adhoc

completed
2026-09-22T20:21:07.583415+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
217.2 s
total steps
268
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 far-left, blue bowl centre-right, plum, lemon, pear in a row. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward over it.
move_to
right_x0.3500right_y0.0100right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0212, 0.8005, 0.6132, -0.3824, -0.0143, -0.0296, 0.9988, -0.0193, 0.8005, 0.6182, -0.387, -0.017, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.4308, -1.7983, 9.7573, 1.7851, -0.0904, 0.1392, -0.1343, -0.4581, -1.7299, 9.4017, 1.8632, -0.0708, -0.0659, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.01, "right_z": 0.15, "right_gripper": 1}, "note": "Scene: white bowl far-left, blue bowl centre-right, plum, lemon, pear in a row. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward over it."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePear sits slightly left and ahead of the jaws in the right wrist cam; nudging forward 3 cm and left 1 cm before descending.
move_to
right_x0.3750right_y0.0250right_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, 0.8051, 0.6132, -0.3904, -0.0139, -0.0303, 0.9987, 0.0311, 1.0988, 0.5953, -0.1158, 0.0063, -0.0082, 0.9994] state[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3443 right_y=0.0132 right_z=0.1384 right_yaw=0.0285 right_pitch=-0.0501 right_roll=-0.0091 right_gripper=0.9994 state[joint_eff]: [-0.2803, -1.6615, 7.0906, 1.8486, -0.0415, -0.0317, -0.0171, -0.3214, -4.0, 7.0222, 2.1026, 0.1294, 0.1441, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.025, "right_z": 0.14}, "note": "Pear sits slightly left and ahead of the jaws in the right wrist cam; nudging forward 3 cm and left 1 cm before descending."})
tool
executing move_to over 3 steps (0.3s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent notePear is now nearly centred between the jaws in the wrist view; descending to about mid-height of the pear with a small forward nudge.
move_to
right_x0.3850right_y0.0300right_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]: [-0.0219, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0082, 0.9994] state[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0005 left_pitch=-0.0244 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0597 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9994 state[joint_eff]: [-0.253, -1.0462, 7.241, 1.8584, -0.0611, -0.0366, -0.0122, -0.6496, -4.7521, 9.0325, 1.9512, 0.1197, 0.1978, -0.0171] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.385, "right_y": 0.03, "right_z": 0.04}, "note": "Pear is now nearly centred between the jaws in the wrist view; descending to about mid-height of the pear with a small forward nudge."})
tool
executing move_to over 6 steps (0.6s)
step 14
top_cam
camera top_cam step 14
left_cam
camera left_cam step 14
right_cam
camera right_cam step 14
assistant
agent noteThe last descent didn't move the arm (approver clamped it), so I'm descending in a smaller step over the pear.
move_to
right_x0.3800right_y0.0300right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0078, 0.9994] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1749 left_yaw=-0.0005 left_pitch=-0.032 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0595 right_pitch=-0.1189 right_roll=-0.0234 right_gripper=0.9994 state[joint_eff]: [-0.253, -1.306, 7.0085, 1.8144, -0.0562, -0.0464, -0.0122, -0.5265, -4.7111, 9.4291, 1.9756, 0.1099, 0.2173, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 14): [image omitted: streamed camera frame] camera 'left_cam' (step 14): [image omitted: streamed camera frame] camera 'right_cam' (step 14): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.03, "right_z": 0.08}, "note": "The last descent didn't move the arm (approver clamped it), so I'm descending in a smaller step over the pear."})
tool
executing move_to over 3 steps (0.3s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteRight arm has been frozen for two moves with small yaw/pitch drift; sending a full pose with orientation reset to zero to un-stick it.
move_to
right_x0.3700right_y0.0300right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0967, 0.0292, -0.0078, 0.9994] state[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1732 left_yaw=-0.0004 left_pitch=-0.0404 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3628 right_y=0.028 right_z=0.1192 right_yaw=0.0592 right_pitch=-0.1186 right_roll=-0.0237 right_gripper=0.9994 state[joint_eff]: [-0.335, -1.1829, 7.0222, 1.8193, -0.0464, -0.0464, -0.0122, -0.6496, -4.7521, 9.2923, 1.9512, 0.1294, 0.2418, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.03, "right_z": 0.1, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Right arm has been frozen for two moves with small yaw/pitch drift; sending a full pose with orientation reset to zero to un-stick it."})
tool
executing move_to over 4 steps (0.4s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent notePear is centred between the jaws in the right wrist cam; descending to grasp it around its middle.
move_to
right_x0.3700right_y0.0300right_z0.0350right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1162, 1.3037, 0.5106, 0.1841, 0.0776, 0.0376, 0.9994] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=-0.0004 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3657 right_y=0.0325 right_z=0.0935 right_yaw=0.0288 right_pitch=-0.0377 right_roll=-0.0123 right_gripper=0.9994 state[joint_eff]: [-0.3077, -1.5111, 7.0632, 1.7363, -0.0757, -0.0317, -0.0171, -0.0479, -4.588, 5.8188, 2.0879, 0.1734, 0.1978, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.03, "right_z": 0.035, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Pear is centred between the jaws in the right wrist cam; descending to grasp it around its middle."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent notePear is between the jaws near its base; closing the right gripper.
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, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1162, 1.5536, 0.3798, 0.4992, 0.0818, 0.0441, 0.9994] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=-0.0004 left_pitch=-0.0549 left_roll=0.0 left_gripper=0.9987 right_x=0.3567 right_y=0.0307 right_z=0.0196 right_yaw=0.0213 right_pitch=-0.1028 right_roll=-0.0156 right_gripper=0.9994 state[joint_eff]: [-0.2667, -1.5521, 6.9949, 1.7118, -0.0513, -0.0513, -0.0122, 0.1299, -6.5026, 5.1214, 2.1074, 0.1538, 0.0904, -0.0171] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pear is between the jaws near its base; closing the right gripper."})
tool
executing move_to over 10 steps (1.0s)
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 noteEmpty close: the pear sits just ahead of the jaws. Reopening and lifting slightly before advancing.
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]: [-0.0219, 0.8124, 0.6132, -0.4259, -0.0135, -0.0307, 0.9987, 0.1177, 1.586, 0.3595, 0.609, 0.0818, 0.0525, 0.0084] state[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1698 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3628 right_y=0.032 right_z=0.0233 right_yaw=0.0187 right_pitch=-0.0458 right_roll=-0.0033 right_gripper=0.0084 state[joint_eff]: [-0.1436, -1.3607, 7.2274, 1.6728, -0.0366, -0.0415, -0.0122, -0.1573, -6.065, 5.3949, 1.9658, 0.149, 0.0708, 0.6862] approver: 1 step(s) modified (delta_clamped). 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": 1, "right_z": 0.04}, "note": "Empty close: the pear sits just ahead of the jaws. Reopening and lifting slightly before advancing."})
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 noteJaws are open with the pear centred but ahead of the fingertips; advancing ~5 cm so the pear sits between the jaws.
move_to
right_x0.4100right_y0.0300right_z0.0300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4274, -0.0139, -0.0307, 0.9987, 0.1181, 1.5166, 0.3614, 0.4973, 0.0742, 0.0441, 0.9956] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9987 right_x=0.3531 right_y=0.0323 right_z=0.0253 right_yaw=0.0298 right_pitch=-0.0865 right_roll=-0.0093 right_gripper=0.9956 state[joint_eff]: [-0.3214, -1.306, 7.0085, 1.6825, -0.0464, -0.0806, -0.0122, -0.2256, -6.1197, 6.9265, 1.746, 0.0317, 0.0611, -0.0855] approver: 10 step(s) modified (delta_clamped ×10). 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_x": 0.41, "right_y": 0.03, "right_z": 0.03, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Jaws are open with the pear centred but ahead of the fingertips; advancing ~5 cm so the pear sits between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 50
top_cam
camera top_cam step 50
left_cam
camera left_cam step 50
right_cam
camera right_cam step 50
assistant
Pear fills the view between the jaws. Closing.
agent noteThe pear now fills the right wrist view between the jaws, so I'm closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4324, -0.0139, -0.0307, 0.9987, 0.1055, 1.7233, 0.4866, 0.5838, 0.0734, 0.0414, 0.9965] state[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1678 left_yaw=-0.0004 left_pitch=-0.0641 left_roll=0.0002 left_gripper=0.9987 right_x=0.3917 right_y=0.032 right_z=0.0117 right_yaw=0.0193 right_pitch=-0.0816 right_roll=-0.0106 right_gripper=0.9965 state[joint_eff]: [-0.2256, -1.347, 6.9949, 1.7167, -0.0562, -0.0415, -0.0171, -0.7043, -6.6256, 5.9556, 2.0586, 0.0952, 0.0855, 0.0806] camera 'top_cam' (step 50): [image omitted: streamed camera frame] camera 'left_cam' (step 50): [image omitted: streamed camera frame] camera 'right_cam' (step 50): [image omitted: streamed camera frame]
assistant
Pear fills the view between the jaws. Closing.
move_to({"targets": {"right_gripper": 0}, "note": "The pear now fills the right wrist view between the jaws, so I'm closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
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 noteGripper settled at 0.70, so the pear is held (about 6.7 cm wide). Lifting it clear before carrying it to the blue bowl.
move_to
right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4343, -0.0135, -0.0307, 0.9987, 0.1066, 1.7355, 0.4934, 0.6014, 0.0738, 0.0406, 0.7034] state[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1674 left_yaw=-0.0007 left_pitch=-0.066 left_roll=0.0 left_gripper=0.9987 right_x=0.3955 right_y=0.0328 right_z=0.0129 right_yaw=0.0206 right_pitch=-0.0694 right_roll=-0.0103 right_gripper=0.7034 state[joint_eff]: [-0.335, -1.3607, 6.9812, 1.6728, -0.0171, -0.0513, -0.0122, -0.1436, -7.7333, 3.9726, 1.5067, -0.0122, -0.0611, 1.0183] approver: 1 step(s) modified (delta_clamped). 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_z": 0.2, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Gripper settled at 0.70, so the pear is held (about 6.7 cm wide). Lifting it clear before carrying it to the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent notePear is lifted; the blue bowl is ahead-left of it in the overhead view, so I'm carrying the pear over the bowl.
move_to
right_x0.4500right_y0.1400right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4458, -0.0139, -0.0307, 0.9987, 0.1162, 1.2892, 0.8509, -0.1963, 0.0765, 0.0406, 0.7074] state[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0004 left_pitch=-0.082 left_roll=0.0006 left_gripper=0.9987 right_x=0.3909 right_y=0.0356 right_z=0.1701 right_yaw=0.028 right_pitch=-0.0632 right_roll=-0.0114 right_gripper=0.7074 state[joint_eff]: [-0.3624, -1.5521, 6.9538, 1.7998, -0.0464, -0.0464, -0.0122, -0.2393, -6.8171, 9.6889, 2.0098, 0.2369, 0.1294, 0.6862] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.14, "right_z": 0.2, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Pear is lifted; the blue bowl is ahead-left of it in the overhead view, so I'm carrying the pear over the bowl."})
tool
executing move_to over 9 steps (0.9s)
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 noteFrom overhead, the pear is right above the blue bowl, so I'm lowering it into the bowl.
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]: [-0.0219, 0.8234, 0.6132, -0.4522, -0.0139, -0.0307, 0.9987, 0.4187, 1.5875, 1.1423, -0.2592, 0.3038, 0.1917, 0.7087] state[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1616 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9987 right_x=0.4342 right_y=0.1393 right_z=0.1702 right_yaw=0.0576 right_pitch=-0.0974 right_roll=-0.0441 right_gripper=0.7087 state[joint_eff]: [-0.1983, -1.6889, 7.0085, 1.7118, -0.0415, -0.0415, -0.0122, -0.3214, -8.3077, 9.6342, 2.1123, 0.3346, 0.2125, 0.7839] 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_z": 0.09}, "note": "From overhead, the pear is right above the blue bowl, so I'm lowering it into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 88
top_cam
camera top_cam step 88
left_cam
camera left_cam step 88
right_cam
camera right_cam step 88
assistant
agent noteThe pear is sitting inside the blue bowl in the wrist view, so I'm opening to release it.
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, 0.8249, 0.6128, -0.4656, -0.0139, -0.0307, 0.9987, 0.4206, 1.6981, 0.9321, -0.038, 0.2985, 0.1978, 0.7121] state[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1585 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9987 right_x=0.4192 right_y=0.1345 right_z=0.0754 right_yaw=0.0554 right_pitch=-0.1916 right_roll=-0.0717 right_gripper=0.7121 state[joint_eff]: [-0.1983, -1.4564, 6.9675, 1.8291, -0.0415, -0.0415, -0.0171, -0.1709, -7.8017, 6.4752, 2.1221, 0.1783, -0.1197, 0.6716] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 88): [image omitted: streamed camera frame] camera 'left_cam' (step 88): [image omitted: streamed camera frame] camera 'right_cam' (step 88): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The pear is sitting inside the blue bowl in the wrist view, so I'm opening to release it."})
tool
executing move_to over 3 steps (0.3s)
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 noteThe pear is in the blue bowl. Now I'm moving the right arm over the lemon, which sits back and to the left of the bowl.
move_to
right_x0.3300right_y0.2100right_z0.1300right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.469, -0.0135, -0.0307, 0.9987, 0.4206, 1.7115, 0.9203, -0.0238, 0.2916, 0.1917, 0.9954] state[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.158 left_yaw=-0.0007 left_pitch=-0.111 left_roll=0.001 left_gripper=0.9987 right_x=0.4174 right_y=0.135 right_z=0.0673 right_yaw=0.0637 right_pitch=-0.204 right_roll=-0.0755 right_gripper=0.9954 state[joint_eff]: [-0.294, -1.2786, 7.0496, 1.663, -0.0366, -0.0513, -0.0171, -0.0342, -8.9915, 7.0632, 1.5751, 0.1587, 0.0659, -0.0073] 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": 0.33, "right_y": 0.21, "right_z": 0.13, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The pear is in the blue bowl. Now I'm moving the right arm over the lemon, which sits back and to the left of the 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 noteThe lemon shows up left of and ahead of the jaws in the right wrist cam, so I'm shifting about 4 cm left and 3 cm forward over it.
move_to
right_x0.3600right_y0.2500right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8307, 0.6128, -0.4759, -0.0135, -0.0311, 0.9987, 0.8196, 1.5024, 0.8249, -0.0898, 0.5964, 0.4698, 0.9965] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.124 left_roll=0.001 left_gripper=0.9987 right_x=0.3335 right_y=0.217 right_z=0.1186 right_yaw=0.0761 right_pitch=-0.0427 right_roll=-0.0207 right_gripper=0.9965 state[joint_eff]: [-0.1846, -1.2923, 7.1863, 1.7509, -0.0171, -0.0611, -0.0122, 0.0205, -7.5282, 6.5846, 1.4383, 0.3248, 0.1685, 0.0904] 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_x": 0.36, "right_y": 0.25, "right_z": 0.1, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The lemon shows up left of and ahead of the jaws in the right wrist cam, so I'm shifting about 4 cm left and 3 cm forward over it."})
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 noteThe lemon is almost on the jaw column and a few cm ahead. Going down to table level and a little forward to straddle it.
move_to
right_x0.3900right_y0.2550right_z0.0200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0216, 0.8349, 0.6128, -0.4789, -0.0135, -0.0307, 0.9987, 0.8528, 1.7081, 0.9199, -0.0486, 0.6609, 0.5297, 0.9965] state[eef_state]: left_x=0.2837 left_y=-0.0001 left_z=0.1533 left_yaw=-0.0002 left_pitch=-0.1312 left_roll=0.0014 left_gripper=0.9987 right_x=0.3499 right_y=0.2412 right_z=0.0867 right_yaw=0.028 right_pitch=-0.0579 right_roll=-0.0538 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.1419, 6.9265, 1.7118, -0.0317, -0.0366, -0.0171, 0.2256, -10.2632, 7.8427, 1.5214, 0.4567, 0.1392, -0.0024] 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_x": 0.39, "right_y": 0.255, "right_z": 0.02, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The lemon is almost on the jaw column and a few cm ahead. Going down to table level and a little forward to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe last descent barely moved, so I'm stepping down in a smaller increment toward the lemon.
move_to
right_x0.3700right_y0.2500right_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4839, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5358, 0.9965] state[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1354 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0264 right_pitch=-0.0587 right_roll=-0.0511 right_gripper=0.9965 state[joint_eff]: [-0.0889, -1.1282, 6.9128, 1.6337, -0.022, -0.0464, -0.0122, -0.0479, -9.4838, 7.6923, 1.6142, 0.4908, 0.1929, -0.0073] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.05}, "note": "The last descent barely moved, so I'm stepping down in a smaller increment toward the lemon."})
tool
executing move_to over 2 steps (0.2s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe right arm is stuck at z≈0.08 again. I'm resending the descent with an explicit orientation, which un-stuck it last time.
move_to
right_x0.3700right_y0.2500right_z0.0400right_yaw0.0000right_pitch0.0500right_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]: [-0.0219, 0.8341, 0.6128, -0.4843, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5354, 0.9965] state[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0006 left_pitch=-0.1358 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0267 right_pitch=-0.0587 right_roll=-0.0514 right_gripper=0.9965 state[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.619, -0.0122, -0.0562, -0.0122, 0.0342, -9.6068, 7.6923, 1.6142, 0.4957, 0.188, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.04, "right_yaw": 0, "right_pitch": 0.05, "right_roll": 0}, "note": "The right arm is stuck at z\u22480.08 again. I'm resending the descent with an explicit orientation, which un-stuck it last time."})
tool
executing move_to over 4 steps (0.4s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe right arm won't descend from this pose. I'm backing up and raising a little to see if it responds at all.
move_to
right_x0.3400right_y0.2400right_z0.1200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4881, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0231, 0.6617, 0.5358, 0.9965] state[eef_state]: left_x=0.2822 left_y=-0.0002 left_z=0.1518 left_yaw=-0.0006 left_pitch=-0.1396 left_roll=0.0016 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.079 right_yaw=0.0267 right_pitch=-0.0592 right_roll=-0.0512 right_gripper=0.9965 state[joint_eff]: [-0.0068, -1.4017, 6.9128, 1.6337, -0.0317, -0.0562, -0.0122, 0.1162, -9.5795, 7.747, 1.6728, 0.486, 0.1587, -0.0122] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.34, "right_y": 0.24, "right_z": 0.12, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The right arm won't descend from this pose. I'm backing up and raising a little to see if it responds at all."})
tool
executing move_to over 3 steps (0.3s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe arm does respond when raised. Trying the descent onto the lemon again from here, going forward and down together.
move_to
right_x0.3700right_y0.2500right_z0.0200right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8345, 0.6128, -0.4915, -0.0139, -0.0307, 0.9987, 0.8764, 1.6657, 0.9092, -0.0734, 0.6792, 0.5529, 0.9965] state[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.151 left_yaw=-0.0002 left_pitch=-0.1434 left_roll=0.0019 left_gripper=0.9987 right_x=0.3414 right_y=0.2421 right_z=0.0973 right_yaw=0.0266 right_pitch=-0.0427 right_roll=-0.0388 right_gripper=0.9965 state[joint_eff]: [0.1846, -0.9778, 6.8991, 1.6532, -0.0366, -0.0415, -0.0122, 0.5538, -9.5521, 7.0222, 1.5165, 0.4713, 0.2076, -0.0073] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.25, "right_z": 0.02, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The arm does respond when raised. Trying the descent onto the lemon again from here, going forward and down together."})
tool
executing move_to over 5 steps (0.5s)
step 120
top_cam
camera top_cam step 120
left_cam
camera left_cam step 120
right_cam
camera right_cam step 120
assistant
agent noteI'm at table level and the lemon is right in front of the open jaws, a bit to the left. Pushing forward about 4 cm to straddle it.
move_to
right_x0.4000right_y0.2500right_z0.0150right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8368, 0.6128, -0.4927, -0.0139, -0.0307, 0.9987, 0.8364, 1.9499, 0.8467, 0.2272, 0.6685, 0.5392, 0.9965] state[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0002 left_pitch=-0.1468 left_roll=0.002 left_gripper=0.9987 right_x=0.3569 right_y=0.2373 right_z=0.0054 right_yaw=-0.0008 right_pitch=-0.0798 right_roll=-0.0791 right_gripper=0.9965 state[joint_eff]: [-0.253, -1.6342, 6.9128, 1.6581, -0.0464, -0.0269, -0.0122, -0.1026, -9.5932, 5.1624, 1.5897, 0.2271, -0.0757, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 120): [image omitted: streamed camera frame] camera 'left_cam' (step 120): [image omitted: streamed camera frame] camera 'right_cam' (step 120): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.25, "right_z": 0.015, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "I'm at table level and the lemon is right in front of the open jaws, a bit to the left. Pushing forward about 4 cm to straddle it."})
tool
executing move_to over 4 steps (0.4s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe lemon now sits between the jaws, so I'm closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.778, 2.0224, 0.9035, 0.3302, 0.6308, 0.4942, 0.9965] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3884 right_y=0.2415 right_z=0.0046 right_yaw=-0.0045 right_pitch=-0.0411 right_roll=-0.0329 right_gripper=0.9965 state[joint_eff]: [-0.3487, -1.4564, 7.1179, 1.5897, -0.0513, -0.0513, -0.0122, -0.2803, -9.388, 6.5846, 1.6825, 0.1587, -0.0757, -0.0073] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The lemon now sits between the jaws, so I'm closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteGripper settled at 0.61, so the lemon is held. Lifting it straight up to clear the bowl rim.
move_to
right_x0.3900right_y0.2400right_z0.2000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, 0.7719, 2.03, 0.9127, 0.3481, 0.6231, 0.4786, 0.6087] state[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1498 left_yaw=-0.0006 left_pitch=-0.1488 left_roll=0.0018 left_gripper=0.9987 right_x=0.3931 right_y=0.2438 right_z=0.0063 right_yaw=0.0039 right_pitch=-0.0312 right_roll=-0.0283 right_gripper=0.6087 state[joint_eff]: [-0.212, -1.3607, 6.8991, 1.6044, -0.0366, -0.0562, -0.0122, 0.0068, -9.265, 6.3521, 1.6923, 0.2076, 0.0171, 0.9646] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.39, "right_y": 0.24, "right_z": 0.2, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "Gripper settled at 0.61, so the lemon is held. Lifting it straight up to clear the bowl rim."})
tool
executing move_to over 13 steps (1.3s)
step 147
top_cam
camera top_cam step 147
left_cam
camera left_cam step 147
right_cam
camera right_cam step 147
assistant
agent noteThe lemon is lifted and the blue bowl with the pear is visible ahead-right, so I'm carrying the lemon over the bowl.
move_to
right_x0.4400right_y0.1500right_z0.1800right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.7746, 1.676, 1.224, -0.3138, 0.6125, 0.4774, 0.6116] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3895 right_y=0.2441 right_z=0.1729 right_yaw=0.0151 right_pitch=-0.0339 right_roll=-0.0215 right_gripper=0.6116 state[joint_eff]: [-0.1983, -1.4291, 6.9402, 1.5751, -0.0806, -0.0464, -0.0171, -0.4855, -10.7556, 8.6632, 1.5946, 0.3834, -0.0122, 0.6276] approver: 6 step(s) modified (delta_clamped ×6). camera 'top_cam' (step 147): [image omitted: streamed camera frame] camera 'left_cam' (step 147): [image omitted: streamed camera frame] camera 'right_cam' (step 147): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.15, "right_z": 0.18, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "The lemon is lifted and the blue bowl with the pear is visible ahead-right, so I'm carrying the lemon over the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 155
assistant
Over the bowl. Lower a bit and release.
agent noteFrom overhead the lemon is above the blue bowl. Lowering it toward the bowl before I let go.
move_to
right_z0.1100right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4828, 1.6264, 1.1149, -0.2016, 0.4099, 0.2806, 0.6108] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.4325 right_y=0.1513 right_z=0.1563 right_yaw=-0.0127 right_pitch=-0.0748 right_roll=-0.0401 right_gripper=0.6108 state[joint_eff]: [0.0068, -1.4017, 7.1453, 1.619, -0.0464, -0.0415, -0.0171, -0.1846, -10.7829, 6.5573, 1.9658, 0.1441, 0.0708, 0.3639] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
Over the bowl. Lower a bit and release.
move_to({"targets": {"right_z": 0.11, "right_yaw": 0, "right_pitch": 0, "right_roll": 0}, "note": "From overhead the lemon is above the blue bowl. Lowering it toward the bowl before I let go."})
tool
executing move_to over 3 steps (0.3s)
step 158
assistant
agent noteThe lemon is sitting over the blue bowl's opening, so I'm releasing it.
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, 0.8379, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6596, 0.9237, 0.0238, 0.3885, 0.2611, 0.6121] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=-0.0002 left_pitch=-0.1495 left_roll=0.0021 left_gripper=0.9987 right_x=0.4221 right_y=0.1463 right_z=0.1025 right_yaw=0.0081 right_pitch=-0.0807 right_roll=-0.0427 right_gripper=0.6121 state[joint_eff]: [0.0068, -0.9504, 6.9402, 1.5751, -0.0366, -0.0073, -0.0171, 0.1436, -8.212, 8.0342, 2.1856, 0.2564, 0.0317, 0.7204] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The lemon is sitting over the blue bowl's opening, so I'm releasing it."})
tool
executing move_to over 4 steps (0.4s)
step 162
assistant
agent noteBoth the pear and the lemon look to be in the blue bowl. The plum is to the right of the left gripper in its wrist cam, so I'm moving the left arm over it.
move_to
left_x0.3300left_y-0.0900left_z0.1000left_yaw0.0000left_pitch0.0000left_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]: [-0.0219, 0.8398, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6905, 0.9001, 0.0315, 0.3874, 0.2539, 0.9958] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1491 left_yaw=-0.0002 left_pitch=-0.1514 left_roll=0.0021 left_gripper=0.9987 right_x=0.4166 right_y=0.1437 right_z=0.0816 right_yaw=0.0108 right_pitch=-0.1231 right_roll=-0.0689 right_gripper=0.9958 state[joint_eff]: [-0.294, -1.6068, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.1299, -10.3316, 8.0752, 1.5556, 0.1148, 0.0464, -0.1685] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 162): [image omitted: streamed camera frame] camera 'left_cam' (step 162): [image omitted: streamed camera frame] camera 'right_cam' (step 162): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.33, "left_y": -0.09, "left_z": 0.1, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Both the pear and the lemon look to be in the blue bowl. The plum is to the right of the left gripper in its wrist cam, so I'm moving the left arm over it."})
tool
executing move_to over 8 steps (0.8s)
step 170
assistant
agent noteThe plum is to the right of and ahead of the left jaws. Shifting right and forward while I go down to table level to straddle it.
move_to
left_x0.3700left_y-0.1250left_z0.0200left_yaw0.0000left_pitch0.0000left_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]: [-0.4583, 1.1816, 0.4622, 0.0006, -0.3355, -0.2638, 0.9987, 0.4759, 1.6909, 0.8989, 0.0242, 0.387, 0.2527, 0.9965] state[eef_state]: left_x=0.3161 left_y=-0.0871 left_z=0.0841 left_yaw=-0.0404 left_pitch=-0.1016 left_roll=0.0297 left_gripper=0.9987 right_x=0.4152 right_y=0.143 right_z=0.0797 right_yaw=0.0113 right_pitch=-0.1311 right_roll=-0.0735 right_gripper=0.9965 state[joint_eff]: [-0.0889, -4.3556, 6.0376, 1.8193, -0.4469, -0.149, -0.0171, -0.0889, -7.9521, 6.2154, 1.5653, 0.1245, -0.022, 0.0611] camera 'top_cam' (step 170): [image omitted: streamed camera frame] camera 'left_cam' (step 170): [image omitted: streamed camera frame] camera 'right_cam' (step 170): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.37, "left_y": -0.125, "left_z": 0.02, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The plum is to the right of and ahead of the left jaws. Shifting right and forward while I go down to table level to straddle it."})
tool
executing move_to over 5 steps (0.5s)
step 175
assistant
agent noteThe plum is close but off to the right edge of the left jaws. Shifting about 3 cm right and a little forward to centre it.
move_to
left_x0.3800left_y-0.1500left_z0.0100left_yaw0.0000left_pitch0.0000left_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]: [-0.5194, 1.7035, 0.4606, 0.4911, -0.4152, -0.3214, 0.9982, 0.4759, 1.692, 0.8982, 0.02, 0.3866, 0.2527, 0.9965] state[eef_state]: left_x=0.3497 left_y=-0.1137 left_z=0.003 left_yaw=-0.0045 left_pitch=-0.1058 left_roll=0.0472 left_gripper=0.9982 right_x=0.4144 right_y=0.1427 right_z=0.0783 right_yaw=0.0112 right_pitch=-0.1367 right_roll=-0.076 right_gripper=0.9965 state[joint_eff]: [-0.5128, -6.106, 4.8752, 1.3455, -0.2466, 0.0171, -0.0757, -0.1436, -7.7744, 6.1607, 1.536, 0.1099, -0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.15, "left_z": 0.01, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The plum is close but off to the right edge of the left jaws. Shifting about 3 cm right and a little forward to centre it."})
tool
executing move_to over 4 steps (0.4s)
step 179
assistant
agent noteThe arm fell short and the plum is still at the right edge of the jaws. Aiming further right and forward to make up the shortfall.
move_to
left_x0.4000left_y-0.1800left_z0.0100left_yaw0.0000left_pitch0.0000left_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]: [-0.54, 1.747, 0.4728, 0.5709, -0.4339, -0.3233, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9965] state[eef_state]: left_x=0.3583 left_y=-0.124 left_z=0.0063 left_yaw=-0.0112 left_pitch=-0.0576 left_roll=0.0323 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9965 state[joint_eff]: [-0.1299, -6.2701, 4.0957, 1.5849, -0.2711, -0.1392, -0.0171, -0.2393, -7.9111, 6.0786, 1.5214, 0.0806, -0.0317, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 179): [image omitted: streamed camera frame] camera 'left_cam' (step 179): [image omitted: streamed camera frame] camera 'right_cam' (step 179): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.4, "left_y": -0.18, "left_z": 0.01, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The arm fell short and the plum is still at the right edge of the jaws. Aiming further right and forward to make up the shortfall."})
tool
executing move_to over 5 steps (0.5s)
step 184
assistant
agent noteThe left arm is stuck at table contact. Lifting while I shift right over the plum.
move_to
left_x0.3800left_y-0.1600left_z0.0700left_yaw0.0000left_pitch0.0000left_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]: [-0.54, 1.747, 0.4728, 0.5652, -0.4339, -0.3229, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9966] state[eef_state]: left_x=0.3576 left_y=-0.1236 left_z=0.0053 left_yaw=-0.0112 left_pitch=-0.0625 left_roll=0.0355 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9966 state[joint_eff]: [-0.0889, -6.2974, 4.0957, 1.6288, -0.3199, -0.1197, -0.0073, -0.0479, -7.9795, 6.0786, 1.4774, 0.0757, -0.0366, -0.0073] camera 'top_cam' (step 184): [image omitted: streamed camera frame] camera 'left_cam' (step 184): [image omitted: streamed camera frame] camera 'right_cam' (step 184): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.16, "left_z": 0.07, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The left arm is stuck at table contact. Lifting while I shift right over the plum."})
tool
executing move_to over 5 steps (0.5s)
step 189
assistant
agent noteThe plum is now centred between the left jaws, so I'm descending straight onto it.
move_to
left_x0.3900left_y-0.1600left_z0.0050left_yaw0.0000left_pitch0.0000left_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]: [-0.6083, 1.6711, 0.6292, 0.3794, -0.4763, -0.3679, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2523, 0.9965] state[eef_state]: left_x=0.3774 left_y=-0.1598 left_z=0.0539 left_yaw=-0.0225 left_pitch=-0.0086 left_roll=-0.0034 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.0112 right_pitch=-0.1391 right_roll=-0.0775 right_gripper=0.9965 state[joint_eff]: [0.1299, -7.8017, 5.5863, 1.2967, -0.3492, -0.0269, -0.0171, -0.1983, -7.9795, 6.147, 1.4774, 0.1343, -0.0708, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.39, "left_y": -0.16, "left_z": 0.005, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The plum is now centred between the left jaws, so I'm descending straight onto it."})
tool
executing move_to over 4 steps (0.4s)
step 193
assistant
agent noteThe plum fills the view but still sits ahead of the fingertips, so I'm advancing about 2 cm before closing.
