adhoc

completed
2026-09-22T22:19:22.228675+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (76 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
348.9 s
total steps
336
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 noteTop view shows a blue bowl and two yellow/green fruits on the right half, a big white bowl on the left, plus a dark object near the white bowl. I'm moving the right arm out over the right-hand fruit area at 15 cm height to get a closer wrist view before grasping.
move_to
right_x0.4200right_y0.0400right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0124, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6496, -1.7846, 9.5658, 1.7802, -0.1148, 0.1099, -0.1392, -0.1846, -1.7162, 9.2786, 1.8486, -0.0708, -0.0562, -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": 0.42, "right_y": 0.04, "right_z": 0.15, "right_gripper": 1}, "note": "Top view shows a blue bowl and two yellow/green fruits on the right half, a big white bowl on the left, plus a dark object near the white bowl. I'm moving the right arm out over the right-hand fruit area at 15 cm height to get a closer wrist view before grasping."})
tool
executing move_to over 10 steps (1.0s)
step 10
top_cam
camera top_cam step 10
left_cam
camera left_cam step 10
right_cam
camera right_cam step 10
assistant
agent noteThe wrist view shows the blue bowl straight ahead and the two fruits at the bottom edge (nearer the base), so I overshot forward. Pulling back 5 cm and shifting right toward the green fruit.
move_to
right_x0.3600right_y0.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, 0.131, 1.4208, 0.7864, -0.0006, 0.086, 0.0452, 0.9994] state[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1799 left_yaw=-0.0014 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4097 right_y=0.0423 right_z=0.1304 right_yaw=0.0309 right_pitch=-0.0642 right_roll=-0.0165 right_gripper=0.9994 state[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.7998, -0.0366, -0.0659, -0.022, -0.1709, -6.3795, 8.5949, 2.0147, 0.1929, 0.2418, -0.0708] camera 'top_cam' (step 10): [image omitted: streamed camera frame] camera 'left_cam' (step 10): [image omitted: streamed camera frame] camera 'right_cam' (step 10): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.0, "right_z": 0.12}, "note": "The wrist view shows the blue bowl straight ahead and the two fruits at the bottom edge (nearer the base), so I overshot forward. Pulling back 5 cm and shifting right toward the green fruit."})
tool
executing move_to over 4 steps (0.4s)
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 noteWrist view shows the green lemon just below/right of the jaw column and a yellow lemon off to the left. Nudging 1.5 cm right and forward and descending to grasp height on the green fruit.
move_to
right_x0.3750right_y-0.0150right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4026, -0.0139, -0.0307, 0.9987, -0.0257, 1.2259, 0.5976, -0.0181, -0.0166, -0.0315, 0.9994] state[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0014 left_pitch=-0.0278 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3613 right_y=-0.0028 right_z=0.1166 right_yaw=0.0021 right_pitch=-0.0783 right_roll=-0.0172 right_gripper=0.9994 state[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8584, -0.0806, -0.0806, -0.0122, 0.1573, -4.2735, 7.0769, 1.8877, -0.0757, -0.0659, -0.0171] 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": 0.375, "right_y": -0.015, "right_z": 0.035}, "note": "Wrist view shows the green lemon just below/right of the jaw column and a yellow lemon off to the left. Nudging 1.5 cm right and forward and descending to grasp height on the green fruit."})
tool
executing move_to over 6 steps (0.6s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe arm only partly tracked the last target (z stopped at 0.096); re-sending the descent over the green lemon.
move_to
right_x0.3750right_y-0.0120right_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0265, -0.0315, -0.0456, 0.9993] state[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1743 left_yaw=-0.0014 left_pitch=-0.0347 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3594 right_y=-0.0034 right_z=0.096 right_yaw=0.0133 right_pitch=-0.1112 right_roll=-0.0179 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.265, 7.2137, 1.7802, -0.0513, -0.0659, -0.0122, -0.1983, -4.7111, 6.3658, 1.9512, 0.0366, 0.0611, -0.0171] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": -0.012, "right_z": 0.03}, "note": "The arm only partly tracked the last target (z stopped at 0.096); re-sending the descent over the green lemon."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe arm stalled at z=0.096 and ignored the larger descent; trying a small 2 cm step down to see if it tracks.
move_to
right_x0.3650right_y-0.0100right_z0.0750
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, -0.4171, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0269, -0.0311, -0.0456, 0.9993] state[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0014 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9987 right_x=0.3595 right_y=-0.0035 right_z=0.0961 right_yaw=0.013 right_pitch=-0.1108 right_roll=-0.0182 right_gripper=0.9993 state[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.8046, -0.0659, -0.0757, -0.0073, -0.3487, -4.7385, 6.653, 1.956, 0.0366, 0.0366, -0.0073] approver: 1 step(s) modified (delta_clamped). 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_x": 0.365, "right_y": -0.01, "right_z": 0.075}, "note": "The arm stalled at z=0.096 and ignored the larger descent; trying a small 2 cm step down to see if it tracks."})
tool
executing move_to over 2 steps (0.2s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe pear now fills the wrist view just right of the jaw column; stepping down another 2.5 cm and 0.5 cm right to straddle it.
move_to
right_x0.3680right_y-0.0150right_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, -0.4236, -0.0139, -0.0307, 0.9987, -0.062, 1.3636, 0.5201, 0.1188, -0.0498, -0.0605, 0.9993] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0014 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9987 right_x=0.3582 right_y=-0.0098 right_z=0.064 right_yaw=0.0103 right_pitch=-0.1555 right_roll=-0.0147 right_gripper=0.9993 state[joint_eff]: [-0.3214, -1.4564, 7.2137, 1.7314, -0.0757, -0.0415, -0.0122, -0.1573, -5.5726, 6.4752, 1.9023, -0.0659, 0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.368, "right_y": -0.015, "right_z": 0.04}, "note": "The pear now fills the wrist view just right of the jaw column; stepping down another 2.5 cm and 0.5 cm right to straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent notePear is between the open jaws in the wrist view; closing the gripper 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, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0795, 1.496, 0.5091, 0.2348, -0.062, -0.0723, 0.9993] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.3654 right_y=-0.0145 right_z=0.0358 right_yaw=0.01 right_pitch=-0.1822 right_roll=-0.013 right_gripper=0.9993 state[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.6777, -0.0269, -0.0757, -0.0073, -0.4718, -5.8872, 4.9162, 1.8779, -0.1001, -0.0317, -0.0073] camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear is between the open jaws in the wrist view; closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteGripper settled at 0.52 (~5 cm object) so the pear is held. Lifting to 22 cm and moving forward-left toward the blue bowl.
move_to
right_z0.2200right_x0.4200right_y0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0788, 1.4952, 0.5091, 0.2436, -0.0654, -0.0788, 0.5171] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.367 right_y=-0.0138 right_z=0.0376 right_yaw=0.0171 right_pitch=-0.1726 right_roll=-0.0164 right_gripper=0.5171 state[joint_eff]: [-0.3077, -1.1419, 7.1179, 1.7167, -0.0562, -0.0611, -0.0122, -0.4308, -5.3538, 5.5179, 1.4628, -0.0171, 0.0513, 1.033] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.22, "right_x": 0.42, "right_y": 0.06}, "note": "Gripper settled at 0.52 (~5 cm object) so the pear is held. Lifting to 22 cm and moving forward-left toward the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
step 51
top_cam
camera top_cam step 51
left_cam
camera left_cam step 51
right_cam
camera right_cam step 51
assistant
agent noteCarrying the pear; the blue bowl is a bit farther forward than the current position, so advancing 6 cm in x to hover over the bowl.
move_to
right_x0.4700right_y0.0650right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1867, 1.4696, 1.2438, -0.5716, 0.1123, 0.0719, 0.5188] state[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1664 left_yaw=-0.0014 left_pitch=-0.0702 left_roll=0.0006 left_gripper=0.9987 right_x=0.4129 right_y=0.0615 right_z=0.2026 right_yaw=0.0468 right_pitch=-0.2232 right_roll=-0.0331 right_gripper=0.5188 state[joint_eff]: [-0.0615, -1.6889, 7.0085, 1.7802, -0.0513, -0.0171, -0.0122, 0.0752, -6.9675, 9.1556, 1.6386, 0.2027, 0.232, 0.7253] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 51): [image omitted: streamed camera frame] camera 'left_cam' (step 51): [image omitted: streamed camera frame] camera 'right_cam' (step 51): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.065, "right_z": 0.2}, "note": "Carrying the pear; the blue bowl is a bit farther forward than the current position, so advancing 6 cm in x to hover over the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent notePear appears near the blue bowl in the top view but parallax from its 18 cm height makes it look offset; descending to 10 cm to judge alignment with less parallax.
