc12qR+oISQrzPO0KbDA9wqoIZsbzxu4rUdcie/Pnpmw+uWPI1ZNFIexIVptKOuMhkJBUh6GeijYI7HJL7Igh0bD/tnppLtMOzPL5L7jtSYVou31yCZ7YYglRShYCnl5vqzuYAWmkACa7LWhhFAwSgjORoFALdi4XD36iH9s2gCMB5yow6oJQTtMoc5K1GWFTDY17lqkwMbYj7bKAzNVldePooYQcfHrOODnWHRx5SeSBNoHO8t1IbEr+ccMttSePK+feTL3cZ0qkbjD+FS7CqgvGUmPRSo1noZSfKNF8OOZeESxdODN8NUDv4SM+Wh7Dyn6leg2ZPmkl8yutjLUlal+54AQPmVjCDZncBaQYTHMlX2ZzzqlX/zrmwMr55b+eDmfuNHZ/eILErbcwHS3tnxKq4b2FS4e8WeolMqCYmPEQ7DRD1F3ejoFzJ3bCqOOOaQslhMAe9eQZW7ST8cr2MiTEIkBVEbLY/+DfkoX8pzghByFctoGcURsLoIrkIJJsoP1dw42VxVghlwu/c/DzYZT76PkuZjAI2Gn7+JFCWpvIouYvasheLHoqxnp4ZTqDaXwZt8LQIvYQt5rv8UfIW2INGFQBFpHWHvIzuJonH2XqLPr5Ok31EcVW2vA9jOcbqNzMlC85Bu274uR6ELMpxrC+lnopqeteK8Dky+zNtwY9UpfY6YLqHVgDZsE5ZRZKsGltt0DolCnwA/k+r5yWV4qWO12Y9B/mC3OU8xuqBhhY3D47PAH2vQWEsJl2c++e2lR0djJk/v9ITvgznPBYeKVsqgPOT9B9EpDPThxJIq3TRE6F+le1FDoovd+HICXMjQnHFMcvLtpxvuXX98DlxgFRYe79H0dGn4HmCuyMCkJdF1DYdDjmXBJVvrVF3RdiElLTZW2oHCTWv50FdDzV39j4PtTIrSTlsyaNLO3pCFn8TV64L1Ya9EjVneTC4624mGPY/ld9LMdCVu0XJswT/NvGBybfzIAhSa0l1ndeMQNgGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0144ye5jzFPGCixhzjjcB4b8",
      "input": {
        "note": "Pear released into the blue bowl. Lifting and backing off to see the bowl and the lemon.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_0144ye5jzFPGCixhzjjcB4b8",
      "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]: [-0.0212, 0.8173, 0.6132, -0.4759, -0.0139, -0.0338, 0.9993, 0.329, 1.5566, 0.8616, -0.0856, 0.0834, 0.0032, 0.9962]\nstate[eef_state]: left_x=0.2835 left_y=0.0 left_z=0.1587 left_yaw=0.001 left_pitch=-0.1106 left_roll=-0.0008 left_gripper=0.9993 right_x=0.399 right_y=0.1245 right_z=0.0921 right_yaw=0.2569 right_pitch=-0.2093 right_roll=-0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -0.9641, 7.0085, 1.7265, -0.0806, -0.0269, -0.0171, -3.1521, -13.7231, 12.4376, 2.5079, -0.0122, 0.022, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a929d6c5c27dd362e5871c7c84833cfcf3c4993271fb49b75fcc711cfb2ce75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f0262196ac0112a47f395c835d6eb37682d0b5f1211dded945483502ecb965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:52fa09abdc0fa2e6b97b26164b8fb02db037cef29018d95b3aef864c833955e3",
        "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 · 4.851 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8173, 0.6132, -0.4686, -0.0139, -0.0338, 0.9993, 0.4114, 1.5795, 0.8585, -0.0212, 0.2043, 0.0937, 0.7148]\nstate[eef_state]: left_x=0.2846 left_y=0.0 left_z=0.1601 left_yaw=0.001 left_pitch=-0.1034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4026 right_y=0.1405 right_z=0.0952 right_yaw=0.188 right_pitch=-0.1558 right_roll=-0.0672 right_gripper=0.7148\nstate[joint_eff]: [-0.3624, -1.3607, 6.9538, 1.7167, -0.0757, -0.0562, -0.0171, 0.0752, -7.4325, 6.5162, 1.9805, -0.0366, -0.0562, 0.486]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.0212, 0.8173, 0.6132, -0.4721, -0.0139, -0.0338, 0.9993, 0.4152, 1.6249, 0.8215, 0.0223, 0.1864, 0.0872, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=0.0 left_z=0.1594 left_yaw=0.001 left_pitch=-0.1068 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3967 right_y=0.143 right_z=0.0695 right_yaw=0.209 right_pitch=-0.1967 right_roll=-0.0681 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.1009, 6.9538, 1.6825, -0.0708, -0.0317, -0.0171, -0.294, -8.9915, 7.4188, 1.7705, 0.0513, 0.1148, -0.0757]",
      "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]: [-0.0212, 0.8173, 0.6132, -0.4759, -0.0139, -0.0338, 0.9993, 0.329, 1.5566, 0.8616, -0.0856, 0.0834, 0.0032, 0.9962]\nstate[eef_state]: left_x=0.2835 left_y=0.0 left_z=0.1587 left_yaw=0.001 left_pitch=-0.1106 left_roll=-0.0008 left_gripper=0.9993 right_x=0.399 right_y=0.1245 right_z=0.0921 right_yaw=0.2569 right_pitch=-0.2093 right_roll=-0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -0.9641, 7.0085, 1.7265, -0.0806, -0.0269, -0.0171, -3.1521, -13.7231, 12.4376, 2.5079, -0.0122, 0.022, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a929d6c5c27dd362e5871c7c84833cfcf3c4993271fb49b75fcc711cfb2ce75",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5f0262196ac0112a47f395c835d6eb37682d0b5f1211dded945483502ecb965",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 113):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52fa09abdc0fa2e6b97b26164b8fb02db037cef29018d95b3aef864c833955e3",
        "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_01Hq35ct2Y8mhJcn6ts86hXP",
      "input": {
        "note": "The pear landed just short of the blue bowl (bowl is further forward than estimated). Pear is right under the jaws; descending to regrasp it.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.13,
          "right_yaw": 0.0,
          "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_01Hq35ct2Y8mhJcn6ts86hXP",
      "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, 0.8204, 0.6132, -0.4801, -0.0139, -0.0334, 0.9993, 0.3897, 1.589, 0.9398, -0.1818, 0.178, 0.1139, 0.9963]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3997 right_y=0.1342 right_z=0.0956 right_yaw=0.1735 right_pitch=-0.2459 right_roll=-0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.0598, 6.9675, 1.7265, -0.0269, -0.022, -0.0122, -0.8274, -8.3214, 6.8308, 1.5751, 0.3101, 0.1245, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c6ba9aafeea0ff01a15758cf0612d7f0e0698f7f4f91e035811cdb41e39334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f40ab063c57535697eb88b46d1ba29761d5564c9addf838547b52c764516ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b33c36137ec66b61a6ce221135c1f2175c740744856813b7efbbf036f0de528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 5.754 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8173, 0.6132, -0.4721, -0.0139, -0.0338, 0.9993, 0.4152, 1.6249, 0.8215, 0.0223, 0.1864, 0.0872, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=0.0 left_z=0.1594 left_yaw=0.001 left_pitch=-0.1068 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3967 right_y=0.143 right_z=0.0695 right_yaw=0.209 right_pitch=-0.1967 right_roll=-0.0681 right_gripper=0.9955\nstate[joint_eff]: [-0.0479, -1.1009, 6.9538, 1.6825, -0.0708, -0.0317, -0.0171, -0.294, -8.9915, 7.4188, 1.7705, 0.0513, 0.1148, -0.0757]",
      "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]: [-0.0212, 0.8173, 0.6132, -0.4759, -0.0139, -0.0338, 0.9993, 0.329, 1.5566, 0.8616, -0.0856, 0.0834, 0.0032, 0.9962]\nstate[eef_state]: left_x=0.2835 left_y=0.0 left_z=0.1587 left_yaw=0.001 left_pitch=-0.1106 left_roll=-0.0008 left_gripper=0.9993 right_x=0.399 right_y=0.1245 right_z=0.0921 right_yaw=0.2569 right_pitch=-0.2093 right_roll=-0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -0.9641, 7.0085, 1.7265, -0.0806, -0.0269, -0.0171, -3.1521, -13.7231, 12.4376, 2.5079, -0.0122, 0.022, 0.0611]",
      "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, 0.8204, 0.6132, -0.4801, -0.0139, -0.0334, 0.9993, 0.3897, 1.589, 0.9398, -0.1818, 0.178, 0.1139, 0.9963]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3997 right_y=0.1342 right_z=0.0956 right_yaw=0.1735 right_pitch=-0.2459 right_roll=-0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.0598, 6.9675, 1.7265, -0.0269, -0.022, -0.0122, -0.8274, -8.3214, 6.8308, 1.5751, 0.3101, 0.1245, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5c6ba9aafeea0ff01a15758cf0612d7f0e0698f7f4f91e035811cdb41e39334",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f40ab063c57535697eb88b46d1ba29761d5564c9addf838547b52c764516ab3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 118):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b33c36137ec66b61a6ce221135c1f2175c740744856813b7efbbf036f0de528",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywoKEAgSGAI4AUIIdGhpbmtpbmcSDOx2h4NFSkEcO+mkIRoMPuvtD0W9Q0E3dHYYIjDUO1dvdY7FxWLon+SOgtQrkkkcgia4rqQeo3L2OsgaaxBxwuLE7dMKNHDzqXgDvtEq6Akks5oKfYqDIYgLiEs86ZEd9mxHGINByzQ+NCOO0zYOYcHyoJ7+Htz7EKOsECvvE1FpjvSioiqKl3Qrf5i5b8QTDwvab/nXB/ITRdB7dsbN9feLAEbsctBLxKZcYe4l7PxxAWg99b/ybxEzHjU5vKYetz/pakM8j5nLSBazqWsbS/R5VL61gNGlx8gkSj0iru4gMw50cmdfEVwiheMmQGPPVUf2LzUItIgS5oH5yPCOTpP6ac0xmLrlsX6507ZWjYd52nesvR7LMUd+AD34HQDYBXLKTAIg2tAW1g8VcfT1oINGYlHDSACyExjBeIhrJK7R5VoJnfbGoK0CGW4xVLO8RVs6Xyyy8QC8JMtnaMzme0AirnP9vhYn7fbNXm/2ehnF3Yky1SkxbqGD6lyd5DVldvZEVG/LCt2JEAhA2t1Nw1mCV2B2/PVK709RLl/D8yHHp6oodkg5iG/WXbxVzwQskVugLyADP8LlmwpvXgaXM6fS5GT27EKoWHpbgtttbFcVSpMe4f6Acb3j9aqGKgg6gHZQayRiAcrgjJfWxIml1RFJ5kqijsKAdCHoTAETaZBxUimPkCw4EWjmzQOGpz2nXdvwbs/AH3CccoUBL7tFdAb9G+3YriBhl9p0GRy90ro/TcFQrqkHOIRLkpNsv5GdPbR397024ju7VUIX3zJEQhH69hrBC2g7P6UfbaIc0Xo8PmKU1aUSilMXAe7u6rw9h0HAoFIuuI45lxa3bhmAraFH0563B52rkdYDQCHl/M/FGmT8/SkvAXd6f7o02MOLbV9SxpXBm0vcyCn3ieUBYhBip2/3g7plBwMYj8HBVwjq17rBlG+nmKOq5Q/FkwuTf3+oI6aMxcmPyshUxwjuO/jHmwwBTX9kqm2FxM68YLnfvLIhBTLiAQ+P+R0qtqykJSRIfsD86kbhgSeoeXq44mnB6aDhykDNGN2Ec/orE+7GsycbgcEkSDi3BAsVGVXrkWbvx+S9xBvuqY3F8PkCTeMzE5W+bvx6jLg3S+TWonV449wFutxia0PV1JY7L6qR/Ow4V5z13GwrI0u0P2RqBpvomJGiS6m4TvU8iifW3naWvmnHkAutbBEaZEOCGHgXf34FPu+a1XbuQKjOVObW6aXs8VcFdgkhANohEVbopT9fjrpwu7kwUDs5a6NrcYrfzV49LkBAJHM4Wk99vHrcoy5EEvyh0ekJGCLxrfbUgENZZe+bmOYHLJrYGWoBr2Xm3Xxa47gNVB5b1o2j3O1okSV4LuTCYjZQ7y4kLPQE39KNZws62TOZ5vaJNIPcxDSxk1x5lhv/BlWBMujoSPIol+jFJkIFBi0TEiYxk2yut8jWUBGOwRioDx0HLf9FljkQ8uS499MG6a6ADKX4YRubSBlQoG5LIYdr6gJSs63UYA+qwTqjh4SCP4e/8wDqeri+yi03PzsksleYzH4oT/a3Y0H0+gN/98UzFfGWg4erfcFgG3tHGSSvk67+z27r9tlasuz6NVP+qJybhxDbugGXfu+kqwa48FSTMNteVYG0Umz1mBWFjZRj16esNijTmHIMJ162LqyjHTxvFb3wGsHlLL5HE8DGcmng7sJYa9fvFNBCtC2XdzFPl+wWvPKJauE4//hKucsVf5cO8FGNEka6SO55jq7lZAoBeOgziCd713ud6YRf4x+Q5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012ZEY8tsT5QH1AmzNGk564y",
      "input": {
        "note": "Moves are being speed-clamped and stopping short; re-sending the descent onto the pear lying beside the blue bowl.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.41,
          "right_y": 0.13,
          "right_yaw": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_012ZEY8tsT5QH1AmzNGk564y",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4843, -0.0139, -0.0338, 0.9993, 0.3775, 1.586, 0.9398, -0.1852, 0.2092, 0.1242, 0.9963]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1561 left_yaw=0.0003 left_pitch=-0.1228 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4021 right_y=0.1238 right_z=0.097 right_yaw=0.1289 right_pitch=-0.2406 right_roll=-0.0695 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6728, -0.0757, -0.0708, -0.0122, -0.3761, -8.3214, 6.8308, 1.5604, 0.1978, 0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a49499594307af0e445873be8b9ff57d57b437f42f9baf99aa10792ddf70781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:370e13e426a6cd1d370b218c100fae62cbad261bc75e8bac893d03db3b34fbc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:da0bb3cf8c1084055844db720d2ff6f32f685283aaa5516f3fd0c541bba4a172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 18 attempt 0 · /messages · status 200 · 3.601 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0212, 0.8173, 0.6132, -0.4759, -0.0139, -0.0338, 0.9993, 0.329, 1.5566, 0.8616, -0.0856, 0.0834, 0.0032, 0.9962]\nstate[eef_state]: left_x=0.2835 left_y=0.0 left_z=0.1587 left_yaw=0.001 left_pitch=-0.1106 left_roll=-0.0008 left_gripper=0.9993 right_x=0.399 right_y=0.1245 right_z=0.0921 right_yaw=0.2569 right_pitch=-0.2093 right_roll=-0.0562 right_gripper=0.9962\nstate[joint_eff]: [-0.335, -0.9641, 7.0085, 1.7265, -0.0806, -0.0269, -0.0171, -3.1521, -13.7231, 12.4376, 2.5079, -0.0122, 0.022, 0.0611]",
      "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, 0.8204, 0.6132, -0.4801, -0.0139, -0.0334, 0.9993, 0.3897, 1.589, 0.9398, -0.1818, 0.178, 0.1139, 0.9963]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3997 right_y=0.1342 right_z=0.0956 right_yaw=0.1735 right_pitch=-0.2459 right_roll=-0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.0598, 6.9675, 1.7265, -0.0269, -0.022, -0.0122, -0.8274, -8.3214, 6.8308, 1.5751, 0.3101, 0.1245, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8211, 0.6132, -0.4843, -0.0139, -0.0338, 0.9993, 0.3775, 1.586, 0.9398, -0.1852, 0.2092, 0.1242, 0.9963]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1561 left_yaw=0.0003 left_pitch=-0.1228 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4021 right_y=0.1238 right_z=0.097 right_yaw=0.1289 right_pitch=-0.2406 right_roll=-0.0695 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6728, -0.0757, -0.0708, -0.0122, -0.3761, -8.3214, 6.8308, 1.5604, 0.1978, 0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a49499594307af0e445873be8b9ff57d57b437f42f9baf99aa10792ddf70781",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:370e13e426a6cd1d370b218c100fae62cbad261bc75e8bac893d03db3b34fbc2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:da0bb3cf8c1084055844db720d2ff6f32f685283aaa5516f3fd0c541bba4a172",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQS7QkKEAgSGAI4AUIIdGhpbmtpbmcSDMXKtSTRCbdfv7toqxoMzacYYRVTOykly27PIjDWbyEI7GQGlJLxvqqaGRSQfqz5VCT+m+6sb2zzPy0MZsPviirVazBJCSQ6aWN4S7oqigkojZIv7bcRsGDdI8mBS6babiL9tPHEW9o4HR26KT9WzUR9OHP8HbuftRmVBRUMgeg80EGJ4jVEH8kWFrfGwE3I5KHQi1v2ndEal9WpCQ+W4sPW3OlG/3K2JankS4iZNFBX0pTuMotkftCNAvLwJzsGF9RWcE7v3aeoKWcfaH+wf3llUkRMQc9fgTrQj0s+4LFecPuOaPi5vxO3JIP4ZJ0au0XBUeP75ZDCH6D9iqm/aAs2+4XLkxHf76OyZ+kNgBMql4G/OCqloeuL8Kc3LkeREfhCpzmqaJSkPo/yoJFQEZGvdyAUo7y0GySbZmncSeUH8i2mf0Kts01C/NqIi8mZN+BsyKtVlXV8ppVnT0+A9qMNx0/PDjJuf0fvLfhc8asDOHjndmScY7GiqU8szRVYYmpzkR3xqCrtdT1CGBygLS0q82ivheRqhynFK9kdPfTXKBWjXKmnlhU9zBlrbADBMPDWkbpyuVGJuN58Mk8ul/m9JyMR0gAf3g5YYXHz64ACL6yWAjx6ui4RYFGtmDnLHRaIcMU5TBvC6rq9hPePwZ9CF2SMaODbX126X3fS2oABvdJc1JUGLCxTgtgwHw+pJnla8E+qaem7P476qzyEnBC62enjwgVxumVWlm2JlWU1Yhd0E0B84jdA3yU6mpRGhpjuwCGSlVUJ7cHK2o1Xphr4OgzT136qbTCSTTsoRlgoRJluwNy14FMoM4uuGOGVRH83ODBXNsx8mp+bPq5v9P5b/4s5jbha+BVQ07KzPCtZNpUgFYBMnxIKt8OJKrLo44H7KOjJhyU9c0A1vJA0Mwzem+CWX2DToMO9IQ2rZpxjr50CgqqNpTIkLb47V+11RG2pj4iiajeppI+bVMTEHTdloncuM20BVwjKVxQR2TQ1sQSQJKLzp58Jn26uz643XTB8m+sMfiP/TdGGS6G7j7tbcKs2ZbfGTJVTkcYQ+F5+mhV/3XdZFacnY3C/MW9iQH9hVG8UWZgN1AgXoQbSE8/NYzZtvhyWbHjOTD8abRUyCmODldLy5VQBCEeaQ35gvoEBcfxh2JLEW42od7qG6h9JyHVEwxB3vCrGYZFDSuDbPxwiDxM71u7P05jV6dtgYjre4wR79hkeVW9QhnLZzlsjnw1oqFfSqi9SvjqrhNhQc0Y0t5vBijjIY2PjRTUmO0xI1t2613Wudfoz+C2Hub0qRM9h1PqzAz/rGFMf7CDE+jmrS9tbD6cZiNHl6oA1upJje1cCXrmHOOF2Nri3yWddzG0FpojuwVcd+b+mJGivsgBqnGnuEII151ccF4RmpjztgKkvqriHuT5zU7tqGkB6fsIbU/wfzfQajpSTTO6UrDDN6FORDuPYoOo6RFgclfSmtBGy+kRBwRTKDApHx+UlBD79YnYRTD2IJIAJCjpUYajoIPxCqRbk5SBuNwJecdOkuU2iD6BFfc+M1yF7bph3dZBVIDoQYkpmn/5EcbcRVui+yWOHiCUR3qdiTM+RWUzZx9+mrjQJi4a2QUR4ebB+bFAEVMJxm1FnaNW45dvJ3BltfZkiMY1sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017tg1fETbbcsi9Mw4n6CJxB",