move_to
left_x0.4100left_y-0.1600left_z0.0100left_yaw0.0000left_pitch0.0000left_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]: [-0.6018, 1.8786, 0.6186, 0.5575, -0.4866, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0139, 0.3866, 0.2527, 0.9965] state[eef_state]: left_x=0.3825 left_y=-0.1581 left_z=0.0027 left_yaw=0.0009 left_pitch=-0.0382 left_roll=0.0118 left_gripper=0.998 right_x=0.4135 right_y=0.1422 right_z=0.0771 right_yaw=0.0108 right_pitch=-0.1425 right_roll=-0.079 right_gripper=0.9965 state[joint_eff]: [0.5402, -6.5299, 4.9162, 1.2723, -0.1538, 0.1294, -0.022, -0.0342, -7.788, 6.3248, 1.5458, 0.1001, -0.0073, -0.0073] camera 'top_cam' (step 193): [image omitted: streamed camera frame] camera 'left_cam' (step 193): [image omitted: streamed camera frame] camera 'right_cam' (step 193): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.41, "left_y": -0.16, "left_z": 0.01, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The plum fills the view but still sits ahead of the fingertips, so I'm advancing about 2 cm before closing."})
tool
executing move_to over 3 steps (0.3s)
step 196
assistant
agent noteThe plum is right between the left fingertips (slightly right of centre), so I'm closing on it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5911, 1.8965, 0.627, 0.5831, -0.4858, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0135, 0.387, 0.2523, 0.9965] state[eef_state]: left_x=0.3881 left_y=-0.1568 left_z=0.0027 left_yaw=0.0106 left_pitch=-0.0253 left_roll=0.0023 left_gripper=0.998 right_x=0.4134 right_y=0.1421 right_z=0.077 right_yaw=0.0107 right_pitch=-0.1427 right_roll=-0.0797 right_gripper=0.9965 state[joint_eff]: [0.5128, -8.0752, 6.1333, 1.4628, -0.1294, 0.1197, -0.0122, 0.0889, -7.8838, 6.2838, 1.4921, 0.1441, -0.0562, -0.0073] 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_gripper": 0}, "note": "The plum is right between the left fingertips (slightly right of centre), so I'm closing on it."})
tool
executing move_to over 10 steps (1.0s)
step 206
assistant
agent noteEmpty close: the jaws shut just short of the plum. Reopening and advancing about 3 cm so it sits between the fingertips.
move_to
left_gripper1.0000left_x0.4250left_y-0.1550left_z0.0100left_yaw0.0000left_pitch0.0000left_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]: [-0.5915, 1.8965, 0.6281, 0.5812, -0.4862, -0.3866, 0.0078, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2523, 0.9965] state[eef_state]: left_x=0.3881 left_y=-0.157 left_z=0.0027 left_yaw=0.0124 left_pitch=-0.0258 left_roll=0.0001 left_gripper=0.0078 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.011 right_pitch=-0.1429 right_roll=-0.0794 right_gripper=0.9965 state[joint_eff]: [-0.1573, -8.0205, 4.3419, 1.5946, -0.149, 0.0513, 0.5788, -0.1162, -7.9385, 6.0923, 1.4823, 0.0855, -0.0611, -0.0073] camera 'top_cam' (step 206): [image omitted: streamed camera frame] camera 'left_cam' (step 206): [image omitted: streamed camera frame] camera 'right_cam' (step 206): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_x": 0.425, "left_y": -0.155, "left_z": 0.01, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "Empty close: the jaws shut just short of the plum. Reopening and advancing about 3 cm so it sits between the fingertips."})
tool
executing move_to over 10 steps (1.0s)
step 216
assistant
The plum now sits between the jaws. Closing.
agent noteThe plum is now between the open left jaws, so I'm closing to grasp it.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.527, 1.9469, 0.7136, 0.58, -0.4477, -0.3401, 0.995, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2527, 0.9966] state[eef_state]: left_x=0.4179 left_y=-0.1506 left_z=0.007 left_yaw=0.0209 left_pitch=-0.0102 left_roll=0.0002 left_gripper=0.995 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0108 right_pitch=-0.1429 right_roll=-0.0792 right_gripper=0.9966 state[joint_eff]: [0.4991, -7.1863, 6.4889, 1.7021, -0.0317, 0.1685, -0.0806, -0.0615, -7.8017, 6.1197, 1.5214, 0.1197, -0.0415, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 216): [image omitted: streamed camera frame] camera 'left_cam' (step 216): [image omitted: streamed camera frame] camera 'right_cam' (step 216): [image omitted: streamed camera frame]
assistant
The plum now sits between the jaws. Closing.
move_to({"targets": {"left_gripper": 0}, "note": "The plum is now between the open left jaws, so I'm closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 226
assistant
agent noteThe left gripper settled at 0.47, so the plum is held. Lifting it, and moving the right arm back out of the way of the blue bowl.
move_to
left_z0.2000left_x0.4000left_y-0.1500left_yaw0.0000left_pitch0.0000left_roll0.0000right_x0.3000right_y0.0500right_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]: [-0.5259, 1.9469, 0.7155, 0.5724, -0.4492, -0.3454, 0.4747, 0.4759, 1.6924, 0.8982, 0.0132, 0.3866, 0.2523, 0.9966] state[eef_state]: left_x=0.4178 left_y=-0.1496 left_z=0.0063 left_yaw=0.0262 left_pitch=-0.0146 left_roll=-0.0004 left_gripper=0.4747 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0109 right_pitch=-0.1432 right_roll=-0.0796 right_gripper=0.9966 state[joint_eff]: [-0.294, -8.4991, 4.3556, 1.7558, -0.1832, 0.0024, 0.9451, -0.1299, -7.9521, 6.0923, 1.4823, 0.0806, -0.0659, -0.0171] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 226): [image omitted: streamed camera frame] camera 'left_cam' (step 226): [image omitted: streamed camera frame] camera 'right_cam' (step 226): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.2, "left_x": 0.4, "left_y": -0.15, "left_yaw": 0, "left_pitch": 0, "left_roll": 0, "right_x": 0.3, "right_y": 0.05, "right_z": 0.18}, "note": "The left gripper settled at 0.47, so the plum is held. Lifting it, and moving the right arm back out of the way of the blue bowl."})
tool
executing move_to over 13 steps (1.3s)
step 239
assistant
agent noteThe plum is lifted. The overhead view shows the blue bowl holding only the pear; the lemon ended up on the table by the right arm. I'm carrying the plum over the blue bowl.
move_to
left_x0.4500left_y-0.3900left_z0.1600left_yaw0.0000left_pitch0.0000left_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]: [-0.543, 1.4788, 1.0092, -0.2008, -0.4492, -0.3481, 0.4781, 0.3119, 1.0004, 0.7677, -0.4923, 0.281, 0.1448, 0.9966] state[eef_state]: left_x=0.402 left_y=-0.1488 left_z=0.1753 left_yaw=0.0106 left_pitch=-0.0243 left_roll=0.0034 left_gripper=0.4781 right_x=0.3083 right_y=0.0517 right_z=0.1772 right_yaw=-0.0057 right_pitch=-0.1233 right_roll=-0.0735 right_gripper=0.9966 state[joint_eff]: [-0.6906, -9.1692, 9.4154, 1.5849, -0.2125, 0.0904, 0.3443, -0.1983, -2.6735, 8.0479, 1.79, -0.0562, -0.1099, -0.0171] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 239): [image omitted: streamed camera frame] camera 'left_cam' (step 239): [image omitted: streamed camera frame] camera 'right_cam' (step 239): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.45, "left_y": -0.39, "left_z": 0.16, "left_yaw": 0, "left_pitch": 0, "left_roll": 0}, "note": "The plum is lifted. The overhead view shows the blue bowl holding only the pear; the lemon ended up on the table by the right arm. I'm carrying the plum over the blue bowl."})
tool
executing move_to over 22 steps (2.2s)
step 261
assistant
agent noteThe left wrist cam shows the blue bowl, with the pear in it, just under the held plum. I'm releasing the plum into the bowl.
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]: [-0.9085, 2.2719, 1.9602, -0.5175, -0.709, -0.6315, 0.481, 0.3099, 1.0058, 0.7677, -0.5205, 0.268, 0.1303, 0.9965] state[eef_state]: left_x=0.4501 left_y=-0.3843 left_z=0.1453 left_yaw=-0.0042 left_pitch=-0.0243 left_roll=0.0057 left_gripper=0.481 right_x=0.3041 right_y=0.052 right_z=0.1703 right_yaw=0.0095 right_pitch=-0.1586 right_roll=-0.0865 right_gripper=0.9965 state[joint_eff]: [-0.9231, -14.0376, 8.8137, 1.2088, -0.5201, -0.0366, 0.2857, -0.2256, -3.0701, 7.0359, 1.8388, 0.1929, 0.1001, -0.0171] camera 'top_cam' (step 261): [image omitted: streamed camera frame] camera 'left_cam' (step 261): [image omitted: streamed camera frame] camera 'right_cam' (step 261): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1}, "note": "The left wrist cam shows the blue bowl, with the pear in it, just under the held plum. I'm releasing the plum into the bowl."})
tool
executing move_to over 6 steps (0.6s)
step 267
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]: [-0.91, 2.2898, 1.9629, -0.535, -0.7094, -0.6373, 0.9954, 0.3099, 1.0061, 0.7677, -0.522, 0.2676, 0.1299, 0.9966] state[eef_state]: left_x=0.4485 left_y=-0.3836 left_z=0.134 left_yaw=-0.0015 left_pitch=-0.0443 left_roll=0.027 left_gripper=0.9954 right_x=0.3039 right_y=0.052 right_z=0.1699 right_yaw=0.01 right_pitch=-0.1605 right_roll=-0.0871 right_gripper=0.9966 state[joint_eff]: [0.1299, -14.735, 6.4752, 1.4872, -0.2808, 0.0122, -0.105, -0.1846, -2.6188, 7.0359, 1.5311, 0.0659, -0.0464, -0.0122] camera 'top_cam' (step 267): [image omitted: streamed camera frame] camera 'left_cam' (step 267): [image omitted: streamed camera frame] camera 'right_cam' (step 267): [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 · 16.08 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]: [-0.0212, 0.8005, 0.6132, -0.3824, -0.0143, -0.0296, 0.9988, -0.0193, 0.8005, 0.6182, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7983, 9.7573, 1.7851, -0.0904, 0.1392, -0.1343, -0.4581, -1.7299, 9.4017, 1.8632, -0.0708, -0.0659, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b115c38c65b5b7b01052e68a69230169f7e19800a1f41d0616f830564b18ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407211b575fe54a1eb893c1a9a3e2aafd0a79a1dfc492ab503f2c7cc45fd8320",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
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      "source": {
        "data": "$blob:9903ecdb45d07afbf38e868a5414e5977d606ba73a2b6c4335c71519532bbde6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
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call 1 attempt 0 · /messages · status 200 · 5.508 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]: [-0.0212, 0.8005, 0.6132, -0.3824, -0.0143, -0.0296, 0.9988, -0.0193, 0.8005, 0.6182, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7983, 9.7573, 1.7851, -0.0904, 0.1392, -0.1343, -0.4581, -1.7299, 9.4017, 1.8632, -0.0708, -0.0659, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c8b115c38c65b5b7b01052e68a69230169f7e19800a1f41d0616f830564b18ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:407211b575fe54a1eb893c1a9a3e2aafd0a79a1dfc492ab503f2c7cc45fd8320",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
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        "data": "$blob:9903ecdb45d07afbf38e868a5414e5977d606ba73a2b6c4335c71519532bbde6",
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011eGvH3F44jhhpXFbE9f7yP",
      "input": {
        "note": "Scene: white bowl far-left, blue bowl centre-right, plum, lemon, pear in a row. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward over it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.35,
          "right_y": 0.01,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011eGvH3F44jhhpXFbE9f7yP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3904, -0.0139, -0.0303, 0.9987, 0.0311, 1.0988, 0.5953, -0.1158, 0.0063, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3443 right_y=0.0132 right_z=0.1384 right_yaw=0.0285 right_pitch=-0.0501 right_roll=-0.0091 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 7.0906, 1.8486, -0.0415, -0.0317, -0.0171, -0.3214, -4.0, 7.0222, 2.1026, 0.1294, 0.1441, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2f4a845429574a52ae9315ecd173addd0bc9db552c183753ffcadccbd7eedf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e46de3f69e4c1df0240f05e4364056ba34f78c6bdd0606c41e8f6c66a68c09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1f348b2de3b8e571c7f10da7607a3dedd741b473f937259a8729ef763002c0fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.251 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]: [-0.0212, 0.8005, 0.6132, -0.3824, -0.0143, -0.0296, 0.9988, -0.0193, 0.8005, 0.6182, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7983, 9.7573, 1.7851, -0.0904, 0.1392, -0.1343, -0.4581, -1.7299, 9.4017, 1.8632, -0.0708, -0.0659, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3904, -0.0139, -0.0303, 0.9987, 0.0311, 1.0988, 0.5953, -0.1158, 0.0063, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3443 right_y=0.0132 right_z=0.1384 right_yaw=0.0285 right_pitch=-0.0501 right_roll=-0.0091 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 7.0906, 1.8486, -0.0415, -0.0317, -0.0171, -0.3214, -4.0, 7.0222, 2.1026, 0.1294, 0.1441, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a2f4a845429574a52ae9315ecd173addd0bc9db552c183753ffcadccbd7eedf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71e46de3f69e4c1df0240f05e4364056ba34f78c6bdd0606c41e8f6c66a68c09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1f348b2de3b8e571c7f10da7607a3dedd741b473f937259a8729ef763002c0fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmwoKEAgSGAI4AUIIdGhpbmtpbmcSDFasBNIUZOF0ipefERoMELLR5XOKNL9lObH1IjDXcdN76Q4WvdBM8YVDq9pmE7FPGSIz0KsTZhD55H+RYeIDVrlPPSgjnfOSsjqtdT0quAkMyfQ0PrB9FpdXS7a/tyZ6LG5w98F4wnq5ZnLFvSRwvNPiUn6WmLg8u+WGtnVgR0UYAHj7uL+C2SWK7p6fzJVlHDWrn8wzcTalTphjQ8QpkbanK3PaYG3ZHHZVRt9FjXdTwgMBCQ71BfOH3KAeaQpbfH/DoNXQiX0AWHbVsAnS0nQ8E5iazDcmn2Sv8W1BG+GKuqeAjiitkTHZ+0uxHMALJ39j1hMT7F1+OwjQyOfg2sGA8jKrakbs7R9KeW2lOB2co/cyFIKQtYG9nOYZ8E0LcZQanpUFzWjtFyN2++mfc2NTSNfekQ6Aw8O/kYtiS/w0c6Q02jwLzDN3oLHgRePJZLXbrusUPqX/jRaO0hU+DrnU3o0OQgnU1GinYzedxlQnWBqIqWir4HMIY+1mAYtBH1/64ct01lecx3bZupY47UfOKqxi9HgFqJc5AJ7OhtR+H+ihWA+ruBv9QnSZD+SUfg6MsBeknVx1vA/kziNXAh2u/bpeVHP08HyIRmwZUgz9zl51JPqH5xj9vtg3RIfE+kvV3eVowYJB/oAyL8yHTkQgizgHOE4f/XPwvMqZN5pMyPJfWO6aQyxw5TVcNE08e1a8dF2SBNWEAqxwmnPLu7Gw4yOPuFsA0MYRIuXHGxiW234Muxg00IVc457o7wOOPYkOuDnP90cZwr3ZsuUyXqFYnfni3kWkXGvUST2rOjg1Rg5OxtV+xT2NQRBHL6c4U48o4/oiz83IwAueukPybku7Lb2fmqr7h6KUEBzwAIEXgUvfJ4eGO8ZLgOB3wZW5AXVd4TeL53vKFiPRl85E7DRckua/mFjw9fzx/rLlDqaYV0DlQtIwYF1BLuNNuwSCPM2tEnJlp5sqN3fmACymJ3qFAyqRfJemeXJMW97yAJc8ryzZNtzh0cn3GnRLDRCFgaFmpcd+/C1bIbRwcmKJjvKy3dJhGou/u5UoJUHv9fc5E1qTGOw0hMUSy3X66kZWI15KLQxkbsi4UCMjjB4NHycqMYFKCk5kdOMJrFGWggWGN8mLgJM+tOMdZ2qnERMFfTL5B2CfidQn9gp0elo+S7rDiKkmkOErnocLOPCFlpLwWCXOJH4QDYBv44RyJQ7eedb+OOpJ3+qG2fOwRuFurfdQ7OTQI501ONboydAF62+RMorMKsbiCwRPgeobIdgipxLW0B6lREJVqrxJTgbtzbW/y+d9sbB3xp0eno28ScwKQi6jYx9HFT0FIbJCiFlHmltj4nUqQleR1SH1jqmaV+ad20/oLoxSAZ0a5GZiwMrNVei5A5XuENAp3iO3WOm8jLzcnl+cXT/XcJBfqNs75yRLhBCBEnunsbtXVbf9LWjcOKhez9wvyb+Nfvsmkgq+Wah01BsTTCwwYGv/Veq0efDi3Lzd5kM5dC1xWpnXdBWB6ozQiCG/RPUCQ2EqwuYXXqXPYTf1f/yntZLxa7jdiAzoQh1p0qJKB9Fj0k0AGd+bQCGW9qeo+cPz1m+oFt4cFbiUtV1hQs4azY5A38zUUtSAlJwIxIYQGoUInld/0+wPvm0QAUxKD7rpoL5vy3z4ExY9QOkWg3P1/vbEL+hfzHTodDH4ZY/mYzfKVaYO66p/bUqccTo62xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SdmwMxFWEjZKdjfNfWFuEn",
      "input": {
        "note": "Pear sits slightly left and ahead of the jaws in the right wrist cam; nudging forward 3 cm and left 1 cm before descending.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.025,
          "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_01SdmwMxFWEjZKdjfNfWFuEn",
      "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, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0005 left_pitch=-0.0244 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0597 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.0462, 7.241, 1.8584, -0.0611, -0.0366, -0.0122, -0.6496, -4.7521, 9.0325, 1.9512, 0.1197, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b74bcc94149e3fd919a5ada96e2a6c180dfc6a08da655a5bf85af46ac88670d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d3d6ef89af91b0874f9f8a22577f62f2eb468c6cdc31ff3face25697186870",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bf1de65fcd9e424fece0ea2f7b2ac1b81c500551a93c9d6e8f375fe7af929726",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 2.975 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]: [-0.0212, 0.8005, 0.6132, -0.3824, -0.0143, -0.0296, 0.9988, -0.0193, 0.8005, 0.6182, -0.387, -0.017, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0002 left_z=0.1819 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9988 right_x=0.296 right_y=0.0009 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -1.7983, 9.7573, 1.7851, -0.0904, 0.1392, -0.1343, -0.4581, -1.7299, 9.4017, 1.8632, -0.0708, -0.0659, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3904, -0.0139, -0.0303, 0.9987, 0.0311, 1.0988, 0.5953, -0.1158, 0.0063, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3443 right_y=0.0132 right_z=0.1384 right_yaw=0.0285 right_pitch=-0.0501 right_roll=-0.0091 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 7.0906, 1.8486, -0.0415, -0.0317, -0.0171, -0.3214, -4.0, 7.0222, 2.1026, 0.1294, 0.1441, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0005 left_pitch=-0.0244 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0597 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.0462, 7.241, 1.8584, -0.0611, -0.0366, -0.0122, -0.6496, -4.7521, 9.0325, 1.9512, 0.1197, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b74bcc94149e3fd919a5ada96e2a6c180dfc6a08da655a5bf85af46ac88670d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:24d3d6ef89af91b0874f9f8a22577f62f2eb468c6cdc31ff3face25697186870",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf1de65fcd9e424fece0ea2f7b2ac1b81c500551a93c9d6e8f375fe7af929726",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gYKEAgSGAI4AUIIdGhpbmtpbmcSDKKyvul3zr0fZ34uihoMW0sxmRzzEVvtBlFsIjDA3wTFQ7H9Eu1KkNM20/H/bGyI6IUxdsFopdZFAGYlEZYdgQu7LI9vq+rLgJ9JWk0q7wVoGEGMIvyJ9gS2GmaI4OFopRAZVmnmvIRD7x12ZtBW9k7cOsuIfk7QXl7SwLLaH3cErGrchhT3L8n/xYesPVvnFc2amezjJsPVZ4r6AEdtALA3IHAUq+duWFcNN7NWSOGHj/4OK9NvAy7w3rmqhvWJIM7QAUDsEAodmOtnJizMzkZ8OEFzJ+dqIaNb9JYg6WSGn9FWlbqhCXXD7ch7IXMgBV+lIxP+nGA9PlyfIMJ3LDChnGRQ7Kq8SfQwJEqSr2ktUVb+B6BK9IoJFaPFNpllKjXW6dMiDhD9pYqJ6gCmmLUr5Q/hCgUQp1rIo/BGrWqrzU9hS2U579rH6GpwMi6VHZMVH0O+5sUu8OZs+W77/x0kpx5plhTL9kU1U+YzURQpewv5WDDTWBJT96qhDONUQPf5MGyC78BwHCcc7ha2lWVbQ8Q7SH4HRU1MSQm9cPz4mQwRJivNCfhmUS345HIv2w6ru9VsJGymFr+UdVTFzlXgNARE3baLDhO3BBa9AaTcbLpHbx3Wtu0UtFiqbOL4pWSUgt5lsU4pNEMBrYpkFtWWwcCFTGDrtuVj8QolW63q0wBhtUi8VVxNkSzsc78ty6f+EdtEvwdp826DqGf9M7cOtN8tQq30zZ53f8LJMhLAgvHR3iIbG6Nb/ntWwseE3NE85sfxWEPipCX+UasxXqQiOrspyaapCwnPJmGPAo1dc95r9GKcEKA29yv3RPf0/l3gGsGB21qvh0MaQv69CzLlGoTZlejGIBzVQHQxnXfY59j/3siVD9joYu4qFj8+i1/xS6O4UKkNTG+nRvLKoxtskPZdSEkWt+TG/rtcDV4WvODtZgUmuVDkj7xa4MKrYVeA3900of//O9YOu0q1wxRZm2Axes3IGedgn0Nqm51af6P1nUVUcI/WV43FKwroeEaknVrVNbX/s9BNGIvHTnbiDz0WFOaGESqTjjueVTVsGuTU8fpsAl6+zHDduhCBc1zgCx1rzw1Dgg9BQEREGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017o4QVkV8dTCswTS5gebLQt",
      "input": {
        "note": "Pear is now nearly centred between the jaws in the wrist view; descending to about mid-height of the pear with a small forward nudge.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.03,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_017o4QVkV8dTCswTS5gebLQt",
      "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, 0.8062, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1749 left_yaw=-0.0005 left_pitch=-0.032 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0595 right_pitch=-0.1189 right_roll=-0.0234 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.8144, -0.0562, -0.0464, -0.0122, -0.5265, -4.7111, 9.4291, 1.9756, 0.1099, 0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb62ce3cc7c7d81c4c352aee5ef7dbdfefcf850909f23f16e1f650a495ee3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ac1c19b5cdb23f75633d293a49874e1ea9949d8b335bce7ae911e81f8804a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:08008e13f1df9239cd789c7330e8b313e540451059e8574412d7187aabf52b7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 4.321 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8051, 0.6132, -0.3904, -0.0139, -0.0303, 0.9987, 0.0311, 1.0988, 0.5953, -0.1158, 0.0063, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=-0.0004 left_z=0.179 left_yaw=-0.0007 left_pitch=-0.0126 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3443 right_y=0.0132 right_z=0.1384 right_yaw=0.0285 right_pitch=-0.0501 right_roll=-0.0091 right_gripper=0.9994\nstate[joint_eff]: [-0.2803, -1.6615, 7.0906, 1.8486, -0.0415, -0.0317, -0.0171, -0.3214, -4.0, 7.0222, 2.1026, 0.1294, 0.1441, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0005 left_pitch=-0.0244 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0597 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.0462, 7.241, 1.8584, -0.0611, -0.0366, -0.0122, -0.6496, -4.7521, 9.0325, 1.9512, 0.1197, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1749 left_yaw=-0.0005 left_pitch=-0.032 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0595 right_pitch=-0.1189 right_roll=-0.0234 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.8144, -0.0562, -0.0464, -0.0122, -0.5265, -4.7111, 9.4291, 1.9756, 0.1099, 0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7fb62ce3cc7c7d81c4c352aee5ef7dbdfefcf850909f23f16e1f650a495ee3b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90ac1c19b5cdb23f75633d293a49874e1ea9949d8b335bce7ae911e81f8804a0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08008e13f1df9239cd789c7330e8b313e540451059e8574412d7187aabf52b7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6wYKEAgSGAI4AUIIdGhpbmtpbmcSDBoskEL4CXG5YFzv5hoMhizRDh/ZyjKYM/WcIjDPyAOeHSpu+6/6Yo01BGJnYn97ArRmiOiNnURY+N/PiJnw1205+/E5ciPuX+QHtZ8qiAYSPeF7neU85H90FHn/iNhB4nlrrnYGcSQK+3vNmJJEEJVtkm3iEB0NIMzfJmki2bIfe9IJV3yB6bdfor/MQEpmLxCMiLC2a5Goafkm45DOhv0JQpJaEzO93YGS8mwHjgHsq6SjVuTIjTQsfPkxAb+LKs4wS7mNOcatzu24/RBp2VTcyE+cXlF1avYEgpCft4rd8BI3i/LR4ArI0/jMrwn2GIeKotPDIxm9aSxNrjkE7ukw1B9/l2OOpz5xeAjVslPt5J0CyOPsJpgUn/aKwliTJHf78td/wxcn+YvVOGxYeWZFWS6LN5peu/Qrciib+bk4lQ7dFnl+TELStQYAxhdHoaZJ0EjQOLx0NvguSGv9rD6wsPmL2tpvgweSmLYk5s4c2zD/Wmiwd1cTZWV7os4btR/FvV0JvtXtJK0gTSRUDqKu7pTQ7iJPY2OqMfZ1UvTKZWF8MhROWC2qX/fyIZadfQRd0Y2xeCcrieLpF3otSChQx4CPZSBTs3qF2YWSz3/n2z+GDd3fpTvCae4QBLfMysdbo9ICGINKWKQIvvMTH/hkXC5kjmfIXVr1s2nsbMiz3iVwSjabxZmqpjNO3HPVKi/26R5eobsLuiNP4PQQ4VNFKjg9FFPgO7oa4jpq+EKQzFlkZENH+rpvpqjCBwPJ/EwZNqijLu9KOBpBdqH476PIPc/epbDn4/B3j5sHHhFS38W/EUj2qdOh4URxvtMZ3qdC6EwLQ6msHkJ9zqnKtRafYHK6DHoQ7aF76ekNUO76fWSQxEqmOwlzIkAU1W1bYtCBUXAGIcawkzPdDubOVcT/wBIVx4EWwQHuhzYec2287+gl+b+DXcF7VQUhWlg+M1AbOETgvN2B1CXX/Eo5/CEoGDkfRiEOJsRZCCo2IfQwFX/qg3xtons7lZIf6ym+aA4deK+D2slTLdWY19OfuA4KXpl9DvTp3hSBJ6dT2q4AqTGG4nQUV7U/PG14CboeUT1APjvsBfUIqj/r9cPhTNFh6DFHC5CI3hn73hNVCkSkPTzInrMuEhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wask9K5Eiouq9DcciKrN2X",
      "input": {
        "note": "The last descent didn't move the arm (approver clamped it), so I'm descending in a smaller step over the pear.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.03,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Wask9K5Eiouq9DcciKrN2X",
      "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, 0.8062, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0967, 0.0292, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1732 left_yaw=-0.0004 left_pitch=-0.0404 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3628 right_y=0.028 right_z=0.1192 right_yaw=0.0592 right_pitch=-0.1186 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1829, 7.0222, 1.8193, -0.0464, -0.0464, -0.0122, -0.6496, -4.7521, 9.2923, 1.9512, 0.1294, 0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2afc3669c3b387d96f3241cb3516cdc055133232cd28acf2433078c0be9c77de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6b6fe334e8ab2da2f678b844139b6efd6ebd88513bda9a97f4d4bcdb98dd520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:60053a6c8240aed4268166637e8c9cb117dfd22fe15af8d690c289d3e8799f41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 5 attempt 0 · /messages · status 200 · 3.591 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0082, 0.9994]\nstate[eef_state]: left_x=0.2938 left_y=-0.0004 left_z=0.1765 left_yaw=-0.0005 left_pitch=-0.0244 left_roll=-0.0006 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0597 right_pitch=-0.1189 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.0462, 7.241, 1.8584, -0.0611, -0.0366, -0.0122, -0.6496, -4.7521, 9.0325, 1.9512, 0.1197, 0.1978, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1749 left_yaw=-0.0005 left_pitch=-0.032 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0595 right_pitch=-0.1189 right_roll=-0.0234 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.8144, -0.0562, -0.0464, -0.0122, -0.5265, -4.7111, 9.4291, 1.9756, 0.1099, 0.2173, -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 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0967, 0.0292, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1732 left_yaw=-0.0004 left_pitch=-0.0404 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3628 right_y=0.028 right_z=0.1192 right_yaw=0.0592 right_pitch=-0.1186 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1829, 7.0222, 1.8193, -0.0464, -0.0464, -0.0122, -0.6496, -4.7521, 9.2923, 1.9512, 0.1294, 0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2afc3669c3b387d96f3241cb3516cdc055133232cd28acf2433078c0be9c77de",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b6b6fe334e8ab2da2f678b844139b6efd6ebd88513bda9a97f4d4bcdb98dd520",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:60053a6c8240aed4268166637e8c9cb117dfd22fe15af8d690c289d3e8799f41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpwgKEAgSGAI4AUIIdGhpbmtpbmcSDAmZJM2XwT8z8Y2OPhoM9X8W73EVbSi5eE7zIjDs+/sR1QpjW870gMj57rpMW9fuKkVI3jK9cngMX4cQdSwsqZO3lRGCvivNQzOF7RYqxAccG5YOZOFgNkk04dBv5Nz95ovPvyMCvGTkos9Dinj02kFVDxvfZ7JqnE0t+IV3g+I+g7unI2V4dRRvhctMn6src23aIrdPDAhUuqXTko8WLoiDyubmAiAuvOdEUWNyoeFLbaCvS6MUdsMaWcPFgqEtunEwMagR2s5Xo98y9de6Sx9s/12JUIc6y/UPyk0i2diaa6LVvEDwoQmEKr8S6U4yGLhOQxsioCEVsP8mhsNPWYsvA/YPuKT5U1310I47ewr5B1eTRoDUSCe1Ec4IkkOspWb7UxbHWDiFOPJ5vN4Fqgm1T/M+0l9cTmzxFcLyU30swyw8Ttt1xUlEskycMKKVwstCvkBCJKMU8jzfvzS/3Snbi1Z1vyLdra/wsYoPT83RyYwUeA4H/sfSVuPQAtWwdBT+J9IBYWLuGSZfjRzh4fbhfgcJmRPCs5sIzuocq6ZZzHvBz7SUGAjaRpxA8qiKugwcWS8icIaOJqAcYBK8eTl5MbSPOLOH33uUr06vwIC/eCVFpyL44VppXmSX/6HQb06JZmhqZJOH7KbfDHn1/p+35CcbMHmh++ir9efL1/vwNSa8TGBM/LzTvCKxnCIjBYwkwhktr8JaDrEcUo6GXZ4+xgJt0Ase0OCfHCt/xLt6jAGvzqJdyvV4RrGQZv8Tx2CzjwM2MC/3wraIoEudV10L3w2emHp8lSSjzVsgSbcSR2+2Di81RNqcI++2Vcial/VV3bewy/znVS6kj4e1UT0mSnuHDwCy3+EnbQVfDVnEy7KlVNKC2efTpQaBLUmRwV0Xe/TH9aapfY5CP/QXdjxxe2vL7iQ5Vl/QkgifEkvyNV2LX+mDknSS69hQnqexQIxQG20LXj+zEZYFUIM+QmiUckdzX5vt1zE1olgf3VkrvxBwR94Q7yx+t4XAoP2t5uXQO7Pu+cjB+ODxpbLg0EzfZxpUlKKeH+qOZOUYCPrkKIwmp0q4UbcwhpMdsINxtTM1ERZbd8Tr1Q9PtCAtM9Vjzvpoo4B5Wsw0yPdZKxoiyhXwWHz7tZEqa/JecNdMyZHSJtRwSeWxYb+u534X0Fd7+7QVKyoXc4ypBpLI4t8a32eTMVQS31sm/JXDEl9WJKl8hM9Z0d395l4cPtkO2d11OKlUZPUMxsz6AOptDDpQAyTbLxXk2gbGsXXVaJgkHn+972HzossAISaNlba4dpQZPLZXlMLdYZ/OvZ2M1MTzjcveJMBsyI6ydiKWAxDFCoMyo4/mU/THjpwHc68z49ncTgdNN4mVb3bq/ANgyC41oBgKGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FsQf7MuBexL3oydKvKa4LF",