move_to
right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.1719, 1.6871, 1.4101, -0.6044, 0.0963, 0.0483, 0.5208] state[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1647 left_yaw=-0.0017 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9987 right_x=0.4547 right_y=0.0653 right_z=0.1753 right_yaw=0.0562 right_pitch=-0.3084 right_roll=-0.0484 right_gripper=0.5208 state[joint_eff]: [-0.0068, -1.4017, 7.1453, 1.7705, -0.022, -0.0708, -0.0122, -0.7316, -8.4718, 10.1265, 1.8291, 0.0366, 0.0122, 0.7204] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.1}, "note": "Pear appears near the blue bowl in the top view but parallax from its 18 cm height makes it look offset; descending to 10 cm to judge alignment with less parallax."})
tool
executing move_to over 5 steps (0.5s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteWrist view shows the pear directly over the blue bowl's interior; opening the gripper to release it into the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8219, 0.6132, -0.4473, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.355, 0.0963, 0.0414, 0.5212] state[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.163 left_yaw=-0.0014 left_pitch=-0.0866 left_roll=0.0009 left_gripper=0.9987 right_x=0.4456 right_y=0.0646 right_z=0.0912 right_yaw=0.0599 right_pitch=-0.3594 right_roll=-0.0591 right_gripper=0.5212 state[joint_eff]: [-0.0752, -1.5658, 6.9812, 1.7118, -0.0464, -0.0464, -0.0073, -0.335, -8.9778, 6.5709, 1.8437, 0.0317, 0.022, 0.7595] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Wrist view shows the pear directly over the blue bowl's interior; opening the gripper to release it into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 66
top_cam
camera top_cam step 66
left_cam
camera left_cam step 66
right_cam
camera right_cam step 66
assistant
agent notePear is now in the blue bowl. Lifting clear and moving over the yellow lemon (estimated ~7 cm left and 7 cm nearer than the bowl).
move_to
right_z0.2000right_x0.3900right_y0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0223, 0.8219, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.3634, 0.0967, 0.0353, 0.9954] state[eef_state]: left_x=0.2877 left_y=-0.0004 left_z=0.1625 left_yaw=-0.0017 left_pitch=-0.0889 left_roll=0.001 left_gripper=0.9987 right_x=0.4439 right_y=0.0642 right_z=0.09 right_yaw=0.0628 right_pitch=-0.3679 right_roll=-0.0643 right_gripper=0.9954 state[joint_eff]: [-0.294, -1.0872, 6.9812, 1.6581, -0.0269, -0.0464, -0.0122, -0.0615, -8.7453, 6.735, 1.3944, 0.0122, 0.0952, 0.0513] camera 'top_cam' (step 66): [image omitted: streamed camera frame] camera 'left_cam' (step 66): [image omitted: streamed camera frame] camera 'right_cam' (step 66): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.39, "right_y": 0.13}, "note": "Pear is now in the blue bowl. Lifting clear and moving over the yellow lemon (estimated ~7 cm left and 7 cm nearer than the bowl)."})
tool
executing move_to over 8 steps (0.8s)
step 74
top_cam
camera top_cam step 74
left_cam
camera left_cam step 74
right_cam
camera right_cam step 74
assistant
agent noteWrist view shows the lemon left of the jaw column; shifting ~2.5 cm left and descending to 7 cm above the table.
move_to
right_y0.1580right_x0.3850right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0223, 0.8249, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.4042, 1.6096, 1.3979, -0.7689, 0.2062, 0.1848, 0.9965] state[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.161 left_yaw=-0.002 left_pitch=-0.0957 left_roll=0.0009 left_gripper=0.9987 right_x=0.3968 right_y=0.1343 right_z=0.1812 right_yaw=0.1061 right_pitch=-0.3835 right_roll=-0.0731 right_gripper=0.9965 state[joint_eff]: [-0.3624, -1.6205, 7.2684, 1.7265, -0.0171, -0.0366, -0.0122, 0.1436, -9.8256, 8.7043, 1.2772, 0.1099, 0.1783, 0.0904] camera 'top_cam' (step 74): [image omitted: streamed camera frame] camera 'left_cam' (step 74): [image omitted: streamed camera frame] camera 'right_cam' (step 74): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.158, "right_x": 0.385, "right_z": 0.07}, "note": "Wrist view shows the lemon left of the jaw column; shifting ~2.5 cm left and descending to 7 cm above the table."})
tool
executing move_to over 8 steps (0.8s)
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 noteThe lemon is centred between the jaws in the wrist view; descending to grasp height.
move_to
right_z0.0300right_x0.3780
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, 0.8257, 0.6132, -0.4679, -0.0139, -0.0307, 0.9987, 0.4801, 1.6806, 1.0527, -0.4194, 0.2348, 0.2295, 0.9965] state[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.158 left_yaw=-0.0013 left_pitch=-0.111 left_roll=0.0014 left_gripper=0.9987 right_x=0.3751 right_y=0.153 right_z=0.0697 right_yaw=0.1214 right_pitch=-0.437 right_roll=-0.0944 right_gripper=0.9965 state[joint_eff]: [-0.1709, -1.388, 7.1316, 1.8193, -0.0464, -0.0171, -0.0122, 0.3897, -7.1316, 6.5026, 1.3602, 0.2271, 0.2173, -0.0073] approver: 1 step(s) modified (delta_clamped). 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": 0.03, "right_x": 0.378}, "note": "The lemon is centred between the jaws in the wrist view; descending to grasp height."})
tool
executing move_to over 3 steps (0.3s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteLemon sits slightly left of the jaw centreline; nudging 1 cm left and dropping to 2.5 cm before closing.
move_to
right_y0.1660right_z0.0250
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4694, -0.0139, -0.0303, 0.9987, 0.4805, 1.7382, 0.9913, -0.3016, 0.2314, 0.2272, 0.9965] state[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0015 left_pitch=-0.1125 left_roll=0.0018 left_gripper=0.9987 right_x=0.3764 right_y=0.1546 right_z=0.0403 right_yaw=0.126 right_pitch=-0.4393 right_roll=-0.0931 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.3607, 6.9675, 1.6874, -0.022, -0.0366, -0.0122, -0.5402, -7.5829, 5.6821, 1.2821, 0.0708, -0.0757, -0.0122] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.166, "right_z": 0.025}, "note": "Lemon sits slightly left of the jaw centreline; nudging 1 cm left and dropping to 2.5 cm before closing."})
tool
executing move_to over 1 steps (0.1s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteLemon fills the lower wrist view between the jaws; 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, 0.8257, 0.6132, -0.4751, -0.0139, -0.0307, 0.9987, 0.4805, 1.7664, 0.9668, -0.2802, 0.2314, 0.2249, 0.9965] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.1182 left_roll=0.0016 left_gripper=0.9987 right_x=0.3711 right_y=0.1518 right_z=0.0238 right_yaw=0.122 right_pitch=-0.4687 right_roll=-0.1066 right_gripper=0.9965 state[joint_eff]: [-0.0342, -1.3607, 7.2137, 1.746, -0.0464, -0.0513, -0.0122, -0.5265, -8.6632, 6.3385, 1.3309, 0.0904, -0.022, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon fills the lower wrist view between the jaws; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 96
top_cam
camera top_cam step 96
left_cam
camera left_cam step 96
right_cam
camera right_cam step 96
assistant
agent noteLemon grasped (gripper settled at 0.39). Lifting and carrying it over the blue bowl.
move_to
right_z0.2000right_x0.4400right_y0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.514, 1.7828, 0.9672, -0.2653, 0.2348, 0.247, 0.387] state[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1564 left_yaw=-0.0013 left_pitch=-0.1194 left_roll=0.0016 left_gripper=0.9987 right_x=0.3676 right_y=0.1645 right_z=0.0195 right_yaw=0.139 right_pitch=-0.4675 right_roll=-0.0976 right_gripper=0.387 state[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.6288, -0.0708, -0.0171, -0.0122, -0.2803, -7.665, 7.1316, 1.2723, 0.1783, 0.0317, 0.8083] camera 'top_cam' (step 96): [image omitted: streamed camera frame] camera 'left_cam' (step 96): [image omitted: streamed camera frame] camera 'right_cam' (step 96): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.44, "right_y": 0.07}, "note": "Lemon grasped (gripper settled at 0.39). Lifting and carrying it over the blue bowl."})
tool
executing move_to over 12 steps (1.2s)
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 noteOver the blue bowl with the lemon; descending to the same release pose that worked for the pear.
move_to
right_x0.4440right_y0.0640right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0223, 0.8276, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.189, 1.7481, 1.6363, -0.9035, 0.0837, -0.0326, 0.3899] state[eef_state]: left_x=0.2838 left_y=-0.0003 left_z=0.1558 left_yaw=-0.0017 left_pitch=-0.1217 left_roll=0.0017 left_gripper=0.9987 right_x=0.4407 right_y=0.0729 right_z=0.1952 right_yaw=0.1268 right_pitch=-0.4457 right_roll=-0.1012 right_gripper=0.3899 state[joint_eff]: [-0.1436, -1.5248, 6.9538, 1.6093, -0.0269, -0.0513, -0.0122, -0.4718, -7.4462, 8.1026, 1.0916, -0.0464, -0.0073, 0.2857] approver: 3 step(s) modified (delta_clamped ×3). 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": 0.444, "right_y": 0.064, "right_z": 0.1}, "note": "Over the blue bowl with the lemon; descending to the same release pose that worked for the pear."})
tool
executing move_to over 7 steps (0.7s)
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 noteWrist view confirms the lemon is over the blue bowl (pear visible inside); opening to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7588, 1.3052, -0.6083, 0.0731, -0.0463, 0.3919] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1551 left_yaw=-0.0013 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4314 right_y=0.0629 right_z=0.103 right_yaw=0.121 right_pitch=-0.4934 right_roll=-0.1015 right_gripper=0.3919 state[joint_eff]: [-0.0068, -1.6342, 7.241, 1.5946, -0.0464, -0.0415, -0.0122, -0.6359, -7.4598, 6.5299, 1.4579, -0.0366, -0.1392, 0.2027] 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_gripper": 1}, "note": "Wrist view confirms the lemon is over the blue bowl (pear visible inside); opening to drop it in."})
tool
executing move_to over 7 steps (0.7s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent notePear and lemon are both in the blue bowl. Now moving the right arm toward the remaining dark fruit (avocado) on the left side of the table, hovering at 20 cm first.