      "input": {
        "note": "Descent is blocked: the left jaw is resting on the pear. Raising and shifting ~3 cm left so the pear sits between the jaws.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.155,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_017tg1fETbbcsi9Mw4n6CJxB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6128, -0.4908, -0.0139, -0.0338, 0.9993, 0.4706, 1.586, 0.923, -0.1089, 0.2588, 0.1585, 0.9963]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1547 left_yaw=0.0003 left_pitch=-0.1297 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3992 right_y=0.1564 right_z=0.1046 right_yaw=0.1649 right_pitch=-0.1723 right_roll=-0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3197, 6.9402, 1.6728, -0.0366, -0.0562, -0.0171, -0.6222, -8.0068, 9.2513, 1.7265, 0.4664, 0.1441, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1809668e2d47e9141fa6d79ad6c5829dab030b000faa561b3076e243161f3f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9aab500aa69061cdd4efee96009657ed0fa50a50a2ecda0e2e46855f48e8594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2e40858987b2e45e3391507ac21f4fcf2975ed31aa270a416c9f3e132abc04e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 2.462 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4801, -0.0139, -0.0334, 0.9993, 0.3897, 1.589, 0.9398, -0.1818, 0.178, 0.1139, 0.9963]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1571 left_yaw=0.0001 left_pitch=-0.1179 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3997 right_y=0.1342 right_z=0.0956 right_yaw=0.1735 right_pitch=-0.2459 right_roll=-0.0536 right_gripper=0.9963\nstate[joint_eff]: [-0.0889, -1.0598, 6.9675, 1.7265, -0.0269, -0.022, -0.0122, -0.8274, -8.3214, 6.8308, 1.5751, 0.3101, 0.1245, -0.0024]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8211, 0.6132, -0.4843, -0.0139, -0.0338, 0.9993, 0.3775, 1.586, 0.9398, -0.1852, 0.2092, 0.1242, 0.9963]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1561 left_yaw=0.0003 left_pitch=-0.1228 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4021 right_y=0.1238 right_z=0.097 right_yaw=0.1289 right_pitch=-0.2406 right_roll=-0.0695 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6728, -0.0757, -0.0708, -0.0122, -0.3761, -8.3214, 6.8308, 1.5604, 0.1978, 0.2076, -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 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6128, -0.4908, -0.0139, -0.0338, 0.9993, 0.4706, 1.586, 0.923, -0.1089, 0.2588, 0.1585, 0.9963]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1547 left_yaw=0.0003 left_pitch=-0.1297 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3992 right_y=0.1564 right_z=0.1046 right_yaw=0.1649 right_pitch=-0.1723 right_roll=-0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3197, 6.9402, 1.6728, -0.0366, -0.0562, -0.0171, -0.6222, -8.0068, 9.2513, 1.7265, 0.4664, 0.1441, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a1809668e2d47e9141fa6d79ad6c5829dab030b000faa561b3076e243161f3f9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c9aab500aa69061cdd4efee96009657ed0fa50a50a2ecda0e2e46855f48e8594",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2e40858987b2e45e3391507ac21f4fcf2975ed31aa270a416c9f3e132abc04e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwcKEAgSGAI4AUIIdGhpbmtpbmcSDGyrzHWafZQff9IBohoMa+qCl/SPylCnv0HDIjBjB1ThmTYxCr3PFGLK+pMNvGBnsTg1q/xKIXWH9WJS2z04K2Kz4ShTZQ1UJUOjnu8q3AYiPHxsKXcGUx/w913Byo5qPOySPt79+BR3w7e1jrBm6VaRAZMAZrd2nagAvP6uLFc7l+mQQLAw9w8C57Wu7J4qtVKjaAWEtJtxRIPHg4+nyjNzVUEvhPM5Px0N34TWsg9csd2/5QQJPc8SN6mOTlIyWbrln+DvjgJ3I106/j27G6slXwQ7yV+aDqG/HZVEiaIJNnjzreKnOjnJNb228SnziF3zFegfctjt9EUAIReDdSXK/cld3cZq1NnwAv9ubYtgen0lTiNk8TX1otop3SIv9xN3n33hY0SGQcMJb5mz3DdCa3Sn/oMwZ7Q358TLX5W6FWDFqjpD+wVQo5c3RZQZBXqkIvYFGW/7u7JFV+bg6mbRrPa5wmLfDJsP0i9VX879YksOVU9RlbsSv5gyMQkFJWZv18TQgQHRmLn3iFXEN1vwbeAgxIAeVQjFlnQt8hmkgp7hs3Oc374Vg+7NGKEeuBMbD2BrbU43Aqr3tKQfaVKO/NmeIGf5QVSlYF6hHez+gm6euW7Fzj2zHerYfDQFoJch7SPGKUI+dJCEE4wd/lSMkKaCSkuy8BIKGSaxckEzxYU2VA4I8k1OOj+U5mAqNdwzq0+XyAreUs4jxS907njHMrC56QMi2gQrmKyfPcYCrgemO341JWkP2aXfmoWDmUKJ0TwCeG5DxwIGzZOmMUDVOSyYym+90U5kAIFrRXg7XfKE1vlMjjcRFbflQ2hHbyZOQhNlKrfBX5RNLhQenlXL9CfuXXz/fj1ub2lku03ThEyhpZO5X8q36Qx0uHIpc5VkQZ/q7bRP1dRXEVKM66tD9mdhikwI7OHYzQ71OCaxCHKXQNA/9Pad4TOLKpjPaTGcPwIPJc7Wrs1mHDjLqmxUluj9N9/SI30uxGz5kcqOlKfWI3HNd9D83ZNNIXlf/GRlAHu/u/fRDTpdD1dKhIbNk5gB1HaOQq/PgddNegsDZG2uhYs8PricWYZ5zNjGQfLpvsnikcLgxwRLbFtm2dVd7cF7YebY/gzmm+vfRqudXsq7yU8FTO5UJpugOFVNtGSFrTnHE4iP7gVuDQxs1Jk4YCaGz+G1WlwuRMCruuKdSA2JVltn8ra+efhpqoSHdkQ7uFnZY8wClnPDyb6qvR9nCtieXboJEg2n9hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LUYGKo1A77jFv62uPqzAd5",
      "input": {
        "note": "Pear is now between the jaws (bowl just ahead); descending to regrasp it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.405,
          "right_y": 0.16,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01LUYGKo1A77jFv62uPqzAd5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4923, -0.0139, -0.0338, 0.9993, 0.4877, 1.7977, 0.6636, 0.4049, 0.2882, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0003 left_pitch=-0.1308 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3894 right_y=0.1538 right_z=0.0132 right_yaw=0.1708 right_pitch=-0.1263 right_roll=-0.0846 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.6386, -0.0317, -0.0366, -0.0171, 0.253, -7.3231, 4.7385, 1.8291, 0.1783, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79028b9cf8f0a10a24fabe74932312a711a0beeb68425ee9ef10af3e20a232b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:853531d3743497ee28ee9bff460790ffe94cf4032b9caa5974c533612a2633e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47140f35fabdb853449056b78106dfa239813488cc7051be7dc340ce958f7ce2",
        "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 · 3.831 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4843, -0.0139, -0.0338, 0.9993, 0.3775, 1.586, 0.9398, -0.1852, 0.2092, 0.1242, 0.9963]\nstate[eef_state]: left_x=0.2823 left_y=-0.0001 left_z=0.1561 left_yaw=0.0003 left_pitch=-0.1228 left_roll=-0.0005 left_gripper=0.9993 right_x=0.4021 right_y=0.1238 right_z=0.097 right_yaw=0.1289 right_pitch=-0.2406 right_roll=-0.0695 right_gripper=0.9963\nstate[joint_eff]: [-0.0752, -1.2103, 6.9675, 1.6728, -0.0757, -0.0708, -0.0122, -0.3761, -8.3214, 6.8308, 1.5604, 0.1978, 0.2076, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6128, -0.4908, -0.0139, -0.0338, 0.9993, 0.4706, 1.586, 0.923, -0.1089, 0.2588, 0.1585, 0.9963]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1547 left_yaw=0.0003 left_pitch=-0.1297 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3992 right_y=0.1564 right_z=0.1046 right_yaw=0.1649 right_pitch=-0.1723 right_roll=-0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3197, 6.9402, 1.6728, -0.0366, -0.0562, -0.0171, -0.6222, -8.0068, 9.2513, 1.7265, 0.4664, 0.1441, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8211, 0.6132, -0.4923, -0.0139, -0.0338, 0.9993, 0.4877, 1.7977, 0.6636, 0.4049, 0.2882, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0003 left_pitch=-0.1308 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3894 right_y=0.1538 right_z=0.0132 right_yaw=0.1708 right_pitch=-0.1263 right_roll=-0.0846 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.6386, -0.0317, -0.0366, -0.0171, 0.253, -7.3231, 4.7385, 1.8291, 0.1783, -0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:79028b9cf8f0a10a24fabe74932312a711a0beeb68425ee9ef10af3e20a232b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:853531d3743497ee28ee9bff460790ffe94cf4032b9caa5974c533612a2633e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47140f35fabdb853449056b78106dfa239813488cc7051be7dc340ce958f7ce2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0142DbuwK2f7b5ERtU6vfEWs",
      "input": {
        "note": "Pear sits between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0142DbuwK2f7b5ERtU6vfEWs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4923, -0.0139, -0.0334, 0.9993, 0.4881, 1.808, 0.6571, 0.4656, 0.2874, 0.1314, 0.754]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0001 left_pitch=-0.1308 left_roll=-0.0 left_gripper=0.9993 right_x=0.3947 right_y=0.1569 right_z=0.0179 right_yaw=0.1768 right_pitch=-0.0851 right_roll=-0.0756 right_gripper=0.754\nstate[joint_eff]: [-0.0068, -1.1829, 6.9402, 1.6239, -0.0415, 0.0024, -0.0122, -0.2393, -8.5675, 5.5863, 1.0965, 0.0757, 0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9891fb6f81a776e7037a73fc2f687e513c7c42d34a32f9529e352b529408746e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d62dc0be13d614cf8e7afbcaf68911f0280d372cf2dd30f849d62bf86853bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f72decb44f29eb6f72817ff5ecbf6f1404a3277ca2c8f299084e738ea3e32bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /messages · status 200 · 3.284 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6128, -0.4908, -0.0139, -0.0338, 0.9993, 0.4706, 1.586, 0.923, -0.1089, 0.2588, 0.1585, 0.9963]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1547 left_yaw=0.0003 left_pitch=-0.1297 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3992 right_y=0.1564 right_z=0.1046 right_yaw=0.1649 right_pitch=-0.1723 right_roll=-0.0628 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.3197, 6.9402, 1.6728, -0.0366, -0.0562, -0.0171, -0.6222, -8.0068, 9.2513, 1.7265, 0.4664, 0.1441, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8211, 0.6132, -0.4923, -0.0139, -0.0338, 0.9993, 0.4877, 1.7977, 0.6636, 0.4049, 0.2882, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0003 left_pitch=-0.1308 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3894 right_y=0.1538 right_z=0.0132 right_yaw=0.1708 right_pitch=-0.1263 right_roll=-0.0846 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.6386, -0.0317, -0.0366, -0.0171, 0.253, -7.3231, 4.7385, 1.8291, 0.1783, -0.1197, -0.0073]",
      "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, 0.8211, 0.6132, -0.4923, -0.0139, -0.0334, 0.9993, 0.4881, 1.808, 0.6571, 0.4656, 0.2874, 0.1314, 0.754]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0001 left_pitch=-0.1308 left_roll=-0.0 left_gripper=0.9993 right_x=0.3947 right_y=0.1569 right_z=0.0179 right_yaw=0.1768 right_pitch=-0.0851 right_roll=-0.0756 right_gripper=0.754\nstate[joint_eff]: [-0.0068, -1.1829, 6.9402, 1.6239, -0.0415, 0.0024, -0.0122, -0.2393, -8.5675, 5.5863, 1.0965, 0.0757, 0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9891fb6f81a776e7037a73fc2f687e513c7c42d34a32f9529e352b529408746e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d62dc0be13d614cf8e7afbcaf68911f0280d372cf2dd30f849d62bf86853bb3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 146):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f72decb44f29eb6f72817ff5ecbf6f1404a3277ca2c8f299084e738ea3e32bbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwgKEAgSGAI4AUIIdGhpbmtpbmcSDCW41Qit+Ub0XxDkuxoMWH75c5+CmmtUImOpIjAz/8tXEvQJLKbnO5Y+c/qMgxn5y2VbuAVAQh1D1MuILFmlhI4Rl98V1PC6mKZbKqkq7AfY7u0JK73QVKpv5t8AYfG/q1QVyQIdQAamtsfb7rRbOog9jDsFfik/basKz4+8SiBoicwJZiwoUWrW57HF2YH3S9IhOAeUe6HIrVKPoQ/HMeeuzIcqkobzw8nc6sRX1yYkuWe0rIQtCTy++ahgsJUCyLpzqYRtWpHSXSwqp6nObF7nEJGqUFgTnCFC1kybk8AQgnrbwbZNWVK6HCIjp3zcDoquBk0vP6XH8KWwpXNxm7mxi2sxWcaSwVwZo4DvhDfgh1RgAzsQaXJ8dTLZndN54qblt9VSnihR8NreVnxr+TUQ0ojvBH8xdarEIqNiGsKOf2kLCydADhr/aFRxM5eOoSCaERmmb7paZ8GePDLaUdHPnC9QK7OsscQHzIFhJQ/Jgh1ooT5HqG2gmrvwXdxNuT3neyyyRr1F9pewXSwkOW0b/1FNXuStDYqbBSaWp8QeDebxKzaMdK5AV+3gNeGQXsFyDae/Vgw6KeHWvWQp/iyPRPGkInHS4V7mAbBqoOvwhy9KD2CQPcfj75Pi1a2PoKWQt5fdxkFdoc9PykiYF1PPHtJ+BJhLj00/TETTugOMS6l0FqQAgve4RPC9RvK9FLtDF2fHvYdxBgEVFrMIy/CD17Vpr8234Z3+X0ve82zcJM+9fJaH1qKpxFKNUtOB+09R+djERs+llhxP0xE+divgjSYau+zW2R1cCdYMPedhw75EvyT6mdbJhRTPOrqqfsRRoyxdShMOmiu2MxFHGKAvULKh6eTqJ/FO8iL+0VdottFsgoj6gO0h08+MqkAQK6mWY/JNlZsXLo6wsWRcBgmBgZ0vX1Ks6ArTczfk71aXNbuCaCokMF42TXNqP+VoxywbT6rTsvSsQRGw7aZ8XWj/p4WCMHAyZH3ScZMC7Z2ThgqKFts3LtGbBB5NJu7U7OruYnhJZY5xvA3+/GOlV7n7kmlcYeafe4u7LME98bPg5HS4PunkrJRYG7BGFJM55K/8DMBjLGAYY9BpF77wbc9SyJdx9LhrET+rBNONOGbGQcM+Yu8tpzIMbWcktTqiEuFNsft+WsKAFaNlc+Gw7L9ta3wnUOM2PXVT3gFzEq0/xIulh21cvjJUfQ8IaDXkQojrM8sAafqy3QGk+iikjwCurh9tRJJKU/alYWWYMOAB54vnb6ZHZ+wnw/NGW9vTqD8o1+e3O24ZJrya9L2c2kq8OeGUZie0XNH2FvjrrIbzIevqSqmO/eKMj8+PprtdOZ76RI2VPyeaEsozTMBsUoQxNyhakgrEu7M4j0czdQ/UUcOBYZNW3IvrgFEoDSE1ERbbAvjEpUBD7wBGw+weZ1FppnAqHXN6rWjbaRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERhqWvQiAA2AdVW6F1nTp9",
      "input": {
        "note": "Pear regrasped (gripper 0.75). Lifting straight up to clear the bowl rim just ahead.",
        "targets": {