      "input": {
        "note": "Right arm has been frozen for two moves with small yaw/pitch drift; sending a full pose with orientation reset to zero to un-stick it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.37,
          "right_y": 0.03,
          "right_yaw": 0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01FsQf7MuBexL3oydKvKa4LF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1162, 1.3037, 0.5106, 0.1841, 0.0776, 0.0376, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=-0.0004 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3657 right_y=0.0325 right_z=0.0935 right_yaw=0.0288 right_pitch=-0.0377 right_roll=-0.0123 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5111, 7.0632, 1.7363, -0.0757, -0.0317, -0.0171, -0.0479, -4.588, 5.8188, 2.0879, 0.1734, 0.1978, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59e07ff1907c57faa85565056a6cea97dea6260b3d82635983bda58fd985f8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daac3dc85d5fe4ae5292cee7db79b41f8ad2987b2f02f85b1166260794d3d2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1907ec31fcc64195f0a950deefda287be3e7d55660537184b51f9367e391b597",
        "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 · 3.098 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0971, 0.0288, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.1749 left_yaw=-0.0005 left_pitch=-0.032 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3627 right_y=0.0281 right_z=0.1191 right_yaw=0.0595 right_pitch=-0.1189 right_roll=-0.0234 right_gripper=0.9994\nstate[joint_eff]: [-0.253, -1.306, 7.0085, 1.8144, -0.0562, -0.0464, -0.0122, -0.5265, -4.7111, 9.4291, 1.9756, 0.1099, 0.2173, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0967, 0.0292, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1732 left_yaw=-0.0004 left_pitch=-0.0404 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3628 right_y=0.028 right_z=0.1192 right_yaw=0.0592 right_pitch=-0.1186 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1829, 7.0222, 1.8193, -0.0464, -0.0464, -0.0122, -0.6496, -4.7521, 9.2923, 1.9512, 0.1294, 0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1162, 1.3037, 0.5106, 0.1841, 0.0776, 0.0376, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=-0.0004 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3657 right_y=0.0325 right_z=0.0935 right_yaw=0.0288 right_pitch=-0.0377 right_roll=-0.0123 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5111, 7.0632, 1.7363, -0.0757, -0.0317, -0.0171, -0.0479, -4.588, 5.8188, 2.0879, 0.1734, 0.1978, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59e07ff1907c57faa85565056a6cea97dea6260b3d82635983bda58fd985f8c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daac3dc85d5fe4ae5292cee7db79b41f8ad2987b2f02f85b1166260794d3d2b9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1907ec31fcc64195f0a950deefda287be3e7d55660537184b51f9367e391b597",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogcKEAgSGAI4AUIIdGhpbmtpbmcSDNnIf6v5FDrZanZHyBoMGljauCjq+qNhGId1IjC2meDaSvl23zi1xhhaCfj2KI7DrgN8ZAruXCfUEMVGavRWyr1iU5Cxr0nRUIuaeAsqvwZasa/8Txe16/jXRe8jDTN95PTBJ5WXmFtNC4KbI4eONlOLvwSLsoWdwnH4nZYk1I2nMknedtg8kkbX+yLHpiP8oK2QJoHS2qLEz9c8mjfAYDl3poXdDkgBZTNbI5NkXH5Yj9NSfXf3Q0aYk7AD4rqmw3fbGS9UY7lkOGA8CKLXkU8vCvbOcHBO8F97zTq2ttdff7kzFfCPNg81G5Y555vVmJl7P1BEOUVDOLN+rM/PSRIZ/5Z66+L6awlzMEM32RbHSugEUgG7JEGsl2t5MM0fB35PUpCQXMxidtVX4PniWoFSgw+7N0LIFVzpmUN/NHId9s8oYNyvafsohUwNgSur+VMvOrsdPIMmMtIE5aFfx/LMhgLet/RXTJL9zZiyzOysrZQtUTw+pZu/XzYkETitreEz8LDjp3vJLQtYQgwrMvIKlYe5BnB/5IWED3VNfWy19mWtiVGBBMLQrg+JRfKf99t4Z3VcorKh9IgaylGPtwTlM342ZNosC5LQwHoVZJH0t8klQLo3zp+yyyCiFbqiHdqVAQZWpW7kWr0Tcb+oht9Oi2e3ygKR5rpqxp5OiTpLV02xdvACX5crpRUR+jiWCX6vJhXQbVSp849NfF0JMIjpjwRFF/20sDeEunZuPcwrR6ZJSvXB6/vtNiPP+mVBb9GzMrAjVYsWpvccXQqJLVwiYTNqeh7rX4CLuiqJjGwqu75Zxa4cCR80MrcIiO6157t1AyhxfRL3l+bJL7puQnfDxk/Z3HslZlHLL4Bbe64fijPSHge0LH1t3yHj/ju3D2k9Nhzhl4yPLs7n0MQFp5Izv571IUBVIrG/ggLlKhCTIke+7XuFEd2uTPm66ajWh4RcgoQI9eaFkNcp9TxpeLK1c1D5nVbVCFHjbyqXpBCOuu6OW0I+5+1OWDSHPquM+nhuIdzhUa6qAfU1b1Mb/c+Jlz4U7CfLaI6ZON0JFE3NBXVDN+TUiTydUmw/5by0CyqwhivNUqTixBYpWKkw6HahqkB5ik62TcfIXfrOFqwUEMN9YBr3CceD3PQw4ZvnbulyF2sje+jT113VUEHXZXRl7X0l+NE2KNhdSBLmquqOiRoflpQBuV18TebtoVMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Tc9dJvwZsh5aF6YgqbZ29x",
      "input": {
        "note": "Pear is centred between the jaws in the right wrist cam; descending to grasp it around its middle.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.37,
          "right_y": 0.03,
          "right_yaw": 0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Tc9dJvwZsh5aF6YgqbZ29x",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1162, 1.5536, 0.3798, 0.4992, 0.0818, 0.0441, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=-0.0004 left_pitch=-0.0549 left_roll=0.0 left_gripper=0.9987 right_x=0.3567 right_y=0.0307 right_z=0.0196 right_yaw=0.0213 right_pitch=-0.1028 right_roll=-0.0156 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.5521, 6.9949, 1.7118, -0.0513, -0.0513, -0.0122, 0.1299, -6.5026, 5.1214, 2.1074, 0.1538, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37528f65ad144f002c0a71de4c5fa3d5a8ed74734f2069561efddd5087d17604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:332ae71f8a7a6b9800a1d5a7daf77500072b92fbe1eeabfafb4e0651cbe5c87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c45d224c2411afdbb672f65ec38e4bd2c0371197c94119996702da5d208d231",
        "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 · 4.281 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, 0.0814, 1.2484, 0.6571, -0.0967, 0.0292, -0.0078, 0.9994]\nstate[eef_state]: left_x=0.2916 left_y=-0.0003 left_z=0.1732 left_yaw=-0.0004 left_pitch=-0.0404 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3628 right_y=0.028 right_z=0.1192 right_yaw=0.0592 right_pitch=-0.1186 right_roll=-0.0237 right_gripper=0.9994\nstate[joint_eff]: [-0.335, -1.1829, 7.0222, 1.8193, -0.0464, -0.0464, -0.0122, -0.6496, -4.7521, 9.2923, 1.9512, 0.1294, 0.2418, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1162, 1.3037, 0.5106, 0.1841, 0.0776, 0.0376, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=-0.0004 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3657 right_y=0.0325 right_z=0.0935 right_yaw=0.0288 right_pitch=-0.0377 right_roll=-0.0123 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5111, 7.0632, 1.7363, -0.0757, -0.0317, -0.0171, -0.0479, -4.588, 5.8188, 2.0879, 0.1734, 0.1978, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1162, 1.5536, 0.3798, 0.4992, 0.0818, 0.0441, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=-0.0004 left_pitch=-0.0549 left_roll=0.0 left_gripper=0.9987 right_x=0.3567 right_y=0.0307 right_z=0.0196 right_yaw=0.0213 right_pitch=-0.1028 right_roll=-0.0156 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.5521, 6.9949, 1.7118, -0.0513, -0.0513, -0.0122, 0.1299, -6.5026, 5.1214, 2.1074, 0.1538, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37528f65ad144f002c0a71de4c5fa3d5a8ed74734f2069561efddd5087d17604",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:332ae71f8a7a6b9800a1d5a7daf77500072b92fbe1eeabfafb4e0651cbe5c87a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c45d224c2411afdbb672f65ec38e4bd2c0371197c94119996702da5d208d231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS5wYKEAgSGAI4AUIIdGhpbmtpbmcSDLCk3cCQ6F9se/8O+hoMi6tl4NgP0P49XRFhIjAUEAPOoGgZf5k1vIS8RnyNfjdPuDr16CCHGJ28Ep/PYfudLwM+8l7dEkhSsvnf0cIqhAbw7hceUyBdDecOJGqkuyci+qTs/rtyewUBoUTjzTO6VNARfjqm+hM0hi/SQNCvHB7uFTqM6aIcSjjN2cGN0aFQ9kJ4QTn/utpDh4gVPUrYz3otuFzcR2/DfQbK4anWHagot/8iKHT3lU9ZEoUSuxNNujYX4GPufQpR3rmzCYYsVPs/hzyKHF9uDJHz/9pM3q4grm3aTffEvNvQn7IuEwyKDpZs1lL1J4j0PNSqirS1hUFgx5S+gGHjAaD8bvQm71p/VSawXPlmUebinU6Vyvt8ps5SurfjaSW8kXh5G1nbiFxsE6sItyl2Ongt/EeIyKSk0r6VeFqhA5LYSEw3CVKuiAEy6swCR32SlecipwY13h4sh7M0CU4AgJoFb3Sq5SQVY6zsDoVLzGIrlXRuO7sCardcG1rXxALFT9/LXGrFloKbZaUgU93AFrprNXLI/A9xe42wuNKDMPalinywL0Qi3GAJwBvqywWBfOQFi6QLmNFSfTopoy2KDVnO5SC70Ta+Im3ukbumIJZMm29hvpmN1xIuI8LXDTY31Nvw8KrdjwKM8nxNf68AB5TgxIABavMFbZVlUb5vpME1I9RtyH/YwbIIqP7yUIQXXrBiMJf9gBH9lS5SrZho/yHj8VACaKOSQnKj5Z4ucOx9fgfzaqj4hqJztbR6Z/f3FAe8CWXuHHUFmVYOWh9QkybJw7Ap5exch8pUXMXu+gPLqp62Bx90HNedd2VWrJblN6kAJ5JJYXtlYlCceKbmRnSgFXrhELy6lXA34DEWVlgRptyyFC+ZrphT5sC58ugcZnlSMJXaX4hi1Q8iCsFDMWWWQm0+R9IxbQti23imJdLbGflCJFARpHAduTGDSrUWYXErvZbTPNDcmHb4SFp8WboR24sffr7BrVN9r42W3ZiEx2vlpeeINnVdq+cn5JSRqESqBs9M86FsmY0n1THxF0id/IjXeYB4glX0hR1YStPwDMgL9tLqeee9TLxEI9x7a2svJiV64jE8aizYzX3s+/Hb8HZc3sziQuVsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ANCU9kkynK5GMN5eTotJz7",
      "input": {
        "note": "Pear is between the jaws near its base; closing the right gripper.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01ANCU9kkynK5GMN5eTotJz7",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4259, -0.0135, -0.0307, 0.9987, 0.1177, 1.586, 0.3595, 0.609, 0.0818, 0.0525, 0.0084]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1698 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3628 right_y=0.032 right_z=0.0233 right_yaw=0.0187 right_pitch=-0.0458 right_roll=-0.0033 right_gripper=0.0084\nstate[joint_eff]: [-0.1436, -1.3607, 7.2274, 1.6728, -0.0366, -0.0415, -0.0122, -0.1573, -6.065, 5.3949, 1.9658, 0.149, 0.0708, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb03580690cf34a5a380c98343c707dbee3613bb41ab4e403d95e73f12560ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c69d305a1de4ebebf13b16c52acc74b6d3e7c4d67b73c2c2dd0d2102b6d7fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a0241ae382464c7251855e331ee972c555cfe686b57db8501000007c32ee8ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.865 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.424, -0.0139, -0.0307, 0.9987, 0.1162, 1.3037, 0.5106, 0.1841, 0.0776, 0.0376, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1711 left_yaw=-0.0004 left_pitch=-0.05 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3657 right_y=0.0325 right_z=0.0935 right_yaw=0.0288 right_pitch=-0.0377 right_roll=-0.0123 right_gripper=0.9994\nstate[joint_eff]: [-0.3077, -1.5111, 7.0632, 1.7363, -0.0757, -0.0317, -0.0171, -0.0479, -4.588, 5.8188, 2.0879, 0.1734, 0.1978, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1162, 1.5536, 0.3798, 0.4992, 0.0818, 0.0441, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=-0.0004 left_pitch=-0.0549 left_roll=0.0 left_gripper=0.9987 right_x=0.3567 right_y=0.0307 right_z=0.0196 right_yaw=0.0213 right_pitch=-0.1028 right_roll=-0.0156 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.5521, 6.9949, 1.7118, -0.0513, -0.0513, -0.0122, 0.1299, -6.5026, 5.1214, 2.1074, 0.1538, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4259, -0.0135, -0.0307, 0.9987, 0.1177, 1.586, 0.3595, 0.609, 0.0818, 0.0525, 0.0084]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1698 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3628 right_y=0.032 right_z=0.0233 right_yaw=0.0187 right_pitch=-0.0458 right_roll=-0.0033 right_gripper=0.0084\nstate[joint_eff]: [-0.1436, -1.3607, 7.2274, 1.6728, -0.0366, -0.0415, -0.0122, -0.1573, -6.065, 5.3949, 1.9658, 0.149, 0.0708, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8eb03580690cf34a5a380c98343c707dbee3613bb41ab4e403d95e73f12560ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c69d305a1de4ebebf13b16c52acc74b6d3e7c4d67b73c2c2dd0d2102b6d7fb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0241ae382464c7251855e331ee972c555cfe686b57db8501000007c32ee8ed3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShAkKEAgSGAI4AUIIdGhpbmtpbmcSDFBn/r83cAZsNcDzbBoM6/KxRPMmO6GM9BcOIjDPx/yyfNMeLWDJHMl+9dn8R2AhNNydajhpCgJuyjO4FOR5VqlkKGmEA68CmzZPIOIqoQizyKKh+Oc+Gvly24hndLNhonH0w9rc3z9fBFZMvtpL4zkcAR4LBg1Wl/0mrBtj2MMcpHNRnmHAUrClKH/26F1bIO5Wv2x/pc1W5qGYSKDwfTCz85bhSJCMYtt7+gX4GKVzquygYzR+bJ6CVu5Ddu4VgdyfpIHXlzGcdwgehknE8NDFprclTE26MlFWMIMz2h1TTyLiQ8WmmI77wyggA6sXy08HuAf9zl7I93z5wMi2l1+b+diMJiZUuLUhqPsR+wp7T4PjiutItw4FBlObrLfrtbj4d1tfpPlQYf9lqj2kiY3M9eVr3HtWesAwQNdrGMUnuKTcqcbxkMXx5PvJtO/q7b/jAbbLZDmpuzTlc21Plgoqfc75fqnk0vGzW0Apc1P37P04D8wvlLniyVgv2z0Wrne8CPlDuvdzDQdIkSmknyiX8kaHJZsPygifMlO/j3M6Sr9w7/Ebttz4iT7MSNlb1yTCi8qzJAIqkgvaPhnQixKz2v18j8Se9TZccruw1PXD5IteIsSWQb13g/pJEYqpolNqciRcY3zeOVOIn35Wy9nnXYWosIO29flyz9nAh2KKJST9lS4AyOqPYiixwqvHXJpb8IopnOFDvAL+TR5lIRMqhwkcn79jmn1jF+WDw+deIKksqggiJWYZrDdgLhq2O8ieKD4vDbZV5HJsfUIw/kMWBZc9iIAYomtKZF3nTdC9lAEdHHNjmW73QE5ro1ugZn+HitifSuGadVhK4EicJCPiStge+eB3vkCU0X8tlwzqX84SmaP0mb2CPZTXP/KlN1x6EpaGx/PRinCKnTHZBTtE2CgKLFgVBdY9YGWX25SGiMk/VWC2kK+yRn5xQJBsD6rVkifsB++RZH9BxufZ3QYAboyPHyPh1bQiK6d6q0yijrxoYT0tRQO05HCX1AO5RdhBzLfqfJjlJpYVxfAlg1jwxOwwueqo1o24VzMTT0evq1+j5W+M7d674+jB//Zk6kFnl4uuvICrdCbDeQ/z4K3ppz6v3uYLzXhw5P9L42EXV2kHfYnwU2Ak41EIX2AH3XG6MXzagVoJR+C2owukGCOQ8v+jb5KXOI/iWRKfHmVChxvlMsLUSseRTE69mUWD4lGGVnypCyxMRCyYFhuByrFy9juyfiRGtRYdsIyuRVdrfbiZT7gs/YZZC3zfGcNHEdSVsY7jWHuyOWdipvuIb+X04HmeqlyfzD4lWtjp7at8OVmE5AFI6J08zwhkfryOiDXZHngB4lDS0JxmdrfdcSzXEpGqe+O9YPvv/OrXNlST8tvxvNfBrb5oMOAuOUQIQz2fs/ccOn+S3aWrDpfHhSaqnuR3wHjqOMuui/FsKSTDFHWH6XkmJPYQFRPunSrUQQcXNkSSQWXzoibGUhBX+kdlLOLzYJZNef1sdm/NRHyqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XAYX2pRNtAUs7gwpxF2GjB",
      "input": {
        "note": "Empty close: the pear sits just ahead of the jaws. Reopening and lifting slightly before advancing.",
        "targets": {
          "right_gripper": 1,
          "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_01XAYX2pRNtAUs7gwpxF2GjB",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4274, -0.0139, -0.0307, 0.9987, 0.1181, 1.5166, 0.3614, 0.4973, 0.0742, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9987 right_x=0.3531 right_y=0.0323 right_z=0.0253 right_yaw=0.0298 right_pitch=-0.0865 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 7.0085, 1.6825, -0.0464, -0.0806, -0.0122, -0.2256, -6.1197, 6.9265, 1.746, 0.0317, 0.0611, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a3efe7053233a7905a755e4e9df7267807dbb36ad4f8bff8f53071ccd5f213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e446321171f7e7e6a3a4fd267313bff18e7e90618d53a20377b4d5baeaecc127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6b6e7afcd2f15130c3bc8f6c2ea2ed350cd0e13f4124f3fa8fccc2b7a39820a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 2.601 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.1162, 1.5536, 0.3798, 0.4992, 0.0818, 0.0441, 0.9994]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=-0.0004 left_pitch=-0.0549 left_roll=0.0 left_gripper=0.9987 right_x=0.3567 right_y=0.0307 right_z=0.0196 right_yaw=0.0213 right_pitch=-0.1028 right_roll=-0.0156 right_gripper=0.9994\nstate[joint_eff]: [-0.2667, -1.5521, 6.9949, 1.7118, -0.0513, -0.0513, -0.0122, 0.1299, -6.5026, 5.1214, 2.1074, 0.1538, 0.0904, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4259, -0.0135, -0.0307, 0.9987, 0.1177, 1.586, 0.3595, 0.609, 0.0818, 0.0525, 0.0084]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1698 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3628 right_y=0.032 right_z=0.0233 right_yaw=0.0187 right_pitch=-0.0458 right_roll=-0.0033 right_gripper=0.0084\nstate[joint_eff]: [-0.1436, -1.3607, 7.2274, 1.6728, -0.0366, -0.0415, -0.0122, -0.1573, -6.065, 5.3949, 1.9658, 0.149, 0.0708, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4274, -0.0139, -0.0307, 0.9987, 0.1181, 1.5166, 0.3614, 0.4973, 0.0742, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9987 right_x=0.3531 right_y=0.0323 right_z=0.0253 right_yaw=0.0298 right_pitch=-0.0865 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 7.0085, 1.6825, -0.0464, -0.0806, -0.0122, -0.2256, -6.1197, 6.9265, 1.746, 0.0317, 0.0611, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:78a3efe7053233a7905a755e4e9df7267807dbb36ad4f8bff8f53071ccd5f213",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e446321171f7e7e6a3a4fd267313bff18e7e90618d53a20377b4d5baeaecc127",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6b6e7afcd2f15130c3bc8f6c2ea2ed350cd0e13f4124f3fa8fccc2b7a39820a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvgcKEAgSGAI4AUIIdGhpbmtpbmcSDFTBsLV7fnM7yQq+wBoMPyuvNPY7w2IAuY5HIjCW+GsxyfmG5l3aT9M94kJeLSpDXUSwNNiJ2ikb4xEfTwQq9woATDo6dJgFJbmt9iIq2wY6d5N+CKE6Epp4TfkL1bVCnze0BahXiTpH8dEqfJGQxZJPVPCJQqn/fr8P8ea9Ca+NLVAkHVIwBOzXIQee9NseLYg3ozlcNC65eDX52YC7df6GS72YEuwQbZZvXqi7ysqb3PiUCj25qR4jvSFBJcoeQ2NtR60s108jM1mbLNrffPq7moFSuAP+XR9CUXRYzTeJX1jyFDnjwx1/JotqPAq3t/vPgqPahdFTjOQtRn0CMQE3DVxuAIf43Wn0I9o/ISg/Mnpw+GPNj93oCehytSG+Z7QQhjCWiZwI2AnSGtMLLLEE0DW7pqo73fHNGwBBwRFyaeYFS19jdRH2MbG2U8AtMspFdFp5Hytu/WhOxDNqxElIHumcQ/c5FzcDhSt91n5MV405gnr3I86B9Ri/Arqc5YmepkjOpiR20Ya4DNWY539lpDEpUjnfb01zZguCyhvgAuvzX8YJDe9SObFEGYTlKfDgKKRBX4FukdCmTXogS7G9yzGiYorcKwuh1NKv8U4S1rJB659vQat3wTMFmAOOUXq1wY3mBGTe1KH2C8syUALRNWir7g5kOW4gceE6y0gXx9RdGK0LaIJb62CSUyUdEt9DXxQGPeZUzKttDe08UECnJNq8oMZquACUKejEua/CgMsH7md8T9VTF8sZi0SsTmU4M6rcGkT+6lhLRZS2GNEDGK9645VKxkMDIRHaW0ov5L3EhGrfKHJAZGVqhj0h2PW/BCN9fSYULVQNmktc0FASmcnl9AeuOk4rUc+aACEnIkCHQOX8TcbKQ54eunesDNn6PvwnsgIth38AnVzwGK3qrKWmlj32jsMzS9WANvZ4qTj0srEXnQvIaOh/djCdmC8ITff2WZ42HFRz4qpye6UGrQBuSWu/TDZtALavrKnjBGtorJmu4D7Bia8CT3k5M+W+/ZTGn2p7TlmFwepq/9+eBSI095SRLRCkOtNzTI+d54OmACfPRzmd4AAFfT//OFWCsT40yHEiy5pggTn7Kojb9cjoM/iJLHZXrr0KvnX8DbeITQjkySYVnNYdHa4EvUx38j78bUgt7AnBwTQE9Au2QkBtfTvXfmUwu8a8f/lHwn9gwp+acJlGaw+dpuzgbd8fzhcRcs2y5V8yGVV/VrYPBx8BPMrP8do0GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015cy438xvbncg9WTCcYCPTs",
      "input": {
        "note": "Jaws are open with the pear centred but ahead of the fingertips; advancing ~5 cm so the pear sits between the jaws.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.41,
          "right_y": 0.03,
          "right_yaw": 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_015cy438xvbncg9WTCcYCPTs",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4324, -0.0139, -0.0307, 0.9987, 0.1055, 1.7233, 0.4866, 0.5838, 0.0734, 0.0414, 0.9965]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1678 left_yaw=-0.0004 left_pitch=-0.0641 left_roll=0.0002 left_gripper=0.9987 right_x=0.3917 right_y=0.032 right_z=0.0117 right_yaw=0.0193 right_pitch=-0.0816 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.7167, -0.0562, -0.0415, -0.0171, -0.7043, -6.6256, 5.9556, 2.0586, 0.0952, 0.0855, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6358b6537085cf9cf4165c24926f31041616bd5eecf3d0837579c406ad650eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2de5675e1ea6324705f99d9a017261ba0a908df25f0765b69df9e7a77ba544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5a77eb643484f5bd682b15aa2995e70fadc4857c06c662c46d7e2d25144a63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 10 attempt 0 · /messages · status 200 · 4.506 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4259, -0.0135, -0.0307, 0.9987, 0.1177, 1.586, 0.3595, 0.609, 0.0818, 0.0525, 0.0084]\nstate[eef_state]: left_x=0.2907 left_y=-0.0004 left_z=0.1698 left_yaw=-0.0008 left_pitch=-0.0553 left_roll=-0.0002 left_gripper=0.9987 right_x=0.3628 right_y=0.032 right_z=0.0233 right_yaw=0.0187 right_pitch=-0.0458 right_roll=-0.0033 right_gripper=0.0084\nstate[joint_eff]: [-0.1436, -1.3607, 7.2274, 1.6728, -0.0366, -0.0415, -0.0122, -0.1573, -6.065, 5.3949, 1.9658, 0.149, 0.0708, 0.6862]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4274, -0.0139, -0.0307, 0.9987, 0.1181, 1.5166, 0.3614, 0.4973, 0.0742, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9987 right_x=0.3531 right_y=0.0323 right_z=0.0253 right_yaw=0.0298 right_pitch=-0.0865 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 7.0085, 1.6825, -0.0464, -0.0806, -0.0122, -0.2256, -6.1197, 6.9265, 1.746, 0.0317, 0.0611, -0.0855]\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 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4324, -0.0139, -0.0307, 0.9987, 0.1055, 1.7233, 0.4866, 0.5838, 0.0734, 0.0414, 0.9965]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1678 left_yaw=-0.0004 left_pitch=-0.0641 left_roll=0.0002 left_gripper=0.9987 right_x=0.3917 right_y=0.032 right_z=0.0117 right_yaw=0.0193 right_pitch=-0.0816 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.7167, -0.0562, -0.0415, -0.0171, -0.7043, -6.6256, 5.9556, 2.0586, 0.0952, 0.0855, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6358b6537085cf9cf4165c24926f31041616bd5eecf3d0837579c406ad650eea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a2de5675e1ea6324705f99d9a017261ba0a908df25f0765b69df9e7a77ba544",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 50):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5a77eb643484f5bd682b15aa2995e70fadc4857c06c662c46d7e2d25144a63d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear fills the view between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RE3xSCPUGSgYLTfxdRPoEv",
      "input": {
        "note": "The pear now fills the right wrist view between the jaws, so I'm closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RE3xSCPUGSgYLTfxdRPoEv",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4343, -0.0135, -0.0307, 0.9987, 0.1066, 1.7355, 0.4934, 0.6014, 0.0738, 0.0406, 0.7034]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1674 left_yaw=-0.0007 left_pitch=-0.066 left_roll=0.0 left_gripper=0.9987 right_x=0.3955 right_y=0.0328 right_z=0.0129 right_yaw=0.0206 right_pitch=-0.0694 right_roll=-0.0103 right_gripper=0.7034\nstate[joint_eff]: [-0.335, -1.3607, 6.9812, 1.6728, -0.0171, -0.0513, -0.0122, -0.1436, -7.7333, 3.9726, 1.5067, -0.0122, -0.0611, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce84c00de109834daca57686078336f65ad9b6f5869ec3ef3473916c7fa67a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35e2185ca8d7efdf17c8e6a7cd1558e001eec35b806da3eb691b9a561ee26538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f3dc84a74875bef6c8b6ef4575832331c7ee2c308d9438a5689f86ff63f054d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
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call 11 attempt 0 · /messages · status 200 · 3.226 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4274, -0.0139, -0.0307, 0.9987, 0.1181, 1.5166, 0.3614, 0.4973, 0.0742, 0.0441, 0.9956]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0004 left_pitch=-0.0568 left_roll=0.0001 left_gripper=0.9987 right_x=0.3531 right_y=0.0323 right_z=0.0253 right_yaw=0.0298 right_pitch=-0.0865 right_roll=-0.0093 right_gripper=0.9956\nstate[joint_eff]: [-0.3214, -1.306, 7.0085, 1.6825, -0.0464, -0.0806, -0.0122, -0.2256, -6.1197, 6.9265, 1.746, 0.0317, 0.0611, -0.0855]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4324, -0.0139, -0.0307, 0.9987, 0.1055, 1.7233, 0.4866, 0.5838, 0.0734, 0.0414, 0.9965]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1678 left_yaw=-0.0004 left_pitch=-0.0641 left_roll=0.0002 left_gripper=0.9987 right_x=0.3917 right_y=0.032 right_z=0.0117 right_yaw=0.0193 right_pitch=-0.0816 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.7167, -0.0562, -0.0415, -0.0171, -0.7043, -6.6256, 5.9556, 2.0586, 0.0952, 0.0855, 0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4343, -0.0135, -0.0307, 0.9987, 0.1066, 1.7355, 0.4934, 0.6014, 0.0738, 0.0406, 0.7034]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1674 left_yaw=-0.0007 left_pitch=-0.066 left_roll=0.0 left_gripper=0.9987 right_x=0.3955 right_y=0.0328 right_z=0.0129 right_yaw=0.0206 right_pitch=-0.0694 right_roll=-0.0103 right_gripper=0.7034\nstate[joint_eff]: [-0.335, -1.3607, 6.9812, 1.6728, -0.0171, -0.0513, -0.0122, -0.1436, -7.7333, 3.9726, 1.5067, -0.0122, -0.0611, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce84c00de109834daca57686078336f65ad9b6f5869ec3ef3473916c7fa67a81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35e2185ca8d7efdf17c8e6a7cd1558e001eec35b806da3eb691b9a561ee26538",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 60):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f3dc84a74875bef6c8b6ef4575832331c7ee2c308d9438a5689f86ff63f054d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgAkKEAgSGAI4AUIIdGhpbmtpbmcSDHt/dmJvgru5eqAyvhoMaNt7s4KqmqM/U6MhIjBx09cteONXyNAWwEW8Rx7qvNZ/klOtZwpMnwaVaEPZKl8jOWdP9SyrNtYBDi+/FmgqnQh6YOD/jNP3WBdEUnOIMZ7fhBP9yFV+tXdCqjJQ28XiOFBAAfhdmM5nWTli9O+z11MRJrBG3gzNxpAvYZs1xtrv6xVR87Ncly7G9ub9CsApIL/b/eRK4k/Md7DAzEULjLNBgRLgwo6dnINAje7xSyUnOhrt8oqrjRWGcXS2fRbv6MTF94H8WNfvMhVp1tc5y80Aj9/IynKd6+1hHY3+oHE8QP/tB5bIUSd3AhcTEAIW9yUK/CAfWRBW87La5HTSk958hH5yxspr2xbK3C00MOEAPC4sVJhRJvA3MbmKduTk4wefIJDpiMWFqvqG4L/suK5iOZUX1EUpR0sjsOV7EVs8i7Bdv01D+R5nXezprcUBTg6Y0ODifghIA+Di0DXXCQSW0mzDBAk2oBWeViLSBeuwjDig/0rmzdvD9ptVxnvClmY7PVBhQvK9j2/tQMBcnokOH2I2Po3a5HfgNV2UMQmb75++AraoQhOU/eENPnNd8JVFaqI9ES9rmZDapQzSMI/G8kVWbTI3tTWHsiT/cC9qfpjPBMtOsYxGpC8+YA+6ezc15jrbl2yibDVpAKihnK1UWDeJSCzkNfNT6K8MIAUGc8xM8zDw3NsqWQcqEqF7HzkbVbamTchAjX/l4HZcS6w/qYSId/qPYkX5S17yR7NTflNmVe43124x4vLlCrMplNGYu22BAcS8/MZjlJTXG55P72Shy8ZdTef1HxsEwKcYDO2ZrOfYlb3lRwO6qjpjTbrQBY7mvXnqaooU0UU3CcEqQSJxHOSiMRyjqp2MLrtx2epB2kRS9/b4wZJ8giYlzFJmokkso+qeqwrQ2aPQ+uostcE8NZiRU7ZT/RjiYRA+HQ1dv3L2L6CroWeAWgwYggqtoHaH3FiEYdU4luM8v2guJk+jGTPcnvB/olweNaAwpsjsTijddKcjEkMcxqVRVTg8ts7Wrwf2vOzFhgKC9ZeZ49OUnK2bY0i9wy5spJyLjEk3wAf1+13CU4l/3dAP4N4DOQSaJYgb4j7gmJlu0uoo/D1Cq6Azd9GAGe1sDUn+4KVbyKfj/6ol+AN2690pgJxys8E12p/klXFXdgG4jUb5OcOk1k1s0L5rpWYaGzdi62kR02QULEqmNoNz90ecjDO6++WaGy7MDxv25CmoP3iyBLYKG1OIn3fOPaCMetRpCaQOyc5kbGwmci2gRoVMI/12cEaE1yfNH1BlYMs437gkrzKKaKtAUk9HOJm12LgVUb4O1A7JUQ5ONXLABGi8g6JSraj0D5fBiGrBT8UFDj7+BwPiPxRsfWnXNPpY/28I4or5GbG6f3tndyAGXhYeaPwRdw3IqOAlvUFM6I2MOXimdO1pE1kk3s9HKCU/KoWBFK3iM3uVqd+GKAGm9iQPa5iFPOcJqujO3IecwrkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013z6BfvyE1c3v6mvLiiF9Nj",