move_to
right_z0.2000right_x0.3300right_y0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0223, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7733, 1.2896, -0.6113, 0.0731, -0.0605, 0.9959] state[eef_state]: left_x=0.2839 left_y=-0.0003 left_z=0.1551 left_yaw=-0.0017 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4263 right_y=0.062 right_z=0.091 right_yaw=0.1289 right_pitch=-0.5273 right_roll=-0.1108 right_gripper=0.9959 state[joint_eff]: [-0.3487, -1.4154, 6.9402, 1.6288, -0.0317, -0.0464, -0.0122, -0.3214, -10.1128, 7.8154, 1.1551, -0.0073, 0.1001, -0.0317] camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.2, "right_x": 0.33, "right_y": 0.3}, "note": "Pear and lemon are both in the blue bowl. Now moving the right arm toward the remaining dark fruit (avocado) on the left side of the table, hovering at 20 cm first."})
tool
executing move_to over 20 steps (2.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteWrist view puts the avocado well to the left of the jaw column; shifting ~7 cm left and descending to 12 cm.
move_to
right_y0.3700right_x0.3250right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0223, 0.8326, 0.6132, -0.4774, -0.0135, -0.0307, 0.9987, 0.857, 1.9598, 1.9675, -1.2251, 0.3347, 0.5453, 0.9965] state[eef_state]: left_x=0.2839 left_y=-0.0004 left_z=0.1543 left_yaw=-0.002 left_pitch=-0.1274 left_roll=0.0015 left_gripper=0.9987 right_x=0.3335 right_y=0.3019 right_z=0.196 right_yaw=0.1784 right_pitch=-0.5254 right_roll=-0.1009 right_gripper=0.9965 state[joint_eff]: [-0.2667, -1.5385, 7.241, 1.6337, -0.0415, -0.0659, -0.0122, 0.1983, -9.935, 7.0496, 0.6032, 0.2271, 0.3101, 0.0562] camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.37, "right_x": 0.325, "right_z": 0.12}, "note": "Wrist view puts the avocado well to the left of the jaw column; shifting ~7 cm left and descending to 12 cm."})
tool
executing move_to over 6 steps (0.6s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteAvocado still sits left of the jaw column in the wrist view; shifting 3 cm further left and descending to 7 cm.
move_to
right_y0.3920right_x0.3120right_z0.0700
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0223, 0.8341, 0.6132, -0.4877, -0.0139, -0.0307, 0.9987, 0.9665, 2.1399, 1.9415, -1.0946, 0.3527, 0.6312, 0.9965] state[eef_state]: left_x=0.2823 left_y=-0.0003 left_z=0.152 left_yaw=-0.0016 left_pitch=-0.1392 left_roll=0.002 left_gripper=0.9987 right_x=0.3193 right_y=0.3614 right_z=0.1183 right_yaw=0.1904 right_pitch=-0.5655 right_roll=-0.1301 right_gripper=0.9965 state[joint_eff]: [-0.1299, -1.3744, 6.9402, 1.7509, -0.0611, -0.0659, -0.0122, 0.2393, -11.6308, 6.8991, 0.8913, 0.3346, 0.1978, -0.0073] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.392, "right_x": 0.312, "right_z": 0.07}, "note": "Avocado still sits left of the jaw column in the wrist view; shifting 3 cm further left and descending to 7 cm."})
tool
executing move_to over 4 steps (0.4s)
step 152
top_cam
camera top_cam step 152
left_cam
camera left_cam step 152
right_cam
camera right_cam step 152
assistant
agent noteAvocado is still a few cm left of the jaws; going to the y-limit (0.40) and descending to grasp height to see if I can reach it with the right arm.
move_to
right_y0.4000right_x0.3000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.005, 2.2284, 1.9366, -1.0206, 0.3553, 0.6575, 0.9965] state[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3133 right_y=0.3854 right_z=0.0802 right_yaw=0.2015 right_pitch=-0.5756 right_roll=-0.1355 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.6239, -0.0513, -0.0269, -0.0122, 0.6359, -11.7949, 5.6684, 0.7692, 0.2369, 0.1978, -0.0122] camera 'top_cam' (step 152): [image omitted: streamed camera frame] camera 'left_cam' (step 152): [image omitted: streamed camera frame] camera 'right_cam' (step 152): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.4, "right_x": 0.3, "right_z": 0.035}, "note": "Avocado is still a few cm left of the jaws; going to the y-limit (0.40) and descending to grasp height to see if I can reach it with the right arm."})
tool
executing move_to over 3 steps (0.3s)
step 155
top_cam
camera top_cam step 155
left_cam
camera left_cam step 155
right_cam
camera right_cam step 155
assistant
agent noteThe right arm has hit its reach/limit short of the avocado, so I'm retracting it home to clear the way and will use the left arm for that fruit.
move_to
right_x0.3000right_y0.0500right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.0172, 2.2597, 1.9305, -1.0016, 0.355, 0.6666, 0.9965] state[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3094 right_y=0.3906 right_z=0.0646 right_yaw=0.1994 right_pitch=-0.5878 right_roll=-0.1465 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.5751, -0.0317, -0.0757, -0.0122, -0.0752, -13.4906, 6.0513, 0.8278, 0.2564, 0.1001, -0.0122] camera 'top_cam' (step 155): [image omitted: streamed camera frame] camera 'left_cam' (step 155): [image omitted: streamed camera frame] camera 'right_cam' (step 155): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.05, "right_z": 0.2}, "note": "The right arm has hit its reach/limit short of the avocado, so I'm retracting it home to clear the way and will use the left arm for that fruit."})
tool
executing move_to over 29 steps (2.9s)
step 184
top_cam
camera top_cam step 184
left_cam
camera left_cam step 184
right_cam
camera right_cam step 184
assistant
agent noteRight arm is parked. Moving the left arm out over the dark avocado (estimated ~25 cm to its right) at 15 cm height.
move_to
left_x0.3100left_y-0.2500left_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.4976, -0.0139, -0.0307, 0.9987, 0.2142, 1.3552, 1.2888, -1.124, 0.0986, -0.0776, 0.9965] state[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.149 left_yaw=-0.0012 left_pitch=-0.1537 left_roll=0.0023 left_gripper=0.9987 right_x=0.2992 right_y=0.051 right_z=0.1854 right_yaw=0.1593 right_pitch=-0.6226 right_roll=-0.1522 right_gripper=0.9965 state[joint_eff]: [-0.0479, -1.5385, 6.9812, 1.6972, -0.0464, -0.0513, -0.0122, -0.1846, -6.4205, 8.6632, 1.072, -0.0806, -0.0513, -0.0122] approver: 1 step(s) modified (delta_clamped). 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": 0.31, "left_y": -0.25, "left_z": 0.15}, "note": "Right arm is parked. Moving the left arm out over the dark avocado (estimated ~25 cm to its right) at 15 cm height."})
tool
executing move_to over 23 steps (2.3s)
step 207
top_cam
camera top_cam step 207
assistant
agent noteLeft wrist view shows the avocado left of the jaw column and a bit farther out; shifting 4 cm toward the arm's left, 2 cm forward and descending to 10 cm.
move_to
left_y-0.2000left_x0.3300left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.952, 1.5639, 1.0901, -0.5503, -0.63, -0.7597, 0.9987, 0.2157, 1.346, 1.2644, -1.1191, 0.0959, -0.0944, 0.9965] state[eef_state]: left_x=0.3048 left_y=-0.2423 left_z=0.1359 left_yaw=-0.0137 left_pitch=-0.1926 left_roll=0.023 left_gripper=0.9987 right_x=0.295 right_y=0.051 right_z=0.1801 right_yaw=0.1743 right_pitch=-0.6344 right_roll=-0.1574 right_gripper=0.9965 state[joint_eff]: [-0.5812, -7.2274, 8.7453, 1.1502, -0.6276, -0.0562, -0.0073, -0.2393, -5.7094, 6.2838, 1.1258, 0.0757, 0.1245, -0.0073] camera 'top_cam' (step 207): [image omitted: streamed camera frame] camera 'left_cam' (step 207): [image omitted: streamed camera frame] camera 'right_cam' (step 207): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_y": -0.2, "left_x": 0.33, "left_z": 0.1}, "note": "Left wrist view shows the avocado left of the jaw column and a bit farther out; shifting 4 cm toward the arm's left, 2 cm forward and descending to 10 cm."})
tool
executing move_to over 4 steps (0.4s)
step 211
assistant
agent noteAvocado is now centred on the jaw column in the left wrist view; advancing ~1.5 cm and descending to grasp height.
move_to
left_x0.3450left_y-0.1940left_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8043, 1.5562, 0.9085, -0.3893, -0.5674, -0.6582, 0.9987, 0.2157, 1.335, 1.2308, -1.0996, 0.0959, -0.0959, 0.9965] state[eef_state]: left_x=0.3201 left_y=-0.1904 left_z=0.0875 left_yaw=0.0405 left_pitch=-0.2449 left_roll=0.0721 left_gripper=0.9987 right_x=0.2924 right_y=0.0504 right_z=0.1735 right_yaw=0.1752 right_pitch=-0.6376 right_roll=-0.1582 right_gripper=0.9965 state[joint_eff]: [-0.1026, -8.5402, 6.7624, 1.5604, -0.2662, 0.0952, -0.0122, -0.0342, -6.3111, 6.2974, 1.1258, 0.0562, -0.0366, -0.0122] camera 'top_cam' (step 211): [image omitted: streamed camera frame] camera 'left_cam' (step 211): [image omitted: streamed camera frame] camera 'right_cam' (step 211): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_y": -0.194, "left_z": 0.035}, "note": "Avocado is now centred on the jaw column in the left wrist view; advancing ~1.5 cm and descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 215
assistant
agent noteDescent stopped short at z=0.073; re-sending the forward-and-down target to reach the avocado.