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01ERhqWvQiAA2AdVW6F1nTp9",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6128, -0.4934, -0.0139, -0.0334, 0.9993, 0.4881, 1.4826, 0.997, -0.2329, 0.2794, 0.1299, 0.754]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1324 left_roll=0.0 left_gripper=0.9993 right_x=0.394 right_y=0.1581 right_z=0.1559 right_yaw=0.1832 right_pitch=-0.1183 right_roll=-0.0819 right_gripper=0.754\nstate[joint_eff]: [-0.0479, -1.3197, 7.1316, 1.5995, -0.0562, -0.0122, -0.0122, -0.0615, -9.0462, 8.8, 1.6825, 0.1587, -0.0464, 1.0232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7caf06788840b080568665ad86b269fa652461d0430edef941699025a2734f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e7965276df6b222f458c55325527428ea99d9fe4f33ab6d5e6b99f605da75f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:11d4d8221e693ba37011b3f3bd56866c1926e735cf8b66f048e8dccbf996efdb",
        "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 · 4.378 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4923, -0.0139, -0.0338, 0.9993, 0.4877, 1.7977, 0.6636, 0.4049, 0.2882, 0.1379, 0.9963]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0003 left_pitch=-0.1308 left_roll=-0.0003 left_gripper=0.9993 right_x=0.3894 right_y=0.1538 right_z=0.0132 right_yaw=0.1708 right_pitch=-0.1263 right_roll=-0.0846 right_gripper=0.9963\nstate[joint_eff]: [-0.1983, -1.3197, 6.9265, 1.6386, -0.0317, -0.0366, -0.0171, 0.253, -7.3231, 4.7385, 1.8291, 0.1783, -0.1197, -0.0073]",
      "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, 0.8211, 0.6132, -0.4923, -0.0139, -0.0334, 0.9993, 0.4881, 1.808, 0.6571, 0.4656, 0.2874, 0.1314, 0.754]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0001 left_pitch=-0.1308 left_roll=-0.0 left_gripper=0.9993 right_x=0.3947 right_y=0.1569 right_z=0.0179 right_yaw=0.1768 right_pitch=-0.0851 right_roll=-0.0756 right_gripper=0.754\nstate[joint_eff]: [-0.0068, -1.1829, 6.9402, 1.6239, -0.0415, 0.0024, -0.0122, -0.2393, -8.5675, 5.5863, 1.0965, 0.0757, 0.0317, 1.0281]\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 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, 0.8211, 0.6128, -0.4934, -0.0139, -0.0334, 0.9993, 0.4881, 1.4826, 0.997, -0.2329, 0.2794, 0.1299, 0.754]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1324 left_roll=0.0 left_gripper=0.9993 right_x=0.394 right_y=0.1581 right_z=0.1559 right_yaw=0.1832 right_pitch=-0.1183 right_roll=-0.0819 right_gripper=0.754\nstate[joint_eff]: [-0.0479, -1.3197, 7.1316, 1.5995, -0.0562, -0.0122, -0.0122, -0.0615, -9.0462, 8.8, 1.6825, 0.1587, -0.0464, 1.0232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7caf06788840b080568665ad86b269fa652461d0430edef941699025a2734f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e7965276df6b222f458c55325527428ea99d9fe4f33ab6d5e6b99f605da75f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 157):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11d4d8221e693ba37011b3f3bd56866c1926e735cf8b66f048e8dccbf996efdb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6QYKEAgSGAI4AUIIdGhpbmtpbmcSDLhDtwKGSEp6XQhvCRoMcYtQaAfsuOWFHHlbIjAd/QBTJr8Qnd/X9RUPhoD7CedP8lLe+r28CqqjX2s1D4nyG9PC/45JS3FF3GjX5xcqhgbIzeW1Shr9KoS+JSPbL0LTNiAjAHzXgYDmboGiR0OmZTQHB8bbM3vZwu+XgRV3CecQ9owZRuW3lyCHE6PUjuRktpU8n8MUgcqtDbIHrHhfkY43owpU0bhi0DvDi4AF8Ja12qhWTZBGtJjAKoF6VfAtQMEVJV62k+2RgbVnWIo32vkLrLlJe0KVycarPGLcE2HYvBlxZV2JFyDEUtBGp5O5pfNfAeZf06XQkAOdyfcHiEZ9LcJU43T+WJnbB513EhrwO+W4tl64xHVIJzzAUmxFcF2HdNtbyeL4AxFCFPZs6OY9tMDTpRfmCq3Mdgh52LoO+tSEqiBoX3SBQKpA3OjaYt1P4sdfl7Q4F9MW5sFfK3/P1hCBPyvwHVxrkkDz8zF+jKmuKbHZS/L1FLF1e9KSYHhrtVbq+NFMFEROPoycrQjOW3z/PVHYOa3D2YYFZiS/2TfZuLZKppEBLkkj+zdsNirGrZmj6TFTSQj7hMrm4d/sKKP+nUXEcEcO0smWbTkD/PEgav+DdAqd+kFGC95QP/0wtNYtEfDOiZxnF8mpOFUjZKW11xLruhFjon30KUSUFhIYGxr7JUjAT5XyWwrYkoTEAI5nqbXMkAR5tBgusuy3ya/EjqUF0sdKN8TaHOlfNtJkg7Z/1uP4YWxpYUY440GZQLIpR67gtFKDbOg4F8KYdOQU9y5jBJuiFuBUNGHYjxf4L1Vcjd7AEPCrHqo0n81URYhVlRRt8xuI3XlHTATic/TYFy+HvAoyhV0G90ssVMyBfh/R5LcS88tHIRXEbaqUAOJfEzvQ9It2ZWG4+70Klohmxut6SMtGZbmtTjnvfvOztB0kMFmj+TZpHnJLpjpxuk62oRqo83MXyj6MgNYkelXdaVZHFX8XZI49GkHXm5hbma1OfPz4aYfPFy7V+mAi1SjR9CxVhEzYNQLQcVQLYCY/utZBFR6RmgqGDzGDl2j0d2vBOsE0TcblbOqg1aLrppbE/y2DsUmeqRKafkl1P9TFjFhADDARU7pTb4HD4UD46vkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DMwKN7mJZbZLMG6rv3MEB3",
      "input": {
        "note": "Pear lifted; blue bowl is ~7 cm ahead and slightly left in the wrist view. Moving over its centre.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.46,
          "right_y": 0.17,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01DMwKN7mJZbZLMG6rv3MEB3",
      "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, 0.6132, -0.4953, -0.0139, -0.0338, 0.9993, 0.4477, 1.665, 1.1034, -0.1547, 0.2543, 0.0765, 0.754]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.153 left_yaw=0.0004 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4378 right_y=0.1649 right_z=0.1371 right_yaw=0.1926 right_pitch=-0.1235 right_roll=-0.1068 right_gripper=0.754\nstate[joint_eff]: [-0.0342, -1.1145, 7.1043, 1.6581, -0.0415, -0.0366, -0.0122, -0.7453, -8.3214, 9.2923, 1.9023, 0.105, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35effe5d07d42523f029dec7818ea2b84800d8458147e219f1815aee7a118c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770b3fb8d15c0c759c2ad0046b572868da657cc9bbcf6269b2596d3b9605f670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07feb26f03caeaa0cfb7bd305aa3ef19be0d89f5db3d8404baa8e7c3efb28f1f",
        "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 · 4.625 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4923, -0.0139, -0.0334, 0.9993, 0.4881, 1.808, 0.6571, 0.4656, 0.2874, 0.1314, 0.754]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1545 left_yaw=0.0001 left_pitch=-0.1308 left_roll=-0.0 left_gripper=0.9993 right_x=0.3947 right_y=0.1569 right_z=0.0179 right_yaw=0.1768 right_pitch=-0.0851 right_roll=-0.0756 right_gripper=0.754\nstate[joint_eff]: [-0.0068, -1.1829, 6.9402, 1.6239, -0.0415, 0.0024, -0.0122, -0.2393, -8.5675, 5.5863, 1.0965, 0.0757, 0.0317, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8211, 0.6128, -0.4934, -0.0139, -0.0334, 0.9993, 0.4881, 1.4826, 0.997, -0.2329, 0.2794, 0.1299, 0.754]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1324 left_roll=0.0 left_gripper=0.9993 right_x=0.394 right_y=0.1581 right_z=0.1559 right_yaw=0.1832 right_pitch=-0.1183 right_roll=-0.0819 right_gripper=0.754\nstate[joint_eff]: [-0.0479, -1.3197, 7.1316, 1.5995, -0.0562, -0.0122, -0.0122, -0.0615, -9.0462, 8.8, 1.6825, 0.1587, -0.0464, 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 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4953, -0.0139, -0.0338, 0.9993, 0.4477, 1.665, 1.1034, -0.1547, 0.2543, 0.0765, 0.754]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.153 left_yaw=0.0004 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4378 right_y=0.1649 right_z=0.1371 right_yaw=0.1926 right_pitch=-0.1235 right_roll=-0.1068 right_gripper=0.754\nstate[joint_eff]: [-0.0342, -1.1145, 7.1043, 1.6581, -0.0415, -0.0366, -0.0122, -0.7453, -8.3214, 9.2923, 1.9023, 0.105, -0.0464, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c35effe5d07d42523f029dec7818ea2b84800d8458147e219f1815aee7a118c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:770b3fb8d15c0c759c2ad0046b572868da657cc9bbcf6269b2596d3b9605f670",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07feb26f03caeaa0cfb7bd305aa3ef19be0d89f5db3d8404baa8e7c3efb28f1f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5AgKEAgSGAI4AUIIdGhpbmtpbmcSDFlXtKe9DI6/wHQ8mhoMhuZyUmtKftEhciStIjCSTI75mKc4nMWNmwCUNonlJAiIIHEDCvNtKvKyVkb1gVMva0lttUCpvt02LXGSD5UqgQibV7OT6p3pp9vPh8MmvR58ME7Lu7Q7ERkBqcPRdsSdR9ZcpuPK5UqI1aHsXudmEogtb3wkL7ZqxHA1HRkoCoOhBdk+vR3hnKVZXdPI1F5bKIE96mDlCocOoTwFhD/OlB6grTBjHI3c9ZPsXf+DmPNxrqbw68ACm5pKWzOLXogi3BLiPDI+bGWB5iP6zvt/07EbsC+TJcESKc+3FuDrsPwvSUlW9UaS2U+Lqw6nLaPZUOQ9hGBUnWmv66ppyxKv2plZuGfoncqPxFLLzYy48vQ+Lg87JFXoIPl4EItCdU3U+K5GLeu6gfZjiE/GHibc7XoxOUvexxsN1gViklV/r+wr2cH1l1RTbo7bJHG30yCEKmTwJ7U+xUoF3k2/GO0a5uB3KSanhABBFsa7E6sWMth5cqpu/LhoK4pjYZC0xWTKiVaKJksIPWCoI5GCyn51Bz9OqR2FebgHlkEeBomRPz6KSLIcW92JGZwdVaiG7xr2ZloYqqkyzIB9wHWT8nlrStBJmfGzQ6d8+b1nJ7qnmJZ1YyymyBnkYLuew2RtqBym2T8013jIb7eaJyiPVFmwuTrveAHbx+vVRlyNis340di1EvqkJU+e3OuqmGxbhRldyDsLE3uyCXnQ2WM48v/QPGNitarnHNPjPF80nyeygrTtZlmeqVD/3XfM8CHC9ihxyIX+0AcZKK0DuAlbej6pLtVUfVUEIjHXNLWxGbn3rfOqBA/cpz5WFo/SRbRnQGdlXr/PNEyzn6YwgA1XA7V1EINnmXMSz7ojO0DTqIJZkWzAbSHgTSi6F09lw5nDEDwjYEWcEjgCcPpMTCJG4mlAhZUbrHB9FmfHZfG+oiAXcTvHS/qo6bgwPTPCMtALtXDObqPU6cjqM3h7ev1segAAscfuhOooPi4psEHEXgqlEAt6OvSIoTzx6dWc2iyoTIVwMgdNSgUdgtJJ8ZVDUD6Z5FgMWaEPZz8ZzvjPxwyI38CrZEhK5ORMs72hhG11/ed3+Gyxit1sQHt4LjgL7+HbQY3GZBPVB2/WFn8OVueq6OW8TYHq6Le9wTU2rsHnh0L7RG5cFOH9xHIEa8uB/Og1JAuL+6w2yF6wujD6So8PE+WiX6ULvfjRRotUVs+Gx15Q+ZjgFLcZ9RpB2HgqDJJm8A3RdSnXcYCKLjFSZnwjLQyJv5aAteoWdclmZ3tBcZQgGTVTZ/U6YhM1fUC/ba+aGNPR5vBHfvkv+mrCyVXeKoVPhtg8tIatp1F0+ASMu+DB8LoZef0Bh01OCRZ5/Daqbjr/R/G7w6E9GBcEdiYgF6qAKnQ6NeoF0FzpKQ9I4GugC3bK0ude3WIzE8S4N93c13oMaGqrC8QBThwam2rM5L/X7RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019BduA6D7cinKJsVvrUzKoG",
      "input": {
        "note": "Bowl is still slightly ahead-left of the pear; nudging forward and left to centre over it.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.475,
          "right_y": 0.19,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_019BduA6D7cinKJsVvrUzKoG",
      "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, 0.8268, 0.6128, -0.4984, -0.0135, -0.0338, 0.9993, 0.4725, 1.7805, 1.1427, -0.0891, 0.2695, 0.0647, 0.7623]\nstate[eef_state]: left_x=0.2802 left_y=-0.0002 left_z=0.1517 left_yaw=0.0001 left_pitch=-0.143 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4536 right_y=0.183 right_z=0.113 right_yaw=0.2107 right_pitch=-0.132 right_roll=-0.1285 right_gripper=0.7623\nstate[joint_eff]: [-0.335, -1.5111, 7.2137, 1.6337, -0.0269, -0.022, -0.0122, 0.0615, -9.5932, 9.7573, 2.2247, 0.3492, 0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6445d8b4b0b57c352899c7ae1c193557dcb6602c613b9b7113aef2d9e9d5c2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3014151466dd3f4d5240e7fc0c0382475dbc639fffb725ace7644594e99e9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c124a6f4a00a0eb22cb23684d44d2e33ce8f9148553e3f510148c1c404d77cd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 6.589 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6128, -0.4934, -0.0139, -0.0334, 0.9993, 0.4881, 1.4826, 0.997, -0.2329, 0.2794, 0.1299, 0.754]\nstate[eef_state]: left_x=0.2808 left_y=-0.0001 left_z=0.1542 left_yaw=0.0001 left_pitch=-0.1324 left_roll=0.0 left_gripper=0.9993 right_x=0.394 right_y=0.1581 right_z=0.1559 right_yaw=0.1832 right_pitch=-0.1183 right_roll=-0.0819 right_gripper=0.754\nstate[joint_eff]: [-0.0479, -1.3197, 7.1316, 1.5995, -0.0562, -0.0122, -0.0122, -0.0615, -9.0462, 8.8, 1.6825, 0.1587, -0.0464, 1.0232]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4953, -0.0139, -0.0338, 0.9993, 0.4477, 1.665, 1.1034, -0.1547, 0.2543, 0.0765, 0.754]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.153 left_yaw=0.0004 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4378 right_y=0.1649 right_z=0.1371 right_yaw=0.1926 right_pitch=-0.1235 right_roll=-0.1068 right_gripper=0.754\nstate[joint_eff]: [-0.0342, -1.1145, 7.1043, 1.6581, -0.0415, -0.0366, -0.0122, -0.7453, -8.3214, 9.2923, 1.9023, 0.105, -0.0464, 1.0281]",
      "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, 0.8268, 0.6128, -0.4984, -0.0135, -0.0338, 0.9993, 0.4725, 1.7805, 1.1427, -0.0891, 0.2695, 0.0647, 0.7623]\nstate[eef_state]: left_x=0.2802 left_y=-0.0002 left_z=0.1517 left_yaw=0.0001 left_pitch=-0.143 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4536 right_y=0.183 right_z=0.113 right_yaw=0.2107 right_pitch=-0.132 right_roll=-0.1285 right_gripper=0.7623\nstate[joint_eff]: [-0.335, -1.5111, 7.2137, 1.6337, -0.0269, -0.022, -0.0122, 0.0615, -9.5932, 9.7573, 2.2247, 0.3492, 0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6445d8b4b0b57c352899c7ae1c193557dcb6602c613b9b7113aef2d9e9d5c2e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3014151466dd3f4d5240e7fc0c0382475dbc639fffb725ace7644594e99e9b40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 168):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c124a6f4a00a0eb22cb23684d44d2e33ce8f9148553e3f510148c1c404d77cd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSwgkKEAgSGAI4AUIIdGhpbmtpbmcSDF96SbRNXepQm4LHbxoMR8Yk7lTL90ilufaDIjAFbSIXaAf6mYH6/qtFrEiqQEV5GP0HNVkreCm1ZGLNImMuP/46BCkzZixLwLG1TmMq3wjVfgoyzBAtbS/tO6K4EjOxoLdschchsQw0RuxmfBZgTSdaWfLwIBrYUfDlMhpkSD7pAitgzTNP7SYDEDNHdyIOjzs3s3VvneWzBIF9hwgqkU6cO2ZSpNqNZlsaFHIDVF7IASpk/YpkibYV9BDinNM0WEpz4NkVJYuQ4ZUsscy7EmnpxBTRn+pKULtjHJBcKIDwmK6qggbeAZWEUhB1QOCnCxPlChYZH6Il0Wvr1fvTR1uV0CnLOW0ntD2dYXTqeMzYcQXotsuhM5p56JqRgowRS8PZhsdc2ELYUPOBMhzPJWzCuUgL9xdCZOFCug4CgjYGY/sNgQjgN++0SkwnjkC3pH6IRACHmrobqS7Lvyi+9i56jpjYpoYFykztwTzjO/8eYLHJUcLLPTEhUWqH1+MBMthGFJSehJJ3GseBytWK/Gi4ml9EJjNpACq9uy0meS/WMoNRbzh6YtFwYrENgzpHcIoc32R3wAEqGwKNsESk9XmFzpegY9iIgtVumCUxeewlBQLtBiOdXCQ9G7/M3Macdxb2BS07+Yg2Q6MVZKYIpUF7J0fYTxri2NPSAVg8pPeTD3ydBg1OeZBQVgYMdq6HxVkyRredhI222ads5okzZOARPLFqUXlgH7sDL9xmpmpuTI6hwXGxNIg6iTj1fGSeYtZtW7yIBVB4Q1YTDpEbNZ2lt8+A5eZRcDy+l0R5GHeS6LrCq72dZuWjlsELotIfn1Pk9AlyYBPnGjXaMMAtSgf7WPvuAm1ISkUt9J6m16ok0DihkdKoBgY1wtJiZf/hXDbLpHeMOr2xLfl2RVnJvsfZ4a471cYyBFy+z87m0NdOHb2Iq6gHed+0Rv6XbeNpNI7MQF4AgO4LPLEJw+zJ2KeY0e+sw6dWQH+y8jLVWXYzXULZnrzaMD79+jXva5roCDbOxesU32RSzsm3mJU5Zdnj7qsTP/Dmb77lt7SeYhhoFC1nIXw1Whz5RfL0QPPXuZyfTkFACDD34/8OEqpUyT3QPYc3fH4ML+kjVm7C48T8TzAUauGm23UYJDopmnCiyl4/bwvAbvWyxxQFvGYJL4zQOCcBVj3SaIdwD8ierBjaXHzvj6I06VU35BHAq06nGRVjg7C4dKZvFqMzVMUasEtfVEsDeIilt5rpnYN/EB0/UbQq20TVc/4s5vA4Jn3XR+Kgtpj7TIodN6iyjICQcQTqrbPEWKTTij71qp+Rlv8a34B3cpaQ1ydcnou7R2WjbB1WtKlwyR1jPtoyoWdrse/WaTIvWSx9/tOENftiYcSQ7NpxqzFZEWZHxME101pN59ti07EUBIf0xmL48APPIplJB3IMjoN9BcPI8qMTQKw2lJgMhjenh2beHt/yCK/sTJ1gCaeMFIK25t4MRbyS/JlZpzMlG2jPA2UaNpppnPjGmeJfRLIYu/jr+gh8WVXYIot3k/+T1mGl9/u2OyGn831Y9cG/2zLR2drbedvM7Jt2mMZnagYdHtUL8SI6Bs0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qkj6hNuSbXvMcikZVD5z9n",