      "input": {
        "note": "Gripper settled at 0.70, so the pear is held (about 6.7 cm wide). Lifting it clear before carrying it to the blue bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_yaw": 0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_013z6BfvyE1c3v6mvLiiF9Nj",
      "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, 0.8188, 0.6128, -0.4458, -0.0139, -0.0307, 0.9987, 0.1162, 1.2892, 0.8509, -0.1963, 0.0765, 0.0406, 0.7074]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0004 left_pitch=-0.082 left_roll=0.0006 left_gripper=0.9987 right_x=0.3909 right_y=0.0356 right_z=0.1701 right_yaw=0.028 right_pitch=-0.0632 right_roll=-0.0114 right_gripper=0.7074\nstate[joint_eff]: [-0.3624, -1.5521, 6.9538, 1.7998, -0.0464, -0.0464, -0.0122, -0.2393, -6.8171, 9.6889, 2.0098, 0.2369, 0.1294, 0.6862]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7a979467225139e6eb804c5c85b457c3a2bbd6f88ed6961f38224ff674e147f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d00a7adf3c0b3f6f7a410407dd04b70e5f3aac2db8c19bda68f635583b9fe0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:94a2e2953afaedf492962ad54d880fa927db1b2df4ac2188601d1f38fc149447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 3.084 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4324, -0.0139, -0.0307, 0.9987, 0.1055, 1.7233, 0.4866, 0.5838, 0.0734, 0.0414, 0.9965]\nstate[eef_state]: left_x=0.2898 left_y=-0.0003 left_z=0.1678 left_yaw=-0.0004 left_pitch=-0.0641 left_roll=0.0002 left_gripper=0.9987 right_x=0.3917 right_y=0.032 right_z=0.0117 right_yaw=0.0193 right_pitch=-0.0816 right_roll=-0.0106 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -1.347, 6.9949, 1.7167, -0.0562, -0.0415, -0.0171, -0.7043, -6.6256, 5.9556, 2.0586, 0.0952, 0.0855, 0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4343, -0.0135, -0.0307, 0.9987, 0.1066, 1.7355, 0.4934, 0.6014, 0.0738, 0.0406, 0.7034]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1674 left_yaw=-0.0007 left_pitch=-0.066 left_roll=0.0 left_gripper=0.9987 right_x=0.3955 right_y=0.0328 right_z=0.0129 right_yaw=0.0206 right_pitch=-0.0694 right_roll=-0.0103 right_gripper=0.7034\nstate[joint_eff]: [-0.335, -1.3607, 6.9812, 1.6728, -0.0171, -0.0513, -0.0122, -0.1436, -7.7333, 3.9726, 1.5067, -0.0122, -0.0611, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4458, -0.0139, -0.0307, 0.9987, 0.1162, 1.2892, 0.8509, -0.1963, 0.0765, 0.0406, 0.7074]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0004 left_pitch=-0.082 left_roll=0.0006 left_gripper=0.9987 right_x=0.3909 right_y=0.0356 right_z=0.1701 right_yaw=0.028 right_pitch=-0.0632 right_roll=-0.0114 right_gripper=0.7074\nstate[joint_eff]: [-0.3624, -1.5521, 6.9538, 1.7998, -0.0464, -0.0464, -0.0122, -0.2393, -6.8171, 9.6889, 2.0098, 0.2369, 0.1294, 0.6862]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7a979467225139e6eb804c5c85b457c3a2bbd6f88ed6961f38224ff674e147f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d00a7adf3c0b3f6f7a410407dd04b70e5f3aac2db8c19bda68f635583b9fe0cc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:94a2e2953afaedf492962ad54d880fa927db1b2df4ac2188601d1f38fc149447",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2AYKEAgSGAI4AUIIdGhpbmtpbmcSDO9/XaKMVPmttKahHBoMg5iRI2ARush9tQGaIjCOyAvtXvJRGLIlyrb/44Cno/z2ZjfdGjZYdUQ7yNz+WYWMUDQAkCN+0F9Hj8grDZ4q9QUFrKkwXJ8UjejqwNTvbRTcOAOqehj8fviMmC7pDzfM/SCXmIUh3QXpeuGwzBE0c3xYg+/D0hGQC5dSgEAxp1/TP/Fq3VmeKbN68YoJgPLo4m0v5/0zP7VoMQuaU6E/QZAuNXIN2BLpWh4OoOVBBnQoM2mYnNMja7G8egZhH87uoNj0C9zmIe7GClgnujGIjIhfB5DOLvSLSgkF2lZ45lc0SBvoCPim+Jh4bhH3C+4seXOqKDS/QatQDkCe3k/pbXLcf88gRDIfx1faMP+m08jjXq2I3PXCGCbVTYAARPU2/oy007RpkL6eqE+VAj8S8FcAbY9Sk9pWJJSafB6ha0hZqga6BvLLf5WKZrStZ4WnV0Mr+GVkTfV4CETTl/PqmQkcZacapRW4bc1H1aG1VUfsxESNtfBVxw5FgvJ87fo3zeSufRCr0d6KEfYf3xeEEIgxkHv+YonLwmGOiTGtwAQQLpPtw7xMd5vjmVKfmKXwcMlQbyjm1/8TKT8BELuezWXw35+MUj9XiA3OjXT+2Byzt4ImWS+sbDP/2Q3uzmmH5RIkvvFc8K4jvpKAyvnSB0EvPWdPNxeIxguoe4JerNbVtMo1nc5ShKncB0XKP2bz23y+dKmgVjKciRXQWjSR4tgusjS5IeTBdPBCxvIukt8NioXuxPX/JgaeHZcgIbyQPlXo9BV425s0K4nOi2J6Gtz12PERCXiBmtsiRJ9RP1ahq4hET8D7BZrievE7RrCMcrB6CjbmetfOFwyLyR4wNRBiLeR94K2hEL2/A4ItiWKFa5rUFmud1sLP04iY8MZdg5hkls+lZKxj+WgugOZviqnDKj5pbnu4vA4Sm5YcPcqIBtE8Cn4TFbEed5sQdPdF7NDLvdg6s7eIpDS44QPd4dlrIR5PXqUE762gFNDlRET7Gm7T+1SF4VdVAqnh179dVAtFRrbvF929OKbYxZoTdWf6AAk8WIQ8IlDxOaKO/D7BeoIRAINBHVTqtJpgCfIMW3Ki79S/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HBbuUnChC2PaPKuwM4mso9",
      "input": {
        "note": "Pear is lifted; the blue bowl is ahead-left of it in the overhead view, so I'm carrying the pear over the bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.45,
          "right_y": 0.14,
          "right_yaw": 0,
          "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_01HBbuUnChC2PaPKuwM4mso9",
      "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, 0.8234, 0.6132, -0.4522, -0.0139, -0.0307, 0.9987, 0.4187, 1.5875, 1.1423, -0.2592, 0.3038, 0.1917, 0.7087]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1616 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9987 right_x=0.4342 right_y=0.1393 right_z=0.1702 right_yaw=0.0576 right_pitch=-0.0974 right_roll=-0.0441 right_gripper=0.7087\nstate[joint_eff]: [-0.1983, -1.6889, 7.0085, 1.7118, -0.0415, -0.0415, -0.0122, -0.3214, -8.3077, 9.6342, 2.1123, 0.3346, 0.2125, 0.7839]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20be45889acb1745652870979f3d9f7af426b3e5ad65e5b2e005a145ebfe9349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61923a6fe45ee9f4f2475cb66ae5ddca67c7789ac681cf153c404f61cea9d5c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5cb741045c86882e38624d160eedfb7b89a7c7c4489f9655659ee0fda45ff319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 3.053 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6128, -0.4343, -0.0135, -0.0307, 0.9987, 0.1066, 1.7355, 0.4934, 0.6014, 0.0738, 0.0406, 0.7034]\nstate[eef_state]: left_x=0.2895 left_y=-0.0004 left_z=0.1674 left_yaw=-0.0007 left_pitch=-0.066 left_roll=0.0 left_gripper=0.9987 right_x=0.3955 right_y=0.0328 right_z=0.0129 right_yaw=0.0206 right_pitch=-0.0694 right_roll=-0.0103 right_gripper=0.7034\nstate[joint_eff]: [-0.335, -1.3607, 6.9812, 1.6728, -0.0171, -0.0513, -0.0122, -0.1436, -7.7333, 3.9726, 1.5067, -0.0122, -0.0611, 1.0183]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4458, -0.0139, -0.0307, 0.9987, 0.1162, 1.2892, 0.8509, -0.1963, 0.0765, 0.0406, 0.7074]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0004 left_pitch=-0.082 left_roll=0.0006 left_gripper=0.9987 right_x=0.3909 right_y=0.0356 right_z=0.1701 right_yaw=0.028 right_pitch=-0.0632 right_roll=-0.0114 right_gripper=0.7074\nstate[joint_eff]: [-0.3624, -1.5521, 6.9538, 1.7998, -0.0464, -0.0464, -0.0122, -0.2393, -6.8171, 9.6889, 2.0098, 0.2369, 0.1294, 0.6862]\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 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8234, 0.6132, -0.4522, -0.0139, -0.0307, 0.9987, 0.4187, 1.5875, 1.1423, -0.2592, 0.3038, 0.1917, 0.7087]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1616 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9987 right_x=0.4342 right_y=0.1393 right_z=0.1702 right_yaw=0.0576 right_pitch=-0.0974 right_roll=-0.0441 right_gripper=0.7087\nstate[joint_eff]: [-0.1983, -1.6889, 7.0085, 1.7118, -0.0415, -0.0415, -0.0122, -0.3214, -8.3077, 9.6342, 2.1123, 0.3346, 0.2125, 0.7839]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20be45889acb1745652870979f3d9f7af426b3e5ad65e5b2e005a145ebfe9349",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:61923a6fe45ee9f4f2475cb66ae5ddca67c7789ac681cf153c404f61cea9d5c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5cb741045c86882e38624d160eedfb7b89a7c7c4489f9655659ee0fda45ff319",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSjQcKEAgSGAI4AUIIdGhpbmtpbmcSDD6SLgGg3DcP9N0pqRoMJ2E45ME3zSnDM9uHIjAuWlb2k0uOf9X4NStD/FcQM1wlpkv7dVK/WbI0zvQHNmrsOs41Z9no33cwhkUMI0YqqgYnMOLrKNrLOIS2xo2vZ1t5ArWYTpwig+01CG/BA+vWEr5x4Fg09f7Sx5eR2RnoNoTuU6l5u9bB8YomypqMfBQIgRgMREpyTN96Hr5heyms6pxenkKtit4YX0OHc9eGJiZ9N9hC64erZAsCklN2r83FQEVdQD/xX9Gmn4tWI5YOBwIK6TCKJrcTVpPO7UTqJT6IxZcpY00WuPZY/FX3BfL4dBYiqlv1BIz0M1nqMX/YG77Amjq2/yn3fDTcKk0kBq35/Z/AtTNR6cEcw4m5b9WcQHQgvJVy7i24GlLiQ97nE+anQluUtALrpnW9R72aMxH/6BVlX+QPN6YAJmCxEZR4588O3kqe+/DAopR0ssQrNgCM0Or3TVNPmiIDhSUNo+iTNur3fCKKn7qtZmjMOmLDLG91PpQ9lbL2nv5AzOW086rMOrlN4qxZCZixl87l7QTaDcQ2VGVRABtwKuBRYS6E6F0EcddodAaiNr9tfUzcNXoKneMb8zu9mbD12qfhlx9IrAk1MQLc9i4HJjs6jX5SRpzV34WA4z26zdDJAnPqBjB1iRmnVwPLit0XgsSqcDCbuk0tsV3J12VBw2AmIyhi11viWmmqer9gtqcg6cIRuSgd/9nYn7cDA4iZtvYhlRr3G9tpIDlF333QLr1Q2Y0gFg03zwbBQcXHIcLPRZ37YDeWY/008FLoQgRYX9Y26x7u+UCzfIIc1nurWLoTnfgC3fE6eDFTsnnW6+AMY8v8C8DtKtKYT+NzpBkl48/GSUiW/ox99iHG+Xu6yEGC65LC4kIUjT/PAw5k2kGoST7MueE+X1nFZm9JAfV4CR49qwxPLdQwzZt4YA/92du+5w9W2MCHNJb3uDMLlZH0/jvenvx/KFou0kr4hkCfganc3Ud7h3D4/9Ar7LgEXR7j+cS3Zeb6Dv2W7eSHBgHc8zJskg47tMDJQxyQf8xShK6CR65B6UUkd7cF7RoFnFXr6L7vNS2n+RlKhfRESAy2rF9YbZzgTvF4gxnHlRZLT1IjFKorKOwUatKdp5eVX/xEI+d3Wq6hi5WMZ1xqWZarS2YXhwKeW+G8+/kZUvsYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01T7v95mAjkP9udVCMxrdS5M",
      "input": {
        "note": "From overhead, the pear is right above the blue bowl, so I'm lowering it into the bowl.",
        "targets": {
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01T7v95mAjkP9udVCMxrdS5M",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4656, -0.0139, -0.0307, 0.9987, 0.4206, 1.6981, 0.9321, -0.038, 0.2985, 0.1978, 0.7121]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1585 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9987 right_x=0.4192 right_y=0.1345 right_z=0.0754 right_yaw=0.0554 right_pitch=-0.1916 right_roll=-0.0717 right_gripper=0.7121\nstate[joint_eff]: [-0.1983, -1.4564, 6.9675, 1.8291, -0.0415, -0.0415, -0.0171, -0.1709, -7.8017, 6.4752, 2.1221, 0.1783, -0.1197, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf97a2d6b66b9532d4b30c3521cd873c7a30464e6af29b6377fd6900e3f0b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1142233dc5c5d77f5e201e28fec9d198bf48c01543108e3f25486012a0cc1077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a6aadf69731bfe38d90029f7a867fc4002dcdf8892ce2467d221c6eb73c8faba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 4.505 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6128, -0.4458, -0.0139, -0.0307, 0.9987, 0.1162, 1.2892, 0.8509, -0.1963, 0.0765, 0.0406, 0.7074]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.1639 left_yaw=-0.0004 left_pitch=-0.082 left_roll=0.0006 left_gripper=0.9987 right_x=0.3909 right_y=0.0356 right_z=0.1701 right_yaw=0.028 right_pitch=-0.0632 right_roll=-0.0114 right_gripper=0.7074\nstate[joint_eff]: [-0.3624, -1.5521, 6.9538, 1.7998, -0.0464, -0.0464, -0.0122, -0.2393, -6.8171, 9.6889, 2.0098, 0.2369, 0.1294, 0.6862]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8234, 0.6132, -0.4522, -0.0139, -0.0307, 0.9987, 0.4187, 1.5875, 1.1423, -0.2592, 0.3038, 0.1917, 0.7087]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1616 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9987 right_x=0.4342 right_y=0.1393 right_z=0.1702 right_yaw=0.0576 right_pitch=-0.0974 right_roll=-0.0441 right_gripper=0.7087\nstate[joint_eff]: [-0.1983, -1.6889, 7.0085, 1.7118, -0.0415, -0.0415, -0.0122, -0.3214, -8.3077, 9.6342, 2.1123, 0.3346, 0.2125, 0.7839]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4656, -0.0139, -0.0307, 0.9987, 0.4206, 1.6981, 0.9321, -0.038, 0.2985, 0.1978, 0.7121]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1585 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9987 right_x=0.4192 right_y=0.1345 right_z=0.0754 right_yaw=0.0554 right_pitch=-0.1916 right_roll=-0.0717 right_gripper=0.7121\nstate[joint_eff]: [-0.1983, -1.4564, 6.9675, 1.8291, -0.0415, -0.0415, -0.0171, -0.1709, -7.8017, 6.4752, 2.1221, 0.1783, -0.1197, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:daf97a2d6b66b9532d4b30c3521cd873c7a30464e6af29b6377fd6900e3f0b2f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1142233dc5c5d77f5e201e28fec9d198bf48c01543108e3f25486012a0cc1077",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 88):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a6aadf69731bfe38d90029f7a867fc4002dcdf8892ce2467d221c6eb73c8faba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyQYKEAgSGAI4AUIIdGhpbmtpbmcSDDl9vVjDsxZasSrMAxoMsAxx2C8t943Iwq36IjCYNnWIlknz9AfB+H2RI0wgqGlgAmSt6xx8crTT2ANpIAXPIcMNQ7UR3lzKGdcnwukq5gVQvnHXHrFwco2yGGBCpVOgc9nV33t/XJd08bzeTUDwqdh7zoXUVxWe364Wfu33tlMA0WnJCaikqdD63g7E9WO9Bu9se/zHJQmikqe/yta4P3VDebvSO4OxtnSXp9C+XjKyNvK9e4brkYVk9LkTnU3rojUBQQljOA93L/pXN3GZqbm5qLYfQPVVRk/eEBNTEJNKn8eGuLO4EDbTnyji+uKL9FvTcP+zT+DUPvssx7YSvdvI4xEDXEvHs9j+wmeTEaxamHCdqOdtc1+ex2oyY40lHiAyoG8likMVr0MTQItLqnCbj94/NbeL4DTy7fhztg7KMNe8DCPvUXeuEldYpYrxAE1KNp6PtpZNOpCGcdZJ3B1x9K3EBmmUZbkGdEnhDJ2x5Bn6Ih4066DBs7wrH2NZDS85l3j448ouflY+6ehlWAcdm2Oak6py7lPgZa7/68wbP/xRx9+FJ3z25vu4cDQWmTtpbwDyUcCAnnak9yPWFFlcENKI4JXNATkTQrFEwQt93pg85/Y05FhIrQCcLYifktdiptcTntGzIbjx1oMUUmb/SoO7RcYVXyzvPaw9O1w1TkU/RIVnl8oczvNrhQmUXkoI9u4P42XMReimjZsKWdUQVHiNrQNYUVtg8gYqd8dJ86tshlKUQaAShUOQuG99LqUIiViwS+izu43JUJMCLJ0/bJQjSFCTlCmQKkc8NKncbBjNqNs0uINa/NJRgY+nBPuQ/xgYX7vS+Wt0JXibfSdtgpGbKgekLhSw58yuIYdHvbGpEEXdWYbO3mxzxRdqZtv6hJwzNrQmDEOmqbzPGLm9Xr+pts4CqjeN5vNy8BzcldzelQ61ZeUUmoZhBgjY3x5vTVss72XXTDnYl7s5fpUd+soXg/ljFemWuHWI+C/AMrfA9uIE0P4rJ6s/hlKXt2CPWbAdiJelxSpr0vAzjULP2Az5ru7iiXKipbZt+5wN71fbzAIfvSKE145qw3RxALwQPLKsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DN9Chg4yAe4BTWv6MWpNCh",
      "input": {
        "note": "The pear is sitting inside the blue bowl in the wrist view, so I'm opening to release it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01DN9Chg4yAe4BTWv6MWpNCh",
      "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, -0.469, -0.0135, -0.0307, 0.9987, 0.4206, 1.7115, 0.9203, -0.0238, 0.2916, 0.1917, 0.9954]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.158 left_yaw=-0.0007 left_pitch=-0.111 left_roll=0.001 left_gripper=0.9987 right_x=0.4174 right_y=0.135 right_z=0.0673 right_yaw=0.0637 right_pitch=-0.204 right_roll=-0.0755 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.2786, 7.0496, 1.663, -0.0366, -0.0513, -0.0171, -0.0342, -8.9915, 7.0632, 1.5751, 0.1587, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3683ac0074828534aae744ddb55d455a5f4281d0d5f7f1ab7425e1752b3526f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22b58842da14de0cd2701d4839274c10c09213b5c356e31db02fe69034b129f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1cacdb13d7a62efcd6485fa745b3ffa2c21a267e6b9d6bd39d3145e4050964b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 3.945 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8234, 0.6132, -0.4522, -0.0139, -0.0307, 0.9987, 0.4187, 1.5875, 1.1423, -0.2592, 0.3038, 0.1917, 0.7087]\nstate[eef_state]: left_x=0.2874 left_y=-0.0003 left_z=0.1616 left_yaw=-0.0004 left_pitch=-0.0927 left_roll=0.0008 left_gripper=0.9987 right_x=0.4342 right_y=0.1393 right_z=0.1702 right_yaw=0.0576 right_pitch=-0.0974 right_roll=-0.0441 right_gripper=0.7087\nstate[joint_eff]: [-0.1983, -1.6889, 7.0085, 1.7118, -0.0415, -0.0415, -0.0122, -0.3214, -8.3077, 9.6342, 2.1123, 0.3346, 0.2125, 0.7839]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4656, -0.0139, -0.0307, 0.9987, 0.4206, 1.6981, 0.9321, -0.038, 0.2985, 0.1978, 0.7121]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1585 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9987 right_x=0.4192 right_y=0.1345 right_z=0.0754 right_yaw=0.0554 right_pitch=-0.1916 right_roll=-0.0717 right_gripper=0.7121\nstate[joint_eff]: [-0.1983, -1.4564, 6.9675, 1.8291, -0.0415, -0.0415, -0.0171, -0.1709, -7.8017, 6.4752, 2.1221, 0.1783, -0.1197, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.469, -0.0135, -0.0307, 0.9987, 0.4206, 1.7115, 0.9203, -0.0238, 0.2916, 0.1917, 0.9954]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.158 left_yaw=-0.0007 left_pitch=-0.111 left_roll=0.001 left_gripper=0.9987 right_x=0.4174 right_y=0.135 right_z=0.0673 right_yaw=0.0637 right_pitch=-0.204 right_roll=-0.0755 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.2786, 7.0496, 1.663, -0.0366, -0.0513, -0.0171, -0.0342, -8.9915, 7.0632, 1.5751, 0.1587, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3683ac0074828534aae744ddb55d455a5f4281d0d5f7f1ab7425e1752b3526f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:22b58842da14de0cd2701d4839274c10c09213b5c356e31db02fe69034b129f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1cacdb13d7a62efcd6485fa745b3ffa2c21a267e6b9d6bd39d3145e4050964b1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAkKEAgSGAI4AUIIdGhpbmtpbmcSDM0algGwzEKOYeEUQRoM30V0ffg4fvly5X2UIjCT2U7NnAx1Rx7ZZIHl/a7twgfk23ppK54Tu6QUa1ueQFQyta0jBEDqVOzc/Z+dWvoqpQgu7nxQeeoq/ECakit+40edMrXYwXPkWRdQ25KNfk8lFx6INSxZwZIHFZoEKLVYgGzKUMN6hd2gmYG7JPTS5bIXWOM6Hm0ZItnXX1tliAvODpo3SuSxXISpJA7gdhe0vYM+0iMAmKpe5/TTSd1MxJN19QS3Vb0L/4+zm/soXVyO0MipDSiNFFG8sr5tKml3owDCwlsI2S9WjP04EV50qcgcNYLcwlBd+srbYX2nyupksAcauLQ8xHSq3uzWVowKlAsNQRSw78itBIUIId9j/aQghHI3ejk2tD+8U9xmtCoHAXx08Ci3gpFDYKcC6QARz/nOKZMd2WfcTci1qrwx1kacUyNoPxZqbeRwcFowGMZEn2h2BsgeABK7VGf6W7l6NQR3OtbVUaPbEQW29pCy1yTuAKJb4QeHC9S7F+iS7oxfk9XBGRpR1+EkMlG0N0ubD4DNmZQGZnG+7vhhkcecpRXZwoQIgO83LdDxWtFEg0M6RkI6ECwlwd+LQrjB2FNbWEmBoNtMnik+jIUosxQYoUbQhqCUNxTM+Eki0g0VuhilPJRYg9GectGvYpcXCko6KV5KHB0XZ74rnXux0X0/51D73+DIjbz4b/P0RFxyAat3pm510ZrIabYa1THIIPheOPqrQd2uMhT+f98ztIHc3ouzflE0Z4qIlBygAkGBfofvIqE5boAHF5Nm+tn7Pq6XuBFQ95pWzaUq8mPKKFGMjB/9xREr4/yCI9MoeAAQzWfEBulMxAKA/AMSAVd2ujHEJbyurW1JMSVFzsE4iXLoN07QuKMdNGglPHmaJxMMc0CLsyYey/qHVlWF2lrsO66TfQssRgd4PfqXRf9HaHWG7TXtqKxjAV+k5/QEhG3sAjJgsGUEeMlgHuZCXsHwhO425rc66eseeSu032JyQKq5yDs/bdD9uIe6fDdWDpO4VHLv9lifLqBuxaBmizUhYxQtr0i23LS+fnQNGGO+0mi7JyVYPLfjg/QGmIwBcWXAVUg201sZyQwO1QZ2zfnFv7nC4l2kD8K5wEF63YHSpBm+vmmCzidbfMUOoMEZ+8QMUoX0eGl+4ANllJx+bRc4L1q8tydOV5ckZViNiqek+eZchjSj9TimRdL7k1trVYN8dM+LoM/DLkW3rwxtrtLll3b+Ez4aDcU5S5BsGh3Ws6xA1lfzV2bV7N+qxgZMl3qns6CcVdAyAsBs9cm4eatU9FV/e4PCNEYwLi8KCvwqu8ywS3bKc8Jo3w/a/j5GoYmBQl7H01RluyU0xrOrwwx3I0K4uzc+Cec8VDwQm9nIDkpOZPeNdAxYVKnHeahZzR+LPS0HpS5GFHi9iA08VRg4t9SDE/Tu5DNi55uCG70iPmHWkBZGZVurkqeDaqJsIh92MOf0IoST3/ER6qiBxRFAnrwy5v9NGDG0CRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GPVNYGJgSkXzzRbU9pJjuF",
      "input": {
        "note": "The pear is in the blue bowl. Now I'm moving the right arm over the lemon, which sits back and to the left of the bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.33,
          "right_y": 0.21,
          "right_yaw": 0,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GPVNYGJgSkXzzRbU9pJjuF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6128, -0.4759, -0.0135, -0.0311, 0.9987, 0.8196, 1.5024, 0.8249, -0.0898, 0.5964, 0.4698, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.124 left_roll=0.001 left_gripper=0.9987 right_x=0.3335 right_y=0.217 right_z=0.1186 right_yaw=0.0761 right_pitch=-0.0427 right_roll=-0.0207 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.2923, 7.1863, 1.7509, -0.0171, -0.0611, -0.0122, 0.0205, -7.5282, 6.5846, 1.4383, 0.3248, 0.1685, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9760fe6794c1964fc90258af84e41a7014c7f9a819fd14e7cf35529fda84526c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:929d3ba081e65c12fd9a912d3b16556c7074ac6c5645a0970989e13f8b8d072c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ecd1ad8a51a12c21e2401805ff4d6f8e71e600fd4a722764349442476bc5ea53",
        "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 · 3.764 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6128, -0.4656, -0.0139, -0.0307, 0.9987, 0.4206, 1.6981, 0.9321, -0.038, 0.2985, 0.1978, 0.7121]\nstate[eef_state]: left_x=0.2854 left_y=-0.0002 left_z=0.1585 left_yaw=-0.0003 left_pitch=-0.1079 left_roll=0.0012 left_gripper=0.9987 right_x=0.4192 right_y=0.1345 right_z=0.0754 right_yaw=0.0554 right_pitch=-0.1916 right_roll=-0.0717 right_gripper=0.7121\nstate[joint_eff]: [-0.1983, -1.4564, 6.9675, 1.8291, -0.0415, -0.0415, -0.0171, -0.1709, -7.8017, 6.4752, 2.1221, 0.1783, -0.1197, 0.6716]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.469, -0.0135, -0.0307, 0.9987, 0.4206, 1.7115, 0.9203, -0.0238, 0.2916, 0.1917, 0.9954]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.158 left_yaw=-0.0007 left_pitch=-0.111 left_roll=0.001 left_gripper=0.9987 right_x=0.4174 right_y=0.135 right_z=0.0673 right_yaw=0.0637 right_pitch=-0.204 right_roll=-0.0755 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.2786, 7.0496, 1.663, -0.0366, -0.0513, -0.0171, -0.0342, -8.9915, 7.0632, 1.5751, 0.1587, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6128, -0.4759, -0.0135, -0.0311, 0.9987, 0.8196, 1.5024, 0.8249, -0.0898, 0.5964, 0.4698, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.124 left_roll=0.001 left_gripper=0.9987 right_x=0.3335 right_y=0.217 right_z=0.1186 right_yaw=0.0761 right_pitch=-0.0427 right_roll=-0.0207 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.2923, 7.1863, 1.7509, -0.0171, -0.0611, -0.0122, 0.0205, -7.5282, 6.5846, 1.4383, 0.3248, 0.1685, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9760fe6794c1964fc90258af84e41a7014c7f9a819fd14e7cf35529fda84526c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:929d3ba081e65c12fd9a912d3b16556c7074ac6c5645a0970989e13f8b8d072c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecd1ad8a51a12c21e2401805ff4d6f8e71e600fd4a722764349442476bc5ea53",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgggKEAgSGAI4AUIIdGhpbmtpbmcSDDGqNUaLQg0fwA81khoMZvscgNW+zy6HNoHZIjDqORuazS53R28P+LpdkpGxfI8ufoc/87Yhbf3xtvUxLWK6vcvWUrN5DWfWlP1N2Ucqnwe//AXQ7dqJvUpSXKEoIS7CMh8MnhOKnawnhedVZJwG+vVF/V3gjSqW2N92+eOdOYGPyLWLUBgbHu8B7q1rrG1MCPZnSRaV+twzizmfWqJUwEUmbHmWNXOrdw7XddY02Lf4Lr/6z1y3jItIHbPXKv/yBljg7peGSysGjvYLPBR4N9eUbZSHEISYVd+TG0t26wbrAZ9yCcqq2d4jrNOs+TzBzL2IVvl3nFb2RVjk2dLY4mkSZeRBtDrvI7zy+H21Tr4zDUNgBRizQP3uUffK1Ap6NYcup1pqEiJoG3y3LUOqirp2UMb7ujVBnIyZ9ahKgTVOFEgpuWozcOTwIqp4LTuK+2vePmltG9r/vKgqjgyv+7EqCxwXyRu4BtCdldBh3t9uq81lnLfRbVHXNbYaY/o/60P64UaG8oXx/yv2kxuWolDNTL5DtQsNUu6bdrV5acFhKV281TkjYOhPPsFT7OLEEd4jI3i9QJEJ2aF579T/zbYO7fFJ4oll1bP4XGSP2FzSEqOd46fA69HpXSisqe+3yX6VPGmFrhaKc+d6bP4uWz5jcDUHA/odqTzMky1YQa01b+T5hK9aye2tAO7bfgG52bMeaXmMqBqSG1XBGGnSn3UnK79md1jWHFBtXJV9qEkPqiJaZSbmkN5VEPdMM758NQqZxOtBhdNTq2I5vp80HRqaGp4hisrJIQ+Y1FOjUxzdC2DVzWDYFUt1L3u0yW33ShQdrQw+/dg6vNT7wOXf5lVDtFDNPKWK+vSTX08bpiCKezb/trY2NB7jK1YKe3g1gVByKPbG6oS95s0tXQ0RG1Spg4OnR6ZrENSVXTNhv6LL99SisSqJjCHmfvabMvemMSzSvNyfM7BT0uvfIEJTdmx79HPHVu5Pzrbtmd/yTYgrHDBfAehw8+odcmlJFcNILMb1rjZzXkUACi9ZmI98u9TOMZtt95kJkpzjz40OYkCmCp5cHABQDFPzkBQf17+P5fnO6cW+/F74VzmAMAOJQX0x/h4xdIybwTT2EUYMTiI6Wbzp4Lh2HSIsVq6Z/ylIfUBznzEU/XMMAb8J+d5V0sw192+rVXTzI6Tdy5dZ5BKioO1ohiC5TV4lqDY7NLyRxqxJAc9lggc5fe50WXAYtYQIne0EZdsmoeOO7+6Sr4gK4tL3xag0I7kwkQzwJmWp4mFqt8TElAnQ+9SsOV0V7mYe+91wOL3RxMXNeFC89NzA0AyTvJRoTTqamKiV7QkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JKuargX3QdxrupRzfZFjEp",
      "input": {
        "note": "The lemon shows up left of and ahead of the jaws in the right wrist cam, so I'm shifting about 4 cm left and 3 cm forward over it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.36,
          "right_y": 0.25,
          "right_yaw": 0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01JKuargX3QdxrupRzfZFjEp",