move_to
left_x0.3450left_z0.0300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3264, -0.5457, -0.6361, 0.9987, 0.2161, 1.3216, 1.195, -1.0748, 0.0956, -0.0982, 0.9965] state[eef_state]: left_x=0.3256 left_y=-0.1934 left_z=0.0728 left_yaw=0.0272 left_pitch=-0.2566 left_roll=0.0715 left_gripper=0.9987 right_x=0.2902 right_y=0.0501 right_z=0.1672 right_yaw=0.1776 right_pitch=-0.6355 right_roll=-0.1587 right_gripper=0.9965 state[joint_eff]: [-0.2393, -7.2821, 5.9419, 1.1746, -0.4762, -0.1197, -0.0122, -0.0342, -6.147, 5.9966, 1.0916, 0.0366, -0.0317, -0.0122] camera 'top_cam' (step 215): [image omitted: streamed camera frame] camera 'left_cam' (step 215): [image omitted: streamed camera frame] camera 'right_cam' (step 215): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.345, "left_z": 0.03}, "note": "Descent stopped short at z=0.073; re-sending the forward-and-down target to reach the avocado."})
tool
executing move_to over 3 steps (0.3s)
step 218
assistant
agent noteThe arm stalls on large targets; issuing a small 2 cm incremental descent toward the avocado.
move_to
left_x0.3350left_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3256, -0.5457, -0.6361, 0.9987, 0.2161, 1.3098, 1.1652, -1.058, 0.0956, -0.0982, 0.9965] state[eef_state]: left_x=0.3257 left_y=-0.1935 left_z=0.0728 left_yaw=0.027 left_pitch=-0.2561 left_roll=0.0709 left_gripper=0.9987 right_x=0.2875 right_y=0.0495 right_z=0.1618 right_yaw=0.1776 right_pitch=-0.6366 right_roll=-0.1588 right_gripper=0.9965 state[joint_eff]: [-0.212, -6.9402, 5.7641, 1.16, -0.4518, -0.105, -0.0171, 0.0479, -6.2154, 5.7368, 1.1502, 0.0171, -0.0708, -0.0073] camera 'top_cam' (step 218): [image omitted: streamed camera frame] camera 'left_cam' (step 218): [image omitted: streamed camera frame] camera 'right_cam' (step 218): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.335, "left_z": 0.055}, "note": "The arm stalls on large targets; issuing a small 2 cm incremental descent toward the avocado."})
tool
executing move_to over 2 steps (0.2s)
step 220
assistant
agent noteStill stalled; backing off 1 cm in x while dropping 2.5 cm, in case a fingertip is snagged on the table or the fruit.
move_to
left_z0.0450left_x0.3150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3279, -0.5457, -0.6365, 0.9987, 0.2157, 1.2984, 1.1431, -1.0363, 0.0956, -0.0978, 0.9965] state[eef_state]: left_x=0.3254 left_y=-0.1932 left_z=0.0726 left_yaw=0.0277 left_pitch=-0.2577 left_roll=0.0724 left_gripper=0.9987 right_x=0.2874 right_y=0.0494 right_z=0.1594 right_yaw=0.1772 right_pitch=-0.6255 right_roll=-0.1581 right_gripper=0.9965 state[joint_eff]: [-0.3897, -7.2547, 5.9692, 1.2088, -0.4908, -0.1148, -0.0122, 0.0615, -5.9419, 6.1607, 1.1551, -0.0073, -0.0366, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.045, "left_x": 0.315}, "note": "Still stalled; backing off 1 cm in x while dropping 2.5 cm, in case a fingertip is snagged on the table or the fruit."})
tool
executing move_to over 2 steps (0.2s)
step 222
assistant
agent noteThe left arm refuses to descend further and the avocado sits right at the jaw line in the wrist view; closing the gripper to test whether it is already straddling the fruit.
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]: [-0.7902, 1.6009, 0.8944, -0.3286, -0.5457, -0.6365, 0.9987, 0.2161, 1.2911, 1.1316, -1.0317, 0.0956, -0.0982, 0.9965] state[eef_state]: left_x=0.3253 left_y=-0.1931 left_z=0.0725 left_yaw=0.0278 left_pitch=-0.2582 left_roll=0.0729 left_gripper=0.9987 right_x=0.2857 right_y=0.0491 right_z=0.1578 right_yaw=0.1779 right_pitch=-0.6252 right_roll=-0.1582 right_gripper=0.9965 state[joint_eff]: [-0.2256, -7.2821, 5.8735, 1.1697, -0.4762, -0.1538, -0.0122, -0.0889, -5.7094, 5.1897, 1.1893, -0.0122, -0.0659, -0.0122] camera 'top_cam' (step 222): [image omitted: streamed camera frame] camera 'left_cam' (step 222): [image omitted: streamed camera frame] camera 'right_cam' (step 222): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "The left arm refuses to descend further and the avocado sits right at the jaw line in the wrist view; closing the gripper to test whether it is already straddling the fruit."})
tool
executing move_to over 10 steps (1.0s)
step 232
assistant
agent noteThe close came up empty (0.009), so the avocado is beyond the fingertips and the arm was stalled; lifting to unstick the IK before re-approaching.
move_to
left_gripper1.0000left_z0.1600
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]: [-0.7902, 1.6009, 0.8944, -0.334, -0.5415, -0.6369, 0.0088, 0.2157, 1.29, 1.113, -1.0168, 0.0956, -0.0982, 0.9965] state[eef_state]: left_x=0.3243 left_y=-0.1929 left_z=0.0716 left_yaw=0.0263 left_pitch=-0.2645 left_roll=0.0741 left_gripper=0.0088 right_x=0.2852 right_y=0.0489 right_z=0.1531 right_yaw=0.1774 right_pitch=-0.6278 right_roll=-0.1583 right_gripper=0.9965 state[joint_eff]: [-0.1983, -6.8718, 5.9966, 1.2332, -0.2613, 0.022, 0.696, -0.1026, -5.9692, 5.7778, 1.1355, 0.0171, -0.0708, -0.0073] camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1, "left_z": 0.16}, "note": "The close came up empty (0.009), so the avocado is beyond the fingertips and the arm was stalled; lifting to unstick the IK before re-approaching."})
tool
executing move_to over 10 steps (1.0s)
step 242
assistant
agent noteAvocado is centred between the jaws in the wrist view but further out than the fingertips; advancing 3.5 cm and descending to 10 cm with the tool levelled.
move_to
left_x0.3600left_z0.1000left_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7902, 1.5311, 1.124, -0.6632, -0.5373, -0.6514, 0.9949, 0.2161, 1.2808, 1.0885, -1.0042, 0.0959, -0.0982, 0.9965] state[eef_state]: left_x=0.3234 left_y=-0.193 left_z=0.1394 left_yaw=0.0378 left_pitch=-0.2868 left_roll=0.0842 left_gripper=0.9949 right_x=0.2825 right_y=0.0484 right_z=0.1483 right_yaw=0.1773 right_pitch=-0.6305 right_roll=-0.1589 right_gripper=0.9965 state[joint_eff]: [-0.3624, -8.8137, 9.3744, 1.0379, -0.3492, 0.0708, -0.1294, -0.0342, -5.6, 6.0376, 1.0916, 0.0415, -0.0659, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.36, "left_z": 0.1, "left_pitch": 0}, "note": "Avocado is centred between the jaws in the wrist view but further out than the fingertips; advancing 3.5 cm and descending to 10 cm with the tool levelled."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent noteAvocado now sits right between the jaw tips in the wrist view; descending to grasp height.
move_to
left_z0.0400left_x0.3650
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]: [-0.7895, 1.6005, 0.8352, -0.0956, -0.6678, -0.5217, 0.9958, 0.2157, 1.2713, 1.0607, -0.9878, 0.0956, -0.0982, 0.9966] state[eef_state]: left_x=0.3494 left_y=-0.1918 left_z=0.0912 left_yaw=0.0274 left_pitch=-0.0715 left_roll=0.0996 left_gripper=0.9958 right_x=0.2799 right_y=0.0478 right_z=0.1428 right_yaw=0.1773 right_pitch=-0.6324 right_roll=-0.1586 right_gripper=0.9966 state[joint_eff]: [0.3214, -6.4205, 5.9692, 1.5507, -0.6129, 0.0659, 0.0757, -0.1436, -5.7368, 6.1197, 1.1062, 0.0122, -0.0415, -0.0122] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.04, "left_x": 0.365}, "note": "Avocado now sits right between the jaw tips in the wrist view; descending to grasp height."})
tool
executing move_to over 4 steps (0.4s)
step 256
assistant
agent noteAt 3.8 cm height with the avocado between the jaws; closing to grasp.