      "input": {
        "note": "Bowl centre still appears a few cm beyond the fingertips; advancing ~3 cm more before releasing.",
        "targets": {
          "right_x": 0.49,
          "right_y": 0.195,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Qkj6hNuSbXvMcikZVD5z9n",
      "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, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9992, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0593, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9992 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2123 right_pitch=-0.0988 right_roll=-0.1283 right_gripper=0.768\nstate[joint_eff]: [-0.3624, -1.3333, 6.8991, 1.5946, -0.0366, -0.0317, -0.0171, -0.4991, -9.9487, 9.5795, 2.1368, 0.2222, -0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e67cc584dac8ed51ed4d86944b70b2223eb3766fe5886f3e241da76ece17d3fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0b4040261234aced3be6cbf34e0ecccfa14664cc03d1df2a3156cc23da5cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f02fc0943a15a9d0c0b558d26f91df7c205368b049bf687624cb848ab9e660f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.965 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.4953, -0.0139, -0.0338, 0.9993, 0.4477, 1.665, 1.1034, -0.1547, 0.2543, 0.0765, 0.754]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.153 left_yaw=0.0004 left_pitch=-0.1377 left_roll=-0.0002 left_gripper=0.9993 right_x=0.4378 right_y=0.1649 right_z=0.1371 right_yaw=0.1926 right_pitch=-0.1235 right_roll=-0.1068 right_gripper=0.754\nstate[joint_eff]: [-0.0342, -1.1145, 7.1043, 1.6581, -0.0415, -0.0366, -0.0122, -0.7453, -8.3214, 9.2923, 1.9023, 0.105, -0.0464, 1.0281]",
      "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, 0.8268, 0.6128, -0.4984, -0.0135, -0.0338, 0.9993, 0.4725, 1.7805, 1.1427, -0.0891, 0.2695, 0.0647, 0.7623]\nstate[eef_state]: left_x=0.2802 left_y=-0.0002 left_z=0.1517 left_yaw=0.0001 left_pitch=-0.143 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4536 right_y=0.183 right_z=0.113 right_yaw=0.2107 right_pitch=-0.132 right_roll=-0.1285 right_gripper=0.7623\nstate[joint_eff]: [-0.335, -1.5111, 7.2137, 1.6337, -0.0269, -0.022, -0.0122, 0.0615, -9.5932, 9.7573, 2.2247, 0.3492, 0.0415, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9992, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0593, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9992 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2123 right_pitch=-0.0988 right_roll=-0.1283 right_gripper=0.768\nstate[joint_eff]: [-0.3624, -1.3333, 6.8991, 1.5946, -0.0366, -0.0317, -0.0171, -0.4991, -9.9487, 9.5795, 2.1368, 0.2222, -0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e67cc584dac8ed51ed4d86944b70b2223eb3766fe5886f3e241da76ece17d3fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2c0b4040261234aced3be6cbf34e0ecccfa14664cc03d1df2a3156cc23da5cf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f02fc0943a15a9d0c0b558d26f91df7c205368b049bf687624cb848ab9e660f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01E8CSmfLtMn77rv6UfuUu94",
      "input": {
        "note": "Arm barely advanced (speed clamping cuts short moves); commanding a slight overshoot to get the pear over the bowl centre.",
        "targets": {
          "right_x": 0.52,
          "right_y": 0.2,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01E8CSmfLtMn77rv6UfuUu94",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0597, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2121 right_pitch=-0.0988 right_roll=-0.128 right_gripper=0.768\nstate[joint_eff]: [-0.0752, -1.1145, 7.0359, 1.5995, -0.0122, -0.0757, -0.0073, -0.4855, -9.9624, 9.5795, 2.1416, 0.2125, 0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31c6fc4721d3e6c2328fe5133d48eeca5416fbeaf2067cbe76c739d2f54f5ffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6cf09205911b0edb2b8be68598d070d69481b636659e6dd56fc1c31b93216b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c3d45e576f9c768e71c7f6afc8b6aec666e236e47656162e49f3e3d899d66a23",
        "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 · 10.31 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.4984, -0.0135, -0.0338, 0.9993, 0.4725, 1.7805, 1.1427, -0.0891, 0.2695, 0.0647, 0.7623]\nstate[eef_state]: left_x=0.2802 left_y=-0.0002 left_z=0.1517 left_yaw=0.0001 left_pitch=-0.143 left_roll=-0.0003 left_gripper=0.9993 right_x=0.4536 right_y=0.183 right_z=0.113 right_yaw=0.2107 right_pitch=-0.132 right_roll=-0.1285 right_gripper=0.7623\nstate[joint_eff]: [-0.335, -1.5111, 7.2137, 1.6337, -0.0269, -0.022, -0.0122, 0.0615, -9.5932, 9.7573, 2.2247, 0.3492, 0.0415, 1.033]\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, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9992, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0593, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9992 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2123 right_pitch=-0.0988 right_roll=-0.1283 right_gripper=0.768\nstate[joint_eff]: [-0.3624, -1.3333, 6.8991, 1.5946, -0.0366, -0.0317, -0.0171, -0.4991, -9.9487, 9.5795, 2.1368, 0.2222, -0.0024, 1.0281]\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 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, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0597, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2121 right_pitch=-0.0988 right_roll=-0.128 right_gripper=0.768\nstate[joint_eff]: [-0.0752, -1.1145, 7.0359, 1.5995, -0.0122, -0.0757, -0.0073, -0.4855, -9.9624, 9.5795, 2.1416, 0.2125, 0.0611, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:31c6fc4721d3e6c2328fe5133d48eeca5416fbeaf2067cbe76c739d2f54f5ffc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3e6cf09205911b0edb2b8be68598d070d69481b636659e6dd56fc1c31b93216b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c3d45e576f9c768e71c7f6afc8b6aec666e236e47656162e49f3e3d899d66a23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3ggKEAgSGAI4AUIIdGhpbmtpbmcSDA/oq1q65eaQsLaIOBoMVeG2QD0LoNLjU/kZIjDCA4QN6dlXJoH0OqUDiShwvTokXMBrdnPMvlvLhKH74C6NtbyWuop9Sjkq6vxiA8Yq+wca8tkREm6hTumx/MP3EtsVbNlwSyCNBWRATUUdyhJTpo58WQfDLdSwhzOiNRIJF1jEwK9MSm7iRN78adbSGTfMyVbKsOl8rSnHt3X+2tOWQ6tLY9IiFmE5eeSndwGWOF/pHRO6Qu8A7mjTc7OtlVBeZv2tjkVclr7gvLBEyH1o4AxORMR3AjQNDv1FSE8qafLerNX60Bz1crzMuUKYdFAj8K/wiaue5SEMAF/0LtvRvQXDLx+ePh3upHwI5Px6Yz/1vojVbjj+8t7gBv5NH8JS/ESH210Q7WJntLsMJhFYjML0TheYbzSw4iSCJ5RI8zf4gm6BORufV0PYvkwKjNcvb4j6ofyIEkmG8lYBV2FxXaksvZeehqe1qvRk4UWQ9kz9suLVkYUzZAXPiTQo4ZnRhNgXjxbD6cVZpVrQeXH4pWL5XCU6xJHVW01iv5NHzw5ldZtg6ad84F8us6B0nvuKKgm5maTkMe4nRernohCeWmbxvGGRhTqawspb0TxDqL/PSy1wu4Wl7U8Ac31lbedqYhmb3X6kvYRYf+EbTW5/vDVoisAnVaIZqjHNunD0RRqCCZNNpbiZX2EDfvpojydI2e/QiG/OWnrk99JnrVyUj1rXvy/7XEb9P225xAmk36f3iWgWGSsPk4dOozYed/AzdTYZC/pajhOewxYAWp/exFYQyyxJc3yv5UUn/ZSyl6xfwxFNg/MNyEZIBK9Qik2TptT6eCHND5DTo5sZ32NJg/ct5ZrVoCTF5MLxYi4F186FzB3MGncCEXaEHDv6yLMTsInilFLp9dNZNQGcaIB/0yd9MvT2Ygla1fQCAS2wjuW7lkfdDZ8mQgfAC/cCNbweVTBs4tktO6CJeo+DvPKXoyBlOKXT/k9yeL3Dl4meI6w9BSRnGE6kP0kofFD0SkQzkWuTYv8WbaY4IuTld11eDpzcOepMuq+Nd6OJeKr0bOwkmRqW8fwQyNbgjihaWzFLNIBW+PGc3RRlRG+3EO7dEPSpLUwmZq7aFm4/MqoPU6byeqU7+Fnyd2Hk1snNmKCoB9yErmNd2pFff++YlCGpAdzkevWMD50zilU0FasAk9c3O5pU2E+BXjUTMsX8Iw6p0LNXfdOVv7rROgofu60c6DH+KgTOgqZFf4xz6+AEFlZe/U2BnZirZkDI23/ZXXNduDG4USMHI7d7HeGhI3nS1okmQHQ9maGFSEIxO9s4SQEU0xTEKjFbYlLC826yAL3+4pMXlu9PZ5fdOzevrLHae7YuAYgYrvZtBqIj/d/Qrr5pNOiiLS7nys+H32YdyBBx+VSmTDaqA/9EgaZk0Vn8NqawYiFWmzQShrrHML5KKvGFtLXkSrY18l8dyhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01X2ebiwfNawd55wKDzp34eW",
      "input": {
        "note": "The arm is held at x≈0.46 (pear probably resting on the bowl rim), with the pear's body extending over the bowl; releasing so it drops in.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01X2ebiwfNawd55wKDzp34eW",
      "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, 0.8268, 0.6132, -0.4984, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1511, -0.0456, 0.2768, 0.0536, 0.996]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1519 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4613 right_y=0.1875 right_z=0.1219 right_yaw=0.2154 right_pitch=-0.087 right_roll=-0.1297 right_gripper=0.996\nstate[joint_eff]: [-0.253, -0.9778, 6.9402, 1.6435, -0.0415, -0.0171, -0.0171, -0.294, -9.7573, 9.9487, 2.0733, 0.232, 0.1001, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acb0b72526ea8b0279b6ecc62200efa0fb165840f78f68c5eedadca09c1f7096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4367aceb2f5a181e95f8db7bbe996b4a76dc897107c9022346d891484722a3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:968d7b2734ee04d3a8b328405f0c86103fbd6cdf87c5a9aefdb5349ea4d785e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 27 attempt 0 · /messages · status 200 · 3.98 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9992, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0593, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9992 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2123 right_pitch=-0.0988 right_roll=-0.1283 right_gripper=0.768\nstate[joint_eff]: [-0.3624, -1.3333, 6.8991, 1.5946, -0.0366, -0.0317, -0.0171, -0.4991, -9.9487, 9.5795, 2.1368, 0.2222, -0.0024, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0597, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2121 right_pitch=-0.0988 right_roll=-0.128 right_gripper=0.768\nstate[joint_eff]: [-0.0752, -1.1145, 7.0359, 1.5995, -0.0122, -0.0757, -0.0073, -0.4855, -9.9624, 9.5795, 2.1416, 0.2125, 0.0611, 1.0281]",
      "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, 0.8268, 0.6132, -0.4984, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1511, -0.0456, 0.2768, 0.0536, 0.996]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1519 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4613 right_y=0.1875 right_z=0.1219 right_yaw=0.2154 right_pitch=-0.087 right_roll=-0.1297 right_gripper=0.996\nstate[joint_eff]: [-0.253, -0.9778, 6.9402, 1.6435, -0.0415, -0.0171, -0.0171, -0.294, -9.7573, 9.9487, 2.0733, 0.232, 0.1001, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acb0b72526ea8b0279b6ecc62200efa0fb165840f78f68c5eedadca09c1f7096",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4367aceb2f5a181e95f8db7bbe996b4a76dc897107c9022346d891484722a3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:968d7b2734ee04d3a8b328405f0c86103fbd6cdf87c5a9aefdb5349ea4d785e6",
        "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_01T4btJXQVYsdcwLHhpfNzoR",
      "input": {
        "note": "Pear is now in the blue bowl. Backing the right arm off and moving the left arm toward the dark plum seen at the lower right of its wrist view.",
        "targets": {
          "left_gripper": 1.0,
          "left_pitch": 0.0,
          "left_x": 0.33,
          "left_y": -0.08,
          "left_z": 0.12,
          "right_x": 0.33,
          "right_y": 0.1,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01T4btJXQVYsdcwLHhpfNzoR",
      "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]: [-0.4171, 1.113, 0.5079, -0.0719, -0.3199, -0.2478, 0.9993, 0.3969, 1.1378, 0.8818, -0.3862, 0.2237, 0.0074, 0.9968]\nstate[eef_state]: left_x=0.3205 left_y=-0.0774 left_z=0.11 left_yaw=-0.023 left_pitch=-0.0675 left_roll=0.017 left_gripper=0.9993 right_x=0.3417 right_y=0.1046 right_z=0.2027 right_yaw=0.206 right_pitch=-0.06 right_roll=-0.1263 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -3.4803, 6.1607, 1.873, -0.2808, -0.0317, -0.0904, -0.1846, -4.1094, 6.3658, 1.7998, -0.0611, -0.0366, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500d31675d22dd151f0b30408a9addec544567ccecf87712fab1efa47451cae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50dfd471f78f15ad32ee83aec46c41aaec245146fa6a8fecf84847f4aedbe2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14400eda3b8d042036b4f3b136a3a575102a9a2cf80d78ea76bb40364358cf59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 28 attempt 0 · /messages · status 200 · 3.615 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6128, -0.498, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1492, -0.0563, 0.2764, 0.0597, 0.768]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1518 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4594 right_y=0.1866 right_z=0.1191 right_yaw=0.2121 right_pitch=-0.0988 right_roll=-0.128 right_gripper=0.768\nstate[joint_eff]: [-0.0752, -1.1145, 7.0359, 1.5995, -0.0122, -0.0757, -0.0073, -0.4855, -9.9624, 9.5795, 2.1416, 0.2125, 0.0611, 1.0281]",