      "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]: [-0.0216, 0.8349, 0.6128, -0.4789, -0.0135, -0.0307, 0.9987, 0.8528, 1.7081, 0.9199, -0.0486, 0.6609, 0.5297, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0001 left_z=0.1533 left_yaw=-0.0002 left_pitch=-0.1312 left_roll=0.0014 left_gripper=0.9987 right_x=0.3499 right_y=0.2412 right_z=0.0867 right_yaw=0.028 right_pitch=-0.0579 right_roll=-0.0538 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1419, 6.9265, 1.7118, -0.0317, -0.0366, -0.0171, 0.2256, -10.2632, 7.8427, 1.5214, 0.4567, 0.1392, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56ff13af59532710f5b2284950586212dee61c241d44038ab69d395096d758ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4460b4f309ef183de8c49a4c6e42f7ea8a7f8d7a017b4ac6a037f438db2cbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8a7def004f06d1badfc8b0a0985eb42dc9b81b4bad4ee735026ab33aefd4d428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 3.325 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8249, 0.6132, -0.469, -0.0135, -0.0307, 0.9987, 0.4206, 1.7115, 0.9203, -0.0238, 0.2916, 0.1917, 0.9954]\nstate[eef_state]: left_x=0.2849 left_y=-0.0003 left_z=0.158 left_yaw=-0.0007 left_pitch=-0.111 left_roll=0.001 left_gripper=0.9987 right_x=0.4174 right_y=0.135 right_z=0.0673 right_yaw=0.0637 right_pitch=-0.204 right_roll=-0.0755 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.2786, 7.0496, 1.663, -0.0366, -0.0513, -0.0171, -0.0342, -8.9915, 7.0632, 1.5751, 0.1587, 0.0659, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6128, -0.4759, -0.0135, -0.0311, 0.9987, 0.8196, 1.5024, 0.8249, -0.0898, 0.5964, 0.4698, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.124 left_roll=0.001 left_gripper=0.9987 right_x=0.3335 right_y=0.217 right_z=0.1186 right_yaw=0.0761 right_pitch=-0.0427 right_roll=-0.0207 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.2923, 7.1863, 1.7509, -0.0171, -0.0611, -0.0122, 0.0205, -7.5282, 6.5846, 1.4383, 0.3248, 0.1685, 0.0904]",
      "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]: [-0.0216, 0.8349, 0.6128, -0.4789, -0.0135, -0.0307, 0.9987, 0.8528, 1.7081, 0.9199, -0.0486, 0.6609, 0.5297, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0001 left_z=0.1533 left_yaw=-0.0002 left_pitch=-0.1312 left_roll=0.0014 left_gripper=0.9987 right_x=0.3499 right_y=0.2412 right_z=0.0867 right_yaw=0.028 right_pitch=-0.0579 right_roll=-0.0538 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1419, 6.9265, 1.7118, -0.0317, -0.0366, -0.0171, 0.2256, -10.2632, 7.8427, 1.5214, 0.4567, 0.1392, -0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56ff13af59532710f5b2284950586212dee61c241d44038ab69d395096d758ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4460b4f309ef183de8c49a4c6e42f7ea8a7f8d7a017b4ac6a037f438db2cbb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a7def004f06d1badfc8b0a0985eb42dc9b81b4bad4ee735026ab33aefd4d428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSigcKEAgSGAI4AUIIdGhpbmtpbmcSDCB8llweY4UVNCAM/xoMGTuG1s6xO0AJXpfzIjB1VgNZzgP5thYsNnFfWi0pDoUIWxwjexPQoT8kFk0h8uMVNg3A3DcnkS1zk+U/P2gqpwZsJd8wWyMVsBAfMW0jWlgfVfPf+tQxrpEQoZuX9s8Lhh7IYzb1pH30u/v162q3gEHO0KBHr0wkRG9yIUsMcDijLQvM2t7ej/GpNde01tUX5T8OtHpfyZmisoBCwaaFCl+jtd5afHL/ascDfaGD9n69JCu1ib+UFjFAV1lPmYHRU1+h0nRZRACmP5mCmkq1lbbbJlb8nEaPQb78i852Zv4wtpgs1VGwmLmZZPAXp+uXVGmzEYmWP+iy0sRrfpsyTBBLLVWWgWm1/6hKOZZJMFBhxaGp6KHUM9Qq02bP/SqsVDo6j/I0MfdgPNGchRHHIWcYeBG/ZpZkKCwiE2xtZzarmNQxxq1VVH9B2jaST9ig2ukCefd9tEPOXaEiZd1lfiw/skzW+5jNhxNfXNjvCCv/+ALqTzl1p2wbyyVFwWfGKqXYunXtN8bwA+eWN1vUVWTPxnTB9K/xJzZYAg/tqU0S+Q1Foz7ibVfb0ehS56BuScg+gCUdF2SyhYqnMCiJGtKuhbBE96ape4amWcrgkOcJo+Bxf6QY14+cWm8koG7s7LAnwz0p3K/ojrf+tVtrXOyZkIz8tQiA3TpVL7ygC70Y1Pjhwn9F1GI/OPA4EItXB25oE4sBla5bWtYY98uxuAjD+7Hevi/S99sDvbHZW1Xq6sAGa2IVNp55BK52/UF5ItfjohifCvF4jfK4OvtDMGcT+wFkXaHlC35vpPKHeoVOvknuCoOiyKcDJD5Wt2WHLNMG83N1oAKRtWwJtEl5mAqylyKcTv+osltb+y3WWN9w55c3esih4iARhfiEx2fHpbJmhxph79yiodOjaxGoNFHAp0b0pC2oZMAsUQSA0Xz8kLFuI2fhWgVbnq7yBgNOkH5k6fssaHLP64ZZ4WFPMlmBjFoPy0p0ZkbHvzSzKc+5xG0t5BmPWuR8PERAAsjefgDQB0wcdRdF+GmClVKl4O6XbCifuIJA5u6pvcjQhBUpRfzDSmyZPUddE5i+k3BXSPfHyeZCVcO4rYYBtmzPMUVWUk2FJHAOoZPA/Qkjc3bHhXQIkBXRqjktRYsGXSRA+iYjKq17lk4YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CvYiwzcQFVXkY3BEvNKxHS",
      "input": {
        "note": "The lemon is almost on the jaw column and a few cm ahead. Going down to table level and a little forward to straddle it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.39,
          "right_y": 0.255,
          "right_yaw": 0,
          "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_01CvYiwzcQFVXkY3BEvNKxHS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4839, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1354 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0264 right_pitch=-0.0587 right_roll=-0.0511 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.1282, 6.9128, 1.6337, -0.022, -0.0464, -0.0122, -0.0479, -9.4838, 7.6923, 1.6142, 0.4908, 0.1929, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd425ab4161ed12686884aedd7f47304d9883e32cb850617ae56631a4fe01a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11cd141de4e8a3460581fa3b99cdd93612e9a67d4e357bb68beb5609b9fcb669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f2bd75f3740d910e04a6f3e0ebac7ba6ef96260b30694e633f0e945d8affc78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.803 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8307, 0.6128, -0.4759, -0.0135, -0.0311, 0.9987, 0.8196, 1.5024, 0.8249, -0.0898, 0.5964, 0.4698, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.155 left_yaw=-0.0004 left_pitch=-0.124 left_roll=0.001 left_gripper=0.9987 right_x=0.3335 right_y=0.217 right_z=0.1186 right_yaw=0.0761 right_pitch=-0.0427 right_roll=-0.0207 right_gripper=0.9965\nstate[joint_eff]: [-0.1846, -1.2923, 7.1863, 1.7509, -0.0171, -0.0611, -0.0122, 0.0205, -7.5282, 6.5846, 1.4383, 0.3248, 0.1685, 0.0904]",
      "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]: [-0.0216, 0.8349, 0.6128, -0.4789, -0.0135, -0.0307, 0.9987, 0.8528, 1.7081, 0.9199, -0.0486, 0.6609, 0.5297, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0001 left_z=0.1533 left_yaw=-0.0002 left_pitch=-0.1312 left_roll=0.0014 left_gripper=0.9987 right_x=0.3499 right_y=0.2412 right_z=0.0867 right_yaw=0.028 right_pitch=-0.0579 right_roll=-0.0538 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1419, 6.9265, 1.7118, -0.0317, -0.0366, -0.0171, 0.2256, -10.2632, 7.8427, 1.5214, 0.4567, 0.1392, -0.0024]",
      "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, 0.8341, 0.6128, -0.4839, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1354 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0264 right_pitch=-0.0587 right_roll=-0.0511 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.1282, 6.9128, 1.6337, -0.022, -0.0464, -0.0122, -0.0479, -9.4838, 7.6923, 1.6142, 0.4908, 0.1929, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd425ab4161ed12686884aedd7f47304d9883e32cb850617ae56631a4fe01a0c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11cd141de4e8a3460581fa3b99cdd93612e9a67d4e357bb68beb5609b9fcb669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f2bd75f3740d910e04a6f3e0ebac7ba6ef96260b30694e633f0e945d8affc78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSuwcKEAgSGAI4AUIIdGhpbmtpbmcSDHDxO+AM/3PgIJq5qhoMiuxAwIvnYifB8Xl4IjBR0F/oWq0iWmAexqvFWUNMJAnulpaNBjndFExNxnan5Y+UeEL40wykrGLZTgPqiXMq2AbDpUH4aBN0VKxQd7CMpiAktbbc3pJ9NxeN3UV/M/iFzITE2OXR+h98zx4HYFSIh1lpW1gPBOvQMBg0N6YT3QEK3gAl0OLpqkl/4myL5fZHLVnwcm/6DKtpdwWeKOm+mRoJ6Q2YQi74ymSA0rPV2CXdDZDKisc5fGW03ETlrohWYwJYrOKs5n5Ws7vIS/n4wyszIx2nFL8K9T+PDG8rdl8E8L8wWiC3DK3Pd/P9zlIQP1WtpBySU22RecnGeZr5laLmhZS1wIcl0mBWlPOjNkvYGfGK5idSEFCujLHd2W1sxSPhNWrx9k89EEB87R+J/3Os5+0wXsZ8pWbLTGmk85Bgn+MuJ4qYlGv4EAxDiY5tI+oLwVYMGdX4sn1x24xXbFBY/x0vaNu6ui5Sm/h1CG+IpIh7u5WkxndgpLQbf+1zpUU4V6EDwSCFOOXqMpTnVZjCphJLC6Q2ITaDI+3/tb7b5UHDnMzshnTj9cKo0T1P+vLBcy36NUN7u6E5gr95oTthG2sJVXvvfdJ3EprhQnszfheaSXUslwoPEQGm3zLQ7giwW7F5W3FI403C3ESMWOxjfVk5oW+BA61jfn/8E2GFXZflhGpukHeujoUAtl6Jj5biPMJQkP/kBVpO3cnMucbX9Vr6sXfcUOLCpe0TyxHDMyTc5ooJydjJETu996I/27rjFahqEijmQ4eVSeBbch5s3t2afnsTPiEMcsIrqixZTtIcLX2rV2fZG0wgANHdfRYbf+BGc3lf97Pkw47se+g+/LRsMxvhxXFc3LRCdFFNP+ByTEcsNYoZvlaME52jYWJTqpSyHxJL57/o4qb02am05kBgF8GbrBc8gb/UxLNDpF5aMwSEoNGpP9bqN7OT8sjMTYJVYJbVMUo/Wi/X778be/QObb93WObPh4ndFTTHTuuvXe7ZajOOJN/O1YIcUHA5e8h+Yp5TjbEvzqT9C64zhJkJVtj8DkoQq+YylO2+dEARo4t5N8e6bNlxigE2K+ny6kFnl0ZeUkj4QOFSYZUEqHy7r4LS7mzKUjP4+H0gO3t15UgJN3vJzlybg+BaGDEZ04zmrXhQpSoNFyvaXR2u90wmlrJLI+FFZyrtuGqIANTHwFFpV3KgiQj8I8rRieacdv0FSYRxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011jJoDaq74j7Eo7xZFWqB89",
      "input": {
        "note": "The last descent barely moved, so I'm stepping down in a smaller increment toward the lemon.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.25,
          "right_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_011jJoDaq74j7Eo7xZFWqB89",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4843, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5354, 0.9965]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0006 left_pitch=-0.1358 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0267 right_pitch=-0.0587 right_roll=-0.0514 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.619, -0.0122, -0.0562, -0.0122, 0.0342, -9.6068, 7.6923, 1.6142, 0.4957, 0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938f137ceb82516bab2979da9f908bb2573a5d3f45b012061d2b96d727ffb2d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7bb200d60416c7e4dd376036cfdbcfb6d81f493f346a097314ec224725e325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:28ef33fc3680208cb4ffa9f78f72b9dbe5e38d585f50f3fcf9d284853e8fd178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 3.849 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]: [-0.0216, 0.8349, 0.6128, -0.4789, -0.0135, -0.0307, 0.9987, 0.8528, 1.7081, 0.9199, -0.0486, 0.6609, 0.5297, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=-0.0001 left_z=0.1533 left_yaw=-0.0002 left_pitch=-0.1312 left_roll=0.0014 left_gripper=0.9987 right_x=0.3499 right_y=0.2412 right_z=0.0867 right_yaw=0.028 right_pitch=-0.0579 right_roll=-0.0538 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.1419, 6.9265, 1.7118, -0.0317, -0.0366, -0.0171, 0.2256, -10.2632, 7.8427, 1.5214, 0.4567, 0.1392, -0.0024]",
      "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, 0.8341, 0.6128, -0.4839, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1354 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0264 right_pitch=-0.0587 right_roll=-0.0511 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.1282, 6.9128, 1.6337, -0.022, -0.0464, -0.0122, -0.0479, -9.4838, 7.6923, 1.6142, 0.4908, 0.1929, -0.0073]",
      "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, 0.8341, 0.6128, -0.4843, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5354, 0.9965]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0006 left_pitch=-0.1358 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0267 right_pitch=-0.0587 right_roll=-0.0514 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.619, -0.0122, -0.0562, -0.0122, 0.0342, -9.6068, 7.6923, 1.6142, 0.4957, 0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:938f137ceb82516bab2979da9f908bb2573a5d3f45b012061d2b96d727ffb2d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f7bb200d60416c7e4dd376036cfdbcfb6d81f493f346a097314ec224725e325",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:28ef33fc3680208cb4ffa9f78f72b9dbe5e38d585f50f3fcf9d284853e8fd178",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQgKEAgSGAI4AUIIdGhpbmtpbmcSDK4eRqGkXeK8PxqmGxoM2YwgtPBw+H3H8hQeIjD/P4WkRji8aTI2+BDA4VLI9LonOScO6n370fn24Z2dNCxYvYYH5++z+3HkegYK9U0qsgfi5OwLh400yhPhh/+z3+cTV+ZPYBV5pDnpL718stPsGTqlLLgScaXsxGW1XHmpsk9Cb1UufhWS3YmJYw0CRCAOdCJHkhXnmtrz6Xv7BTAq2T8f50p5mCTxccJNYMZ2pjKJ2x4YmYEN+t+w/mAKRA+2WEbv5WEbA17hMApAn7vH0i19YqgYv5lp9yPN+WoYBoPVObPvyuC3+V2dU3YuR4a6PnHVfTsnRkmC9tVbtr1AZozh5ftgsnvwOwGSVvmkkiAuZPKLEe2GKit6qzB2elkwOGpf/rcGfhjZobWfJCgWfF7OZq5EUaIUGCnzagTurit8LOzafMzvJlpNeVO6E61AX3ldEQa7RGDDjFkHKA71ZvCm5qCntMcq8B068if8Hg55YebEVFUgZlGB7PmMuW6S/GkdXnwEs7mp68wVigRKaVzKVkzyaRQ0oFEpRZjaf7zriLAddRCbwy0ELMoqcAp5hCHm00vJbAhOmcPPewHmhkhI9AecPfudsxFiNdO5JxcwHum1NQPO/XczeZtgE4j0YAeflnHpmM2OcEfr+HnZkNyNWMJpzO0MEojC5CjJEE0mY0qQjjtq3ao0gjilkjakLfhElXIhhqxUS5bdbLrEOWzyXR35yRHqHSfoMVOI8E+myKhDiHD0vo/dUdIDO5/CF3VBbEGfOzVJalxbdI3ZuOOKag+dfcbLNxDpwUx+PvoZ0JR3lIg0iU87okvdgvZUAQ8bKkmm1k2sI423G+GL2OJNmrFWJmZiXKe2OHZa9cXvVp/6kuWWYHQGkO1NGodfuiEGkGXcxyn/YZD5MN/a3YV6UIMMX1ZqVuIgU10nDtzpPtEJr1Ut3RA22rCBUXq31g5vkpv66Kabvc0XHUEi2tvfJJVgcBXHbTJjgIej8Gz3y7jMSggXugXs4fE2ovN8HBF9+nfDONIhYpk9pLfz1wUQW7sLgLzy+BAr7DHr/qdJJvdV45eFJRKz6CQLWtscstrZ5uZGzkYBHRIe+W9MMdrhbjAaOXAXPgbPqUNx/rsmXjoWDwqpmXfZjaoNL63dPYj8Xr/lzzH/mvRlWuSRblUMNQ3FjtsKnsCzgFhh0HpNxknI/Q5vX85FQO2XGgc1jGKvBsxykv2htJVkxGLc3H8IHA+g5lyM61N0yX9D1E1Xy6bXl265nVoxWP2P6mkY7M9jkYNp0L+gYWUPgyus+NGIlFid5eMAD01kv3YKBlDnn5tVMjfB0x+KP4y9Z0yYNQv/xD8s5DZaiVpIrhYfXzkhGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Qouk3a2rr3QN3jTxrC1eiN",
      "input": {
        "note": "The right arm is stuck at z≈0.08 again. I'm resending the descent with an explicit orientation, which un-stuck it last time.",
        "targets": {
          "right_pitch": 0.05,
          "right_roll": 0,
          "right_x": 0.37,
          "right_y": 0.25,
          "right_yaw": 0,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01Qouk3a2rr3QN3jTxrC1eiN",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6128, -0.4881, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0231, 0.6617, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.0002 left_z=0.1518 left_yaw=-0.0006 left_pitch=-0.1396 left_roll=0.0016 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.079 right_yaw=0.0267 right_pitch=-0.0592 right_roll=-0.0512 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.4017, 6.9128, 1.6337, -0.0317, -0.0562, -0.0122, 0.1162, -9.5795, 7.747, 1.6728, 0.486, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a08154db57b75c6b260d5d5165f9f5c0cbc46b1c77ee102f864482369a3076",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb56ee3952b68a91b0f5329b0087679be2f0109d670d94cbc5346171f3491df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6a1c19aa0bf03601430ac901186f3970f7c9cc9f73c55ca1abf5ab9b4f139bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 20 attempt 0 · /messages · status 200 · 4.554 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, 0.8341, 0.6128, -0.4839, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2829 left_y=-0.0002 left_z=0.1526 left_yaw=-0.0006 left_pitch=-0.1354 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0264 right_pitch=-0.0587 right_roll=-0.0511 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.1282, 6.9128, 1.6337, -0.022, -0.0464, -0.0122, -0.0479, -9.4838, 7.6923, 1.6142, 0.4908, 0.1929, -0.0073]",
      "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, 0.8341, 0.6128, -0.4843, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5354, 0.9965]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0006 left_pitch=-0.1358 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0267 right_pitch=-0.0587 right_roll=-0.0514 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.619, -0.0122, -0.0562, -0.0122, 0.0342, -9.6068, 7.6923, 1.6142, 0.4957, 0.188, -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 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, 0.8341, 0.6128, -0.4881, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0231, 0.6617, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.0002 left_z=0.1518 left_yaw=-0.0006 left_pitch=-0.1396 left_roll=0.0016 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.079 right_yaw=0.0267 right_pitch=-0.0592 right_roll=-0.0512 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.4017, 6.9128, 1.6337, -0.0317, -0.0562, -0.0122, 0.1162, -9.5795, 7.747, 1.6728, 0.486, 0.1587, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:13a08154db57b75c6b260d5d5165f9f5c0cbc46b1c77ee102f864482369a3076",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb56ee3952b68a91b0f5329b0087679be2f0109d670d94cbc5346171f3491df1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a1c19aa0bf03601430ac901186f3970f7c9cc9f73c55ca1abf5ab9b4f139bd6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywcKEAgSGAI4AUIIdGhpbmtpbmcSDHPZYwj7shKER4prCRoMWEIp5QE4d2FZD0w3IjCqw9bdMd2SFooaDWvYOdflnGgZDEPMIUNjiGY+RDloUCieXmD+MDlY6of745G6Mvwq6Aa0sOBdt7iH+fs6k8wv9iRPtLY198FR6mBCOaPIigNmd2/OlTE7lh4uWHsa5x+RTNuHlhphb5gr7Ug0/FP2/R1RbE1ibQG1GcVogEHlXfd2errT7eQ5pchdXFUx+pRY1rQOCe9iUVxAK/mGMeB1Y8hailB+ypo179P46Y2jxsChzBjZemwPtSmPeaYdJUXUVw3q7HOi7WK0oJPZt2sLYeOWsSEFBm4Xu/of3VmB8n1NMu6nAIyxuzoVrn+F9xCs+P7xzw77rIZUp5S1H954CUrG6+tS8bnr72buko9J1xGPJKfTSU/gIY4gH2ECHhstBFF0d9k2+Ig/6izMzYa1ZB7ompUo360d9NRtEmQix9+ynI/yDedQpOvzx5P2YRSskKjxUNG2R73MpMPsvG99LSvi8uiSX62f/EZP1brF4M+qN9TTvU61L7tYM2a3MXQ9+YF6za1KO7Z7koVu3P9b2uA71RyZ5zHiFOLz/sqNPfOyzjjs3HHutGFl9ejQXijIKtKXWgTxCjtmWKMmpo0RDjBQCrNKmeRv3UVi5/IyZqmKDhKS0El5eg26yTjzbjcM5i+j4Y0ntGncLVyZWz5lh/PYUhuH9PYXrWpYBevYV2SRPwF/WKLxuel3FCrUxbYKn+aXoE+Ow6llYYupLTbJ6St9GIxhCMwFD0TCRwOAtZ0xFtEqE+rJajY1oyT0XsqL8iWTbOFgCczqoyVuLWiV5v+9RmsvtyaisLEpPX6SEFMfojwMzK5FhqmyiChH0CHkwbyLIgn3YCkvrnGU81SXk1Ol4DsvPuowoFKkXMfwupDj3BWzEkkB5kxbBWybMq7jcAyS9MG5voElhO5tZAx4iHXzjUZbmmoZuIx9Q/HtM8/pgnzz4lJMe7r/0DPHsuy8T8LpRKePxtxeBYgIS2qQ53xzhUjxjz9vC13TEtMNLz2fw1ElIf94wuy9+xsumi59jAEC+ldBMfX5cBdUh4CKsFQdwhpN+DKHAvP7ynZ+ilzsaf+aL0A746nO3wppyr7n5a/36qB0+5XWnQC1Dy04b36vJo2vlS0FcWSuneI/JGSbvVvMA0CaRDD0j+Qc51kbyE9UJejgYNxG4BLvFXUVsffhEwA2N2nXjEnP7KSTY50M/n6cGYnTVyv/ja1DoQCPgWY5MimIa90YNBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NxLx9yDSZHNc7RnYwREADn",
      "input": {
        "note": "The right arm won't descend from this pose. I'm backing up and raising a little to see if it responds at all.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.34,
          "right_y": 0.24,
          "right_yaw": 0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01NxLx9yDSZHNc7RnYwREADn",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8345, 0.6128, -0.4915, -0.0139, -0.0307, 0.9987, 0.8764, 1.6657, 0.9092, -0.0734, 0.6792, 0.5529, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.151 left_yaw=-0.0002 left_pitch=-0.1434 left_roll=0.0019 left_gripper=0.9987 right_x=0.3414 right_y=0.2421 right_z=0.0973 right_yaw=0.0266 right_pitch=-0.0427 right_roll=-0.0388 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -0.9778, 6.8991, 1.6532, -0.0366, -0.0415, -0.0122, 0.5538, -9.5521, 7.0222, 1.5165, 0.4713, 0.2076, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87ae3d177eeca518e0223f37fccc3e8b963d300c07eebcfe19b74868c2f47980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe770980945bf0ae72edf646ecd6c52a2ce1c00eebff22a24d60a9cc9927069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a38add0d726e14d2f82c467bb1cd52b645c89da3e6103347982c415ccbaaae7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 3.773 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, 0.8341, 0.6128, -0.4843, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0227, 0.6621, 0.5354, 0.9965]\nstate[eef_state]: left_x=0.2828 left_y=-0.0002 left_z=0.1525 left_yaw=-0.0006 left_pitch=-0.1358 left_roll=0.0015 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.0791 right_yaw=0.0267 right_pitch=-0.0587 right_roll=-0.0514 right_gripper=0.9965\nstate[joint_eff]: [-0.1162, -1.4017, 6.9538, 1.619, -0.0122, -0.0562, -0.0122, 0.0342, -9.6068, 7.6923, 1.6142, 0.4957, 0.188, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.8341, 0.6128, -0.4881, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0231, 0.6617, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.0002 left_z=0.1518 left_yaw=-0.0006 left_pitch=-0.1396 left_roll=0.0016 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.079 right_yaw=0.0267 right_pitch=-0.0592 right_roll=-0.0512 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.4017, 6.9128, 1.6337, -0.0317, -0.0562, -0.0122, 0.1162, -9.5795, 7.747, 1.6728, 0.486, 0.1587, -0.0122]",
      "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, 0.8345, 0.6128, -0.4915, -0.0139, -0.0307, 0.9987, 0.8764, 1.6657, 0.9092, -0.0734, 0.6792, 0.5529, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.151 left_yaw=-0.0002 left_pitch=-0.1434 left_roll=0.0019 left_gripper=0.9987 right_x=0.3414 right_y=0.2421 right_z=0.0973 right_yaw=0.0266 right_pitch=-0.0427 right_roll=-0.0388 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -0.9778, 6.8991, 1.6532, -0.0366, -0.0415, -0.0122, 0.5538, -9.5521, 7.0222, 1.5165, 0.4713, 0.2076, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87ae3d177eeca518e0223f37fccc3e8b963d300c07eebcfe19b74868c2f47980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0fe770980945bf0ae72edf646ecd6c52a2ce1c00eebff22a24d60a9cc9927069",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a38add0d726e14d2f82c467bb1cd52b645c89da3e6103347982c415ccbaaae7e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSjwkKEAgSGAI4AUIIdGhpbmtpbmcSDOfnTNT7C4VLSZ172BoM+nQdwXm0wU/r+QSbIjC6AmpwMzgIBRFtXqxZOo55zriG9UawHL6YlKLvxuB5PakpQB3hahcHrP6yTimNZFgqrAiPeRYs6MFd2D7OAX2DZZwIqhftUt8d4DVJzvAGU4It9gYiOnCyE7xjbrvet3mh4LH7VJTk6dH13/EV6KNBZdf9oYfBmnzntlxcujtKKm37f8XoLjFFPxgLatm0HXycs9eB5Qo4A+OZ+Tu0HfJ26AfNJXofJkvLR+C04uh0zUSlswzEpZRyvFdRJHyTiWhx+iTCG63X2SGTt+ng3flLHa/qkfq+DZxf76iVHm35RxNa81jjz5AdG7f686Me1LhDRbHEypqrB8YFc7tKcH54jv4UZjCfLiGTeNSUMs1f4T5CEbl47RPjbQCNuvXPKWhYGjK0yV1hDs2GBCVbDk38WA5qeZSBR32dWZlctlkyQrXje33XLrUnFz/yN6CiMC79IbPncjQDj4In9zek5LHkRcYfU1DVfEHYfP4ntEFTcm5TBNaGj0oPoK1HnmMFvO5M2cg6vynS0J2SfRPCFcnzmVtB5SXEW+JOF7+T6XT6oKOJFTRCx2wu6qRiwX5BR+HIR54rNukHVDSfp+RqHVz6DSHbOuUDLmjwU1ASLyPJKobsXms/UxbSygs+YZA7I/w5EGvbat+EeWIlmuRh/yF6FZR4Bc/E/bdLogd3xp3yF00ECiYrdtH3SKIe5esmqpEHoprrsG3553/mv3L2D3+sQFOGyRFdbESGtvkAoJ346tLs58/Kxvfm5Vp5GROv4WXgbKR7m6kV2HAOtjb+vv+D/bUIfWOssG1TtHszcBKfo6Bwaj22hmn7KiJ5VdUU6CXKFCFMxjfpQOkipFcEsnMaJ6uR+xstrP0xGMSdfvBCB+F+UwkUIWHchBoWsZ1/pymTExaCIgP2dllYrGJrqZs3d7Ilv6bvEcbXJwb/PoES0q0Dtxv5+iyr+MB1ZWiO4LE3NAbreWpMVjmNi/shwJi3WMBysJNze21n1vdqWlg1xAse6wMea7Uu7gGx48eKqQogU0junpvsKrglOdIfvcvZBhEZbvNvyQ0StsBIUuOcNUmCysewjMiamxrKs3x3fHyoFtSpNPK049ykDe8QB9ev2hebWWRsQ9rgdu+t1tEieK03hyPJJB8lU1gTOkmbZjZwHeUYajjtFeQaXt3CqklJp17UOzRb9gJcjWABCnFTRFhJaK+iVwCy8YDvVTbx99mZbm/MZMrK9/2r7ddkbxUIb3p+3VlmoNkX1u4ux0ttSLFauA0+Kmhh7v679Q1yO4WuVM/esHHdeUXk6HZl26QJO+8gnUd1+ZShbvWbge0eqDOTqbsn7WdO2jl57v7+ee0oBHAtUtgEN1yq/iUS49VKPQJLPTgpsNm3C1sIq95X87OMH7G/NgnhrBeDI77e0iEaQCmjmb7NoSV5Xi/7bAbJZa0lY4k9EG5kpvXVfsBYuu3uYEG2m/isOe8v8AhS9w2G7W0fsYKKx2+OHprTQ/AYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012XrRLeYSx1fwcc5USwQ5xQ",
      "input": {
        "note": "The arm does respond when raised. Trying the descent onto the lemon again from here, going forward and down together.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.37,
          "right_y": 0.25,
          "right_yaw": 0,
          "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_012XrRLeYSx1fwcc5USwQ5xQ",
      "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, 0.8368, 0.6128, -0.4927, -0.0139, -0.0307, 0.9987, 0.8364, 1.9499, 0.8467, 0.2272, 0.6685, 0.5392, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0002 left_pitch=-0.1468 left_roll=0.002 left_gripper=0.9987 right_x=0.3569 right_y=0.2373 right_z=0.0054 right_yaw=-0.0008 right_pitch=-0.0798 right_roll=-0.0791 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.6342, 6.9128, 1.6581, -0.0464, -0.0269, -0.0122, -0.1026, -9.5932, 5.1624, 1.5897, 0.2271, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54121f4f12242955cb524eed82477271c4b5405df048f2d04d23ab9ad8cadb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:004dfda57e372cf359fe3efc23aeae2bdd1aadf6e06f5b5cbb2ed8066082bd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a5c05a34522c5d94b1e824fb22ae98dccf6965789f026cd6dd29be1e93eb4f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 22 attempt 0 · /messages · status 200 · 3.091 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, 0.8341, 0.6128, -0.4881, -0.0135, -0.0307, 0.9987, 0.8555, 1.7409, 0.9245, -0.0231, 0.6617, 0.5358, 0.9965]\nstate[eef_state]: left_x=0.2822 left_y=-0.0002 left_z=0.1518 left_yaw=-0.0006 left_pitch=-0.1396 left_roll=0.0016 left_gripper=0.9987 right_x=0.3522 right_y=0.2453 right_z=0.079 right_yaw=0.0267 right_pitch=-0.0592 right_roll=-0.0512 right_gripper=0.9965\nstate[joint_eff]: [-0.0068, -1.4017, 6.9128, 1.6337, -0.0317, -0.0562, -0.0122, 0.1162, -9.5795, 7.747, 1.6728, 0.486, 0.1587, -0.0122]",
      "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, 0.8345, 0.6128, -0.4915, -0.0139, -0.0307, 0.9987, 0.8764, 1.6657, 0.9092, -0.0734, 0.6792, 0.5529, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.151 left_yaw=-0.0002 left_pitch=-0.1434 left_roll=0.0019 left_gripper=0.9987 right_x=0.3414 right_y=0.2421 right_z=0.0973 right_yaw=0.0266 right_pitch=-0.0427 right_roll=-0.0388 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -0.9778, 6.8991, 1.6532, -0.0366, -0.0415, -0.0122, 0.5538, -9.5521, 7.0222, 1.5165, 0.4713, 0.2076, -0.0073]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8368, 0.6128, -0.4927, -0.0139, -0.0307, 0.9987, 0.8364, 1.9499, 0.8467, 0.2272, 0.6685, 0.5392, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0002 left_pitch=-0.1468 left_roll=0.002 left_gripper=0.9987 right_x=0.3569 right_y=0.2373 right_z=0.0054 right_yaw=-0.0008 right_pitch=-0.0798 right_roll=-0.0791 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.6342, 6.9128, 1.6581, -0.0464, -0.0269, -0.0122, -0.1026, -9.5932, 5.1624, 1.5897, 0.2271, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b54121f4f12242955cb524eed82477271c4b5405df048f2d04d23ab9ad8cadb9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:004dfda57e372cf359fe3efc23aeae2bdd1aadf6e06f5b5cbb2ed8066082bd1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 120):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5c05a34522c5d94b1e824fb22ae98dccf6965789f026cd6dd29be1e93eb4f1e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQShwcKEAgSGAI4AUIIdGhpbmtpbmcSDCPDBUJF81XLa38RqBoMvS1KOsre+kH7e/YyIjCe7eGbseOOytpejXUk8KLVne7nYTWG+1d/iUNZbVE3r9Us5gknJqUYEFOMMqkUl+cqpAZ1Zn/iCO1VesTKiqJNnS9RiZJx+rz6bNZL8v97DGIpIRdPQoWAv4ahgWbssx6a+P59Af4MrfN1Pc7IXlMK3jW1hg2dO21ap4goTbhHUUNizuWfJsJaXBDsppwEUP3H43kbgi3jvELsXyy1Og5ySGTx4ctsIj9tYn/nTft7vI4l2mkWXKp1233VrGxZPCFueMh9FEJu0P6jlhbxtGVAx32K3/CFn68nJfFCFMQrJDFthUGBHKhP01g/RSoiVR/gY3cJHplSHZUPe/1UBL5vjLX5wZEio5e6RcL91BRD/GrQ/2ARROtZYHxlPePOyYRHK1EhbK2/9nK3lX4dBJ46/bZgzYnsOvvcQ0UX7SkkRz4CQODEfsZwpRxSRcYyxQGxnBlgSf4YceD2pCysAV6lGimclBTGlW24HmBhUlxYeETIV8ZNdCVpy22oTpWFtDCkRHpBpB9tSGlhUiE9M/Cj1wEZ7bPODONvuySC+EJIcQce8ewq4DdBnWX3bIhZDT5J4WK4cA0a2pLH1Gs5Uzt+xDvQvKdH7rSY5fSlOELONlUO7HCYDK2UbhM4mFF5OaCGUsR+sBo3kPQYzkC5CrE8jUBsVTUbZ3teswDURB15TOiKGSKroST27C4lzOUYbJjeOlfwx2Ij067nkCavntnMdWQk3t1hNnvD2AHbf9YDPD8mQmC0+rcYqIRpWD98QhZyLCjaHhLNCRqvZUq/nIe3KJcx1PTHzmSIhZXItCCHYbCVqOWzt5umFG3iEZQWht56IBJEonWwv1ySwEue66kkVuYiRtDtk2qzM8y8uAQcnz0L6jq12bFPZvmlHnrYo+9+yXOH/v7RDGRGIUPghQfD5mB8MhJhJomThJ9J142c3Hl0o/P3rUnWpbsM5l16CKMKx9G17gItRoM/8JqRa7tulKc2pLgO25WDcHoDCbdQDF/9K7c4WpwST1xD+lXpuzQ3w3y7s8s9adavhdvRxu+jck66+3Hz9HRtHy5qLsPFW5VTX47908GV32hog5LJSFANLg4pTZV47C5hshVmp7rYS//KzH8kCFIjJFswJummCjb0n04rW6UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018DPTPVWoj11mNWiMLxtUw4",