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]: [-0.7593, 1.7596, 0.7826, 0.0834, -0.6537, -0.5041, 0.9958, 0.2161, 1.2591, 1.0344, -0.9688, 0.0956, -0.0982, 0.9965] state[eef_state]: left_x=0.358 left_y=-0.1867 left_z=0.0381 left_yaw=0.0405 left_pitch=-0.1031 left_roll=0.1298 left_gripper=0.9958 right_x=0.2781 right_y=0.0475 right_z=0.1387 right_yaw=0.1778 right_pitch=-0.6275 right_roll=-0.1583 right_gripper=0.9965 state[joint_eff]: [0.3761, -8.5265, 5.2991, 1.6825, -0.2418, 0.0513, -0.0122, 0.0205, -5.5453, 5.9692, 1.0818, 0.0073, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 256): [image omitted: streamed camera frame] camera 'left_cam' (step 256): [image omitted: streamed camera frame] camera 'right_cam' (step 256): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "At 3.8 cm height with the avocado between the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 266
assistant
agent noteAvocado grasped (gripper 0.50). The left arm cannot reach the blue bowl, so I'm relaying the fruit: carrying it to a spot on the right side of the table where the right arm can pick it up.
move_to
left_z0.1500left_x0.4000left_y-0.3500
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]: [-0.7551, 1.7824, 0.7712, 0.1398, -0.6426, -0.4942, 0.501, 0.2161, 1.253, 1.0149, -0.9569, 0.0956, -0.0978, 0.9965] state[eef_state]: left_x=0.3608 left_y=-0.1893 left_z=0.0326 left_yaw=0.0302 left_pitch=-0.0942 left_roll=0.1158 left_gripper=0.501 right_x=0.2763 right_y=0.0471 right_z=0.1347 right_yaw=0.1775 right_pitch=-0.629 right_roll=-0.1582 right_gripper=0.9965 state[joint_eff]: [0.1162, -8.5675, 5.5453, 1.4921, -0.3248, 0.0415, 1.0037, -0.0068, -5.5863, 5.7368, 1.1551, 0.022, -0.022, -0.0073] camera 'top_cam' (step 266): [image omitted: streamed camera frame] camera 'left_cam' (step 266): [image omitted: streamed camera frame] camera 'right_cam' (step 266): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.15, "left_x": 0.4, "left_y": -0.35}, "note": "Avocado grasped (gripper 0.50). The left arm cannot reach the blue bowl, so I'm relaying the fruit: carrying it to a spot on the right side of the table where the right arm can pick it up."})
tool
executing move_to over 15 steps (1.5s)
step 281
assistant
agent noteLowering the avocado to just above the table on the right-hand side and opening the jaws to drop it there for the right arm to collect.
move_to
left_z0.0600left_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]: [-0.947, 2.1174, 1.7599, -0.6312, -0.7349, -0.7052, 0.5035, 0.2157, 1.2427, 0.9886, -0.9409, 0.0959, -0.0982, 0.9965] state[eef_state]: left_x=0.4018 left_y=-0.3494 left_z=0.1402 left_yaw=0.021 left_pitch=-0.1013 left_roll=0.0872 left_gripper=0.5035 right_x=0.2737 right_y=0.0463 right_z=0.1298 right_yaw=0.177 right_pitch=-0.629 right_roll=-0.1588 right_gripper=0.9965 state[joint_eff]: [-0.7726, -12.2872, 8.0205, 0.906, -0.652, -0.0464, 0.652, -0.253, -5.3265, 6.2701, 1.116, 0.0513, -0.0366, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 281): [image omitted: streamed camera frame] camera 'left_cam' (step 281): [image omitted: streamed camera frame] camera 'right_cam' (step 281): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_z": 0.06, "left_gripper": 1}, "note": "Lowering the avocado to just above the table on the right-hand side and opening the jaws to drop it there for the right arm to collect."})
tool
executing move_to over 6 steps (0.6s)
step 287
assistant
agent noteAvocado is now parked on the right half of the table; retracting the left arm home and bringing the right arm over the avocado.
move_to
left_x0.2800left_y0.0000left_z0.1800right_x0.4000right_y0.2900right_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]: [-0.9493, 2.183, 1.5776, -0.4206, -0.733, -0.7071, 0.9954, 0.2157, 1.2354, 0.9649, -0.9272, 0.0959, -0.0978, 0.9965] state[eef_state]: left_x=0.3969 left_y=-0.3451 left_z=0.0659 left_yaw=0.0221 left_pitch=-0.1237 left_roll=0.1159 left_gripper=0.9954 right_x=0.2713 right_y=0.0458 right_z=0.1248 right_yaw=0.1767 right_pitch=-0.6316 right_roll=-0.1588 right_gripper=0.9965 state[joint_eff]: [0.1026, -10.7829, 5.6274, 1.2821, -0.3639, 0.0317, 0.0904, -0.0342, -5.3402, 5.9966, 1.0867, 0.0659, -0.0464, -0.0122] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.28, "left_y": 0.0, "left_z": 0.18, "right_x": 0.4, "right_y": 0.29, "right_z": 0.14}, "note": "Avocado is now parked on the right half of the table; retracting the left arm home and bringing the right arm over the avocado."})
tool
executing move_to over 31 steps (3.1s)
step 318
assistant
agent noteRight wrist view shows the avocado just beyond and slightly right of the jaws; advancing 2 cm, nudging right and descending to grasp height.
move_to
right_x0.4200right_y0.2750right_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]: [-0.1486, 0.8425, 0.7033, -0.5621, -0.2321, -0.0757, 0.9963, 0.7139, 2.1525, 2.0377, -1.1519, 0.2577, 0.3473, 0.9965] state[eef_state]: left_x=0.2837 left_y=0.0023 left_z=0.1784 left_yaw=0.0808 left_pitch=-0.1132 left_roll=0.1076 left_gripper=0.9963 right_x=0.3955 right_y=0.2878 right_z=0.1344 right_yaw=0.2074 right_pitch=-0.6203 right_roll=-0.1604 right_gripper=0.9965 state[joint_eff]: [0.1162, -1.7436, 7.3915, 1.7021, 0.1538, 0.1245, 0.0806, 0.2256, -11.4393, 7.7197, 0.6911, 0.3639, 0.1978, -0.0122] camera 'top_cam' (step 318): [image omitted: streamed camera frame] camera 'left_cam' (step 318): [image omitted: streamed camera frame] camera 'right_cam' (step 318): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.275, "right_z": 0.04}, "note": "Right wrist view shows the avocado just beyond and slightly right of the jaws; advancing 2 cm, nudging right and descending to grasp height."})
tool
executing move_to over 7 steps (0.7s)
step 325
assistant
agent noteAvocado is centred between the jaws at 5 cm height; closing to grasp it.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.1463, 0.8471, 0.7029, -0.58, -0.2245, -0.0757, 0.9964, 0.6682, 2.1769, 1.742, -0.8402, 0.2497, 0.2951, 0.9965] state[eef_state]: left_x=0.2811 left_y=0.002 left_z=0.1736 left_yaw=0.0773 left_pitch=-0.1366 left_roll=0.1078 left_gripper=0.9964 right_x=0.4079 right_y=0.2709 right_z=0.0495 right_yaw=0.2004 right_pitch=-0.6359 right_roll=-0.1808 right_gripper=0.9965 state[joint_eff]: [-0.3487, -1.812, 6.9128, 1.7802, -0.232, -0.0757, -0.0024, -0.9504, -10.7009, 6.1744, 0.9695, 0.0659, -0.0464, -0.0073] camera 'top_cam' (step 325): [image omitted: streamed camera frame] camera 'left_cam' (step 325): [image omitted: streamed camera frame] camera 'right_cam' (step 325): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Avocado is centred between the jaws at 5 cm height; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 335
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]: [-0.1463, 0.8471, 0.7029, -0.5877, -0.2241, -0.0757, 0.9964, 0.6704, 2.1899, 1.6894, -0.7856, 0.2543, 0.2882, 0.0085] state[eef_state]: left_x=0.2799 left_y=0.0021 left_z=0.1722 left_yaw=0.0772 left_pitch=-0.1441 left_roll=0.1093 left_gripper=0.9964 right_x=0.405 right_y=0.269 right_z=0.0309 right_yaw=0.1992 right_pitch=-0.6445 right_roll=-0.195 right_gripper=0.0085 state[joint_eff]: [-0.1709, -1.4017, 7.0085, 1.6581, -0.1685, -0.0806, -0.0073, 0.3077, -15.3094, 6.0786, 0.8278, 0.2222, 0.0708, 0.6911] camera 'top_cam' (step 335): [image omitted: streamed camera frame] camera 'left_cam' (step 335): [image omitted: streamed camera frame] camera 'right_cam' (step 335): [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 · 29.93 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.7846, 9.5658, 1.7802, -0.1148, 0.1099, -0.1392, -0.1846, -1.7162, 9.2786, 1.8486, -0.0708, -0.0562, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d10bd6a5ccb8f1eec79b457089a80dfcf17b8ade4734d73d235bdd9273a93ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992ac45669be2d30cfd5b78c0497a7f5b6c2370106ab8269aa30f1cf25f632da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4f9759713b76b9b1963565c865a735c03b71b6f5aa9f7810269970731510eee4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 9.499 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.7846, 9.5658, 1.7802, -0.1148, 0.1099, -0.1392, -0.1846, -1.7162, 9.2786, 1.8486, -0.0708, -0.0562, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d10bd6a5ccb8f1eec79b457089a80dfcf17b8ade4734d73d235bdd9273a93ae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:992ac45669be2d30cfd5b78c0497a7f5b6c2370106ab8269aa30f1cf25f632da",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4f9759713b76b9b1963565c865a735c03b71b6f5aa9f7810269970731510eee4",