      "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, 0.8268, 0.6132, -0.4984, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1511, -0.0456, 0.2768, 0.0536, 0.996]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1519 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4613 right_y=0.1875 right_z=0.1219 right_yaw=0.2154 right_pitch=-0.087 right_roll=-0.1297 right_gripper=0.996\nstate[joint_eff]: [-0.253, -0.9778, 6.9402, 1.6435, -0.0415, -0.0171, -0.0171, -0.294, -9.7573, 9.9487, 2.0733, 0.232, 0.1001, -0.0611]\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 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]: [-0.4171, 1.113, 0.5079, -0.0719, -0.3199, -0.2478, 0.9993, 0.3969, 1.1378, 0.8818, -0.3862, 0.2237, 0.0074, 0.9968]\nstate[eef_state]: left_x=0.3205 left_y=-0.0774 left_z=0.11 left_yaw=-0.023 left_pitch=-0.0675 left_roll=0.017 left_gripper=0.9993 right_x=0.3417 right_y=0.1046 right_z=0.2027 right_yaw=0.206 right_pitch=-0.06 right_roll=-0.1263 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -3.4803, 6.1607, 1.873, -0.2808, -0.0317, -0.0904, -0.1846, -4.1094, 6.3658, 1.7998, -0.0611, -0.0366, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:500d31675d22dd151f0b30408a9addec544567ccecf87712fab1efa47451cae6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:50dfd471f78f15ad32ee83aec46c41aaec245146fa6a8fecf84847f4aedbe2c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 190):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14400eda3b8d042036b4f3b136a3a575102a9a2cf80d78ea76bb40364358cf59",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwgKEAgSGAI4AUIIdGhpbmtpbmcSDBc2xbZzBEVotOgxeRoMprlNOL0Rf5Me5k4VIjAw/FgJxPK97p1G5VNaBct77iI2Vt2qdVHo10lfWBwpMPF55/yVPQNHggzJ9J8iZW4qtAfi+JxPAAS1XbRjf+kpxlF1P4hAIG46aXb2hOkc8ImcHcBo7egOp5jeTBLAjeHLJSePZMCVKgt+W9Hu0fz/kqgNlquMK9W7sVFXZ5q170Jg1AZ80N363e0yp9JjldUSC4vdfoBuNNqmgFUTFgO8WEpN5PwGAyrYrAxvaXiSekQfHWv84DQ68Ljuj5jeQFeCCehm6Qx4EQYkxykWI5Q0ACBV4u6f9PRywZ8zdk5ct3vxFWF9i8lEeUYjEv9poOVnwcGSknsUMIPMi+xz99hBCM0n89nBxae2Wu6OAFa+GRRSaf3nRItVyo34TpqLTfFW2M4xSJjf+XIyIjp1Nvyh/2ZRICpQMB6nBTKsQStD9plv81wH5opTrejGmgBB3K6uLb8SmUibFPXbk4eOAbYKgT+6XJ7GLTJsjMt/AL+vmMDr9p0kZO8vFuXXrWKdG0uubr/kJHF5L5L3sFALv2VYT2vcutfy1CZ2JiSG6SPmAQ8KGGM+N0ygrbbiXP9YBHd3fiExqB/GKZBACgUkDsLRLqpS6FHJkMHFvpOZQSf54yDgUeKwLw8MNpn07Q+1cLz4Ez3UL1B0gJQ4775pU9NGUB5g2UrQSSONMUADezC6aYwbUxhJUa9CHhWZEJgnuI0N7A8cDQuIEQHzxfJWcfHRq2g+UWm7J4GAspph5eblIZ0OfOCoLFDtXgA44uNBl1egbUppm8jH3qJVvlmPGnicdYuVZfg0xcQ3mFxlkQNuYvudoD0THadPWgzpH32+TrpY7ehH4pLIr6eiFfO4mabdFLo3+4ghyUZx/IpbWW2NU+W8Mn8vx6w2eo5XwcxAFKnEruMDcJd4K2/I5NttAh4pHal5/Dw77HKG9Jb2C4tsSpd+YGsHuhk/5dijcrzQtd3+8wAh+Slt9YbIJjJphVPMUWxlkyYG40sLjqNKri/Hrn920yimQLnMgql5qARDSA1YehNMa6IGY3DMkAG7cm63B8eaIh0GScpSO/w4Y+bQpKjGN0dpZzsoAug0cM477cfL8XZ+scDfQMsGMvBnuEah3IoMKiL4syp+BOCaB0h4KFJYkBDelEvquBcyIqqtIDtuuVqeybypanSHVm+1jbjCGZok+WWI7GnI8Bs/XwR4ztM/hSpmoHnN/GnV1IfPrfieEv7BSr/YMQXDAws50XbnGCOiGw5ovP2+wKTkE3+IQ8/LGiWhXNB74ZN1mMqStMVdhp6dIp0Z8vYmAD66Isx+aKcJ4K5uJYkmRZ+8Ks6BR40InMOB9/wYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S9KdThqXk1kcBQqXTMdJZH",
      "input": {
        "note": "Plum is at the bottom of the left wrist view, slightly right of the jaws; shifting ~2 cm right and descending around it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.335,
          "left_y": -0.1,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01S9KdThqXk1kcBQqXTMdJZH",
      "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]: [-0.4915, 1.5684, 0.3252, 0.495, -0.382, -0.2703, 0.9992, 0.3965, 1.1446, 0.8757, -0.4141, 0.2123, -0.001, 0.9969]\nstate[eef_state]: left_x=0.3207 left_y=-0.0929 left_z=0.0043 left_yaw=-0.0321 left_pitch=-0.1152 left_roll=0.0659 left_gripper=0.9992 right_x=0.3371 right_y=0.1047 right_z=0.1921 right_yaw=0.2191 right_pitch=-0.102 right_roll=-0.1336 right_gripper=0.9969\nstate[joint_eff]: [-0.4991, -5.8735, 3.5487, 1.8584, -0.4029, -0.0904, -0.022, -0.1846, -4.3009, 7.4462, 1.9316, 0.1685, 0.0122, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:227c171f65c6d0b5e1272090cceaa6b18a4f1be74af444fdd29f80db3e026ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db06254059bc1261e565da7ac3c2fb9a43cfbf84b0707990e1aa4086bdd43448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60085bb17efaaa005efe270a11a2b7dc8498ff8133f50bbfeaa94468ebb545b8",
        "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 · 2.961 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8268, 0.6132, -0.4984, -0.0139, -0.0338, 0.9993, 0.4759, 1.7863, 1.1511, -0.0456, 0.2768, 0.0536, 0.996]\nstate[eef_state]: left_x=0.2803 left_y=-0.0001 left_z=0.1519 left_yaw=0.0004 left_pitch=-0.1427 left_roll=-0.0 left_gripper=0.9993 right_x=0.4613 right_y=0.1875 right_z=0.1219 right_yaw=0.2154 right_pitch=-0.087 right_roll=-0.1297 right_gripper=0.996\nstate[joint_eff]: [-0.253, -0.9778, 6.9402, 1.6435, -0.0415, -0.0171, -0.0171, -0.294, -9.7573, 9.9487, 2.0733, 0.232, 0.1001, -0.0611]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "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]: [-0.4171, 1.113, 0.5079, -0.0719, -0.3199, -0.2478, 0.9993, 0.3969, 1.1378, 0.8818, -0.3862, 0.2237, 0.0074, 0.9968]\nstate[eef_state]: left_x=0.3205 left_y=-0.0774 left_z=0.11 left_yaw=-0.023 left_pitch=-0.0675 left_roll=0.017 left_gripper=0.9993 right_x=0.3417 right_y=0.1046 right_z=0.2027 right_yaw=0.206 right_pitch=-0.06 right_roll=-0.1263 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -3.4803, 6.1607, 1.873, -0.2808, -0.0317, -0.0904, -0.1846, -4.1094, 6.3658, 1.7998, -0.0611, -0.0366, 0.0806]",
      "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]: [-0.4915, 1.5684, 0.3252, 0.495, -0.382, -0.2703, 0.9992, 0.3965, 1.1446, 0.8757, -0.4141, 0.2123, -0.001, 0.9969]\nstate[eef_state]: left_x=0.3207 left_y=-0.0929 left_z=0.0043 left_yaw=-0.0321 left_pitch=-0.1152 left_roll=0.0659 left_gripper=0.9992 right_x=0.3371 right_y=0.1047 right_z=0.1921 right_yaw=0.2191 right_pitch=-0.102 right_roll=-0.1336 right_gripper=0.9969\nstate[joint_eff]: [-0.4991, -5.8735, 3.5487, 1.8584, -0.4029, -0.0904, -0.022, -0.1846, -4.3009, 7.4462, 1.9316, 0.1685, 0.0122, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:227c171f65c6d0b5e1272090cceaa6b18a4f1be74af444fdd29f80db3e026ad5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db06254059bc1261e565da7ac3c2fb9a43cfbf84b0707990e1aa4086bdd43448",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60085bb17efaaa005efe270a11a2b7dc8498ff8133f50bbfeaa94468ebb545b8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqgcKEAgSGAI4AUIIdGhpbmtpbmcSDBkaa/+frnYPdUBATxoMOSIkzfhT1NccnC6wIjDTAGBGWjf3778BGezPVhKjCMUis70TkcBzspdI4fm9g2/HGpeliJW/h/KKG6n/ROwqxwYlXzwNsqtUeAP+sOkU3+N0ruJokEX/i/I7xK1TZ7O2suPjA1gxb7Z0x/GAs32FB49Cw7cNrsRZNynecTdmE/TuNrk9svOSuc2t35C1+LRVPfpAgYewhoWtoPKl7LVGqk3bIp2ax1hlBKrfID7DoFhlH9Av49tcozAppgHBy9wyXXU9Kk6/bvuWnOcTmNNv19RmY4oWrcnLP62MYQ5yXMws58TbUWcY7jgeSOqyFEhK1Mf+0cq8gDS86KiRjDMMjzHDgIhIpS1MDCTLSjbKzLGF+3oncGVKVafamIIMaVQDN9RWZFt17MNXeXccPxHLbEF5JXFmzdZxmuE8hV6I67VjjwfdCBscibNQ9mdbMaTy8m6LvvFADsVvPIvWsiArtG1jfRGRdDGrLGxoc8+Hthv/QvuLwaDJ7e01E3tgU0gO4dPVQkdkxOpFR+CHRB9iKSoaJt/QMQa+oULQJFPHyyvnUjRdieAatbkkbP4a/zt8j8v4kqOOoFtnZfE8JGSsONI+OXZM6psznIYGwEnls8dqyJIymmDtTCVCJCLaUsuQPW4kHUGiWo+CTadFRuHlLGbaEyPF1Jv1ym5nORBXduaev9uGIuxdMjeg4GnZX4ocD8fG5Dc+Gs2Xa9iyTgoPZdWgRI/cWhNvrzR3GKs04fORzCXCXsam2rXxrv7alSHGBYnjUQfUNYt8uAnq9V8pzC/GoEPACdgP76ZrAstDWfRU8Z28lxIerX/E7yL+ILh6wVxQtCZTEF1FgPzLGnmsN0dDVduTlVu01mB/fKWacJukuMgiHrElIdA+l2b82D9vLAT5ttOcOk67KbxvNqjQgRu6IYYTBTfXRST+K8vVbxhBrRZWIreGjEb/KwFUhtTCBM7qmpZDXJ4MlLsFgHYn5LRr7KVqEduzSpkI9ZinuMmovaKcIKqEx2Wh71XjqPb1AUdCtQzV/OpJzQRqlH5zS+4POmhJNhlCc3T+nopoe5GxZ+ULZESm/gm2qhm7iNG3lvyDXLngDhX0k10mcENTAigMJ/JWK+59tmVoqrN7Q9neujqua19fb718wRnA9WzXunESzeT7OyqI6IG5ltCvLYUougiCFgkw8NVfjFWgJFt4ucbMsuA1YBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fh6cuxQ3RmzAAmtvrpmFQK",
      "input": {
        "note": "Plum is centred at the bottom of the jaw gap, slightly ahead; advancing ~2 cm so it's between the fingertips.",
        "targets": {
          "left_x": 0.345,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Fh6cuxQ3RmzAAmtvrpmFQK",
      "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]: [-0.4648, 1.618, 0.3588, 0.5556, -0.3756, -0.2653, 0.9987, 0.3965, 1.1446, 0.8757, -0.4168, 0.2119, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3377 left_y=-0.0929 left_z=0.0094 left_yaw=-0.0152 left_pitch=-0.0771 left_roll=0.0463 left_gripper=0.9987 right_x=0.3367 right_y=0.1046 right_z=0.1916 right_yaw=0.2196 right_pitch=-0.1047 right_roll=-0.1341 right_gripper=0.9969\nstate[joint_eff]: [0.294, -5.5043, 6.5983, 1.663, 0.0171, 0.1099, -0.0659, -0.0068, -3.7949, 7.159, 1.7118, 0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20fc5ba0a90ed42bc8202de2830342dbe04cf4cb1797f571e10e9a7b17f7949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ceb03472594169dd804fb8ff2ba1675a41db6e2da45aa8fa3055d250d393e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fccada9874f11701318ce22c4d4d99cb93a2d29c5d3a463e392312fdfb345fff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 7.257 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4171, 1.113, 0.5079, -0.0719, -0.3199, -0.2478, 0.9993, 0.3969, 1.1378, 0.8818, -0.3862, 0.2237, 0.0074, 0.9968]\nstate[eef_state]: left_x=0.3205 left_y=-0.0774 left_z=0.11 left_yaw=-0.023 left_pitch=-0.0675 left_roll=0.017 left_gripper=0.9993 right_x=0.3417 right_y=0.1046 right_z=0.2027 right_yaw=0.206 right_pitch=-0.06 right_roll=-0.1263 right_gripper=0.9968\nstate[joint_eff]: [-0.3897, -3.4803, 6.1607, 1.873, -0.2808, -0.0317, -0.0904, -0.1846, -4.1094, 6.3658, 1.7998, -0.0611, -0.0366, 0.0806]",
      "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]: [-0.4915, 1.5684, 0.3252, 0.495, -0.382, -0.2703, 0.9992, 0.3965, 1.1446, 0.8757, -0.4141, 0.2123, -0.001, 0.9969]\nstate[eef_state]: left_x=0.3207 left_y=-0.0929 left_z=0.0043 left_yaw=-0.0321 left_pitch=-0.1152 left_roll=0.0659 left_gripper=0.9992 right_x=0.3371 right_y=0.1047 right_z=0.1921 right_yaw=0.2191 right_pitch=-0.102 right_roll=-0.1336 right_gripper=0.9969\nstate[joint_eff]: [-0.4991, -5.8735, 3.5487, 1.8584, -0.4029, -0.0904, -0.022, -0.1846, -4.3009, 7.4462, 1.9316, 0.1685, 0.0122, -0.0024]",
      "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]: [-0.4648, 1.618, 0.3588, 0.5556, -0.3756, -0.2653, 0.9987, 0.3965, 1.1446, 0.8757, -0.4168, 0.2119, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3377 left_y=-0.0929 left_z=0.0094 left_yaw=-0.0152 left_pitch=-0.0771 left_roll=0.0463 left_gripper=0.9987 right_x=0.3367 right_y=0.1046 right_z=0.1916 right_yaw=0.2196 right_pitch=-0.1047 right_roll=-0.1341 right_gripper=0.9969\nstate[joint_eff]: [0.294, -5.5043, 6.5983, 1.663, 0.0171, 0.1099, -0.0659, -0.0068, -3.7949, 7.159, 1.7118, 0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f20fc5ba0a90ed42bc8202de2830342dbe04cf4cb1797f571e10e9a7b17f7949",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10ceb03472594169dd804fb8ff2ba1675a41db6e2da45aa8fa3055d250d393e3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 198):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fccada9874f11701318ce22c4d4d99cb93a2d29c5d3a463e392312fdfb345fff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YTCfJqbxdpkyYHRxwEaiDF",
      "input": {
        "note": "Plum is now under the fingertips (just off the bottom of the wrist view); closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YTCfJqbxdpkyYHRxwEaiDF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4644, 1.6215, 0.3614, 0.5282, -0.3706, -0.2668, 0.518, 0.3962, 1.145, 0.8757, -0.421, 0.2115, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3344 left_y=-0.0919 left_z=0.004 left_yaw=-0.0168 left_pitch=-0.1039 left_roll=0.0544 left_gripper=0.518 right_x=0.3362 right_y=0.1043 right_z=0.1906 right_yaw=0.2194 right_pitch=-0.1093 right_roll=-0.1347 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -5.6274, 4.1641, 1.8388, -0.2466, -0.0171, 1.033, 0.0068, -3.8222, 6.9538, 1.6777, 0.0366, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7344804fd09cf0de50e505e9a1fb7bc8cdf3d99f3a6effe21e7e11cd11b699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8481203453d2035e7265b764a207991058aa6f898a4bcabec5eb5e22afcb3798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1df58695568040b7ac164743ead7b43e7953c4099eaf18d6f65e42a33f3133f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 6.312 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4915, 1.5684, 0.3252, 0.495, -0.382, -0.2703, 0.9992, 0.3965, 1.1446, 0.8757, -0.4141, 0.2123, -0.001, 0.9969]\nstate[eef_state]: left_x=0.3207 left_y=-0.0929 left_z=0.0043 left_yaw=-0.0321 left_pitch=-0.1152 left_roll=0.0659 left_gripper=0.9992 right_x=0.3371 right_y=0.1047 right_z=0.1921 right_yaw=0.2191 right_pitch=-0.102 right_roll=-0.1336 right_gripper=0.9969\nstate[joint_eff]: [-0.4991, -5.8735, 3.5487, 1.8584, -0.4029, -0.0904, -0.022, -0.1846, -4.3009, 7.4462, 1.9316, 0.1685, 0.0122, -0.0024]",