      "input": {
        "note": "I'm at table level and the lemon is right in front of the open jaws, a bit to the left. Pushing forward about 4 cm to straddle it.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.4,
          "right_y": 0.25,
          "right_yaw": 0,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_018DPTPVWoj11mNWiMLxtUw4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.778, 2.0224, 0.9035, 0.3302, 0.6308, 0.4942, 0.9965]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3884 right_y=0.2415 right_z=0.0046 right_yaw=-0.0045 right_pitch=-0.0411 right_roll=-0.0329 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.4564, 7.1179, 1.5897, -0.0513, -0.0513, -0.0122, -0.2803, -9.388, 6.5846, 1.6825, 0.1587, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c259058322ffd4766296d26a6ce110e40b774ad0521218778e9bb604e7cc48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bfca205d62e5c475229acac999d2dfb25e65129e8062ff4b0b50ad6b19bc88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:14b9f3e2154bc8ffd314312b3120788baae8ce69b48150572de19d53c02a87d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 4.209 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, 0.8345, 0.6128, -0.4915, -0.0139, -0.0307, 0.9987, 0.8764, 1.6657, 0.9092, -0.0734, 0.6792, 0.5529, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.151 left_yaw=-0.0002 left_pitch=-0.1434 left_roll=0.0019 left_gripper=0.9987 right_x=0.3414 right_y=0.2421 right_z=0.0973 right_yaw=0.0266 right_pitch=-0.0427 right_roll=-0.0388 right_gripper=0.9965\nstate[joint_eff]: [0.1846, -0.9778, 6.8991, 1.6532, -0.0366, -0.0415, -0.0122, 0.5538, -9.5521, 7.0222, 1.5165, 0.4713, 0.2076, -0.0073]\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, 0.8368, 0.6128, -0.4927, -0.0139, -0.0307, 0.9987, 0.8364, 1.9499, 0.8467, 0.2272, 0.6685, 0.5392, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0002 left_pitch=-0.1468 left_roll=0.002 left_gripper=0.9987 right_x=0.3569 right_y=0.2373 right_z=0.0054 right_yaw=-0.0008 right_pitch=-0.0798 right_roll=-0.0791 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.6342, 6.9128, 1.6581, -0.0464, -0.0269, -0.0122, -0.1026, -9.5932, 5.1624, 1.5897, 0.2271, -0.0757, -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 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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.778, 2.0224, 0.9035, 0.3302, 0.6308, 0.4942, 0.9965]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3884 right_y=0.2415 right_z=0.0046 right_yaw=-0.0045 right_pitch=-0.0411 right_roll=-0.0329 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.4564, 7.1179, 1.5897, -0.0513, -0.0513, -0.0122, -0.2803, -9.388, 6.5846, 1.6825, 0.1587, -0.0757, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2c259058322ffd4766296d26a6ce110e40b774ad0521218778e9bb604e7cc48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03bfca205d62e5c475229acac999d2dfb25e65129e8062ff4b0b50ad6b19bc88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14b9f3e2154bc8ffd314312b3120788baae8ce69b48150572de19d53c02a87d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS3gYKEAgSGAI4AUIIdGhpbmtpbmcSDCc3upvds4bg2NSkyRoMN+30HC914dpvirKGIjB1rR1WWn6vIxO9VTRKDoY5TeP0vS2n6Fwof5QWkOEXvmWcwfBpa2CNZI4hfHk5cR0q+wU8OqkZ7rh3FrYRPY49yvxlVyylrM8wzgN1lKyLfsgl9noi49b+KuixX8DuokfTCNR0cG89VU4w1Ekz7HqzJZapO/2euDfrLd3QaDpguHO2Mren+uf+gBJFlvmI4z/WBkM/ob/sleVd7InKZH6Cz8qlEnwopKPSK0JrX/18BDJhnQ7872cEH74rUBRWcqPdcrmO0+/9hXp/SlNsW3bsurolCiMkEoMXBfyOCTPHSOsrBYTaQvQf0kRaFd1RrTWZLEk9I08cSA0+NwFS/3uIcHzHd8O3OtaWUar8RFsLW88RlpNuzM4xhvn6fflhhKpRmQhZ9rNyZ/EVusCN0TilEZOCuc60/m1+nKcKp2X5q7S9X8gAoHKBmkZDTTCV1CeL8VeAUjQwEQ7mFf4iTA0BUadMOziV5SnQsiYcJzj4K8tSXJd3vgT9oFMCMQpMhxyAPokVi5uD2Twbb3RXHTsSXP+C15+l5kotCdW/lYoFsPQUDU7ryK/iDnPP74uoz+ovg6Z058HJ7chviTQoQNhDPWMZEkgOcdzciHmrSo/QClKH9ABRHh4lG1ALVHZxSipKiLFg+GotMoSQ10HUxe550067vAJ+e4VCnaCzU0DeOkorYs/Skx43xleb3mzILxhKh94XxLgD1QCji4NAVXjPYzP4F5XwVjzLfkAaGAclyaL/syfURpZCW6SMa1CZbfxA9CBRFqKYpabze/jSGfbt/GmMUIbTiPX4b6qgXq/O1grbskE7AqH9VEtLBtVtAQm4lMbABDx7iw5RmGBNzyW4l5JoHJOrpq+GZGG9i7zYH6qqLjSfqoI9e+Jv1fq0SeBYoPo9l24NHf73JVzsodpuEfJAH8ZIuT2QQkF9VehfSwVHzbj9MXxQxcIEBJqZ/Hk44yLVGxnroD/2BkSHmukWFbeXkGa5wtJ76RjrF4D/yCO5tjC82e3CNWAHifp5kOTKqz8DDvBuuJAl1GCmQqZQLIxoZxXtbTHY+pAcrlSI37XDT953L7YHfloP2sJUGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0167BspyQsq9HpWUNvFdCy8B",
      "input": {
        "note": "The lemon now sits between the jaws, so I'm closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0167BspyQsq9HpWUNvFdCy8B",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, 0.7719, 2.03, 0.9127, 0.3481, 0.6231, 0.4786, 0.6087]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1498 left_yaw=-0.0006 left_pitch=-0.1488 left_roll=0.0018 left_gripper=0.9987 right_x=0.3931 right_y=0.2438 right_z=0.0063 right_yaw=0.0039 right_pitch=-0.0312 right_roll=-0.0283 right_gripper=0.6087\nstate[joint_eff]: [-0.212, -1.3607, 6.8991, 1.6044, -0.0366, -0.0562, -0.0122, 0.0068, -9.265, 6.3521, 1.6923, 0.2076, 0.0171, 0.9646]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff5c218d89c2d40d83797d00e2f6d3e90ac505318883ba9114fc14cd5e3f70d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd29533c9ecf79ddfc26b9c68cecb30d903244b52a6c7bf488593222c411bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:220ae0b430e653b5ee77ba7cc4a055e2d001eede09b906ba7f33285d227bdcda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 3.542 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, 0.8368, 0.6128, -0.4927, -0.0139, -0.0307, 0.9987, 0.8364, 1.9499, 0.8467, 0.2272, 0.6685, 0.5392, 0.9965]\nstate[eef_state]: left_x=0.2816 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0002 left_pitch=-0.1468 left_roll=0.002 left_gripper=0.9987 right_x=0.3569 right_y=0.2373 right_z=0.0054 right_yaw=-0.0008 right_pitch=-0.0798 right_roll=-0.0791 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.6342, 6.9128, 1.6581, -0.0464, -0.0269, -0.0122, -0.1026, -9.5932, 5.1624, 1.5897, 0.2271, -0.0757, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.778, 2.0224, 0.9035, 0.3302, 0.6308, 0.4942, 0.9965]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3884 right_y=0.2415 right_z=0.0046 right_yaw=-0.0045 right_pitch=-0.0411 right_roll=-0.0329 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.4564, 7.1179, 1.5897, -0.0513, -0.0513, -0.0122, -0.2803, -9.388, 6.5846, 1.6825, 0.1587, -0.0757, -0.0073]",
      "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, 0.8371, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, 0.7719, 2.03, 0.9127, 0.3481, 0.6231, 0.4786, 0.6087]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1498 left_yaw=-0.0006 left_pitch=-0.1488 left_roll=0.0018 left_gripper=0.9987 right_x=0.3931 right_y=0.2438 right_z=0.0063 right_yaw=0.0039 right_pitch=-0.0312 right_roll=-0.0283 right_gripper=0.6087\nstate[joint_eff]: [-0.212, -1.3607, 6.8991, 1.6044, -0.0366, -0.0562, -0.0122, 0.0068, -9.265, 6.3521, 1.6923, 0.2076, 0.0171, 0.9646]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff5c218d89c2d40d83797d00e2f6d3e90ac505318883ba9114fc14cd5e3f70d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abd29533c9ecf79ddfc26b9c68cecb30d903244b52a6c7bf488593222c411bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220ae0b430e653b5ee77ba7cc4a055e2d001eede09b906ba7f33285d227bdcda",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSvwgKEAgSGAI4AUIIdGhpbmtpbmcSDAhtRHal0shK0VkvLRoMpogGoRQUhVaq++BoIjAPN+VFevR3tYdKpTdhnf9633cnQMEasdUX6jOQWdf/AWjCzBUFQNLi0u1Cc/xS4Cgq3Ac+1cmXBfSZOs7fx1SXJyNwcWYwPh/eMpbNTd9rwvnc3g0O1HvJEWjeS83f4r8m26z2Cfyeg5phHknLHe9GINT0jadw6hCp/OZqaQQgxZ6FfHGBPO0nwagcL6dEjVFijWTzkXLXqoPoNvhlzWCyXppjj0h0lMSkU1rTiOu3hEUczIRDh1iGle4Y04OkyKF57Nv3DFL4JvEshZEdjhrokaO4lpYIePVQEUoUyCLYDWNAx2IZH249ZgZvbRAcxKD6NkoNlBYjQOzgxNY+wvohrDcbgPXb/Z7e9lY36arm495eqgRpavwEy9RnpZ5PoXmaepc8fimUmyK9M4a1eHo12yZsLIrLWYgBAI3Ck9P969M9qdbwlO1y66UmfK2Bqd6J14Hj87ZtjvZXlydpL3q0b0P3P/Eo5tOmPJTHOoTGJy89cr/al606rZelrbLRoS+2pejipcKI30wU6lsBUgUPbj8Df7Kv20q18sNeiM0yg3e3bWAR+wdlh5qshyHRQJIp6oXghXTebkKSvnSlNQ80VwigH7DNpZnfDbJ8EPB/3gmkt3c+VNYvQNZuf1HgjMzj/NGlib71ZktkiCr3fkLFH8Gz1PMOpVCsWv150cLDH6kuHuLZMscFoosBOJ9x3CJDBu4KgSpYM6G18c7CYq/guEJo4AU5VxGeGcvi/qtgoRxnJODaJzSg5ipAcxcaY53AZkxfqcTjNbOM3jfxY6zOk3jt0Ew+C4nhaPNq6QzWGSZFs7msjN0J14Adwh94BumEhodeDHb1ztW6yzVn+j/VQFsvOaN3n+VDsazqZEFW3xTBi8uZSpR/DyqEyeivxPJbVRVL0/uXm1vjChZ0CMGvWqZm7NtRgF1SAj4GnWhQ8wp8sI4BUeZhRFcjsLPPa2acqSuPGK3/Od4loKnQDotY71qGwUAzljXNvoNETo0Phr1DdPBm5k+d95zNjdgyy+MIwnYdadgu3Rflo9sdE/FVkrZmg8WzSvs06J6g1tyXwEvuZf48G4cftOeFN/lhHQ/KDJI4jUm21cexb6qQly2G3ektHGfkq3Nj5RAcBsPrrRKnqx73ClSdMAg59GwPOp2ZrRrDB+01v2EPpU5BXgJkywLeE86DO4EqMJpGoACWOEjNP6us1xg4E9g2GXtCHbBasBRwSuEnRsQ7T0uvCvU4E0TQFyOiOPc2UD+EHRm/ASliZbTqqDsnug1AMu8HVmzh2iwRoy56aB9p+wBsCauN7s490XrgE9UlK7LXUZnWwVAheNJ9hK3hq3vn6oyDBC85BpmJFe7QawYbBIrqcirZdafOSE2B7ANiuPo14YrfGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RdWCppiti3c2XPjp3rth3r",
      "input": {
        "note": "Gripper settled at 0.61, so the lemon is held. Lifting it straight up to clear the bowl rim.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.39,
          "right_y": 0.24,
          "right_yaw": 0,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01RdWCppiti3c2XPjp3rth3r",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.7746, 1.676, 1.224, -0.3138, 0.6125, 0.4774, 0.6116]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3895 right_y=0.2441 right_z=0.1729 right_yaw=0.0151 right_pitch=-0.0339 right_roll=-0.0215 right_gripper=0.6116\nstate[joint_eff]: [-0.1983, -1.4291, 6.9402, 1.5751, -0.0806, -0.0464, -0.0171, -0.4855, -10.7556, 8.6632, 1.5946, 0.3834, -0.0122, 0.6276]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1394822866b1f7bd6ed866c8de4b4df8a68c507cbd4ea89e935d5494025edde5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d86bac40b36ffc1781fb628a1297e9e51a7588cbf0a574e183d14fa4a447aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c2552db2585db90b32b380cda7556cf9db5acb5aaf557a88aa0d45bef5ba1163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 3.336 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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.778, 2.0224, 0.9035, 0.3302, 0.6308, 0.4942, 0.9965]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3884 right_y=0.2415 right_z=0.0046 right_yaw=-0.0045 right_pitch=-0.0411 right_roll=-0.0329 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.4564, 7.1179, 1.5897, -0.0513, -0.0513, -0.0122, -0.2803, -9.388, 6.5846, 1.6825, 0.1587, -0.0757, -0.0073]",
      "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, 0.8371, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, 0.7719, 2.03, 0.9127, 0.3481, 0.6231, 0.4786, 0.6087]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1498 left_yaw=-0.0006 left_pitch=-0.1488 left_roll=0.0018 left_gripper=0.9987 right_x=0.3931 right_y=0.2438 right_z=0.0063 right_yaw=0.0039 right_pitch=-0.0312 right_roll=-0.0283 right_gripper=0.6087\nstate[joint_eff]: [-0.212, -1.3607, 6.8991, 1.6044, -0.0366, -0.0562, -0.0122, 0.0068, -9.265, 6.3521, 1.6923, 0.2076, 0.0171, 0.9646]",
      "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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.7746, 1.676, 1.224, -0.3138, 0.6125, 0.4774, 0.6116]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3895 right_y=0.2441 right_z=0.1729 right_yaw=0.0151 right_pitch=-0.0339 right_roll=-0.0215 right_gripper=0.6116\nstate[joint_eff]: [-0.1983, -1.4291, 6.9402, 1.5751, -0.0806, -0.0464, -0.0171, -0.4855, -10.7556, 8.6632, 1.5946, 0.3834, -0.0122, 0.6276]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1394822866b1f7bd6ed866c8de4b4df8a68c507cbd4ea89e935d5494025edde5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:15d86bac40b36ffc1781fb628a1297e9e51a7588cbf0a574e183d14fa4a447aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 147):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c2552db2585db90b32b380cda7556cf9db5acb5aaf557a88aa0d45bef5ba1163",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSrwcKEAgSGAI4AUIIdGhpbmtpbmcSDFgDMFE59wNehJLG3hoMFDFRV93UZFXfjNteIjADsPvAkeR4qIV1oYp/6Xn6/EeghCePypmjcOTLpMUenhUepKXj5FINyeK8LcBgmpgqzAbJmEZwVBScfGv/nZdO5Q+S0fEx3SsBasTOwtINL9+Q+86yZ7LX/1zz652ZPjlzkbNdM3Fy3aL1XLqC96SJGSW0SLanE0m3k1DS1jiS60H7/7YvgpBZEEBX+l4r0zJtMVWWgVWGu6QCZhZHt0Fhsgdl1J5lrdu1xJNx5xSFsVvOXrD6Po8/QMdFDLG9ZymKMgC5K6CX9cQDo6NRQVrMljnCfDLPCYs9WoAt76rAOAndm7eAgr71GdBy9SoZXwrv94zbguoc35RJQ5KoXvGWjUIm/8PS1OsU7kePBefxZRt4T/IXERhKoW8mbjvlD4JdfQyq+xwVMGZCUeTtdDWKIw9yXo6jtNokmLjATZkjDdlyXyWyB1b7gDhxKFcXKl3H8DIugTlGOiTkpL+EsWKG+iul79TdBLdJvE9RHktgbNLmjze/wW0S1H1ticGCS8REvqAW20+egRtWUNBnvPRiuR/zn51HTBdCccqobOm0QT232548kRRfe5zY20uWS5NJYRgPZpihbepLLrWEdeptlXF0hFLptAYur53CPfhDfjTLlZc3EbfAbmiW6o/Yq4kTcGvSHYSpQfmRSeVpHo8wv+4VoPKPvoqRBmX18K1cu3OxM8psjGZ+71/DjIYVw76yS6+ld7fTIxfndwcH+RNKzaVBxu9UtZak2JdGSjrZPCENwKKXGedM+TVZPqndD4MnhZw6j/HTKWLD4LSTtNKGcssahX/WzK6uqbsgJ4fOXM8aMgJLkMZ0P78OsVu5tyTQ+ZX0mSrhP2jOjUlExgAhsycsh6DeFvuPolPUrwmRsNvsbWOSwkdgu9aWABM5nW3DD4tMiJPxP30lUe+jfuMz1IvSu6XUYuzeCkU67v+zVj6NfLWP4RxpM19T/8P+j5swe/AfGqy+MjCU7OlVlv00WMADqqZdEjnP0U6MABY4WIVRgSMKlEO25Uc/aRNKbZQqcp0EENdcRWsFWhzCTWruJrI0+nZxUImsJAkHNhoBCsLpY5cXPBXCVhX04k9gOfEzwELKpIXo7rB/XIEc1cbGOnXWxmoSnIUbewScBDZvAeSc9n6aVfyMPnuZJUvGO+uyudHscMEWggLrr4yuXx0VrgOVj9oq6WPcTeFR747DGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0122aDqxEKiPyEx9eUcgqwNY",
      "input": {
        "note": "The lemon is lifted and the blue bowl with the pear is visible ahead-right, so I'm carrying the lemon over the bowl.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_x": 0.44,
          "right_y": 0.15,
          "right_yaw": 0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_0122aDqxEKiPyEx9eUcgqwNY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4828, 1.6264, 1.1149, -0.2016, 0.4099, 0.2806, 0.6108]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.4325 right_y=0.1513 right_z=0.1563 right_yaw=-0.0127 right_pitch=-0.0748 right_roll=-0.0401 right_gripper=0.6108\nstate[joint_eff]: [0.0068, -1.4017, 7.1453, 1.619, -0.0464, -0.0415, -0.0171, -0.1846, -10.7829, 6.5573, 1.9658, 0.1441, 0.0708, 0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99b984f516d6d3acd34bb9f02c3c0a93f5ff4cc00d62417294544c76a089b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c35fb9044d1e3389693fc7bb1f3ac6f4842fd5cb512389f69a7d0d3575eabb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d280146c752e58863f52a36ac7e7efa2cdd35ec53bf57d3af249b559c290f59f",
        "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 · 2.555 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, 0.8371, 0.6128, -0.4942, -0.0135, -0.0307, 0.9987, 0.7719, 2.03, 0.9127, 0.3481, 0.6231, 0.4786, 0.6087]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1498 left_yaw=-0.0006 left_pitch=-0.1488 left_roll=0.0018 left_gripper=0.9987 right_x=0.3931 right_y=0.2438 right_z=0.0063 right_yaw=0.0039 right_pitch=-0.0312 right_roll=-0.0283 right_gripper=0.6087\nstate[joint_eff]: [-0.212, -1.3607, 6.8991, 1.6044, -0.0366, -0.0562, -0.0122, 0.0068, -9.265, 6.3521, 1.6923, 0.2076, 0.0171, 0.9646]",
      "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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.7746, 1.676, 1.224, -0.3138, 0.6125, 0.4774, 0.6116]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3895 right_y=0.2441 right_z=0.1729 right_yaw=0.0151 right_pitch=-0.0339 right_roll=-0.0215 right_gripper=0.6116\nstate[joint_eff]: [-0.1983, -1.4291, 6.9402, 1.5751, -0.0806, -0.0464, -0.0171, -0.4855, -10.7556, 8.6632, 1.5946, 0.3834, -0.0122, 0.6276]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4828, 1.6264, 1.1149, -0.2016, 0.4099, 0.2806, 0.6108]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.4325 right_y=0.1513 right_z=0.1563 right_yaw=-0.0127 right_pitch=-0.0748 right_roll=-0.0401 right_gripper=0.6108\nstate[joint_eff]: [0.0068, -1.4017, 7.1453, 1.619, -0.0464, -0.0415, -0.0171, -0.1846, -10.7829, 6.5573, 1.9658, 0.1441, 0.0708, 0.3639]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d99b984f516d6d3acd34bb9f02c3c0a93f5ff4cc00d62417294544c76a089b2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c35fb9044d1e3389693fc7bb1f3ac6f4842fd5cb512389f69a7d0d3575eabb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d280146c752e58863f52a36ac7e7efa2cdd35ec53bf57d3af249b559c290f59f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Over the bowl. Lower a bit and release.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0165BdvgmYSdFsWdp1Pvr19E",
      "input": {
        "note": "From overhead the lemon is above the blue bowl. Lowering it toward the bowl before I let go.",
        "targets": {
          "right_pitch": 0,
          "right_roll": 0,
          "right_yaw": 0,
          "right_z": 0.11
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_0165BdvgmYSdFsWdp1Pvr19E",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6596, 0.9237, 0.0238, 0.3885, 0.2611, 0.6121]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=-0.0002 left_pitch=-0.1495 left_roll=0.0021 left_gripper=0.9987 right_x=0.4221 right_y=0.1463 right_z=0.1025 right_yaw=0.0081 right_pitch=-0.0807 right_roll=-0.0427 right_gripper=0.6121\nstate[joint_eff]: [0.0068, -0.9504, 6.9402, 1.5751, -0.0366, -0.0073, -0.0171, 0.1436, -8.212, 8.0342, 2.1856, 0.2564, 0.0317, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9869256023b6caca70aeced650940af129ec60a6afaaf0e1814729b4a434fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0843bdd159e8bb684b003b98cac88130712544067ce263701ec287187ecd546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6ab02664f233562a5b9d65b8270e97ce47647260aae7131a6cc075c60ad47f32",
        "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 · 5.119 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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.7746, 1.676, 1.224, -0.3138, 0.6125, 0.4774, 0.6116]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.3895 right_y=0.2441 right_z=0.1729 right_yaw=0.0151 right_pitch=-0.0339 right_roll=-0.0215 right_gripper=0.6116\nstate[joint_eff]: [-0.1983, -1.4291, 6.9402, 1.5751, -0.0806, -0.0464, -0.0171, -0.4855, -10.7556, 8.6632, 1.5946, 0.3834, -0.0122, 0.6276]\napprover: 6 step(s) modified (delta_clamped ×6).",
      "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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4828, 1.6264, 1.1149, -0.2016, 0.4099, 0.2806, 0.6108]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.4325 right_y=0.1513 right_z=0.1563 right_yaw=-0.0127 right_pitch=-0.0748 right_roll=-0.0401 right_gripper=0.6108\nstate[joint_eff]: [0.0068, -1.4017, 7.1453, 1.619, -0.0464, -0.0415, -0.0171, -0.1846, -10.7829, 6.5573, 1.9658, 0.1441, 0.0708, 0.3639]",
      "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, 0.8379, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6596, 0.9237, 0.0238, 0.3885, 0.2611, 0.6121]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=-0.0002 left_pitch=-0.1495 left_roll=0.0021 left_gripper=0.9987 right_x=0.4221 right_y=0.1463 right_z=0.1025 right_yaw=0.0081 right_pitch=-0.0807 right_roll=-0.0427 right_gripper=0.6121\nstate[joint_eff]: [0.0068, -0.9504, 6.9402, 1.5751, -0.0366, -0.0073, -0.0171, 0.1436, -8.212, 8.0342, 2.1856, 0.2564, 0.0317, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9869256023b6caca70aeced650940af129ec60a6afaaf0e1814729b4a434fd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0843bdd159e8bb684b003b98cac88130712544067ce263701ec287187ecd546",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6ab02664f233562a5b9d65b8270e97ce47647260aae7131a6cc075c60ad47f32",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DReM3Yyrfhnvay5PzVuPaP",
      "input": {
        "note": "The lemon is sitting over the blue bowl's opening, so I'm releasing it.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01DReM3Yyrfhnvay5PzVuPaP",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6905, 0.9001, 0.0315, 0.3874, 0.2539, 0.9958]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1491 left_yaw=-0.0002 left_pitch=-0.1514 left_roll=0.0021 left_gripper=0.9987 right_x=0.4166 right_y=0.1437 right_z=0.0816 right_yaw=0.0108 right_pitch=-0.1231 right_roll=-0.0689 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -1.6068, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.1299, -10.3316, 8.0752, 1.5556, 0.1148, 0.0464, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b09b775f682856dede4564e998124680f37cbad1e1c3a43c51a6485d006d64f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbd5b73eacde86766ba29276b480a1b60b6e450336d3b33a2e896c59f7982a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:35bafeb6cf4a6e2c54da49eafe25246c81612bb4aab8d30954b118e522a57534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 4.391 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, 0.8371, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4828, 1.6264, 1.1149, -0.2016, 0.4099, 0.2806, 0.6108]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1498 left_yaw=-0.0002 left_pitch=-0.1487 left_roll=0.002 left_gripper=0.9987 right_x=0.4325 right_y=0.1513 right_z=0.1563 right_yaw=-0.0127 right_pitch=-0.0748 right_roll=-0.0401 right_gripper=0.6108\nstate[joint_eff]: [0.0068, -1.4017, 7.1453, 1.619, -0.0464, -0.0415, -0.0171, -0.1846, -10.7829, 6.5573, 1.9658, 0.1441, 0.0708, 0.3639]",
      "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, 0.8379, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6596, 0.9237, 0.0238, 0.3885, 0.2611, 0.6121]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=-0.0002 left_pitch=-0.1495 left_roll=0.0021 left_gripper=0.9987 right_x=0.4221 right_y=0.1463 right_z=0.1025 right_yaw=0.0081 right_pitch=-0.0807 right_roll=-0.0427 right_gripper=0.6121\nstate[joint_eff]: [0.0068, -0.9504, 6.9402, 1.5751, -0.0366, -0.0073, -0.0171, 0.1436, -8.212, 8.0342, 2.1856, 0.2564, 0.0317, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6905, 0.9001, 0.0315, 0.3874, 0.2539, 0.9958]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1491 left_yaw=-0.0002 left_pitch=-0.1514 left_roll=0.0021 left_gripper=0.9987 right_x=0.4166 right_y=0.1437 right_z=0.0816 right_yaw=0.0108 right_pitch=-0.1231 right_roll=-0.0689 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -1.6068, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.1299, -10.3316, 8.0752, 1.5556, 0.1148, 0.0464, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b09b775f682856dede4564e998124680f37cbad1e1c3a43c51a6485d006d64f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfbd5b73eacde86766ba29276b480a1b60b6e450336d3b33a2e896c59f7982a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 162):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35bafeb6cf4a6e2c54da49eafe25246c81612bb4aab8d30954b118e522a57534",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS0gkKEAgSGAI4AUIIdGhpbmtpbmcSDC2OeHIlvibgeleq0xoMxLhx5g+yUHyaBdKoIjAZYLr0o2q1w8QsYfquLeGgBPSElEXec+LK4hjwTQbZr8mFYUaebaHSSqpKYfa/LPoq7whaPD5nDm2X6v6iYR+ee9Ka4Rw2dBGjsNx8qNU3rW6iij/8T+3nnMzhce6m1QxEO3lUHKZSpIjzEeA6zUzxFG06Au/Q/XEgDQNd/1YW+/F+fSnp2Z3Z5IRwfOkz7JdAtJPTYp8htgstg8C5TiEipsVKPdrfcbkPZvXoSn9D1vjJLraRo7+YIl3cpIN6ASnNblnXyaO6q9iw/ibnKRRnL7hA7QiQTEdHmp0uYKfdAhSIukuggVP0+Okdzwj8VcsDselQjseV3ULg6Z2r9Z0iOJPvMR4b+W7umAtARKWm1OYPDjxiU6zR4T2o/ItvRolbS+koXZrx6+nGtZgEvAHJzPGwSce6rorQQ/mDcx84+TuEcW6/S/+r5RH63l8vD0/hLvFR8VdueXOI2BEwJ/gHOpkXxV6H+64pEniPNc5smVe1EFsJcMz00VNzBVzCfAjRKnw4l4epO0J3GKdNs520MAf16NFTkocqi3gDABYjOL4UPC8SyVEwGmnY02MkcIN6iCXZ2V53Ba8DUyjwrGmEg8frHLIcdS7RQoQQkGHitQJ9EL7oN9Rchti5a+pFFjmY9cBmZTL6wzGMcUPebpr26qfXlhuExXlpA0U+zh7DW3k/SJRkUkX1VYjrHqaidK+A4Y24Do7ki9EJbyszqUmDGAdPOm/9rmylLMW+djz1cXi69Sv9TRWsNGd/XV2+jF4CXQjQsmpzdRiUmHjJPpODysLBZ+9nOJ0NzxtIeHAJhx3VERY5+P1uUvKZnL8ZXFzqT009FsqnOqo3gkYu/VEraX7r281gXZM1RTD6ZQx57i8H09t/BhwFioBIUnrXXu4OLndq82KqMPKa4ZzLW0VvCTxfvB1MOQ22cHNr0sQd6QAMvICElxvVwqfvBdXdzezspkx/V+D4kly++BgtIK4kIJO+BnKpAht171i2gppbDh9c63oqXX4TRmrSPDopA44eeRb7bgl/H2JKi/ajzx5OMMAWBjAINRZTjZ4WSSVDeC5aQ1hqnAZtiySUdwSf0cb8zHSvEm0/2xPTfasmQGJyj6wNLKFq/5YhZnToV7cnpuNUnLBeqHt+tPBYNOa3pXiXGzHogMdnsYBW4ExSWusMsfZIvF1mDj5iA2Y+LMyD86bSWMF68xeY5NO8kwwQvLwGY4VuvF4upu6Jp9M7KjUNTlYnIt1j7jEwC//pzsR5ggfgXlqj+WPSg51nGxV0E0GbIjPF/7oTnSfnazFpVr7m+Egjz692VwDQtD8+vynanQXVMG4joud9FN/cPWEOdFeDrVeY87QrdGnHAQQIyEOjtRuNuWULj2UBTxu8gaXT3SX3T/IPN5aOaY1OmwR52hV77ZhgWhkMF1fMSCpy/S+/Bixuaz/5gie6YsM+ZhCDzkFxDFPYmrnb191j3fAW0oMeDFFQK/kWgV8ly1az9eqnlCiT+XPjn0dsYreKKhZBMdxT3tiQXU5WLRAbYd1ycP+fZbzR3J8yKzvp7s5T9m6clocM3F7wZcoHHk7WLnd8gzb7GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XqwXruuMvnfTWx7L8cYBXJ",