        "media_type": "image/png",
        "type": "base64"
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  "role": "user"
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019BXgPJHrMnADixzVCNddo3",
      "input": {
        "note": "Top view shows a blue bowl and two yellow/green fruits on the right half, a big white bowl on the left, plus a dark object near the white bowl. I'm moving the right arm out over the right-hand fruit area at 15 cm height to get a closer wrist view before grasping.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_y": 0.04,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_019BXgPJHrMnADixzVCNddo3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, 0.131, 1.4208, 0.7864, -0.0006, 0.086, 0.0452, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1799 left_yaw=-0.0014 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4097 right_y=0.0423 right_z=0.1304 right_yaw=0.0309 right_pitch=-0.0642 right_roll=-0.0165 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.7998, -0.0366, -0.0659, -0.022, -0.1709, -6.3795, 8.5949, 2.0147, 0.1929, 0.2418, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c51010cc481453c1d4c468ec5dc1720e2728345e319534765525e88660882f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d30e7aa580650193538e9f7d1d4c65455776c262d16bfd12c74d6b3cd66149b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7dd45b15a8e4335e1ae11f442b944231fb3db1725e0a4f66c3c7976b167d60b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 7.291 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.7846, 9.5658, 1.7802, -0.1148, 0.1099, -0.1392, -0.1846, -1.7162, 9.2786, 1.8486, -0.0708, -0.0562, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, 0.131, 1.4208, 0.7864, -0.0006, 0.086, 0.0452, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1799 left_yaw=-0.0014 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4097 right_y=0.0423 right_z=0.1304 right_yaw=0.0309 right_pitch=-0.0642 right_roll=-0.0165 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.7998, -0.0366, -0.0659, -0.022, -0.1709, -6.3795, 8.5949, 2.0147, 0.1929, 0.2418, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c51010cc481453c1d4c468ec5dc1720e2728345e319534765525e88660882f8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3d30e7aa580650193538e9f7d1d4c65455776c262d16bfd12c74d6b3cd66149b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 10):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7dd45b15a8e4335e1ae11f442b944231fb3db1725e0a4f66c3c7976b167d60b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISmwoKjgEIEhgCKkA7Ug0k5banj/kk5Jo/ZtaXuTBmcSAwWJXXDd3Jlf0fkCScaqdV2GbvwQfEe+C3lw2j3EhTDgsrncYhtkpGGunjMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaf+y9UGEgzu1ysBnYUyHc27HKsaDNDAK+z8SJVvMeXiASIwDvdL45WwKbfUPOFB0NdlJ8OnpZd1PKOZm0mzVt7w9DvEYBQI62LdMcqT5ZMBehzgKrkIUflPFrOmrxAc9C7c5lP+SsdTUbXbpZ2j6L/6cEMFPHZPKnH4Nttq50quVzH62GzwYdUACU+ghf18tssAnYpvFXihw/ApxA/a9ccEOTViAjVz77Dv0bsI1bR514N+gXjm04+w+Z5errLwjimn4KwsPBszhXpYMLc87NvJD5CJL6x5NThtxcB70maUQ4UYDmCB7r/QDEOBgpHYJy5Hg3q9YoAVCgHgWWeE77KUyOsIhxOLEl8ajcAU2EzzHgDk2y+z2FJYUonemH4mZRSl0kM2ZiuJizG8DENPEGXNpGLpmqtjVo+4Jho/wMJoZT72U9wj4bz/hGE3AwN2/PDOjuxaDI2Qqv9rS04ArmbwR7Aqmu+JB7i96RcaAaKJq4DmF0JP5qxlHUZgZhT7G6tYO1XyPPyDOZ3dqu6R3kH7IBrVqprtlzhtk0S/UK6Ff78grrTA5WEOlz5qQC09JEx+2MWN8Qi/1S1DpmN4Tsg8xzy9/vWOq6g/oWMf2k3ZeyC3czUAQ/ELh9G4LOH0asiYsf5aE0pBLo2PaaIUdfionoABhPRR04clNLXZo6d2Vj/BPIJTjHURZGWfaRasQHwg3ZP1PQJRgHxq75OmpJwAFy4xzj9eEzJrzW2td1gnir22yyqIL+6K8rFXKNBjNeKtSSkrifpUtYqsQu86R5rnYYWWLLcpPv0CUL7zV5EEWsZ3TdzZ8XCQlT4frV52CFO8pRV1/FNYmB1w5sNXl0z/rqKjx7LV4gdvc0YUuJY4LTWsZ7DUs+ZwWcuxCa5zhaxRjvoVgasnMPtKTmC1tqgZl3nDJcLH0BYTmoJcB+baHjR4WT7d9xA7ZLK/rBFTV61uPl4jUW0IXl1LacHxk4+cqJJ5AbXwY9C94unRr4lkxSwAUnRXEEf7RQhwGIXQY+NWZRvLCWqKnP5FvFN/zZwQMBjDsXQLqvL/24N/nyMTphrCkzM8RZH+ccNAT20/rgZJxk3rWLS79skWa2zBdq1gdJNPa5/XKiz0JyJFhzZJbkf7U+xbvLMxEd9HEgs2zEeUNN3QRmjIEdcIwvPoLYS6Wgf3XTdKsqX1q1OqrDSjCHz0qeWvsX1SGzks9MEEbb8CzRln0hS4FhRrAHKPjZSc4O33/GVL3p/3zDnNeTQlWB35Ss1CtgLrTwtT5Pv4eO+YTVTkBeVacdh4CMZA0VLL1gGw5borXQzgESHezjG1XkWeoXdLcnMOLvWL29CeYwlaEb0lFrVKdBdhTwQfo4PjlpGUIgnn/iQRXaAmas3yS1RGUEuc8Nx+tNLJHCfzotBC+4BoDm8KZiQb7wmwMpE29xA1G/R+IMZgA6mhl4IWDpXVEUlRQnVWWtU1IxW9R3jifcyn2FBncTTTlx1ccfFN3g+KYoLYsMjb1szuOn9QHGp43xZg8YL4JMhxytoZiOCcGAlGw8va72MtZrHdERgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LxeWUF9ERNLco57CtmMe9M",
      "input": {
        "note": "The wrist view shows the blue bowl straight ahead and the two fruits at the bottom edge (nearer the base), so I overshot forward. Pulling back 5 cm and shifting right toward the green fruit.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01LxeWUF9ERNLco57CtmMe9M",
      "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, 0.8078, 0.6132, -0.4026, -0.0139, -0.0307, 0.9987, -0.0257, 1.2259, 0.5976, -0.0181, -0.0166, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0014 left_pitch=-0.0278 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3613 right_y=-0.0028 right_z=0.1166 right_yaw=0.0021 right_pitch=-0.0783 right_roll=-0.0172 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8584, -0.0806, -0.0806, -0.0122, 0.1573, -4.2735, 7.0769, 1.8877, -0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a68dbe5ca376b2f513ff37c8a36afe0eccfd5385db988551451388813a37778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b51ccdc86fba53ffbe883b58a629e4cc9230dafb460640d78ee5f41963a72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5192223373e6c54d20afaa4f025ba46c5934f98a82930359180460247b572f5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 3 attempt 0 · /messages · status 200 · 4.384 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0204, 0.8005, 0.6136, -0.3824, -0.0143, -0.0299, 0.9987, -0.0227, 0.8001, 0.6189, -0.387, -0.0227, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1821 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9987 right_x=0.2961 right_y=0.0009 right_z=0.1837 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.7846, 9.5658, 1.7802, -0.1148, 0.1099, -0.1392, -0.1846, -1.7162, 9.2786, 1.8486, -0.0708, -0.0562, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, 0.131, 1.4208, 0.7864, -0.0006, 0.086, 0.0452, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1799 left_yaw=-0.0014 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4097 right_y=0.0423 right_z=0.1304 right_yaw=0.0309 right_pitch=-0.0642 right_roll=-0.0165 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.7998, -0.0366, -0.0659, -0.022, -0.1709, -6.3795, 8.5949, 2.0147, 0.1929, 0.2418, -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, 0.8078, 0.6132, -0.4026, -0.0139, -0.0307, 0.9987, -0.0257, 1.2259, 0.5976, -0.0181, -0.0166, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0014 left_pitch=-0.0278 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3613 right_y=-0.0028 right_z=0.1166 right_yaw=0.0021 right_pitch=-0.0783 right_roll=-0.0172 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8584, -0.0806, -0.0806, -0.0122, 0.1573, -4.2735, 7.0769, 1.8877, -0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8a68dbe5ca376b2f513ff37c8a36afe0eccfd5385db988551451388813a37778",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:08b51ccdc86fba53ffbe883b58a629e4cc9230dafb460640d78ee5f41963a72b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 14):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5192223373e6c54d20afaa4f025ba46c5934f98a82930359180460247b572f5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAcKjgEIEhgCKkBNtYF9fsGU0Z3L7ymWnl3bDCYfWzpEu0IUyrmNpwxbbbBLv3vlJSJbYKGJkDN5rpbjv2afzXBud0j04vflTH66Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAa/+y9UGEgyuWZsYs/+izu2KJ7gaDMg88AJQibvb0+eXYSIw5Ginfqog1e4SOfCc7cfuU3FuqU7kqYeOlIFzGZQA8xlveb0O0kd8UvjqrZdPoSpcKs4FiG4oINsl9H76wWIUuBj/vfe07SBIMVRMwR7Is5/KyERdPzF1asRwKfdZd6SObll7uFE/yFXagR6o8xnOLUkPG7dQVZ0AqSe8TX23nznSoXYbtZxi4em3O3lU/j3eDMdJ9PMuXuV7TPCAHVhpeXIpvqrSrK+3ivtEOV5pshkOTQpIRL4xneSnGpWodwYod+ry+Vs3GD+K5bgl7h/IPJwcG13opd6Xm3XzDqheEDlyR41Lg9JGHyXQ07zQyWIDM5MNY26ao8gH+jxRkHBF67csh9YFOa5xLb1GZ8tZ7qixLi3IWB9JzhIUJt/7MEP7XskHR2/ifOgmvr+6xEYcgnHwaiMDa6I7aXM059P3LKISYkmG5sRHkT/DcyAXypsdhLu8MFEgF0SchdbWJRq2jSauswGk5O51ROL94cDEGYuqj4oxZ08+tF5JewmfgzltC27c1tzbAn8cTHTCfq2crvgjbgx+Ymx7y+hGFy3bxuYiZc2KiJEQSzFGz+/gKbODpDdNczB9sx+0DpqkwtuN70sAseZ2yB+LIScTsGK8YL68j86roOYqoasLggFbKgH61/uuC5tG6m/XtaW7Kcu/+33hVqS30KGbuMFN1Q3myssDeqEOp2vNprjuh3PVn8UpJl+b2/m0UDTU4AcUU6NokYVT3otqi7LajOkVPdRcsvyC8FK7SLRiS4Gt+21meGn6tGzl5xhcGEIyVs4fAvzn4lpbHKi/kRfy/ffBQAGvQSAfmpVuNR00Z+SPYAofOAmVNIcqOCP4IlEdkB08CVe1qjS3Cp+A7ALd/ZLufxLhek+kDkABB3rMw4/GDi5MBPPi+Ls0ZPwAfDN5PRdjA+Up60RVf4fW7belz0knWwdGM5b9+MEO825jtbcbtfZeUMrLqAsiNwFHnsUXWTUzaRURiw6ZNabAJLMUz9yOxuAxKWEVI1ZQ7S1X50Jf/bBVfVMrKxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PyBSrYNhffrXV9kgNR19Xu",