      "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]: [-0.4648, 1.618, 0.3588, 0.5556, -0.3756, -0.2653, 0.9987, 0.3965, 1.1446, 0.8757, -0.4168, 0.2119, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3377 left_y=-0.0929 left_z=0.0094 left_yaw=-0.0152 left_pitch=-0.0771 left_roll=0.0463 left_gripper=0.9987 right_x=0.3367 right_y=0.1046 right_z=0.1916 right_yaw=0.2196 right_pitch=-0.1047 right_roll=-0.1341 right_gripper=0.9969\nstate[joint_eff]: [0.294, -5.5043, 6.5983, 1.663, 0.0171, 0.1099, -0.0659, -0.0068, -3.7949, 7.159, 1.7118, 0.0415, -0.0708, -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 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]: [-0.4644, 1.6215, 0.3614, 0.5282, -0.3706, -0.2668, 0.518, 0.3962, 1.145, 0.8757, -0.421, 0.2115, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3344 left_y=-0.0919 left_z=0.004 left_yaw=-0.0168 left_pitch=-0.1039 left_roll=0.0544 left_gripper=0.518 right_x=0.3362 right_y=0.1043 right_z=0.1906 right_yaw=0.2194 right_pitch=-0.1093 right_roll=-0.1347 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -5.6274, 4.1641, 1.8388, -0.2466, -0.0171, 1.033, 0.0068, -3.8222, 6.9538, 1.6777, 0.0366, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf7344804fd09cf0de50e505e9a1fb7bc8cdf3d99f3a6effe21e7e11cd11b699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8481203453d2035e7265b764a207991058aa6f898a4bcabec5eb5e22afcb3798",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 208):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1df58695568040b7ac164743ead7b43e7953c4099eaf18d6f65e42a33f3133f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpAwKEAgSGAI4AUIIdGhpbmtpbmcSDEruIE83ATy7/ToShhoMd0Oq7Xpr6OCTEhoqIjCEgv2SSz6ACqHviZcPxtRqa9jg4RILTDsQ82pt6M0Pz1p239pQk7oIVCb7OP2DpIoqwQsj/hFByWBDeoHzUBFuMx7+b3HUxl3kSynbyAt4e2r78IRHHyIPPhUirEY3bbnSd417NAmVQo+rMGKfpZaTFDTacfIwv8SGWf54eBNUPwlNmREiuFyG07TwuYdX7c3wsfWQ7sd1/CnXrvw8lGE6VCJv7A8WiGH4v4l2ok97tjqow0MLCNmkk3D7IqkxDS4XxbHnCCV2ZmfNsHsImagz6xVrArNpBNNTPVFRHjfzo0rSJUJ9wNCFqk3kWSC+J2BhZqwooLE+qcrffMqTain8gYQ3Z/jGyBuzSZ7VCaPQwA2q1MgiYRSJ2nThGjZ13MRJ85j7S3BuHkH+lWv4DAHr+GMqU/JMo7jNNDUkAGPsuK3LLnhpBUl6MTPjJhLuMXhh7S/hlxkKagJ8RGWZYcAae6tpkZyiq3gAkVi+kdwmSbJlVsBaRMw8Gwcg2sOFPI+rF0mv5ZkVq96f9QDKpazWuE32Lq+zowktgz9eaSGcWHVttS9JdmIibhts157sNpoZ75xj829AIuPg2T+MkYs0p6BK+OQGPDDbZlbfW4Cfvphov0sbge5R5tl/nnDAw1mBcV/HE30JC7gWADMoNPYkRTKK2jUibqxkDsRctgmhUSjIfZ2TlFpnqn3dYBGK7MBIRUBv23W2Lj4uI7AlIrHPjqyD6ol/O9IYBcbSWHY1nGbpA5/+V8XHzCABtnV2FfTRaJjf4pHsPu+vUQVAiDGP/FgcZzrC/XCEUMWaLezyW0uyAJfTCnn4qplN3YX0WdTE9Om/3BHeDcecuDgFO2ZsOL8z21L9s9+/H/Din45VeHRn9F1DiOAMuQuCSh6SMvNvY+oujdDnzaQQ3yR2S3KFCofRQEFsHbi8A5n0Zamswo3lm+QjJrWzz/ecSKIHytHoBiicdIxv1x/m6RvLOLd8EjryPcxW0FpxBbaO6k4Kjg5s6LNZv4LgabD/I8JeFUW4mQDflXi8BXBOmyzD1WfdfQaqAmagMEFte1jp2rADW68fC1qIeIO8zs+0+e+yrTXGNgkP3K1g5MnCR5dkyXk27dzneO2TxVUMLwqWmqPhbLEtyXrW7wT0l/Uyj6aNViOKbB/GodcXUP1E7Pk8+ilGf0jiJ+0uOfzOo6K781TfLlk8hOVKb890/6MjnJCJ9NPs3hj6kYAPN8ZZz3xlg+L7NHMH6wN3V0o+NNMpxiOueATm93TBShrr3gLXvaRX8ackQOhE7Wr7xggCNPocRmbiFo+ZulHLPGdb7uoBKe5p1438jinRXy2DwH8B+SZpWkbL1ZM4T0b6FoSQdLnDxjA7hD62wtUQy1nNyW3Sf3wugia5yYX7wV9oTWUiw1S/MfHtTvN+gW88yq+9osoReh+knD/9G9RgHHKZu5sMShageG9vZoGl+ckFxBlNPzZ9QiyBLTBklN9PdnUXodeUhWx34ZFUedO1ECOyQOvjHMdGjnEnW3fz7G3pGYnVh43BG6SrfXjXM/jGgIoXVS+nZzU2yCJj9yRKfiBi22y5aSEvKVxfMHg3kjUKuVFsp7U7CDjpl+9LAtGNOvVnw36hLIi2CtC+EHMpDPnB1QWXLkh0qn0bdFE2FFicOrD8Bmw/ctkEIJa9+WUuN96URvrojzlTm/VSeBlMoZTIj/+F3bLfNOwa2QduUTQHviop3xWm6NOjtAHkqtNN2qY9ACOnno0I+wypgwabdKrwN6u0LHBf0X/Y/ipANU8fQzEGz8Sh8rs5gLWNbodYEG7hZdWeD43cqPTfV2CJLpR1DSNBY7nWLExi5cF5yMxLpyD/UMk/wrFF3Llb4vOfUNARww4SaCVIGCNbaz/MCJywh20xr/HmwjDHuZrNq0RzQ4LJSjWeKvUaIBhG/YkIUWHyLwTfYlNCZkY7WKkci3rbL5sS7vd6NuIGOckUAGPO7f17Ge+Q89AWkcx8RjXqkTHe+Ec02AB0gsxHhcigIlONgEYo7/6SOqXGrWcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QM6f2k8W8LnmgTRGc2auhM",
      "input": {
        "note": "Plum grasped (gripper 0.52). Carrying it toward the blue bowl, which sits near the left arm's cross-over limit.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.46,
          "left_y": -0.4,
          "left_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 28 steps (2.8s)",
      "tool_use_id": "toolu_01QM6f2k8W8LnmgTRGc2auhM",
      "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]: [-0.889, 2.3592, 2.1246, -0.6128, -0.7258, -0.5919, 0.5183, 0.3706, 1.1435, 0.8757, -0.4179, 0.2562, 0.0311, 0.9969]\nstate[eef_state]: left_x=0.4677 left_y=-0.3846 left_z=0.1481 left_yaw=0.0046 left_pitch=-0.0269 left_roll=0.0611 left_gripper=0.5183 right_x=0.3405 right_y=0.0881 right_z=0.1929 right_yaw=0.1392 right_pitch=-0.0966 right_roll=-0.1361 right_gripper=0.9969\nstate[joint_eff]: [-2.5641, -15.3778, 8.5675, 0.9499, -0.5006, 0.0806, 0.7692, 1.0462, -3.4667, 6.9538, 1.7411, 0.0073, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ff761b32de31e459c839dc9da8cd8976c5e9c04215ae9b2e638f1182b66c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c86734f98117a15bce3a86e74d8e6f0e851a06827c79da682eaccc078367a205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f9a33b711a13feb76b6d4fcb69b4af82411fdc8050d1a910f5a4baff3b35e6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 3.122 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4648, 1.618, 0.3588, 0.5556, -0.3756, -0.2653, 0.9987, 0.3965, 1.1446, 0.8757, -0.4168, 0.2119, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3377 left_y=-0.0929 left_z=0.0094 left_yaw=-0.0152 left_pitch=-0.0771 left_roll=0.0463 left_gripper=0.9987 right_x=0.3367 right_y=0.1046 right_z=0.1916 right_yaw=0.2196 right_pitch=-0.1047 right_roll=-0.1341 right_gripper=0.9969\nstate[joint_eff]: [0.294, -5.5043, 6.5983, 1.663, 0.0171, 0.1099, -0.0659, -0.0068, -3.7949, 7.159, 1.7118, 0.0415, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.4644, 1.6215, 0.3614, 0.5282, -0.3706, -0.2668, 0.518, 0.3962, 1.145, 0.8757, -0.421, 0.2115, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3344 left_y=-0.0919 left_z=0.004 left_yaw=-0.0168 left_pitch=-0.1039 left_roll=0.0544 left_gripper=0.518 right_x=0.3362 right_y=0.1043 right_z=0.1906 right_yaw=0.2194 right_pitch=-0.1093 right_roll=-0.1347 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -5.6274, 4.1641, 1.8388, -0.2466, -0.0171, 1.033, 0.0068, -3.8222, 6.9538, 1.6777, 0.0366, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.889, 2.3592, 2.1246, -0.6128, -0.7258, -0.5919, 0.5183, 0.3706, 1.1435, 0.8757, -0.4179, 0.2562, 0.0311, 0.9969]\nstate[eef_state]: left_x=0.4677 left_y=-0.3846 left_z=0.1481 left_yaw=0.0046 left_pitch=-0.0269 left_roll=0.0611 left_gripper=0.5183 right_x=0.3405 right_y=0.0881 right_z=0.1929 right_yaw=0.1392 right_pitch=-0.0966 right_roll=-0.1361 right_gripper=0.9969\nstate[joint_eff]: [-2.5641, -15.3778, 8.5675, 0.9499, -0.5006, 0.0806, 0.7692, 1.0462, -3.4667, 6.9538, 1.7411, 0.0073, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46ff761b32de31e459c839dc9da8cd8976c5e9c04215ae9b2e638f1182b66c2d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c86734f98117a15bce3a86e74d8e6f0e851a06827c79da682eaccc078367a205",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f9a33b711a13feb76b6d4fcb69b4af82411fdc8050d1a910f5a4baff3b35e6b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrQoKEAgSGAI4AUIIdGhpbmtpbmcSDN75ZMV4J9g9OQrZ6xoMqV5iRj0hvTt3km6eIjD/11i8/SSApK8zUZYvh0SraCEv69N5bXNarROhFLCNQpubHcgNdp7N+v/R9Rmtt80qygl365932yUr8EGYSBw0eY1nndENBjvfzepVYJ9VB4NcTNz0zTXuBHvZID1x4/WczZA2VGkSNV5YNz0kRgH+iUUu/illVhpYKBxAIlbsv5fotuQNlpS+pVGnhXMchYZ/KKz6BlVxc5iiGnxXRB9H0fcMwculCcoIKZ29s34QvraqZbolnMS027m7vvjTmc8VsvSi132Lk3p38pYPo1jypXGwqAIJ0GHpRxnY5pfeLg8ElWD9oQsjLE0P/zw1gX4sj2p7V9/vNRIjmRUn4trnfkIFHut0kvTaUp/eGGLEW8WWdTRqSQej23VfktlfwFipgKQBV1j/fTA9A8vsCdJWDG2faK6RGmQdKaj0hfBLkQbpNMunU6perCeU3LHq0P+/35HiDhNUZz5+cvjdpYUcj+8WWHFGeDmjaFhYsTyibEShExW4lrOE8Pcx2Ve4law3Bv/rwMBKYAoF/bMnAcK8mxe6yHkTyn8Ni1VNWk9IPUbpeibzR/s7g9Rnrudb2TzwreGgXI2ZO1aQy1UYDiHu1EkJisDgRqTYzuNQcVxLvRxElsXTfwnUFfnRvP7rlyS6p49/UdrP0Ax6K9KvF0J3W2i16rKbV2/rxUBGkqE6jbkHF5jEx/PtD3gOLfeUJUW5jxc7IfvePEmc0MKrnvjEN5+Zm6a6Csa5VLxJJ8p2oStOgGnXMT8vIR0Y1oQceTs+UjnKF6qGvqGGAYdQD7G4AFFX2s6xB2+tbjvF8Xm4o4mht+NYB2VlmKbbwV1zI4n/6LeTB/JtIeTI/5jIHHA/+uYmZmf9svId2SnTFRM9OD3x6hACenKm1vKQpoJaoH3vaZhzlhZyd6Mi7BHg05pH7ccxa9rMD3M1WpM9yrNOPW+nJvqgHA3dchPdR7nUrVYHgjyst/qA3ypz/EHNX4SW7N5DBb0zVt0391Na4cyCtNaD6RAkPFbKQs6aQgqrB49pIJLT2W3+cinHRL/nTUe5J5+Er0FBwhwHfiSo7HocyraSMHHoGdVPGofnvSo17cbHL448fsARJ9+28AL19ojIpkABU9XBJuQE5hxFrV4qyerxCBj09aeav9brVTkUjeNWMy4JyX9u1AIDdtj0pYAUlZo9WMxNb4nW9CCGrV4LWp0jHvPDVUFUzxHBWDLPnRRMCGxoj+YGUUEidHYUeL0hk3fXE8vWjw7UVdcy6abpGnJ96QxKaKwJePih9nny4xmPQ76x87y9YFe3izfPJawYOpnxG29rxYuLeu25WuDLnMC98qz8V210UtNXBd5ZKn4mJPJy/QlNaaMa5zgEsc3gC7a6leDTyk9Uv+Zclo1Z+cCig9itvW2VFWy2ugtAK4XdPsh67emMSQgQYoVBNk3Nm3iaRMO3SdGvEflpWSH+V3j/X30uII8coigFy07cG8wyLgF/nblEDmnd4kITQtIsI8I+dq1s01/yunEUUvEzlY2DhUqGtZac5rg5eLYyqXq8ACuQBnrfXmcCaZXL5KZAGtvDgTFQuLv7oj1lzrnSOUoUstTnZBRlIZb4A33DfVDH3wtb+K4su7un1Gps6bmzzcw1LE2+xij6Q10AwG6CCroGWWQbH5w4+w5UnrYXhJXmw0yMWfII2jlGML0l9rUfh/YOpn1y27uz6Ux6nBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JexayHBk8Qyx6VZbcvWhed",
      "input": {
        "note": "Left wrist view shows the blue bowl (with pear) just below-right of the jaws; pushing to the y limit and lowering before release.",
        "targets": {
          "left_x": 0.47,
          "left_y": -0.4,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JexayHBk8Qyx6VZbcvWhed",
      "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]: [-0.9005, 2.4382, 2.101, -0.5499, -0.7258, -0.6033, 0.5201, 0.3702, 1.1458, 0.8757, -0.4332, 0.239, 0.0113, 0.997]\nstate[eef_state]: left_x=0.4675 left_y=-0.3952 left_z=0.1017 left_yaw=0.0005 left_pitch=-0.0513 left_roll=0.0828 left_gripper=0.5201 right_x=0.338 right_y=0.0902 right_z=0.1888 right_yaw=0.1634 right_pitch=-0.1177 right_roll=-0.1448 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -14.5436, 6.1607, 1.4579, -0.442, -0.0806, 0.7204, 0.0068, -4.041, 6.9402, 1.7656, 0.188, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:079b3795a2e02c6b21113e5987ddfe6f889b4e6dfe28bf5d01ee1ed25178eb6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd36141802dbae8ead51394deda70e0272199082e075dca15c8d067ac37ce5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:db4546e78f3a8ea6f488d1d25bfe97477829f0ff1ea94528223d3d0ee84f1ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 33 attempt 0 · /messages · status 200 · 8.689 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4644, 1.6215, 0.3614, 0.5282, -0.3706, -0.2668, 0.518, 0.3962, 1.145, 0.8757, -0.421, 0.2115, -0.0013, 0.9969]\nstate[eef_state]: left_x=0.3344 left_y=-0.0919 left_z=0.004 left_yaw=-0.0168 left_pitch=-0.1039 left_roll=0.0544 left_gripper=0.518 right_x=0.3362 right_y=0.1043 right_z=0.1906 right_yaw=0.2194 right_pitch=-0.1093 right_roll=-0.1347 right_gripper=0.9969\nstate[joint_eff]: [-0.1846, -5.6274, 4.1641, 1.8388, -0.2466, -0.0171, 1.033, 0.0068, -3.8222, 6.9538, 1.6777, 0.0366, -0.0366, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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]: [-0.889, 2.3592, 2.1246, -0.6128, -0.7258, -0.5919, 0.5183, 0.3706, 1.1435, 0.8757, -0.4179, 0.2562, 0.0311, 0.9969]\nstate[eef_state]: left_x=0.4677 left_y=-0.3846 left_z=0.1481 left_yaw=0.0046 left_pitch=-0.0269 left_roll=0.0611 left_gripper=0.5183 right_x=0.3405 right_y=0.0881 right_z=0.1929 right_yaw=0.1392 right_pitch=-0.0966 right_roll=-0.1361 right_gripper=0.9969\nstate[joint_eff]: [-2.5641, -15.3778, 8.5675, 0.9499, -0.5006, 0.0806, 0.7692, 1.0462, -3.4667, 6.9538, 1.7411, 0.0073, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9005, 2.4382, 2.101, -0.5499, -0.7258, -0.6033, 0.5201, 0.3702, 1.1458, 0.8757, -0.4332, 0.239, 0.0113, 0.997]\nstate[eef_state]: left_x=0.4675 left_y=-0.3952 left_z=0.1017 left_yaw=0.0005 left_pitch=-0.0513 left_roll=0.0828 left_gripper=0.5201 right_x=0.338 right_y=0.0902 right_z=0.1888 right_yaw=0.1634 right_pitch=-0.1177 right_roll=-0.1448 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -14.5436, 6.1607, 1.4579, -0.442, -0.0806, 0.7204, 0.0068, -4.041, 6.9402, 1.7656, 0.188, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:079b3795a2e02c6b21113e5987ddfe6f889b4e6dfe28bf5d01ee1ed25178eb6e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8dd36141802dbae8ead51394deda70e0272199082e075dca15c8d067ac37ce5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 240):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db4546e78f3a8ea6f488d1d25bfe97477829f0ff1ea94528223d3d0ee84f1ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3wYKEAgSGAI4AUIIdGhpbmtpbmcSDMZ9aE5gQFwMEfxaRxoM2z0vWF6lP6v/dWLGIjBIdw2EBkQboxlW6T2qOk9UcUoRJcNoGW1A/CIB8cuz92dwoHpb2pMtaSB8QXa8D74q/AWP2l4kpwGdj0RIFcobTRBoi1r8paU992MoK71Mpvl3bOWPno0sWwBRhzpmO7ux+vRu/4jrAh7QARrlOY5UjvmNBnkTOQQ8f+r7xwbGNs2NehV2Lk7BYUatIdzPeapS4kegpojfWK7h/jgXZLY9aceTuPkuYHminRYI9sDZBbAGwjWNOjg8YRYCsaoGjmUel/0SP8dsJNvR0SyB+YHDTlF5aR3/iqvmw9/bW46bQOVoLFadwwpJmwM9BzT2qJ7Y3rOxnzC241qxKfFz9cJ11uEwmeeG1HTDSelF99weNM/W+DN70uP3hgIpT3Ub+3uAc5KsP7SqlLgKimmFII0IBTvjWz1Ohr5Pcj/ywbGjprsE//FOdLu2rlubhSqeWxeT3XP/8sR38LWTLBeCtM9LccgZF+UWl7ZyJI2omScHuwYMwtqM/PH7wDVt0QqYhmVaC68kUa96kHIlpCVL25EuNGqSZe7r3pBVml6k7OM0J2qIZz0/0Ec4FnpTp11aOdqXy3nvJYppMY3o5DDjhuR2TLLj5fSn9uvKNLLgCP0xuEnLpP8OwNWgRAoCTpN3n8ojbUAS0p22cH4yUKslGgrvIWYcKE4OXCvfQ8qZPZ+7+nRbzO3fxc29gAuHoXylX46bUaXhNofzinVKyy7cUfhDj4y1TJeg8thp6owozk2JC4mBbwNtFkVfvFIctiojROOmmVCzf5rL+sMmlcYEPg3CanYevNjBxBG1DtqBtR5bc2OO+lbNxQdll8dcibR723rc6H/hJjL7bj5wuLUiSOZSDldtrBXeVs1SC9SEkfIESY+VmZXGCwJ3NBGxmRRNqEKsnKZQihp8zRalPEVasUlqnioKuCfNxLcPuwNm18HFolcpOGhb8MxezXENFzWIkcAEZlYb6S+AMGIQPJXJYYx/G2r7oeS/DgvLARni8i2iXA5Od1hM0i36DGloTg0fPzZ2WVnOXhiFbzqQPaIXjIjSaFBEeWXAWSS82L1B+Q9Y/aYPWYX4Q0MxvqkJGAXLCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Y14zSJtkUFY6gh95QfPzGR",
      "input": {
        "note": "Blue bowl is directly under the jaws now; releasing the plum into it.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Y14zSJtkUFY6gh95QfPzGR",