      "input": {
        "note": "Both the pear and the lemon look to be in the blue bowl. The plum is to the right of the left gripper in its wrist cam, so I'm moving the left arm over it.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.33,
          "left_y": -0.09,
          "left_yaw": 0,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01XqwXruuMvnfTWx7L8cYBXJ",
      "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]: [-0.4583, 1.1816, 0.4622, 0.0006, -0.3355, -0.2638, 0.9987, 0.4759, 1.6909, 0.8989, 0.0242, 0.387, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3161 left_y=-0.0871 left_z=0.0841 left_yaw=-0.0404 left_pitch=-0.1016 left_roll=0.0297 left_gripper=0.9987 right_x=0.4152 right_y=0.143 right_z=0.0797 right_yaw=0.0113 right_pitch=-0.1311 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.3556, 6.0376, 1.8193, -0.4469, -0.149, -0.0171, -0.0889, -7.9521, 6.2154, 1.5653, 0.1245, -0.022, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380c3dd9757e4a41cf3b46322e134a49599815623090d5651ef541f2fd44a8ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a710cb4a8a4d96887e7bcf1fa60dd1f5f11c792f0c534bce4cb5613407b88a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:64d189cc3fc38b9d0e27de429e05b6c85b9f93befe348ffd3935bdd6e37bb6e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 29 attempt 0 · /messages · status 200 · 3.894 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, 0.8379, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6596, 0.9237, 0.0238, 0.3885, 0.2611, 0.6121]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1496 left_yaw=-0.0002 left_pitch=-0.1495 left_roll=0.0021 left_gripper=0.9987 right_x=0.4221 right_y=0.1463 right_z=0.1025 right_yaw=0.0081 right_pitch=-0.0807 right_roll=-0.0427 right_gripper=0.6121\nstate[joint_eff]: [0.0068, -0.9504, 6.9402, 1.5751, -0.0366, -0.0073, -0.0171, 0.1436, -8.212, 8.0342, 2.1856, 0.2564, 0.0317, 0.7204]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6905, 0.9001, 0.0315, 0.3874, 0.2539, 0.9958]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1491 left_yaw=-0.0002 left_pitch=-0.1514 left_roll=0.0021 left_gripper=0.9987 right_x=0.4166 right_y=0.1437 right_z=0.0816 right_yaw=0.0108 right_pitch=-0.1231 right_roll=-0.0689 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -1.6068, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.1299, -10.3316, 8.0752, 1.5556, 0.1148, 0.0464, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4583, 1.1816, 0.4622, 0.0006, -0.3355, -0.2638, 0.9987, 0.4759, 1.6909, 0.8989, 0.0242, 0.387, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3161 left_y=-0.0871 left_z=0.0841 left_yaw=-0.0404 left_pitch=-0.1016 left_roll=0.0297 left_gripper=0.9987 right_x=0.4152 right_y=0.143 right_z=0.0797 right_yaw=0.0113 right_pitch=-0.1311 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.3556, 6.0376, 1.8193, -0.4469, -0.149, -0.0171, -0.0889, -7.9521, 6.2154, 1.5653, 0.1245, -0.022, 0.0611]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380c3dd9757e4a41cf3b46322e134a49599815623090d5651ef541f2fd44a8ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a710cb4a8a4d96887e7bcf1fa60dd1f5f11c792f0c534bce4cb5613407b88a1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 170):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:64d189cc3fc38b9d0e27de429e05b6c85b9f93befe348ffd3935bdd6e37bb6e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkAgKEAgSGAI4AUIIdGhpbmtpbmcSDC3Cpe2g8UEcPrUKMxoMPsS+EHWsh6D0B2tmIjBek9dkv+vJOaqlxlWk7JzY5BUMP4jkt7WY2cwVxAr+MW3ecVd88zNhIuE5pKClXs8qrQcXIGervDqxG6RwqltJKm89yIhFLt/rs9OmIGLo62qLCR0q/cofZuUwd3SWtkGJkbNwoZ7LFUrGGEQDW2dzBvyU4LODIzAK3svNOcyhiN0bwexqE+o/4QpnzGKT4mklFAyl2MOZi6zm1LT+EwyzOzZkLPyyk6AyPKpVJ1a6eTRq/n1Lu2WOWkUpAmBZM/qOHYNGFsZ0iY+Utj4dj7e39G4MY48K2JcOfPRSypgMxYQyCVD3AKh3BgAJTwAPRrdkJ6zVK6sBBLI2pvwH2WjA1LaiGk5bFWy71NcTV8i8j+kbst8YVdL9bJ9o5NVJhhQj9fMaq3XIwtGlQ9GlKvEfD/JM4P9rmKvaepNTEmbepbLKkpuU1zWgp/vo2xgGYS/Ue496623IXMpIjWGgR/98aamWPZ4aqmuOGK+p5yu0BOuzU+OuDDc73806oCfhXGYgrWBKDlSGeVFTwnEs3GV3jgGe4hNT/ELY7UaFyD3FQ0nVupSkzkLVdanGDc5iZ+lVOqhBfTA/lD8w4SqeNiMYgt7tD0fTEasa0Zfmhc7w/J9p5G9tSHRRzwzu9X5y56x/ZhbKyS+9UxCOQPl9a+Wobi0vfP3TbErTxR3hj02gH/ZENGXKD+58GKR3TunVGBvpcVlVEi24pdmzqdTfEO2hMbfHeOhdVTZ5jh8qs/TcuXDYI29hbwjK0lfGrWa7v6qWyDyDmd66gSKSg7t2As+R5TY/ZUqJJuqWQ6a5OOp/OpETR0y3pi+lqS2ZhymdHqzhz4RpceANlp34ZxpWShncFI+qmX3HMda0yfg08ovJeCgYyradqxjyItyGyVYZTq8liBEv+I1JvUxGsPgN+KmhQhJykxzGEj05r5tfR+LQdzRCwZkN7nfTxpQwWUsWeTZ7GpnWTkrqjkTOllr0tlWEna5H6rDPruULApSPm6eX3tyRjAIl4kwXADr/EUivWHiQe0GFl3ixH4Hdf1B6JWHNYbReHbsnMWdvy9dRj97Rpn+tfpGV0iW/yJQMvOg0R97v6e976lZbzBESIT2qIW0C0BBm7Ozw706jCDbcu378Hib1RCTogEIKDq7XtEoNkDVZGDFd9eosRcv0ssLxGk9oMX0ZAaJ8ckRJHk4i6PmkHAvIC7D4uwP37SwknGleJ4gm0Nc0dearr8ipGZzgxch0/ZEEaYlEZwDRsHmWbz3aHCwpmsn0ausPpUphWc6XOWOKF507cLPddj9PBWNbBScrruUrDTKNRiUAh4JWXoKPbRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011bhqrqJU2T8MMrKc5ZkbLF",
      "input": {
        "note": "The plum is to the right of and ahead of the left jaws. Shifting right and forward while I go down to table level to straddle it.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.37,
          "left_y": -0.125,
          "left_yaw": 0,
          "left_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_011bhqrqJU2T8MMrKc5ZkbLF",
      "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]: [-0.5194, 1.7035, 0.4606, 0.4911, -0.4152, -0.3214, 0.9982, 0.4759, 1.692, 0.8982, 0.02, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3497 left_y=-0.1137 left_z=0.003 left_yaw=-0.0045 left_pitch=-0.1058 left_roll=0.0472 left_gripper=0.9982 right_x=0.4144 right_y=0.1427 right_z=0.0783 right_yaw=0.0112 right_pitch=-0.1367 right_roll=-0.076 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.106, 4.8752, 1.3455, -0.2466, 0.0171, -0.0757, -0.1436, -7.7744, 6.1607, 1.536, 0.1099, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98fc378bd42d8b5e224540d9268d15737bb6570f827e3592e8dbb8f3d929b42d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:020e1e1fb3aeb76dd8ccdab5b927ad16a32f613d975570337850470a2e0cc99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7027bfb9f55a6a330283e70a4fe43a9ff2eeaf973bc2f2d3bff0bfc93470851d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 3.691 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8398, 0.6128, -0.4942, -0.0139, -0.0307, 0.9987, 0.4759, 1.6905, 0.9001, 0.0315, 0.3874, 0.2539, 0.9958]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1491 left_yaw=-0.0002 left_pitch=-0.1514 left_roll=0.0021 left_gripper=0.9987 right_x=0.4166 right_y=0.1437 right_z=0.0816 right_yaw=0.0108 right_pitch=-0.1231 right_roll=-0.0689 right_gripper=0.9958\nstate[joint_eff]: [-0.294, -1.6068, 6.9128, 1.6239, -0.0562, -0.0415, -0.0122, -0.1299, -10.3316, 8.0752, 1.5556, 0.1148, 0.0464, -0.1685]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4583, 1.1816, 0.4622, 0.0006, -0.3355, -0.2638, 0.9987, 0.4759, 1.6909, 0.8989, 0.0242, 0.387, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3161 left_y=-0.0871 left_z=0.0841 left_yaw=-0.0404 left_pitch=-0.1016 left_roll=0.0297 left_gripper=0.9987 right_x=0.4152 right_y=0.143 right_z=0.0797 right_yaw=0.0113 right_pitch=-0.1311 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.3556, 6.0376, 1.8193, -0.4469, -0.149, -0.0171, -0.0889, -7.9521, 6.2154, 1.5653, 0.1245, -0.022, 0.0611]",
      "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]: [-0.5194, 1.7035, 0.4606, 0.4911, -0.4152, -0.3214, 0.9982, 0.4759, 1.692, 0.8982, 0.02, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3497 left_y=-0.1137 left_z=0.003 left_yaw=-0.0045 left_pitch=-0.1058 left_roll=0.0472 left_gripper=0.9982 right_x=0.4144 right_y=0.1427 right_z=0.0783 right_yaw=0.0112 right_pitch=-0.1367 right_roll=-0.076 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.106, 4.8752, 1.3455, -0.2466, 0.0171, -0.0757, -0.1436, -7.7744, 6.1607, 1.536, 0.1099, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:98fc378bd42d8b5e224540d9268d15737bb6570f827e3592e8dbb8f3d929b42d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:020e1e1fb3aeb76dd8ccdab5b927ad16a32f613d975570337850470a2e0cc99d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7027bfb9f55a6a330283e70a4fe43a9ff2eeaf973bc2f2d3bff0bfc93470851d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQcKEAgSGAI4AUIIdGhpbmtpbmcSDBBpU5qcVduJE5NrSRoM4k6zwnQY5n+0hrtQIjAhmlnkHfg6Vhn03AKVptmsM3sxy+Hgbr2mIF/v8oTFIH3FKzKG8R+dngFA9Dgnm98qsgZaRgF82pOYmgTKw7Ya2occkzmGUsrHJ1RbfC6yTS3FKqfWZSyERGgXUIx3O4b5jqfoJg25uPl2AAXrT1meNan5157BM5kS4OaL/tjqTwF9ccDuGXT13Gq1RJK6+71dUjYUX3yZxwRu4DVaWwOXzjcb+h/o37+jJKJ2mSFBwwHfG+1kCxWqOqpt/Ww0yqNrGuE18Zr1jJ0oEjlF7HyL6bkCMf0jJ0Y2v82qxEZa/jDfda4tlXSqawq1CcoPxzx6EJYW/+sEn3FSn53tf7+vSydRmW7HKr3l6+8gvItmOfaRZ+n9S42BVULr3RlXtq7IjctcyBQUPvuscZkPWDkNLv06GNKMZUl0oq3pqQs813Y+7Y07GP5uCzhWO8oFBkPhBIFvIZ+mRTWgwp26uFc/wM54s5o9g2TGfMwj/x9ibHXBnjmELXUC1wrTH0y5fJDuxkd/347H6ovGzXyJXNzJy+TyDALO1HB3J/Gx8kz6tcQGfxKol+SrSBkkqIDwUNcOpWysvJjKNYfRbpkdHqcFKW8r4FYOPE/i5V6ka56Wl6YSLxh98DyR+sf15FMonH43LZwe2sn/5rtP6OK05wpZ4fYQeuYsujDBJ93HHvSLg7/Q8DKegPWxD601zSpcF5fXnakDVNpI/keZqcK3U+zm2EZ6rkzKql83TZPK3Wa/9VXGodyqyJ33n0ar+0cRjttCFajIExZMjlZxCyd/4hAISJ9WVn8+kyaiQ25mkTnSy1/sQYz6Z7JiK1qxH7criEQcOpLzkEvPsNb4Jk2dmI9kOg1ewa0wKbakSyxRvBfCB2UkfdDLT26qZe843c4hqfXE4bQtuFL7b6rnPwg1HTDlXQpzjmNkettF2mdgb7XeOff1S9QAc05L2B6eK2KFg+J8Fuh5fuMQVFuFLjTEBTvscsNZvpwYh/rAFj0sYrtI9U4trW61KFeVpFrnfFYoI0germ7QMqC0NAL5FohqhLp/d+kjlwqJRvZy0K/9x+JU4BsezXwCrbKm/qtTrJiqhBLagRd5O8H83wbjfaGRD3ofdkjNvZ5gxc3d8x/W00vdYJhMW+2ggc0AdOxnqNuHTWknQx9iKhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HG9TB8dqFZyoFUgjjTN7xc",
      "input": {
        "note": "The plum is close but off to the right edge of the left jaws. Shifting about 3 cm right and a little forward to centre it.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.38,
          "left_y": -0.15,
          "left_yaw": 0,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01HG9TB8dqFZyoFUgjjTN7xc",
      "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]: [-0.54, 1.747, 0.4728, 0.5709, -0.4339, -0.3233, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3583 left_y=-0.124 left_z=0.0063 left_yaw=-0.0112 left_pitch=-0.0576 left_roll=0.0323 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -6.2701, 4.0957, 1.5849, -0.2711, -0.1392, -0.0171, -0.2393, -7.9111, 6.0786, 1.5214, 0.0806, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6777421c1b5f8cba35a9986787e69a90c75a5f7301b6e388c658cd1238ba859f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2739ae361a137e5429ac1ba4e63c9c0b87f33ff5b33752c7174ba9ff06175d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c8efec7c594e98bfe83ae7395024c5c42dd022faff553dac56e986df0c51c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 31 attempt 0 · /messages · status 200 · 3.345 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]: [-0.4583, 1.1816, 0.4622, 0.0006, -0.3355, -0.2638, 0.9987, 0.4759, 1.6909, 0.8989, 0.0242, 0.387, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3161 left_y=-0.0871 left_z=0.0841 left_yaw=-0.0404 left_pitch=-0.1016 left_roll=0.0297 left_gripper=0.9987 right_x=0.4152 right_y=0.143 right_z=0.0797 right_yaw=0.0113 right_pitch=-0.1311 right_roll=-0.0735 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -4.3556, 6.0376, 1.8193, -0.4469, -0.149, -0.0171, -0.0889, -7.9521, 6.2154, 1.5653, 0.1245, -0.022, 0.0611]",
      "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]: [-0.5194, 1.7035, 0.4606, 0.4911, -0.4152, -0.3214, 0.9982, 0.4759, 1.692, 0.8982, 0.02, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3497 left_y=-0.1137 left_z=0.003 left_yaw=-0.0045 left_pitch=-0.1058 left_roll=0.0472 left_gripper=0.9982 right_x=0.4144 right_y=0.1427 right_z=0.0783 right_yaw=0.0112 right_pitch=-0.1367 right_roll=-0.076 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.106, 4.8752, 1.3455, -0.2466, 0.0171, -0.0757, -0.1436, -7.7744, 6.1607, 1.536, 0.1099, -0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.54, 1.747, 0.4728, 0.5709, -0.4339, -0.3233, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3583 left_y=-0.124 left_z=0.0063 left_yaw=-0.0112 left_pitch=-0.0576 left_roll=0.0323 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -6.2701, 4.0957, 1.5849, -0.2711, -0.1392, -0.0171, -0.2393, -7.9111, 6.0786, 1.5214, 0.0806, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6777421c1b5f8cba35a9986787e69a90c75a5f7301b6e388c658cd1238ba859f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2739ae361a137e5429ac1ba4e63c9c0b87f33ff5b33752c7174ba9ff06175d91",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 179):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c8efec7c594e98bfe83ae7395024c5c42dd022faff553dac56e986df0c51c24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgAcKEAgSGAI4AUIIdGhpbmtpbmcSDDE10HlD2WJpyYv7iBoMqGoRMhi+tiUxI6srIjBnlHetodMfD8LTw/5Uo89BfzhJ55HTaAzaV8zcr/w2zmaWKR8LrPNQFJYvrdqXLtkqnQawi1tTDDAIWiS47oRc4o/rbRRQ8xZj8ptv3odvdi7Kq+Pz1IlC1Ud21W0KuCR5pSQAg39w65IR4QHbeuebwv+3C0ZPn6KYt3aRfNd7xot08UJkRSs/eYjXi8gIimsRmZkWG5yIUJfGbL9gm7zEjX9p+RmHv4j7ee1tHUUch59Lp3ueXhXc1E6WXMTzVi2cIJmde7UcsZaUh5wEp5XHFL2hxMR7IOy0yMRzUhp+69AVbZSIhhVphp3ukdeQ0vl1NnqE/tWmBlEwueADbP/8MOHtVTx3IwMpFMPoG6JMTc32RehmjK3tajxW2+cSbM3+fFJdcmCUhz9kk5vSFS2ruZEUs8Nd2GSB6fgW6Y+4r2seb+WwnxpQjVSHe8IppiCQO8s5jNu6e3RKgQpdULmlkOr7ymnzyZofUWacFUGAyps+B6ORc/vMhDChdRXsZDrSw+gYrr+NJyRFC3KUlnIE2BmLCwpN6BAlD/0VcpXOIpHO0glmUOfTKdcmUVxFMAtgWbtLTt8svflO7Pc5kVw6UM4I6kjoj3L7j43Fw1hYezVCjQT8r3MMM04j0xvh4ypkMdS2Hjqcf3/rkpOgToYR+yH+7PB82mlGGBn7qp/ZmptJA0YVnNQOy/5C6ygNB9zqn/BO9FT7v9h/fR6S0STQINW3Yugacro4zeRbudLoWR50tvpT7jV/wLkWEng9PJ1lzumHMNzK5vlEL/owQnsOPnPn8b1tm52nKtecfXSW9iT/xFxiuKgSJYnF5xLKW1jcYEKJ95Bkfp7+0x/3Bn4oeoN7qFSork3Vsf8+pSSbhJe4kZw2xIwqkubMF8BXXEfjU/47KOCvtFvsykp0UsGee5oHGFOYV3xXFoZL8d5blgPODPGGd5tJKxpoS3RSX9bcjNS94ss1ixAcRMNEtxZwentSUFg/a6os2tJRhLPyApD3UjW66jkoJ4+akb2uL6eQJMPCL+Z1Wtoh2f2UdzvMeIsS7Pvu1h/NgiH6TO3sgdfNgdqcpqwaTToBwh3lIGDxfCqj04kIkF6hnVgfAON0ZWcBLUzGTaaY+3FqqLXgdBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NdBFhQiHZKSNmfthoJWCSF",
      "input": {
        "note": "The arm fell short and the plum is still at the right edge of the jaws. Aiming further right and forward to make up the shortfall.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.4,
          "left_y": -0.18,
          "left_yaw": 0,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01NdBFhQiHZKSNmfthoJWCSF",
      "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]: [-0.54, 1.747, 0.4728, 0.5652, -0.4339, -0.3229, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.3576 left_y=-0.1236 left_z=0.0053 left_yaw=-0.0112 left_pitch=-0.0625 left_roll=0.0355 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.2974, 4.0957, 1.6288, -0.3199, -0.1197, -0.0073, -0.0479, -7.9795, 6.0786, 1.4774, 0.0757, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68eeb71dc0ad75d69bc1cc100023b5d01df9930a471af0db1b972ddfef6cf4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168a2b002799fe76cda5c40055d697b04c8284fe042854ebac0ac836b335cc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7946681f07caa93901fa34c12f57908c5db1c15261336eede44d0b613b45ff90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 32 attempt 0 · /messages · status 200 · 3.936 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]: [-0.5194, 1.7035, 0.4606, 0.4911, -0.4152, -0.3214, 0.9982, 0.4759, 1.692, 0.8982, 0.02, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3497 left_y=-0.1137 left_z=0.003 left_yaw=-0.0045 left_pitch=-0.1058 left_roll=0.0472 left_gripper=0.9982 right_x=0.4144 right_y=0.1427 right_z=0.0783 right_yaw=0.0112 right_pitch=-0.1367 right_roll=-0.076 right_gripper=0.9965\nstate[joint_eff]: [-0.5128, -6.106, 4.8752, 1.3455, -0.2466, 0.0171, -0.0757, -0.1436, -7.7744, 6.1607, 1.536, 0.1099, -0.0366, -0.0073]\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]: [-0.54, 1.747, 0.4728, 0.5709, -0.4339, -0.3233, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3583 left_y=-0.124 left_z=0.0063 left_yaw=-0.0112 left_pitch=-0.0576 left_roll=0.0323 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -6.2701, 4.0957, 1.5849, -0.2711, -0.1392, -0.0171, -0.2393, -7.9111, 6.0786, 1.5214, 0.0806, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.54, 1.747, 0.4728, 0.5652, -0.4339, -0.3229, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.3576 left_y=-0.1236 left_z=0.0053 left_yaw=-0.0112 left_pitch=-0.0625 left_roll=0.0355 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.2974, 4.0957, 1.6288, -0.3199, -0.1197, -0.0073, -0.0479, -7.9795, 6.0786, 1.4774, 0.0757, -0.0366, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68eeb71dc0ad75d69bc1cc100023b5d01df9930a471af0db1b972ddfef6cf4ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:168a2b002799fe76cda5c40055d697b04c8284fe042854ebac0ac836b335cc8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7946681f07caa93901fa34c12f57908c5db1c15261336eede44d0b613b45ff90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmAcKEAgSGAI4AUIIdGhpbmtpbmcSDBwZTkmkwoA1nfUMFxoMCOqzvuJVybdyVc75IjDdTbSi4YyJdkE8wkwHYN4rsvJ5PkQH1QIrsE5WaFrHvouTU4TDQ9ErtdWoEoUJC+wqtQbUIY2URM4N9yNSYBjWq798nohLrJyz1SYMjdGuu2oGgrs1Vib4rfitJOlAeuosZg8CFAoRSFiCvCXe487srUKerTFw8x1Ed1nQxOjsETx3Fwxnjv+zuQM8iyYmZWHxT+ZWI7fx4QvfD/IlnNgYbZaD5lVH1xDTSXfMU4GwxyVPHPO+bSX4U6A5ngiaEHJfnAJErLlfxW/2tbxR3L9f5gpyQcS0mr4XI+kvfrXZnOjAxloUtHRWmpQORPLaldLtdhBTNcgHGLdEuYmAiUitYvzpHtKSXkBnyhx+JPU9MQybEMWBxqb61PyshOsjCo2WWzcEG+aNNih8aGxACVX5t3FmhbxJuL+MN5G60db+yCJLR1ju/T7p9i00hJqt6XI7hPaAlQDcqlMrG67fntCJ1thkQfA9Gg6b68ZfiW/4W1pdqzNynfgqFdGn3JAHvB7ls1V6qO15OmZY+7mcvKfwE/mA9MnCgaqaudgebBEKj8ll/9Mb7OZSCesHqhMkkUDGz8b6ChUUyWzm6xQoEOihsRRoTa0WeDH+IG08CTjLzXorREipRUpWj8MK4fj+KFMvcxctUqRcJylKjhMtc39ayB5zZNueDJQBhvmWh7xsvF6y7SVDi08W8+pQ2UfeRCNjzHqmRn4t8ndsKR9iLA7lBjLNsaS0piV0/Ijure3iF2n/E1pxN5uzicTm1wfKYq+4Shja8yfKRkCTW6S79rxgmvKG6x5IfIb4HKB+TNofS+ChI9RNqRBykXECHuNuPbHJZtJg/UXHo57j1lCULs4GoI+NRJBSobmoXGy1ymRFZSRaDzqTD3mPnkr1+JEL3pl8D83q4U27j6k5YbCN4KOixkBLOa6AowYDUu23N9eL3AJ22Kuh/+Cqy4iDLtH+/fUskYjT5PxQSfLCfzhykqARNOp18rbLHG2p86y2xMiGHt+VdemLp0azPXI0oYba/rw3EtLBJ8wBd855Py/bvEKhcyz/5v/KUuH/v3sx2lwOdHNBW/w8MpS/jTKoXDgPAEGJ10/VcANsG14EUaRmRlajcUCipqx0KKoLWwoGSvXEK4G5Rpu9UngGlbGjxMwo2rw2un2PFMZaCRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FW6tWWoR7nczu3u57GZdxM",
      "input": {
        "note": "The left arm is stuck at table contact. Lifting while I shift right over the plum.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.38,
          "left_y": -0.16,
          "left_yaw": 0,
          "left_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01FW6tWWoR7nczu3u57GZdxM",
      "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]: [-0.6083, 1.6711, 0.6292, 0.3794, -0.4763, -0.3679, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3774 left_y=-0.1598 left_z=0.0539 left_yaw=-0.0225 left_pitch=-0.0086 left_roll=-0.0034 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.0112 right_pitch=-0.1391 right_roll=-0.0775 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -7.8017, 5.5863, 1.2967, -0.3492, -0.0269, -0.0171, -0.1983, -7.9795, 6.147, 1.4774, 0.1343, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14133ae8eff05006a27b4eb694667fed1025358ea710992265084f50fb36f2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:733938f653ce9c31dcbd755c41b0f5d59730517d31db511b826bbe86609a2f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:17f1f3bfc2bd0da1c5a2d295004e9d852007b5ba6bd2e7092d2720756c7b2697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 33 attempt 0 · /messages · status 200 · 3.401 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]: [-0.54, 1.747, 0.4728, 0.5709, -0.4339, -0.3233, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3583 left_y=-0.124 left_z=0.0063 left_yaw=-0.0112 left_pitch=-0.0576 left_roll=0.0323 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -6.2701, 4.0957, 1.5849, -0.2711, -0.1392, -0.0171, -0.2393, -7.9111, 6.0786, 1.5214, 0.0806, -0.0317, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "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]: [-0.54, 1.747, 0.4728, 0.5652, -0.4339, -0.3229, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.3576 left_y=-0.1236 left_z=0.0053 left_yaw=-0.0112 left_pitch=-0.0625 left_roll=0.0355 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.2974, 4.0957, 1.6288, -0.3199, -0.1197, -0.0073, -0.0479, -7.9795, 6.0786, 1.4774, 0.0757, -0.0366, -0.0073]",
      "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]: [-0.6083, 1.6711, 0.6292, 0.3794, -0.4763, -0.3679, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3774 left_y=-0.1598 left_z=0.0539 left_yaw=-0.0225 left_pitch=-0.0086 left_roll=-0.0034 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.0112 right_pitch=-0.1391 right_roll=-0.0775 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -7.8017, 5.5863, 1.2967, -0.3492, -0.0269, -0.0171, -0.1983, -7.9795, 6.147, 1.4774, 0.1343, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:14133ae8eff05006a27b4eb694667fed1025358ea710992265084f50fb36f2da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:733938f653ce9c31dcbd755c41b0f5d59730517d31db511b826bbe86609a2f2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:17f1f3bfc2bd0da1c5a2d295004e9d852007b5ba6bd2e7092d2720756c7b2697",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQStwcKEAgSGAI4AUIIdGhpbmtpbmcSDBSxM/vw2jm3XzeKrhoM1Szz0mXZa9CkvuBDIjAEeLkGtFKfMNoFkKhQnAQ4nC10RzHw8qDxeg/oEeM6CZnf7UWCMHX/jgOhdjef3qgq1AaP55Xo8+D8IVi9hCVRYReXtojWkidmao+dlTbrckELiOuBrqnbjcuWEtNts5r7JFF0E98B8dhu0gQ/fwYPKgm5tDMLFp0lLiGrsjjmMkAGPrF0DSlKONnfPfKj+Quuoc2YBFWYzu6PWlfnPLd96/K6tsagvAsc1o1YqQvGieBmXDitWr+GDLBmgyQRvjPVywiAUsP/amWvUUziv8Js/HV+7ocg90g0ZrdD2Pu4oYtnjunkPMgCofT7TBjVl5B81ZIbklsCkwM/sUN3UAFEWh1d06xvb+lEYWPv142hiiWLSqBbriu8UAXa/uazwHU0tp8God30LNH4+b72BK6Pv8kDnJo9tEhoT7bWfAR9o0nQZ9k3TQcbh/eEFxczWR9f2zTP6arQi398TAUEhzTgeegiw7RovXZTZDZZFem22WEQb5dgZRCPBfOybo9h8LRHdkPrM96jC+UnIajWnBfuuNOdVyH2BAzhlxhBvLgezPXjXLAIcIZ5H4D3CzGxUM+3x3hMrDelaOpYWwuBCZI37wgt+f+4qplEgtJzE5sh3XyPTRcBZYSMT2lyKMVJj4+EazymjFncxhyZfkxjmvUKE7lchQ2chuDC5gaxe+NZ828L1RJ39eD1aQMOBwy+fQJNIYMgWOnkY0cl6c4hOHqCJKcjUULbT5pDpD6JfipDBGhLWTEJ9+OfCj3d644rKG2ho0sOIHkTJSYVtW9fzXvv4EKGmeY3TvUmgoLXEwyAQ1hvis6e9o6zGFc9ACF79E20QXHOLjRk93tI+fuuLOI5CEdl/H69hj72vSOpzjbSungJrZsCqSlh0wmlchmEcOgqHnjhdz7a5g2/owJa0Y5gGgSgdVxnG3X7TkVOAQTHo63MQA6T4OCK0JdhILjQiPfyrQTf5t7sUvVDJpLslnMdJo/9eJDd8prqH3dKGdUpCqdwY0l0KLWEsQh7d8WnWlyq1gC6GeRASrgKEEhcz3PHJKBN/HW+ujAG6b5ZYbmHjYHLvXDc+H5mjTU027X8VpFVbKYm6U1cIxWtzG3Zd8QZOIaqqijL4qXRbGBYSXDaMzqSDLYttcRITdMqOULR59FL544A8WH8h8itdhRHzbM/GhzWLF3pKn/MCOeF5i/UMfTUoD2ke6gYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CEkc38UDmKvJqLkgDX1fmw",
      "input": {
        "note": "The plum is now centred between the left jaws, so I'm descending straight onto it.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.39,
          "left_y": -0.16,
          "left_yaw": 0,
          "left_z": 0.005
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01CEkc38UDmKvJqLkgDX1fmw",
      "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]: [-0.6018, 1.8786, 0.6186, 0.5575, -0.4866, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0139, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3825 left_y=-0.1581 left_z=0.0027 left_yaw=0.0009 left_pitch=-0.0382 left_roll=0.0118 left_gripper=0.998 right_x=0.4135 right_y=0.1422 right_z=0.0771 right_yaw=0.0108 right_pitch=-0.1425 right_roll=-0.079 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -6.5299, 4.9162, 1.2723, -0.1538, 0.1294, -0.022, -0.0342, -7.788, 6.3248, 1.5458, 0.1001, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e96f26e26afe4d38b984de2f061ef44edf81667d967e1e0acd521d72894ec6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798b258309f0162cf352f9f4eb01bc34fbebee53c7ee9b90ea56aa57cfffe2e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:092d0313734c8755eb014b5543d89dabe86de0d25743042dd16acfb4ee395bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 3.072 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]: [-0.54, 1.747, 0.4728, 0.5652, -0.4339, -0.3229, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.3576 left_y=-0.1236 left_z=0.0053 left_yaw=-0.0112 left_pitch=-0.0625 left_roll=0.0355 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.011 right_pitch=-0.1391 right_roll=-0.0773 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -6.2974, 4.0957, 1.6288, -0.3199, -0.1197, -0.0073, -0.0479, -7.9795, 6.0786, 1.4774, 0.0757, -0.0366, -0.0073]",