      "input": {
        "note": "Wrist view shows the green lemon just below/right of the jaw column and a yellow lemon off to the left. Nudging 1.5 cm right and forward and descending to grasp height on the green fruit.",
        "targets": {
          "right_x": 0.375,
          "right_y": -0.015,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PyBSrYNhffrXV9kgNR19Xu",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0265, -0.0315, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1743 left_yaw=-0.0014 left_pitch=-0.0347 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3594 right_y=-0.0034 right_z=0.096 right_yaw=0.0133 right_pitch=-0.1112 right_roll=-0.0179 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.265, 7.2137, 1.7802, -0.0513, -0.0659, -0.0122, -0.1983, -4.7111, 6.3658, 1.9512, 0.0366, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374276a17e363cf7fdb17e4816468d8999f81650b0a2d004252f3f5d3812a4ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7d392e390df667903638d3384100c349349eed87e5a81dba0ceeaed3382c54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:580c9a8479c35243672d74894745363f2af19f3ae0cee2052242506020d4739e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 4 attempt 0 · /messages · status 200 · 4.194 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8021, 0.6132, -0.3901, -0.0139, -0.0307, 0.9987, 0.131, 1.4208, 0.7864, -0.0006, 0.086, 0.0452, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=-0.0004 left_z=0.1799 left_yaw=-0.0014 left_pitch=-0.0095 left_roll=-0.0007 left_gripper=0.9987 right_x=0.4097 right_y=0.0423 right_z=0.1304 right_yaw=0.0309 right_pitch=-0.0642 right_roll=-0.0165 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.7998, -0.0366, -0.0659, -0.022, -0.1709, -6.3795, 8.5949, 2.0147, 0.1929, 0.2418, -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, 0.8078, 0.6132, -0.4026, -0.0139, -0.0307, 0.9987, -0.0257, 1.2259, 0.5976, -0.0181, -0.0166, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0014 left_pitch=-0.0278 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3613 right_y=-0.0028 right_z=0.1166 right_yaw=0.0021 right_pitch=-0.0783 right_roll=-0.0172 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8584, -0.0806, -0.0806, -0.0122, 0.1573, -4.2735, 7.0769, 1.8877, -0.0757, -0.0659, -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 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0265, -0.0315, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1743 left_yaw=-0.0014 left_pitch=-0.0347 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3594 right_y=-0.0034 right_z=0.096 right_yaw=0.0133 right_pitch=-0.1112 right_roll=-0.0179 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.265, 7.2137, 1.7802, -0.0513, -0.0659, -0.0122, -0.1983, -4.7111, 6.3658, 1.9512, 0.0366, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:374276a17e363cf7fdb17e4816468d8999f81650b0a2d004252f3f5d3812a4ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7d392e390df667903638d3384100c349349eed87e5a81dba0ceeaed3382c54a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:580c9a8479c35243672d74894745363f2af19f3ae0cee2052242506020d4739e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS/gQKjgEIEhgCKkBMNsB+tKJRwT5db3Sl8VliXwlju3H2sblBQg2wMfcu+2902n0j+q9S9J5QygvOhtVVkVtv1T3ZvPC+sFArZrQzMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbX+y9UGEgzjKtRmrL3GyzOK7EwaDEZZvUmNRcTxHu4wyyIwao/zFs698qbEXtfl4FG/6QF3E/fq/gvRDpCks852D1wJM9WFqt4Q4G9E2KI3bsgTKpwDNl5I8TaipxajWivXOjPDwvI9bFxfbPUACyZN3NhlWQ7VH8g7/eP3mbaVrbJWIE/rs/8wDxh0sIbuVgJ3GpW8+6T4G/U9Hxpua+n1npveipOMkqsUBh4AsKNuUryuBOAroD2hbiGuvH628QnpDel/tBpd50YDIi9NHqPqrbSoZSrO2/COJCbNuBdMyjjdAU+lfc0E8dM8nAO69tMD/0BnG4khJ6mKsqZ46pYpLKQhkTAl7l1kTFQ6VvMSRm3tbJhnw9aiA3cYIY2QikXJUb64DxtfqWA20j1afwqD6vsc5TY3UXDQ98kmY1/hfOGWeT5U6+td7Ihl5DUdNWciPs3WHb/gQCAiXIb3ff+yRVblxUt+stObFIfz+bYSqI0/z2qxnXsZW49pPfK5CznJ/9YFrLfXwVNHu/Ec+e7iTeL01PEBMzyl2+58lRsxQTWtE+/PopbkjjOcf6PR0yJcQkei6xTCrJQ9wVTyPX2e7CVNZZKtTJCza93VbPeYpWdt7kSR9NIKzhv8XrQEGjByOptf1ihli7LNSNLA93wrAxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017aksXGpiYVZyMjKDAbAxyk",
      "input": {
        "note": "The arm only partly tracked the last target (z stopped at 0.096); re-sending the descent over the green lemon.",
        "targets": {
          "right_x": 0.375,
          "right_y": -0.012,
          "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_017aksXGpiYVZyMjKDAbAxyk",
      "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, -0.4171, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0269, -0.0311, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0014 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9987 right_x=0.3595 right_y=-0.0035 right_z=0.0961 right_yaw=0.013 right_pitch=-0.1108 right_roll=-0.0182 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.8046, -0.0659, -0.0757, -0.0073, -0.3487, -4.7385, 6.653, 1.956, 0.0366, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:592cfde3ba61bbee1991bc205a4315b2542578fd1df0972db6f3817a0504513c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:753112fc2fa1acf7104849ea08ecbcb2446840582a9a342abf974680af276337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:825da6627d27a140f3067a47a8bdf4a90d8e7a765f39ee2363b47b6faaa5fd4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 4.556 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8078, 0.6132, -0.4026, -0.0139, -0.0307, 0.9987, -0.0257, 1.2259, 0.5976, -0.0181, -0.0166, -0.0315, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0014 left_pitch=-0.0278 left_roll=-0.0003 left_gripper=0.9987 right_x=0.3613 right_y=-0.0028 right_z=0.1166 right_yaw=0.0021 right_pitch=-0.0783 right_roll=-0.0172 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8584, -0.0806, -0.0806, -0.0122, 0.1573, -4.2735, 7.0769, 1.8877, -0.0757, -0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0265, -0.0315, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1743 left_yaw=-0.0014 left_pitch=-0.0347 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3594 right_y=-0.0034 right_z=0.096 right_yaw=0.0133 right_pitch=-0.1112 right_roll=-0.0179 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.265, 7.2137, 1.7802, -0.0513, -0.0659, -0.0122, -0.1983, -4.7111, 6.3658, 1.9512, 0.0366, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0269, -0.0311, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0014 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9987 right_x=0.3595 right_y=-0.0035 right_z=0.0961 right_yaw=0.013 right_pitch=-0.1108 right_roll=-0.0182 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.8046, -0.0659, -0.0757, -0.0073, -0.3487, -4.7385, 6.653, 1.956, 0.0366, 0.0366, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:592cfde3ba61bbee1991bc205a4315b2542578fd1df0972db6f3817a0504513c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:753112fc2fa1acf7104849ea08ecbcb2446840582a9a342abf974680af276337",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:825da6627d27a140f3067a47a8bdf4a90d8e7a765f39ee2363b47b6faaa5fd4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISmgQKjgEIEhgCKkAE9qClCx0/mjaZtr/RIwcxTzm9kISTbC7JSusOWdOMdAFnXGGzOfPQDZsjtv0bnJW9Tnr0d0yrA7zhKQSXWSBCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbn+y9UGEgx5DCRhGsR5PzcKJZIaDI1QkCarnX9CSDFs+iIwgg4jtZElQ7JXxh0qM8Z0gxs8Orrz+GxJ3clYj+HNVnGgpsWwrye8FejRnUw0AJxOKrgCigpSKJ49nav3rHiW0/j+L1RznUn+uvDR/8P8oiJW2mWbezY/+Zvy5NwuqUwZaAYR8tqHCbOV9A5vnWRBHKMrAGHo4p2hKodUJQov3jXDectIBrxGcn6BpGjCdP3yhKgVgBSOsByJqbYXm2C+AjVDZpSn0H849uKAGQHrTyH/LHb/WBI+RxXhNtcdeSYVBt4TTF0LxrRXxc13GvZp1XU6T3RmIMyrH97dsbRWSum9Ir+EQHujXuY+RRzPfy1p0IMChFAyPnK2Z4xRE7rcNZY8nUqZpVdM6WBhOn3NOjhMmCgFnTQzBC6W0sd6SMa2Kg9OJaNVzmCqsXp92xGk8lgfILaCZvlC+kx/oiVpYnb1t+O/MDeSKBhQwymUHT7c6nbnzRZer1rfYPizYSxhpC/gR5oGSErctQgiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TeLJ6MLRaauhY73bU3BnmA",