      "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]: [-0.9009, 2.4619, 2.0884, -0.5457, -0.7212, -0.6109, 0.9952, 0.3702, 1.1465, 0.8757, -0.4393, 0.2382, 0.0093, 0.9969]\nstate[eef_state]: left_x=0.4658 left_y=-0.3943 left_z=0.0834 left_yaw=0.0029 left_pitch=-0.0736 left_roll=0.0996 left_gripper=0.9952 right_x=0.3371 right_y=0.09 right_z=0.1874 right_yaw=0.1649 right_pitch=-0.1247 right_roll=-0.1472 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -16.4444, 7.6103, 1.2772, -0.3932, 0.0366, -0.0024, -0.0615, -3.8359, 7.2274, 1.6874, 0.0757, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa321b60f0f9152b2695d9a300648402f167f609141601bdeb54be8922189d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143e3905a05f6f926206fc28f85cec74a1bf47684ab37d3beee7212c79a1063a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0d37bc709d989face339b85b0f0e5d1553445b0cc436da2f32f47431976a6133",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 4.096 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.889, 2.3592, 2.1246, -0.6128, -0.7258, -0.5919, 0.5183, 0.3706, 1.1435, 0.8757, -0.4179, 0.2562, 0.0311, 0.9969]\nstate[eef_state]: left_x=0.4677 left_y=-0.3846 left_z=0.1481 left_yaw=0.0046 left_pitch=-0.0269 left_roll=0.0611 left_gripper=0.5183 right_x=0.3405 right_y=0.0881 right_z=0.1929 right_yaw=0.1392 right_pitch=-0.0966 right_roll=-0.1361 right_gripper=0.9969\nstate[joint_eff]: [-2.5641, -15.3778, 8.5675, 0.9499, -0.5006, 0.0806, 0.7692, 1.0462, -3.4667, 6.9538, 1.7411, 0.0073, -0.0904, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9005, 2.4382, 2.101, -0.5499, -0.7258, -0.6033, 0.5201, 0.3702, 1.1458, 0.8757, -0.4332, 0.239, 0.0113, 0.997]\nstate[eef_state]: left_x=0.4675 left_y=-0.3952 left_z=0.1017 left_yaw=0.0005 left_pitch=-0.0513 left_roll=0.0828 left_gripper=0.5201 right_x=0.338 right_y=0.0902 right_z=0.1888 right_yaw=0.1634 right_pitch=-0.1177 right_roll=-0.1448 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -14.5436, 6.1607, 1.4579, -0.442, -0.0806, 0.7204, 0.0068, -4.041, 6.9402, 1.7656, 0.188, 0.1832, -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 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]: [-0.9009, 2.4619, 2.0884, -0.5457, -0.7212, -0.6109, 0.9952, 0.3702, 1.1465, 0.8757, -0.4393, 0.2382, 0.0093, 0.9969]\nstate[eef_state]: left_x=0.4658 left_y=-0.3943 left_z=0.0834 left_yaw=0.0029 left_pitch=-0.0736 left_roll=0.0996 left_gripper=0.9952 right_x=0.3371 right_y=0.09 right_z=0.1874 right_yaw=0.1649 right_pitch=-0.1247 right_roll=-0.1472 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -16.4444, 7.6103, 1.2772, -0.3932, 0.0366, -0.0024, -0.0615, -3.8359, 7.2274, 1.6874, 0.0757, -0.0464, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa321b60f0f9152b2695d9a300648402f167f609141601bdeb54be8922189d2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:143e3905a05f6f926206fc28f85cec74a1bf47684ab37d3beee7212c79a1063a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 245):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d37bc709d989face339b85b0f0e5d1553445b0cc436da2f32f47431976a6133",
        "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_013UaMn8MfSb6u65HB1s59Bj",
      "input": {
        "note": "Plum released into the blue bowl. Parking the left arm and moving the right arm over the lemon lying near the table centre.",
        "targets": {
          "left_x": 0.3,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_pitch": 0.0,
          "right_x": 0.31,
          "right_y": 0.21,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 36 steps (3.6s)",
      "tool_use_id": "toolu_013UaMn8MfSb6u65HB1s59Bj",
      "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]: [-0.1108, 0.8951, 0.6888, -0.432, -0.1822, -0.0414, 0.9963, 0.9264, 1.5009, 0.8013, -0.2253, 0.7811, 0.5209, 0.9969]\nstate[eef_state]: left_x=0.305 left_y=0.0019 left_z=0.1814 left_yaw=0.0571 left_pitch=-0.0594 left_roll=0.0921 left_gripper=0.9963 right_x=0.304 right_y=0.2036 right_z=0.1075 right_yaw=0.0262 right_pitch=-0.0457 right_roll=-0.1883 right_gripper=0.9969\nstate[joint_eff]: [0.212, -2.441, 6.8991, 1.6679, 0.1587, 0.1245, 0.1001, 0.4308, -5.6684, 8.7043, 1.409, 0.4713, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe1084d1a341c610703809857ff18b246c0f9a64f69e7819cd77820fd57ae57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c3465af7a50e4c0588c174dcf20511026a8bc391ce2b0a9a73c81034dcfb7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f77f3f06d44481a9738e6aa1f4589d4b780001b7cd0184ba8937e9e6e8aa21e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 5.359 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9005, 2.4382, 2.101, -0.5499, -0.7258, -0.6033, 0.5201, 0.3702, 1.1458, 0.8757, -0.4332, 0.239, 0.0113, 0.997]\nstate[eef_state]: left_x=0.4675 left_y=-0.3952 left_z=0.1017 left_yaw=0.0005 left_pitch=-0.0513 left_roll=0.0828 left_gripper=0.5201 right_x=0.338 right_y=0.0902 right_z=0.1888 right_yaw=0.1634 right_pitch=-0.1177 right_roll=-0.1448 right_gripper=0.997\nstate[joint_eff]: [-0.5538, -14.5436, 6.1607, 1.4579, -0.442, -0.0806, 0.7204, 0.0068, -4.041, 6.9402, 1.7656, 0.188, 0.1832, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.9009, 2.4619, 2.0884, -0.5457, -0.7212, -0.6109, 0.9952, 0.3702, 1.1465, 0.8757, -0.4393, 0.2382, 0.0093, 0.9969]\nstate[eef_state]: left_x=0.4658 left_y=-0.3943 left_z=0.0834 left_yaw=0.0029 left_pitch=-0.0736 left_roll=0.0996 left_gripper=0.9952 right_x=0.3371 right_y=0.09 right_z=0.1874 right_yaw=0.1649 right_pitch=-0.1247 right_roll=-0.1472 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -16.4444, 7.6103, 1.2772, -0.3932, 0.0366, -0.0024, -0.0615, -3.8359, 7.2274, 1.6874, 0.0757, -0.0464, -0.0171]",
      "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]: [-0.1108, 0.8951, 0.6888, -0.432, -0.1822, -0.0414, 0.9963, 0.9264, 1.5009, 0.8013, -0.2253, 0.7811, 0.5209, 0.9969]\nstate[eef_state]: left_x=0.305 left_y=0.0019 left_z=0.1814 left_yaw=0.0571 left_pitch=-0.0594 left_roll=0.0921 left_gripper=0.9963 right_x=0.304 right_y=0.2036 right_z=0.1075 right_yaw=0.0262 right_pitch=-0.0457 right_roll=-0.1883 right_gripper=0.9969\nstate[joint_eff]: [0.212, -2.441, 6.8991, 1.6679, 0.1587, 0.1245, 0.1001, 0.4308, -5.6684, 8.7043, 1.409, 0.4713, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe1084d1a341c610703809857ff18b246c0f9a64f69e7819cd77820fd57ae57",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98c3465af7a50e4c0588c174dcf20511026a8bc391ce2b0a9a73c81034dcfb7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f77f3f06d44481a9738e6aa1f4589d4b780001b7cd0184ba8937e9e6e8aa21e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrgcKEAgSGAI4AUIIdGhpbmtpbmcSDIshvGPJU/A/pLDKWBoMw6I/IY7HeQyucIpRIjCiNa0phwqKUv4Z24oCGKwPiRv5vfadwT2PAnZFIFptbQwqas6qJKzdAQK6tL/luwUqywbxpqPFuj7WulXD6uGrr9C5PbAxqODmq3KUjA4i7K6uhW8MSfaWHf1WaB4P7lAn3uVOSt/ucu7Zn+XxGFBijtdfmDaXt/xqq/Qaf/Jz3OTatH6ns4gbiSR9bWdLuo5Sj5IBzSEPqHcp+NMU4KIb0x0GC5D4JmpxOwrCRPknuCrdQZh7c/eEUQ0crTLhPIhWXeFZR62ERbO1hr0AwYOJdX/rrePb+nsnuaMn7dHvYmy6SZ+7KyZRtD/U30Ljn2z5VKXSyPdOvJXOr3k+Y3W0Q6F4A9niMwqpS0HNdoMcbJOZ8tbf7OwShzfsnTPM3o9i7Uft3JlKQz1mFNzXPwbt4OZh2PyIaJUdDpJgeSRd9dDjHmWvhgITDiNKfqUU4ssnTpx3TrM4DbAt80Ag88i/J0I5jj1GnYKA9kF/YYLHfLvU72b818PREZzxcCdVGGtu+TMd3i0IeCnDTtsky/dzzJ8LS9PqFZLm23Qv9WdRAKW0HA8IfSxW9Nk2YlYnM7wi/OmMiLKfg0mxXdZQlsIq5tA0YEFgM/bzAflbEoyJKkD7/flGWDSDt1Hw5ydTvWl+hfqc44o5WyGknZzuLjIa+3i0us4lci7p6SyUfzHJHJfLFSxCGA3WF76GbY0+HOTLzA8sd4GCpIoGup1pBVxZrD4DR5MDJHh1pC4dgJJyvZw7TZM1DZ+hvkgG935LkrrlmfYp+GGmQaBjf63FTB2GNtZODWWWVjuWQVtspDo3eKf8Iqyp3EABBU9yO/JizffyMk9ldV5jORBaVWh0hOSdCxWvpazlHCpbCx8rAKqTvtsVTswOHT7JqYhyFVnHAaQlDTo9ZessyUmlr/ay1pFMvj0SvreFRGW0ZG9K9wYFBUABTgwObI+U6KpUu74eyNHwuHUXCGlcUcaXvJ/UUrXlsdPWYJ7yHsZ3nT6PhZvKjygo6xlX64k/XPMRiLOOWQKILYqYZ2Le7aCSwYEaQdbgO3F1JRlxpL40Ee2lq+SOqR4pQoUVPTG3jGTNgmC0EPkvf7mI6qghDTByumSRGJkifX1V/FP++AMTMc7rMGgcocNiYIdHbTShdIA2UvQLg/VJCqx6PY4dN3htCl7JSCrIEyAPdsMEfnjRBQjJwLYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JiJtVXmjAZTb6mMkkWqRuK",
      "input": {
        "note": "Pear and plum are both in the blue bowl. The lemon is at the bottom-left of the right wrist view; shifting ~3.5 cm left and descending onto it.",
        "targets": {
          "right_x": 0.31,
          "right_y": 0.24,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01JiJtVXmjAZTb6mMkkWqRuK",
      "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]: [-0.1081, 0.8982, 0.6861, -0.4477, -0.1715, -0.0341, 0.9964, 0.9756, 1.8317, 0.7765, 0.0372, 0.7948, 0.5625, 0.9969]\nstate[eef_state]: left_x=0.3026 left_y=0.0011 left_z=0.1761 left_yaw=0.0471 left_pitch=-0.0818 left_roll=0.095 left_gripper=0.9964 right_x=0.3049 right_y=0.2318 right_z=0.0187 right_yaw=0.0402 right_pitch=-0.0885 right_roll=-0.2357 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -2.1402, 7.3094, 1.7998, -0.1636, -0.1099, -0.0073, 0.3897, -7.8974, 5.8462, 1.1844, 0.5153, 0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f03ca54b3e9cdd04fa0bbbc62a8c1f049db19f57633436944448acecdc16e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e4331ff41f82746874689a236a931137c532d40e575c50b5327200671a20a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a64d31da3ba95d41bf01d019d9fc1e76dbf67037d5c5ebf512e0d13b60128944",
        "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 · 4.667 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9009, 2.4619, 2.0884, -0.5457, -0.7212, -0.6109, 0.9952, 0.3702, 1.1465, 0.8757, -0.4393, 0.2382, 0.0093, 0.9969]\nstate[eef_state]: left_x=0.4658 left_y=-0.3943 left_z=0.0834 left_yaw=0.0029 left_pitch=-0.0736 left_roll=0.0996 left_gripper=0.9952 right_x=0.3371 right_y=0.09 right_z=0.1874 right_yaw=0.1649 right_pitch=-0.1247 right_roll=-0.1472 right_gripper=0.9969\nstate[joint_eff]: [-0.0068, -16.4444, 7.6103, 1.2772, -0.3932, 0.0366, -0.0024, -0.0615, -3.8359, 7.2274, 1.6874, 0.0757, -0.0464, -0.0171]",
      "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]: [-0.1108, 0.8951, 0.6888, -0.432, -0.1822, -0.0414, 0.9963, 0.9264, 1.5009, 0.8013, -0.2253, 0.7811, 0.5209, 0.9969]\nstate[eef_state]: left_x=0.305 left_y=0.0019 left_z=0.1814 left_yaw=0.0571 left_pitch=-0.0594 left_roll=0.0921 left_gripper=0.9963 right_x=0.304 right_y=0.2036 right_z=0.1075 right_yaw=0.0262 right_pitch=-0.0457 right_roll=-0.1883 right_gripper=0.9969\nstate[joint_eff]: [0.212, -2.441, 6.8991, 1.6679, 0.1587, 0.1245, 0.1001, 0.4308, -5.6684, 8.7043, 1.409, 0.4713, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1081, 0.8982, 0.6861, -0.4477, -0.1715, -0.0341, 0.9964, 0.9756, 1.8317, 0.7765, 0.0372, 0.7948, 0.5625, 0.9969]\nstate[eef_state]: left_x=0.3026 left_y=0.0011 left_z=0.1761 left_yaw=0.0471 left_pitch=-0.0818 left_roll=0.095 left_gripper=0.9964 right_x=0.3049 right_y=0.2318 right_z=0.0187 right_yaw=0.0402 right_pitch=-0.0885 right_roll=-0.2357 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -2.1402, 7.3094, 1.7998, -0.1636, -0.1099, -0.0073, 0.3897, -7.8974, 5.8462, 1.1844, 0.5153, 0.1734, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f03ca54b3e9cdd04fa0bbbc62a8c1f049db19f57633436944448acecdc16e63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e4331ff41f82746874689a236a931137c532d40e575c50b5327200671a20a1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a64d31da3ba95d41bf01d019d9fc1e76dbf67037d5c5ebf512e0d13b60128944",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxQkKEAgSGAI4AUIIdGhpbmtpbmcSDNvZUkcrvR4ksgeBJhoMYFMQI7qVVzAY3XgQIjDIDM8750Th+aWXcHpvDDNZEMDmhU8lE+bCk5R4ptUucKI0GD8LFMXQVr6PH+bbRVYq4gh8tPX2N8XwWJ2Uu6ScapVyhS0AkLY3kp4Q9vrysSHwzqlz9mSX+z+wuh/mL7FXFC2EcYgGLuuxc8NKJG5vAmRqBhaQ7U35BEzyPsFAlt7KFVjtSVFa6ZP2b4oI7k+Q9a70dvlriKW/IiPX7AlkH3C6C00bSZqQHbkg/lUEi2dIf4RpvVjMpbqJni6L7o/NhkzsnAgyUi+tEY43I1c7uTzoQUMT+snRSG5eXIDfHKQBLbJJxLK7/hldqPFUQGG6bWIMBSL+C2v+KhKWVMfiUA3znnSn5jVhRoEGu1WVoNsQsgYOqe6DQLyFxV1PSEzIsDhrgecejQ+i4+Qz3+oD/iMMPKuJ5I/qcL4DntBjjptUUvS0fBAhyi/u0Sr7H6KCpux40VJMSu4qfarq16DeVRlCXoyNpjqRH9jFyIlR3MjmxXS8B/R++x5DjRaE96j8Iwf5esFURm+On3Z9FoxG4jih+Ftf0hEPyGqDdHI8/LNNNl2vAquOmUh/8rvs5OACHmm9ZwSjxt6QJ/emRKSK3YCH20PD2OvscKJIRqMGY9uk8JwgbUR1UBNndfyS1ToScLd1/2Sq1tQCp37BxfheC/CWzqn61fzTfphtNggOs/K6LOUApx2/Bwlo07OkJy1nS6+0UV5wntgopnY7ns6FmlWHMVrqC8QF2Osbf6PoCX2t7MuvsTatz+3lRaCJLxveQfax/iWynsLtHLYDQLjIvx/BfSuW3VhahqtJPoKqfJv9ZSN9NWuBPBB5lztkS5tbYfcoH9GdCje7CR1NgXvNDJk8YIrvvwf7tBHbMJZwp67eXbvgCg7DHTzWgayILTKHEtn1HxBa0eQ8KgEDNJ5D3iF5l8Q8lZtdqKqg0djEl5vzqW7JRPcSEX8BSo6SVyZKY3npBnxDzXXs9w6GWjeRW25rHUao7hJPstqruVw57n7l80G+fpVz5nYWYqYFjzSTjbicvCiYBZh+uN4cn4s4+/A/4AJqnyOdKV1ehQ+nJN3eUEfz9zSx8+a/Q8oFJWx7D8we6K8tpQxrCBU8v/rZ6eDbxTuU5R3IeLo+b4nBhIeEg6gX82R+oAsoaiI12MJCm9Ez+lcPkxdjmCGXLNf/Bu7yQARDLeskYApaUmtUxNrTtTlsh5swXUW9ZoNI5pa3flVN+YNnZ4iHpJ/Z57K93vU7k4vb8azSzMBgzFVyuQXU2oMJhdhOJ16y1pEff+UFZbocY5vNq24wbkqM+FYdQSXyiM/ATZA6hrz1quMBMhWev5xsX8grSCA0iJAlwAtz3YWKYxdNlze5CkEjWo9TB79wAMYCcIhMnHedHq03cH/nzMOIPIfXkJeb1BoOC4jWTqKLL8h1W96VjQCrzc+c9sFcL7/WleODYxFMvl7i20w9AaB4u64+44D3sJlZyyM2aIjRkL+AlbJJXBpXxojLme2Vv94kTlqYxbEt0rsQeHklgG0HWYy9wEY2WPYKCjK18rsl1ANT8Nr87/EP0M/2J8HEl6gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RPRmF9oaf6cT5Tqi3sfPPo",
      "input": {
        "note": "Lemon is just left of the left jaw (top view shows it ~5 cm left). Raising and shifting left over it to avoid pushing it.",
        "targets": {
          "right_x": 0.315,
          "right_y": 0.285,
          "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_01RPRmF9oaf6cT5Tqi3sfPPo",
      "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]: [-0.1093, 0.8993, 0.6861, -0.45, -0.1783, -0.0341, 0.9964, 1.0332, 1.8565, 1.079, -0.255, 0.7998, 0.6052, 0.9969]\nstate[eef_state]: left_x=0.3023 left_y=0.002 left_z=0.1755 left_yaw=0.0518 left_pitch=-0.0846 left_roll=0.0997 left_gripper=0.9964 right_x=0.3157 right_y=0.2892 right_z=0.0705 right_yaw=0.0715 right_pitch=-0.0883 right_roll=-0.216 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.9214, 6.9949, 1.6581, 0.0171, -0.0806, -0.0122, 0.253, -9.4974, 6.9265, 1.0672, 0.6276, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d4b1b03d2bbc61e7c539bb943a793200bc3167ca3e5cea288eea183e90d41b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce309b2eb0daf3b8874e423f94aa536bd504e943710b71a20ffc173efacc08a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b4bff7115a27fe1646fa0e88e4525762aba02619ac27eb2929b80904a4ed3a7",
        "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 · 8.025 s
model
claude-opus-5-5