      "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]: [-0.6083, 1.6711, 0.6292, 0.3794, -0.4763, -0.3679, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3774 left_y=-0.1598 left_z=0.0539 left_yaw=-0.0225 left_pitch=-0.0086 left_roll=-0.0034 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.0112 right_pitch=-0.1391 right_roll=-0.0775 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -7.8017, 5.5863, 1.2967, -0.3492, -0.0269, -0.0171, -0.1983, -7.9795, 6.147, 1.4774, 0.1343, -0.0708, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.6018, 1.8786, 0.6186, 0.5575, -0.4866, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0139, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3825 left_y=-0.1581 left_z=0.0027 left_yaw=0.0009 left_pitch=-0.0382 left_roll=0.0118 left_gripper=0.998 right_x=0.4135 right_y=0.1422 right_z=0.0771 right_yaw=0.0108 right_pitch=-0.1425 right_roll=-0.079 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -6.5299, 4.9162, 1.2723, -0.1538, 0.1294, -0.022, -0.0342, -7.788, 6.3248, 1.5458, 0.1001, -0.0073, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2e96f26e26afe4d38b984de2f061ef44edf81667d967e1e0acd521d72894ec6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:798b258309f0162cf352f9f4eb01bc34fbebee53c7ee9b90ea56aa57cfffe2e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 193):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:092d0313734c8755eb014b5543d89dabe86de0d25743042dd16acfb4ee395bb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQcKEAgSGAI4AUIIdGhpbmtpbmcSDDPOR+3HgvMecYenQxoMlZo7k9gy6eJi1SWBIjC3aLPqKLh/ILQnwlJNcOxPU0Qmc99ucVV1c+JIqHfFE1rhocIkhakBeRRLxvWWghUqrgbuWx/q++Ec2mTFegndZj90cl249YqvK1UgSgJZcmGv4tFJDZHvK/C9aDe32YflCg0+g1F8XHTQesiICWXuqXFF93GTwEcYV7W7DigiDACm9/PZHe9owpE7g/nUvuyjlHPxj9wVr/kwYoouft4FyU5n+RCNHPscIX4rB4UHMPAgXV8axUh6w3VHBfZIj2VJUAlZhNh3539xR6MfSgY1kkV+l3uirbVHRNVyt5/stNoAlw3Ap98gAkpwxFtDyGM32isgqAcC1s3gLwI5WRJAMl5tVXrT9tlXj6o1b5eBVoIzTZds8iJioSzZHxNp1S54oZCSFBs37L+MLNJijgkqKLR5qeFUb771D3lIyc2FBtlFAXkQ+xIZpyGZBBkbVec7oV0n/VKhDfEGm3sxcQa3nlNlzfCARUjZULdbja7BBJYQqayM5VXUh4HDEpI/sOIZCacCAKJ3BXyA4ghLtrSomGvGSapL7LCU2JkVF18An80mdwHFfoe3MT95hFCyEjsC0hPyPsZxZP0UZbnuXyM8jewR/UmyVbJVwSQn0vQ/X5kwN4XD4Ge/MsVPMYsnhtWRjEWvX1U9Rw6GG6sSoj93nGDx86vVPHVlL3rvpHjmJjz+YotYUZK/gtmmtRa8MF1yDJYKFiMQCcYkj8ziBO71gQhUAEglFPrBdrzpZKnBP2OK21c2bS+ayWk1Is7xRhxGMqdg56uEScRCcAZXw/eg5X//uqdEBjNcSUMuQuRsoPZBpUEHNgfjgYGwaqFopFLAbe3uuLzrnPfjM6T+BiPACHqvbJCbj87nDEMS+osTtcl0976C/cWK4Cer3mjygYaCAqXspcsnk9oBlZLAbg1xUNLPqZSvo7h73U1zm01P/wu2Jr2kPMf9F5RITasqEVnjg7njc81425Pq4XJr03Xmkk5FZIfmlXS1BVk/EQ2MvTLY3927M2lObYREKhhdM3XpgpzwC9vnPId02tym7ChLqvr7MOUEUBIYHgzyri731ftwVEChWTuKMmgQjBa+a8wEGUnnWp3gkyafd//i3HR+SY+LvxUWiLY/nI39wQFlzbWL0ojzREDcMQpCNidjKszrGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ltncp2wD6f6dH6oXmzWs4Q",
      "input": {
        "note": "The plum fills the view but still sits ahead of the fingertips, so I'm advancing about 2 cm before closing.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.41,
          "left_y": -0.16,
          "left_yaw": 0,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Ltncp2wD6f6dH6oXmzWs4Q",
      "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]: [-0.5911, 1.8965, 0.627, 0.5831, -0.4858, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0135, 0.387, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.1568 left_z=0.0027 left_yaw=0.0106 left_pitch=-0.0253 left_roll=0.0023 left_gripper=0.998 right_x=0.4134 right_y=0.1421 right_z=0.077 right_yaw=0.0107 right_pitch=-0.1427 right_roll=-0.0797 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.0752, 6.1333, 1.4628, -0.1294, 0.1197, -0.0122, 0.0889, -7.8838, 6.2838, 1.4921, 0.1441, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0669462cd536a8c9f9bffcb851521d3fa983b0231b34e976a8edd5d88959f3f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3415215fff57cca62519bf6c892c12f06446fb3f91d62fcea2f9c601b43f27b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:47783ae796af58d1cdd02efb7eb81addf6a790906833de96980f891e67bc9ba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 4.559 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]: [-0.6083, 1.6711, 0.6292, 0.3794, -0.4763, -0.3679, 0.9981, 0.4759, 1.692, 0.8982, 0.0174, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3774 left_y=-0.1598 left_z=0.0539 left_yaw=-0.0225 left_pitch=-0.0086 left_roll=-0.0034 left_gripper=0.9981 right_x=0.414 right_y=0.1425 right_z=0.0778 right_yaw=0.0112 right_pitch=-0.1391 right_roll=-0.0775 right_gripper=0.9965\nstate[joint_eff]: [0.1299, -7.8017, 5.5863, 1.2967, -0.3492, -0.0269, -0.0171, -0.1983, -7.9795, 6.147, 1.4774, 0.1343, -0.0708, -0.0171]\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]: [-0.6018, 1.8786, 0.6186, 0.5575, -0.4866, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0139, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3825 left_y=-0.1581 left_z=0.0027 left_yaw=0.0009 left_pitch=-0.0382 left_roll=0.0118 left_gripper=0.998 right_x=0.4135 right_y=0.1422 right_z=0.0771 right_yaw=0.0108 right_pitch=-0.1425 right_roll=-0.079 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -6.5299, 4.9162, 1.2723, -0.1538, 0.1294, -0.022, -0.0342, -7.788, 6.3248, 1.5458, 0.1001, -0.0073, -0.0073]",
      "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]: [-0.5911, 1.8965, 0.627, 0.5831, -0.4858, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0135, 0.387, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.1568 left_z=0.0027 left_yaw=0.0106 left_pitch=-0.0253 left_roll=0.0023 left_gripper=0.998 right_x=0.4134 right_y=0.1421 right_z=0.077 right_yaw=0.0107 right_pitch=-0.1427 right_roll=-0.0797 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.0752, 6.1333, 1.4628, -0.1294, 0.1197, -0.0122, 0.0889, -7.8838, 6.2838, 1.4921, 0.1441, -0.0562, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0669462cd536a8c9f9bffcb851521d3fa983b0231b34e976a8edd5d88959f3f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3415215fff57cca62519bf6c892c12f06446fb3f91d62fcea2f9c601b43f27b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 196):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47783ae796af58d1cdd02efb7eb81addf6a790906833de96980f891e67bc9ba3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQcKEAgSGAI4AUIIdGhpbmtpbmcSDHe20EC7ExwW7AgkChoMTx81PGFdjavcdGg2IjAqAwVXhyatSsThRxtRd6nHt4Ze8kkI0J7mqhx99Qm5bh4fu3BRCpBqUle+eSzj+hkqsgb+dFYPpxG7mt63X/m/62f07SEmSnKtlpYAfpGbR4LJInwXBgnUIqDKma3FwVS9dsrBfi/LoRpb+fltOia8ZBPgG/wdz8w2q4wJrU1ByWK7b/3wMqZTsZNitUkkrdAaxEf5vuDU/dCWtOOjAVQ34DSv0588h2c+WFYMPAxyA4E3Kv7xvQcPwTe8IAq8YKDKdFSOHsU2k/j+doU73dPJtFI7gx/+qV8SmrwtDrCW1IhSKsdBv8XRiblUc7SBKB5ZChx6gjsbYs5rC7jZ7YSLXquwHDPJqxTcQ/P87D0QoE5Wr2cRpWZiSMv0K+stC51ugz9zM0U3DgW8Ocja7Mr5woEj8a1KFq4IzGqOYqQeIZaE1PbQwJiXaTRpztfxUM7oXENhl9KnbaWZmmsqTJX7F6ukZri9fRdmLbe9Pk4uUFTMxpQwy5/jAqDrXxTrNiSrWXkyihk0yta5Wz1+9z65NfwYxqyO1PKpX0r5nqEinwItiEcnSsOqdy4yHhtf5eIBC0mN0vEkVAivHH99lCiro+9v9Dl1tIx49JXuMNyLlNe3xlYTdTx+2rOx9aZwVfTb/ZNbh4M+373gXFAxiPu8N+YIOXzD60tJoR0W0hS6+Gp4PWh22Bqz13doOeJWZFZlp9R/cojgeqYrplAGtJUiNVhaKp5/PqHtgEXjqCuMi4DilvLTLd2FOsfAtmeE7BW9mjWeTfdYqnIwFglH7IGB43X9mWReJ3ScS7gGWDUTySghAXLGPANf7BKgaKRgnO7UBtRBw+iiBE/Lib78K1mxN2cF2Ox9GbGoVkeMcjLsLQs5AuiLlHkIMXDUyuxDhngxurwawVWcoMSIZ4FiOOVZa1rIFiET+o5tt2jS2N4JJwmr10tJUMa05Xl+iRl1dIvBgKQmBj+KJ7sNi92oquxbD8Mrk4uzdwrgfgqdAmJwAnvJsKxL1zrUFG/hqpadB4/6ithKb7lWilWEDwxpsP6RhTj+h0ZFycbGa8IWxct7bmrSEeQEAi+yhj7kg5x0GtLMph8uB5ZPGu5kxNZzX8SbU2rqjni26P+uy8Q4xSr2pLtbQietId1/ww2MNjtZfzUuEJ21yBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WU6HutCKpkjSUiNjgvToLP",
      "input": {
        "note": "The plum is right between the left fingertips (slightly right of centre), so I'm closing on it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01WU6HutCKpkjSUiNjgvToLP",
      "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]: [-0.5915, 1.8965, 0.6281, 0.5812, -0.4862, -0.3866, 0.0078, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.157 left_z=0.0027 left_yaw=0.0124 left_pitch=-0.0258 left_roll=0.0001 left_gripper=0.0078 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.011 right_pitch=-0.1429 right_roll=-0.0794 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.0205, 4.3419, 1.5946, -0.149, 0.0513, 0.5788, -0.1162, -7.9385, 6.0923, 1.4823, 0.0855, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9852f396ea77dfe4e6faeeff80f6bb68a1379723345e24b4e85a676910bb5e90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0825c3f2bf652fffc5f6f494786d754c2cc6d84f0d8910abc5acd8018e71611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7622381af16f594d428f4f2b88ff330a605d0b17120917935de8378a87cbbc27",
        "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 · 2.788 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]: [-0.6018, 1.8786, 0.6186, 0.5575, -0.4866, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0139, 0.3866, 0.2527, 0.9965]\nstate[eef_state]: left_x=0.3825 left_y=-0.1581 left_z=0.0027 left_yaw=0.0009 left_pitch=-0.0382 left_roll=0.0118 left_gripper=0.998 right_x=0.4135 right_y=0.1422 right_z=0.0771 right_yaw=0.0108 right_pitch=-0.1425 right_roll=-0.079 right_gripper=0.9965\nstate[joint_eff]: [0.5402, -6.5299, 4.9162, 1.2723, -0.1538, 0.1294, -0.022, -0.0342, -7.788, 6.3248, 1.5458, 0.1001, -0.0073, -0.0073]",
      "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]: [-0.5911, 1.8965, 0.627, 0.5831, -0.4858, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0135, 0.387, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.1568 left_z=0.0027 left_yaw=0.0106 left_pitch=-0.0253 left_roll=0.0023 left_gripper=0.998 right_x=0.4134 right_y=0.1421 right_z=0.077 right_yaw=0.0107 right_pitch=-0.1427 right_roll=-0.0797 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.0752, 6.1333, 1.4628, -0.1294, 0.1197, -0.0122, 0.0889, -7.8838, 6.2838, 1.4921, 0.1441, -0.0562, -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]: [-0.5915, 1.8965, 0.6281, 0.5812, -0.4862, -0.3866, 0.0078, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.157 left_z=0.0027 left_yaw=0.0124 left_pitch=-0.0258 left_roll=0.0001 left_gripper=0.0078 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.011 right_pitch=-0.1429 right_roll=-0.0794 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.0205, 4.3419, 1.5946, -0.149, 0.0513, 0.5788, -0.1162, -7.9385, 6.0923, 1.4823, 0.0855, -0.0611, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9852f396ea77dfe4e6faeeff80f6bb68a1379723345e24b4e85a676910bb5e90",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a0825c3f2bf652fffc5f6f494786d754c2cc6d84f0d8910abc5acd8018e71611",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 206):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7622381af16f594d428f4f2b88ff330a605d0b17120917935de8378a87cbbc27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnwkKEAgSGAI4AUIIdGhpbmtpbmcSDKlvJF9IOuj77tKKUhoMXnsk6G2F/+ljmzlvIjD610S/+8I/HXQ5SzBpVNnwED5uQeX7zxRxnlveCwGXHpDlEnHxFkj1+ATcDJHK6KMqvAgdGMOun9qD5BlbgMDKL0D1gdht+Fz4x2HAwJSMhXTKP0+lIY6XBnzbFggJE9hU1qzwTybAq+ptaFbmnqYMmbGzZrHaRL3WbvxUxg2BBpTQO3wSmURZCanheOVZXgw0cw9QB0RxzKHT3WNBel+0sVlILvGJo+qqVmvHa2r0O6gF5po8dOJXU0QpEIWkE8x11LecSiBHvfTdt+1l09ZNFB41WdH5GX5FN4A6nFRwFTDsaYf6vpjgaxchrEjNrTt5VccIaA9C0sL9BWcYaRMk8Y40K2WCP2xUCx6GMFoNhI4H/HNvxD2vgLy/cLHhX8oTyThtctH5ABXwHctwuCNBHGZGTd1SdKXQ1pvyPuy6SBCEnvi/IapyO0M7ETve+KQCorHP6oN69OxeHg/OVC0h8QFQlxP+eM6C4JcoHZfOZH8tEWzNM5Pe1rDgrV2JL7dorvhJiG37aT3dPIsaXjOYNcEnUcX/S47FyuNzEUWOYsaSLA3Xd/VX27vdDzF65wO2R3Ln2S6gq1ShiiX4RZ3G+HRD5p+ZREYQ/8D5Y7fCb7DNNutql2Ndl/VckSzYcpqVsb25fEllIQAYHdad2PyU3thH7F96Jj7b8CDgqBRfEAS4x1h8rneuzu8Uy2yDXF9hXvQSvmlEIGG2ng+gyAjFh2IhV68XTqvEXSliQCMsAvfAPoJ806CTa09Vz1QReshz1yT6ijU1rb3JLVYPintN6YGbpbLhNpindMXF5g8kskXXq1QCamDhqSTanlTiOH/Z8ihEYHfP0i1PNFY7PgLJO2iM6lCen296gHnh/O6be3mzkKn9tRZTeQ+4BGeOKse3NwQx8+vihANfU4LdVIDbjEULIDYMd36sTAuA3LVF2PXaGeokLNpGgZPGW76F8dpeZQ7KZPq8+nZFAnNu/WT3jaKk5u24onU7ObyvK7s0rl1fzgSTFaDHuJ5aZ6neCAh1QpettQbNxzMsNjQWnI7W/Pn8BWkhJrrNTMPFAwiTnmV4Vbluz9pRZ4jT6Ao9k7jvXbTdLssbN4vyrhefNfk18WqfB3seTk2c59Kb8X1eN2ikMHDs9BUa0xyxR5j21xHwlyNfOAL0TPJpUcP9ERVfseeMvQEMUD3nAU7SG2f+Lo7TJVMnbc5DPMQz1ELK3to+DZm8QZOWPEpOT8Bo2JRAtn3DEBwVluwywdwwX9+VWAh5GIM2LaUlddF+Pw37eitoUaXuNen57bT1qqcf5g0W7ZIRdvxa14u84ydysgNbQCZPWknLmqjZaOtYUg8CsCnxpM4W3Psw4NaQLNr0TZTBR9jgSiyW3XzH9251j072j0WEnXk0ppBuZuXkU2DdM6Nw0yB9vKXwN0pNNMnim5lvKE0zCM3xkgUOB9F6Y9iYzwPfkFGk95f+nzGD+O9PtMR/NSxuy1DpHXU50pac4ZLovenQ4jjtnZZu8CfejeVFGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RNho4rNDJHkYoRe4GdLxGW",
      "input": {
        "note": "Empty close: the jaws shut just short of the plum. Reopening and advancing about 3 cm so it sits between the fingertips.",
        "targets": {
          "left_gripper": 1,
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.425,
          "left_y": -0.155,
          "left_yaw": 0,
          "left_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RNho4rNDJHkYoRe4GdLxGW",
      "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]: [-0.527, 1.9469, 0.7136, 0.58, -0.4477, -0.3401, 0.995, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.4179 left_y=-0.1506 left_z=0.007 left_yaw=0.0209 left_pitch=-0.0102 left_roll=0.0002 left_gripper=0.995 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0108 right_pitch=-0.1429 right_roll=-0.0792 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.1863, 6.4889, 1.7021, -0.0317, 0.1685, -0.0806, -0.0615, -7.8017, 6.1197, 1.5214, 0.1197, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:451480fa3d259b22bad3227bb2b41b753277750c8059b94a4147abcf03f6376f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1792e0ca3754f269051b4d8deeba09bf5649dc73bab53215485e75ca7e41b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3c5aa684f3d08d3935d9e7ec1c77f6840624986147552c45ad044c608285810e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 6.905 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]: [-0.5911, 1.8965, 0.627, 0.5831, -0.4858, -0.3832, 0.998, 0.4759, 1.6924, 0.8982, 0.0135, 0.387, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.1568 left_z=0.0027 left_yaw=0.0106 left_pitch=-0.0253 left_roll=0.0023 left_gripper=0.998 right_x=0.4134 right_y=0.1421 right_z=0.077 right_yaw=0.0107 right_pitch=-0.1427 right_roll=-0.0797 right_gripper=0.9965\nstate[joint_eff]: [0.5128, -8.0752, 6.1333, 1.4628, -0.1294, 0.1197, -0.0122, 0.0889, -7.8838, 6.2838, 1.4921, 0.1441, -0.0562, -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]: [-0.5915, 1.8965, 0.6281, 0.5812, -0.4862, -0.3866, 0.0078, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.157 left_z=0.0027 left_yaw=0.0124 left_pitch=-0.0258 left_roll=0.0001 left_gripper=0.0078 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.011 right_pitch=-0.1429 right_roll=-0.0794 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.0205, 4.3419, 1.5946, -0.149, 0.0513, 0.5788, -0.1162, -7.9385, 6.0923, 1.4823, 0.0855, -0.0611, -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]: [-0.527, 1.9469, 0.7136, 0.58, -0.4477, -0.3401, 0.995, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.4179 left_y=-0.1506 left_z=0.007 left_yaw=0.0209 left_pitch=-0.0102 left_roll=0.0002 left_gripper=0.995 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0108 right_pitch=-0.1429 right_roll=-0.0792 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.1863, 6.4889, 1.7021, -0.0317, 0.1685, -0.0806, -0.0615, -7.8017, 6.1197, 1.5214, 0.1197, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:451480fa3d259b22bad3227bb2b41b753277750c8059b94a4147abcf03f6376f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1792e0ca3754f269051b4d8deeba09bf5649dc73bab53215485e75ca7e41b23",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 216):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3c5aa684f3d08d3935d9e7ec1c77f6840624986147552c45ad044c608285810e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "The plum now sits between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U4eFy86SnfHrMBSf38SFN4",
      "input": {
        "note": "The plum is now between the open left jaws, so I'm closing to grasp it.",
        "targets": {
          "left_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01U4eFy86SnfHrMBSf38SFN4",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5259, 1.9469, 0.7155, 0.5724, -0.4492, -0.3454, 0.4747, 0.4759, 1.6924, 0.8982, 0.0132, 0.3866, 0.2523, 0.9966]\nstate[eef_state]: left_x=0.4178 left_y=-0.1496 left_z=0.0063 left_yaw=0.0262 left_pitch=-0.0146 left_roll=-0.0004 left_gripper=0.4747 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0109 right_pitch=-0.1432 right_roll=-0.0796 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -8.4991, 4.3556, 1.7558, -0.1832, 0.0024, 0.9451, -0.1299, -7.9521, 6.0923, 1.4823, 0.0806, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9739f52f238bc40efe6e4994b916313d94bb37b3977d148fbe2bb32360ede81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f3b9c86728b1eefb04392c006442e5c2866bc53b0bcc9c04c9d4e47073261dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d6b3e5d6f6ad71e65942fdedaaabf39fb853eeefd930e144a592f01be39f79bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 6.014 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]: [-0.5915, 1.8965, 0.6281, 0.5812, -0.4862, -0.3866, 0.0078, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2523, 0.9965]\nstate[eef_state]: left_x=0.3881 left_y=-0.157 left_z=0.0027 left_yaw=0.0124 left_pitch=-0.0258 left_roll=0.0001 left_gripper=0.0078 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.011 right_pitch=-0.1429 right_roll=-0.0794 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -8.0205, 4.3419, 1.5946, -0.149, 0.0513, 0.5788, -0.1162, -7.9385, 6.0923, 1.4823, 0.0855, -0.0611, -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]: [-0.527, 1.9469, 0.7136, 0.58, -0.4477, -0.3401, 0.995, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.4179 left_y=-0.1506 left_z=0.007 left_yaw=0.0209 left_pitch=-0.0102 left_roll=0.0002 left_gripper=0.995 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0108 right_pitch=-0.1429 right_roll=-0.0792 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.1863, 6.4889, 1.7021, -0.0317, 0.1685, -0.0806, -0.0615, -7.8017, 6.1197, 1.5214, 0.1197, -0.0415, -0.0122]\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 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]: [-0.5259, 1.9469, 0.7155, 0.5724, -0.4492, -0.3454, 0.4747, 0.4759, 1.6924, 0.8982, 0.0132, 0.3866, 0.2523, 0.9966]\nstate[eef_state]: left_x=0.4178 left_y=-0.1496 left_z=0.0063 left_yaw=0.0262 left_pitch=-0.0146 left_roll=-0.0004 left_gripper=0.4747 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0109 right_pitch=-0.1432 right_roll=-0.0796 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -8.4991, 4.3556, 1.7558, -0.1832, 0.0024, 0.9451, -0.1299, -7.9521, 6.0923, 1.4823, 0.0806, -0.0659, -0.0171]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a9739f52f238bc40efe6e4994b916313d94bb37b3977d148fbe2bb32360ede81",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f3b9c86728b1eefb04392c006442e5c2866bc53b0bcc9c04c9d4e47073261dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 226):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d6b3e5d6f6ad71e65942fdedaaabf39fb853eeefd930e144a592f01be39f79bd",
        "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_01LZbLATuVCgjTaUQRaaqCYA",
      "input": {
        "note": "The left gripper settled at 0.47, so the plum is held. Lifting it, and moving the right arm back out of the way of the blue bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.4,
          "left_y": -0.15,
          "left_yaw": 0,
          "left_z": 0.2,
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 13 steps (1.3s)",
      "tool_use_id": "toolu_01LZbLATuVCgjTaUQRaaqCYA",
      "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]: [-0.543, 1.4788, 1.0092, -0.2008, -0.4492, -0.3481, 0.4781, 0.3119, 1.0004, 0.7677, -0.4923, 0.281, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.402 left_y=-0.1488 left_z=0.1753 left_yaw=0.0106 left_pitch=-0.0243 left_roll=0.0034 left_gripper=0.4781 right_x=0.3083 right_y=0.0517 right_z=0.1772 right_yaw=-0.0057 right_pitch=-0.1233 right_roll=-0.0735 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -9.1692, 9.4154, 1.5849, -0.2125, 0.0904, 0.3443, -0.1983, -2.6735, 8.0479, 1.79, -0.0562, -0.1099, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad771694f5d0d5ee41a0289be50f322b807b70292b20eb6cdb548fa5cd1e033e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401bd254b05b1e1b3ed51049f39b39468cd2cd08beb95bc823b52d470686da0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8f0e83ec54971f56021dc4341e5dc1d68a57e28d7eb216a9f78798566afabcb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 3.811 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]: [-0.527, 1.9469, 0.7136, 0.58, -0.4477, -0.3401, 0.995, 0.4759, 1.6924, 0.8982, 0.0135, 0.3866, 0.2527, 0.9966]\nstate[eef_state]: left_x=0.4179 left_y=-0.1506 left_z=0.007 left_yaw=0.0209 left_pitch=-0.0102 left_roll=0.0002 left_gripper=0.995 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0108 right_pitch=-0.1429 right_roll=-0.0792 right_gripper=0.9966\nstate[joint_eff]: [0.4991, -7.1863, 6.4889, 1.7021, -0.0317, 0.1685, -0.0806, -0.0615, -7.8017, 6.1197, 1.5214, 0.1197, -0.0415, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.5259, 1.9469, 0.7155, 0.5724, -0.4492, -0.3454, 0.4747, 0.4759, 1.6924, 0.8982, 0.0132, 0.3866, 0.2523, 0.9966]\nstate[eef_state]: left_x=0.4178 left_y=-0.1496 left_z=0.0063 left_yaw=0.0262 left_pitch=-0.0146 left_roll=-0.0004 left_gripper=0.4747 right_x=0.4134 right_y=0.1422 right_z=0.077 right_yaw=0.0109 right_pitch=-0.1432 right_roll=-0.0796 right_gripper=0.9966\nstate[joint_eff]: [-0.294, -8.4991, 4.3556, 1.7558, -0.1832, 0.0024, 0.9451, -0.1299, -7.9521, 6.0923, 1.4823, 0.0806, -0.0659, -0.0171]\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 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]: [-0.543, 1.4788, 1.0092, -0.2008, -0.4492, -0.3481, 0.4781, 0.3119, 1.0004, 0.7677, -0.4923, 0.281, 0.1448, 0.9966]\nstate[eef_state]: left_x=0.402 left_y=-0.1488 left_z=0.1753 left_yaw=0.0106 left_pitch=-0.0243 left_roll=0.0034 left_gripper=0.4781 right_x=0.3083 right_y=0.0517 right_z=0.1772 right_yaw=-0.0057 right_pitch=-0.1233 right_roll=-0.0735 right_gripper=0.9966\nstate[joint_eff]: [-0.6906, -9.1692, 9.4154, 1.5849, -0.2125, 0.0904, 0.3443, -0.1983, -2.6735, 8.0479, 1.79, -0.0562, -0.1099, -0.0171]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad771694f5d0d5ee41a0289be50f322b807b70292b20eb6cdb548fa5cd1e033e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:401bd254b05b1e1b3ed51049f39b39468cd2cd08beb95bc823b52d470686da0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 239):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8f0e83ec54971f56021dc4341e5dc1d68a57e28d7eb216a9f78798566afabcb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS0QoKEAgSGAI4AUIIdGhpbmtpbmcSDMu+fqIlUn87872zCxoMVfhiaJkibvoi8SNBIjDs5gD4Do7W+AnENBo8BW8HAgjaQ4JRG3rtANF/JOkKDbuLhONHsGRWbLUaiKti4Ykq7gn0CubjN+R1g9+tgp1bv0jLvnTPw+/WpBnNZVJrm/rGpWZP+GdnmEVSxDxi6HT9pygFQ2hBapE9OU4kkQNVLROnmPnX+twBP0bKKKYqQjHJWM08wwrhiIz/T3gOpnT+ftjp/VzD2gZJPHPigbvX17mPtIt+loNhuJDja/KvF0lPxkw5p+BRMHu47nPCbjNUY+uw+J7jxTwvBBZRuOxjxZBzbO5EP2jtBUF4XKHcFgi5XDUQQ6oWFsGJ3ZBZJPiVS34I0fHrQfvGBTtYF0lEq1nv/LVMWHW/699a+IXh8YOidJ6xZI/+0B2ohhvBiZDOZWd8bBTuubmM5YxxCFrweAS3Nf2BKUxUmISbyarlHjGuSxKE2kG/J9iVGNciHUU6Frm0oJl/vgURgMwdbUfMv8IIdvGMu7Vn8enWuqvZ5su2C2Bc0Trs1CGIiUYA8LEbOSxjCw4Z9WVfFYd94RlLEYF+y/uzF+TmNGOc4W22WvPksJLle5+DVqc5oaXzx4MpbYgK8gQsegpl1n6iPS2HRw9g1w2px7kH1E5vRRY3e9ucgSHtFzCNKqw16yhqeWX1fuarGi2QXxhQTl8PbXpWttzKg6px0xHJ5Xm3PckWImkAaeWoWOl5lspSnk5ya/qRZryz0THZjBLKuxsdu61DARwwv6SrJvTaGHOa4mN5Fx0gIWuu3OfIXLVjNaiafRB48JCLzPP9BfNneiF25BX+KrNRw+DegPAMrBn1Ce42k35B1+/qzjWWhcSzl36NUX8t3VQz7MRtDvH1xC0og2vsmT22IHPSSaMtLdTw3bYfLQxjEb5Xr1//hFrBZaSq6VvozCe+/Kju5Hg8CtLfYr4rL3jxOEa/+uzRJ8yKqIMvlwsOU6VJ1q0m/RW9UvNq/ujzo3dxAhJrKh5lD+I9FS66adaH/AodWdkwlj0/50+GxnNvT3VFWLaFV/EPUQfCJtvyWb82WC6V3kkFAXJpD1XHfINbTEVE7DOqJQKKIyLKlW47eQp3W5LkpKlnenhaYjmj6+Vns0ETe40OCc1Lda3OtJORX9oQp/v/8M6g8cKObmWOqCzTgqOQkaEOavk5S7Sd84ygfquCg8stJmJ6Sj8SMKpfnLlBPGQbZBFTqQa3hy0rEcHIKUZVlmeR8Ecd0vsF5JBGX8+jdsJd4kc5euhXXBwHH89u7smCwpciJwglZPEzDhrGpOOitdwJBkQ0oApmh3rb8nCnPw+VPvOzw2vNywuRrGwa/w18PCtka6Qr9NO+q5Uch2757OUKeoILkbXh0Xxcgk2ioIsqoBvNZN3XbemoP9llQvMq5miYU0OjqBi1qhVjh3ux7jCYVnyKTszAgtpbQpibPrXHanG2AZ8OzeE3KPObfI4aLawtAA0+h5UajB2rs+7dO1CVJDm+XF9fcY602GZ+GrUJAzAEhgV1bR1Bi9dWo7PDYJPDZxyFaoeTMKJ/Tm35LIGLvV0fmKNhk5xD8UwZKbCpFHHh0oYV6X+4gccfz4Gz2nYAeq8StBlZDLaRMSilBaQavoTicB7M7N/QJnAw8SaiHYSTjqKiqaw9StK+6zyybOXx5qTX6xsXKKdNve1y+dD5ZYPoGWTrHERoAZLHJY01HuVLvxcRJDHxPe1JSx0FJTKlMZFr+fNyFkfJ5wHh5Et6fxuXp6hr19uflIr1V/YxQzEi+3ZC3RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JdrFUCA4zuL9WmZfnVFuKF",
      "input": {
        "note": "The plum is lifted. The overhead view shows the blue bowl holding only the pear; the lemon ended up on the table by the right arm. I'm carrying the plum over the blue bowl.",
        "targets": {
          "left_pitch": 0,
          "left_roll": 0,
          "left_x": 0.45,
          "left_y": -0.39,
          "left_yaw": 0,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01JdrFUCA4zuL9WmZfnVFuKF",
      "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]: [-0.9085, 2.2719, 1.9602, -0.5175, -0.709, -0.6315, 0.481, 0.3099, 1.0058, 0.7677, -0.5205, 0.268, 0.1303, 0.9965]\nstate[eef_state]: left_x=0.4501 left_y=-0.3843 left_z=0.1453 left_yaw=-0.0042 left_pitch=-0.0243 left_roll=0.0057 left_gripper=0.481 right_x=0.3041 right_y=0.052 right_z=0.1703 right_yaw=0.0095 right_pitch=-0.1586 right_roll=-0.0865 right_gripper=0.9965\nstate[joint_eff]: [-0.9231, -14.0376, 8.8137, 1.2088, -0.5201, -0.0366, 0.2857, -0.2256, -3.0701, 7.0359, 1.8388, 0.1929, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:abb1588264a5946009eb2d7a8940aee950150e82b14f3d9beb0c479f11d63f5a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 261):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b2c5074b6c44bff8bb2c5501789245c534d9157b246ccb7d8ced4fa0a079a134",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 261):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e73f59e677c18af7445a17c4c33d263b0b369e7e867f5b02e73e5c3e5e4d87c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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