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]: [-0.1108, 0.8951, 0.6888, -0.432, -0.1822, -0.0414, 0.9963, 0.9264, 1.5009, 0.8013, -0.2253, 0.7811, 0.5209, 0.9969]\nstate[eef_state]: left_x=0.305 left_y=0.0019 left_z=0.1814 left_yaw=0.0571 left_pitch=-0.0594 left_roll=0.0921 left_gripper=0.9963 right_x=0.304 right_y=0.2036 right_z=0.1075 right_yaw=0.0262 right_pitch=-0.0457 right_roll=-0.1883 right_gripper=0.9969\nstate[joint_eff]: [0.212, -2.441, 6.8991, 1.6679, 0.1587, 0.1245, 0.1001, 0.4308, -5.6684, 8.7043, 1.409, 0.4713, 0.105, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1081, 0.8982, 0.6861, -0.4477, -0.1715, -0.0341, 0.9964, 0.9756, 1.8317, 0.7765, 0.0372, 0.7948, 0.5625, 0.9969]\nstate[eef_state]: left_x=0.3026 left_y=0.0011 left_z=0.1761 left_yaw=0.0471 left_pitch=-0.0818 left_roll=0.095 left_gripper=0.9964 right_x=0.3049 right_y=0.2318 right_z=0.0187 right_yaw=0.0402 right_pitch=-0.0885 right_roll=-0.2357 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -2.1402, 7.3094, 1.7998, -0.1636, -0.1099, -0.0073, 0.3897, -7.8974, 5.8462, 1.1844, 0.5153, 0.1734, -0.0073]",
      "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]: [-0.1093, 0.8993, 0.6861, -0.45, -0.1783, -0.0341, 0.9964, 1.0332, 1.8565, 1.079, -0.255, 0.7998, 0.6052, 0.9969]\nstate[eef_state]: left_x=0.3023 left_y=0.002 left_z=0.1755 left_yaw=0.0518 left_pitch=-0.0846 left_roll=0.0997 left_gripper=0.9964 right_x=0.3157 right_y=0.2892 right_z=0.0705 right_yaw=0.0715 right_pitch=-0.0883 right_roll=-0.216 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.9214, 6.9949, 1.6581, 0.0171, -0.0806, -0.0122, 0.253, -9.4974, 6.9265, 1.0672, 0.6276, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:49d4b1b03d2bbc61e7c539bb943a793200bc3167ca3e5cea288eea183e90d41b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce309b2eb0daf3b8874e423f94aa536bd504e943710b71a20ffc173efacc08a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 292):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b4bff7115a27fe1646fa0e88e4525762aba02619ac27eb2929b80904a4ed3a7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQgKEAgSGAI4AUIIdGhpbmtpbmcSDGEyhVrcRFmRwaphqhoM6I/nv9XCUYKx2P2bIjCw+6w6v5FdMS87Od98m65sjRLAmsNLPwmeOk0gLQMnBkQ5XiAexdLQ+3iB9Pk2IYEqugdTTmh4l9IGC9590E3cLH2E05yA/gsZ/vM5IcUEURIDHX6D/2AsAf362p5T6TOIfXfB0YQ8tW/LK7juDlk7N6fK00xHntTxosBhT8iY7uLeSC+T8Q3hsosydeeFj6JGzZLtI1eBRic7zIVmiouuSt6dg0H8xwYervRcT/+f/YgX5Ah481teGUE5oGwhqKKDHjr7VpU5QDktFydPj51ltwgZSsCbtSEsTVzHpR/85vZ5kWW0CwqKVnRQWKi7FGGJHsHxzguN0g/+9WIZAyhhbEyWybAAzyP/W/L46yE66psJaZGyKTUVZOJpPyvt/WiNAN1JPVP2daFJ0pK6rxist73OpEnrprneGLx0yMMC5iO1CgvLuDUt4gonzkTJ/WixdjsFn1K3WShPCO8dYkUWcIV/ku6TpN0UQwkpkRnTqfxn3nXhkS+Ue5GNiaF95IcemqDY25PCva3yu9SAPUwqAFQPjNMdTc8VOyPY6lzGR7qaBEWJFgB1+WQuem5pb9h3m6V5aGbGeyoTc6FqBhZfwcDWw09q9tzd8lcFVcuh9ysMXEABO9x6VgnlD0yqWrH+HmZ99e8D2WhYek+gBYDPB+i683nFkodyjdi74m4fuoUVntmotG3Y3WD6LHKO4fEZ3WiH/dQIgUsjupxAasxeQ2dmYv+IJcgKxorLkyBdMB34seR5eskGwXK/bmS+bPNLHiPT3ov3WNMxkMMRv5W1UhLHEei75taSMiE2Q7rltoxCEZnFuhFz3b9FFz3s5ZwO0nMxD7gQ97ODUHFfMJzEHYM+bB+LV1H/1k8SBbFD1AV8yjFRYIbHFPSjQHiLt2szxkgDWXTiZiXrrOIAeJA1EiNG7uo3inCU80saQ8C9qoMUaRWYa0MpALoSgnPZGhOpMeqvrwfToOX7c0yjSWbPJc6P6oe6GMcDvqdx4P7m5kLDeDXQUdBRoXRtmektG/HcNzSBfqZsMuvox9aw4oykD2NPnY4pJSoTl5PQGl4j8eEEGAO9L6fzgQm2Lq1jnKsWwlODS4xpTltb6yyi8PBhGi1m+MfO5ApWeiPlIWZAJhCaV5UlW6hHqHB6lR6iUXg8+7xlqgXzFzVqe8i3024lVCQIfDfEsDuRBcHD4AF799A770RZaF/01wQ2n0m4QPGLOx3xEELdRLbHw0uMQtl4iK2mbuYhX/QOxYcdwJZwScFZscB5SqnbW95Dq9DNsUHYpPDwPCyTaOtOvCYfQZfxHLifhObmmDsAlYyv9hon54bSTnvmixO6xEC9WTwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01QRxryXVWKicvM3LHnNBs7x",
      "input": {
        "note": "Lemon rolled further left and forward (upper-left of right wrist view). Moving over it at 8 cm height.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.36,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01QRxryXVWKicvM3LHnNBs7x",
      "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]: [-0.1093, 0.8993, 0.6861, -0.4503, -0.1787, -0.0341, 0.9964, 1.037, 1.8561, 1.1099, -0.3412, 0.8078, 0.6216, 0.9969]\nstate[eef_state]: left_x=0.3022 left_y=0.002 left_z=0.1754 left_yaw=0.0521 left_pitch=-0.0849 left_roll=0.1 left_gripper=0.9964 right_x=0.3125 right_y=0.2849 right_z=0.0731 right_yaw=0.0578 right_pitch=-0.1115 right_roll=-0.2526 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.9214, 7.159, 1.663, -0.105, -0.0806, -0.0171, -0.1846, -9.6342, 6.735, 1.0427, 0.5739, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a771d95857be48f2110966b3c8ea62d3c3eb4550d2e8772a59bf681a075eae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c001cb656d3e32a30f50b4f30767e7e7376388d4bcb33741a8f04a05484e483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94246ce7442d80121b9081eb560cec99b7e5196b3df5f7039eb514eae4d90667",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 38 attempt 0 · /messages · status 200 · 5.006 s
model
claude-opus-5-5
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]: [-0.1081, 0.8982, 0.6861, -0.4477, -0.1715, -0.0341, 0.9964, 0.9756, 1.8317, 0.7765, 0.0372, 0.7948, 0.5625, 0.9969]\nstate[eef_state]: left_x=0.3026 left_y=0.0011 left_z=0.1761 left_yaw=0.0471 left_pitch=-0.0818 left_roll=0.095 left_gripper=0.9964 right_x=0.3049 right_y=0.2318 right_z=0.0187 right_yaw=0.0402 right_pitch=-0.0885 right_roll=-0.2357 right_gripper=0.9969\nstate[joint_eff]: [-0.3077, -2.1402, 7.3094, 1.7998, -0.1636, -0.1099, -0.0073, 0.3897, -7.8974, 5.8462, 1.1844, 0.5153, 0.1734, -0.0073]",
      "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]: [-0.1093, 0.8993, 0.6861, -0.45, -0.1783, -0.0341, 0.9964, 1.0332, 1.8565, 1.079, -0.255, 0.7998, 0.6052, 0.9969]\nstate[eef_state]: left_x=0.3023 left_y=0.002 left_z=0.1755 left_yaw=0.0518 left_pitch=-0.0846 left_roll=0.0997 left_gripper=0.9964 right_x=0.3157 right_y=0.2892 right_z=0.0705 right_yaw=0.0715 right_pitch=-0.0883 right_roll=-0.216 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.9214, 6.9949, 1.6581, 0.0171, -0.0806, -0.0122, 0.253, -9.4974, 6.9265, 1.0672, 0.6276, 0.232, -0.0122]",
      "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]: [-0.1093, 0.8993, 0.6861, -0.4503, -0.1787, -0.0341, 0.9964, 1.037, 1.8561, 1.1099, -0.3412, 0.8078, 0.6216, 0.9969]\nstate[eef_state]: left_x=0.3022 left_y=0.002 left_z=0.1754 left_yaw=0.0521 left_pitch=-0.0849 left_roll=0.1 left_gripper=0.9964 right_x=0.3125 right_y=0.2849 right_z=0.0731 right_yaw=0.0578 right_pitch=-0.1115 right_roll=-0.2526 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.9214, 7.159, 1.663, -0.105, -0.0806, -0.0171, -0.1846, -9.6342, 6.735, 1.0427, 0.5739, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6a771d95857be48f2110966b3c8ea62d3c3eb4550d2e8772a59bf681a075eae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c001cb656d3e32a30f50b4f30767e7e7376388d4bcb33741a8f04a05484e483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 298):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94246ce7442d80121b9081eb560cec99b7e5196b3df5f7039eb514eae4d90667",
        "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_019pZ8vYt9R89X6NTGdmwc7r",
      "input": {
        "note": "Right arm can't reach further left (stalled). Switching to the left arm for the lemon, which lies right of the white bowl; moving the right arm back.",
        "targets": {
          "left_pitch": 0.0,
          "left_roll": 0.0,
          "left_x": 0.4,
          "left_y": -0.17,
          "left_yaw": 0.0,
          "left_z": 0.1,
          "right_x": 0.3,
          "right_y": 0.1,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 16 steps (1.6s)",
      "tool_use_id": "toolu_019pZ8vYt9R89X6NTGdmwc7r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5957, 1.6207, 0.7834, 0.0967, -0.4763, -0.3676, 0.9964, 0.622, 1.1141, 0.823, -0.5171, 0.5739, 0.2108, 0.9969]\nstate[eef_state]: left_x=0.3864 left_y=-0.1597 left_z=0.0808 left_yaw=-0.0094 left_pitch=-0.0742 left_roll=0.0407 left_gripper=0.9964 right_x=0.3029 right_y=0.1035 right_z=0.1783 right_yaw=0.035 right_pitch=-0.1035 right_roll=-0.2418 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -7.747, 7.9248, 1.79, -0.3883, -0.0415, -0.0122, -0.1983, -3.7128, 6.3932, 1.536, 0.2515, -0.0317, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4aa4bf558c16b65ef3e58934ef578a97fc7ac130370bd3b76f22c07caaf82b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521891ab48c05ea5622688a6e0cf9816ed155d47678da6a2bc70be80cb91c1a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8e333a455385232643e3cc00f6cf80d832ebf40ad9b0059c8210e549c3ce0847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 3.882 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1093, 0.8993, 0.6861, -0.45, -0.1783, -0.0341, 0.9964, 1.0332, 1.8565, 1.079, -0.255, 0.7998, 0.6052, 0.9969]\nstate[eef_state]: left_x=0.3023 left_y=0.002 left_z=0.1755 left_yaw=0.0518 left_pitch=-0.0846 left_roll=0.0997 left_gripper=0.9964 right_x=0.3157 right_y=0.2892 right_z=0.0705 right_yaw=0.0715 right_pitch=-0.0883 right_roll=-0.216 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.9214, 6.9949, 1.6581, 0.0171, -0.0806, -0.0122, 0.253, -9.4974, 6.9265, 1.0672, 0.6276, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.1093, 0.8993, 0.6861, -0.4503, -0.1787, -0.0341, 0.9964, 1.037, 1.8561, 1.1099, -0.3412, 0.8078, 0.6216, 0.9969]\nstate[eef_state]: left_x=0.3022 left_y=0.002 left_z=0.1754 left_yaw=0.0521 left_pitch=-0.0849 left_roll=0.1 left_gripper=0.9964 right_x=0.3125 right_y=0.2849 right_z=0.0731 right_yaw=0.0578 right_pitch=-0.1115 right_roll=-0.2526 right_gripper=0.9969\nstate[joint_eff]: [-0.253, -1.9214, 7.159, 1.663, -0.105, -0.0806, -0.0171, -0.1846, -9.6342, 6.735, 1.0427, 0.5739, 0.1197, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5957, 1.6207, 0.7834, 0.0967, -0.4763, -0.3676, 0.9964, 0.622, 1.1141, 0.823, -0.5171, 0.5739, 0.2108, 0.9969]\nstate[eef_state]: left_x=0.3864 left_y=-0.1597 left_z=0.0808 left_yaw=-0.0094 left_pitch=-0.0742 left_roll=0.0407 left_gripper=0.9964 right_x=0.3029 right_y=0.1035 right_z=0.1783 right_yaw=0.035 right_pitch=-0.1035 right_roll=-0.2418 right_gripper=0.9969\nstate[joint_eff]: [-0.4171, -7.747, 7.9248, 1.79, -0.3883, -0.0415, -0.0122, -0.1983, -3.7128, 6.3932, 1.536, 0.2515, -0.0317, -0.0073]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0d4aa4bf558c16b65ef3e58934ef578a97fc7ac130370bd3b76f22c07caaf82b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:521891ab48c05ea5622688a6e0cf9816ed155d47678da6a2bc70be80cb91c1a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 314):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8e333a455385232643e3cc00f6cf80d832ebf40ad9b0059c8210e549c3ce0847",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSmAgKEAgSGAI4AUIIdGhpbmtpbmcSDMQZpc6/7IQWFw8pShoMcXCpegHf4ttexGsDIjD32QfyrmusN5UgSnnFo0apbMq6ytDUhR8Gr0ErA+FvzaoKtBNtgccy47me1HWtWZ0qtQemDL19VaqAbLTfYOeJoKJb4LN6GPugSMgmSUo2Y2l8m1Q3s6apW26iEghuEXo+bqs0jl3eJGZl0APglZW/Mla6znCCkMzg4uQGmf6V8xBh1jwUbPUAqB8vpSAQaUc1YrfooSAStlKZTLOJj5w6P7cskvcW6H+JxHKffMKjn1jlPRpbK7YZ3bA4xWeU7xYXPZoBru000JUdP3AmbuJ3W11ZRWQ/0zcMJizp+k20s4yxajpoP5nbcsXajC+7Zz5BJSNTUHpx5/vqsdVkVc4aYNTgFg7yXP59fPNeNAmADccSboFc5L0HtYAc96LCIZZAd9gS7r7E+GMeiDYIT4zjYQe0bMMcMh9hnF4ckavlt06nsLxx8U1ETjEuKHDnyf18QQF4K0aW6kO7VKnsDue+i7lXiIw1oAm7EEBOHhCjjGocLgh0WMqDh13OYDM2CIeSo5x5sPpVhXDM2Qt+O2hAWaIXngS844uI1m3vSTZH3yXZqOar3IDMznZWloCL+PyG43iMJhfOr/wePJz4S4urowaZmC36MNh240nKkGgxOptJ1p0okr8I5C/MYT45rXpLE786Pukb+FqDIbTGQ8XMdtEcKPDpZtudMBJFrmwyu8mrpWmDCj9bHj3mRX6nchJPdA+PIoCR2NOv/xQK/qp+1ZjLm0kTipA1p9SkaBjBgRrvdDxZe6qYn4xpVsHScAMiEU5gBtOofxH7We+7RtnrGvymi/1U6bj4o3cmrw7QTi+ZHyd/7TZX4uJ0+hPclojGN8zDUjpYru9fzVxG/joF0K2TtYSTtl/qR4pMTxwN9aYBGKcSleSMUrHNdwFpRCv/819V4P7DfYCaSJEt3m6BC0dNWYZKElLKNAAgGAVFHUCfJKobRhNZH1DMsDulE20LWpQwRY+S6OSGchlpgo7jqfFaIqo61mKSDLcyaAHePToqPXRWxAVt4+D50QxNECbfWBDO9TzBoILAnk2twyGOD0aEXS+r2OUoN6fJ2nxNYOqve5GehGj+R0hSeO3dwm6s/gcWRruaA6yPCYyiIRWuw/sorwU5zmzJrfuK1ONBLbMgP8HsTuDfEtxsSXzfsVqw/bR7kC1ChJUWZb1ehrrVAJzOJSbN0w87LRb83DOo2wsWr4sSCTNsHcwJx33IFTnsxY3QYVXed5VNUCdwNGzU149laAVYk2IurD2/yqFu3r4F9aKDoBEXm/5BJljw324wtykOIFXvedBmsPBWM5CPfuqBnERbs226NEVAv8in20LRHWXpBoV1GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VAXxRRgBG7QoYmdBeVKvXs",
      "input": {
        "note": "Lemon is just below-right of the left jaws; shifting ~3 cm right and descending to straddle it.",
        "targets": {
          "left_pitch": 0.0,
          "left_x": 0.4,
          "left_y": -0.19,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VAXxRRgBG7QoYmdBeVKvXs",
      "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]: [-0.6598, 1.8908, 0.7639, 0.4461, -0.5316, -0.3901, 0.9964, 0.6189, 1.1183, 0.823, -0.5419, 0.5522, 0.1928, 0.9969]\nstate[eef_state]: left_x=0.4011 left_y=-0.1933 left_z=0.0273 left_yaw=-0.0195 left_pitch=-0.0042 left_roll=0.0173 left_gripper=0.9964 right_x=0.2994 right_y=0.1039 right_z=0.1719 right_yaw=0.0559 right_pitch=-0.139 right_roll=-0.2581 right_gripper=0.9969\nstate[joint_eff]: [-0.3761, -8.4855, 4.041, 1.6874, -0.4225, 0.0415, -0.0122, 0.1299, -3.7265, 6.7487, 1.6484, 0.359, 0.1148, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8fdc2912f8f0082f4ebb6e0ce7a219451f9ea52af8e8dbd185e8bdfe31cb7a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 319):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e8c739f80724e84bbf0b33cc0cac9215189ecbc429d0e63cec8004b4d104ebea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 319):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a6eb35006dd123ab63b1a6d38a0ae244ade64e9f06a37977e6a292e51902e9a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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