      "input": {
        "note": "The arm stalled at z=0.096 and ignored the larger descent; trying a small 2 cm step down to see if it tracks.",
        "targets": {
          "right_x": 0.365,
          "right_y": -0.01,
          "right_z": 0.075
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01TeLJ6MLRaauhY73bU3BnmA",
      "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, -0.4236, -0.0139, -0.0307, 0.9987, -0.062, 1.3636, 0.5201, 0.1188, -0.0498, -0.0605, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0014 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9987 right_x=0.3582 right_y=-0.0098 right_z=0.064 right_yaw=0.0103 right_pitch=-0.1555 right_roll=-0.0147 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4564, 7.2137, 1.7314, -0.0757, -0.0415, -0.0122, -0.1573, -5.5726, 6.4752, 1.9023, -0.0659, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff6b414b1fd2da815389b767bc71a4cfa99712fd7ca7799a6f9035344c27188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fe77dfb02a2041016f809e74877ece4108c218155a1e1b76f5d765e0299adbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:83c4cd4d7bde297be3be90d9bf210edb742ad013c4746209f8743493335e0e69",
        "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 · 3.296 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4088, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0265, -0.0315, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2929 left_y=-0.0004 left_z=0.1743 left_yaw=-0.0014 left_pitch=-0.0347 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3594 right_y=-0.0034 right_z=0.096 right_yaw=0.0133 right_pitch=-0.1112 right_roll=-0.0179 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.265, 7.2137, 1.7802, -0.0513, -0.0659, -0.0122, -0.1983, -4.7111, 6.3658, 1.9512, 0.0366, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0269, -0.0311, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0014 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9987 right_x=0.3595 right_y=-0.0035 right_z=0.0961 right_yaw=0.013 right_pitch=-0.1108 right_roll=-0.0182 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.8046, -0.0659, -0.0757, -0.0073, -0.3487, -4.7385, 6.653, 1.956, 0.0366, 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 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, 0.8124, 0.6132, -0.4236, -0.0139, -0.0307, 0.9987, -0.062, 1.3636, 0.5201, 0.1188, -0.0498, -0.0605, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0014 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9987 right_x=0.3582 right_y=-0.0098 right_z=0.064 right_yaw=0.0103 right_pitch=-0.1555 right_roll=-0.0147 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4564, 7.2137, 1.7314, -0.0757, -0.0415, -0.0122, -0.1573, -5.5726, 6.4752, 1.9023, -0.0659, 0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2ff6b414b1fd2da815389b767bc71a4cfa99712fd7ca7799a6f9035344c27188",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4fe77dfb02a2041016f809e74877ece4108c218155a1e1b76f5d765e0299adbf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:83c4cd4d7bde297be3be90d9bf210edb742ad013c4746209f8743493335e0e69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2AQKjgEIEhgCKkANU09EXveTudu3pEPvJ9vLaAFaI87rYAtGrW5yF4jytuMR83oN2AnEHA5Siz+hWG5BGPt+QCx3efOZTMzwltZWMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb7+y9UGEgziAzEjztsg4lQJJUkaDMeEc3DgqErALXdcSyIw1I/pGPZs7wi+zbagoVN4SHDbDGwD8/TE2BmrB37gpXeHq0jkRVQNDfvLFg4QES9NKvYCAndxJ8WPYNRtXvwJIrMyDwDk9En5gMlqckuG3wTmOG6FV9rMer2Ws9xiTd1ytEykcDS/07S1uGgfub4VJ7LjHsa+XnOiubXJRV3xlIqSBYrVzp0GHvFv46LCLTPOnpC3M2e4i40djGHd+JUFnPDH7xYEgKhs0FZ2YOE7nQ/P2/5yp5MUvsU36/8JM+1UIyyPQgH39jG6k9X6x+jGRNdJ2w8ZUGD3HshgUxVMcrQgEOmd3xCziSHqqyMk93bwyQ0oQtSAKTZo497kZNiLZfRDdCkjC74kwP+eCKpPMBFuxxBMAN8o69S8ROpN8M7TS4LHywBkQhO3m4G0mVCch3cvEV71YHnIYcshRWajTevfcnlAF9sG90F0S7QrDJPCH3k7EZ54HqDJ0rxdATLIcBfGLN3kZ0woPUlrQP135C3yDslTtg2Y+fOdRoDun68RXONKinC2j2Ens0gGwlUVfKVodHrLe/xiQIPbd2Fhdr+XCJXls0w50PQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gu12cnUTmVh1rAnHL5jcqz",
      "input": {
        "note": "The pear now fills the wrist view just right of the jaw column; stepping down another 2.5 cm and 0.5 cm right to straddle it.",
        "targets": {
          "right_x": 0.368,
          "right_y": -0.015,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Gu12cnUTmVh1rAnHL5jcqz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0795, 1.496, 0.5091, 0.2348, -0.062, -0.0723, 0.9993]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.3654 right_y=-0.0145 right_z=0.0358 right_yaw=0.01 right_pitch=-0.1822 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.6777, -0.0269, -0.0757, -0.0073, -0.4718, -5.8872, 4.9162, 1.8779, -0.1001, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4feb43e2ba030bba22d5e3e8ce15f5f00fee3d51234fec178d15dd90d464eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ec3fc5ba40416a340f82c4113fdd84c909f99147ef910dd086228483e129c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:543d1d0d73ea7d6ac973acce25bf668268b6e19fa83b8c491cb075ff09050105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 8.588 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4171, -0.0139, -0.0307, 0.9987, -0.0349, 1.2709, 0.5648, 0.0269, -0.0311, -0.0456, 0.9993]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1725 left_yaw=-0.0014 left_pitch=-0.0435 left_roll=0.0 left_gripper=0.9987 right_x=0.3595 right_y=-0.0035 right_z=0.0961 right_yaw=0.013 right_pitch=-0.1108 right_roll=-0.0182 right_gripper=0.9993\nstate[joint_eff]: [-0.1026, -1.2103, 6.9949, 1.8046, -0.0659, -0.0757, -0.0073, -0.3487, -4.7385, 6.653, 1.956, 0.0366, 0.0366, -0.0073]\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, 0.8124, 0.6132, -0.4236, -0.0139, -0.0307, 0.9987, -0.062, 1.3636, 0.5201, 0.1188, -0.0498, -0.0605, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0014 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9987 right_x=0.3582 right_y=-0.0098 right_z=0.064 right_yaw=0.0103 right_pitch=-0.1555 right_roll=-0.0147 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4564, 7.2137, 1.7314, -0.0757, -0.0415, -0.0122, -0.1573, -5.5726, 6.4752, 1.9023, -0.0659, 0.0513, -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 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0795, 1.496, 0.5091, 0.2348, -0.062, -0.0723, 0.9993]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.3654 right_y=-0.0145 right_z=0.0358 right_yaw=0.01 right_pitch=-0.1822 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.6777, -0.0269, -0.0757, -0.0073, -0.4718, -5.8872, 4.9162, 1.8779, -0.1001, -0.0317, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b4feb43e2ba030bba22d5e3e8ce15f5f00fee3d51234fec178d15dd90d464eff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:59ec3fc5ba40416a340f82c4113fdd84c909f99147ef910dd086228483e129c3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:543d1d0d73ea7d6ac973acce25bf668268b6e19fa83b8c491cb075ff09050105",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3wMKjgEIEhgCKkBkq6/55JPPi3FmRw3WwfvJTLEqnu2JFyg7DD6zMiBvkezGBEigJ9ZNn9bWnJ0Sw911OkTCYWYAJj/r6uS1wcyRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcP+y9UGEgw+MwsFCnD/ZTq7XxYaDIdWxMrAPDXzZEBC+yIwWby1SeXOGe5vMZxTF7buVeUzWSDA7ufOu094CHn65bv32tLPFhTWEQxHUiFI0btfKv0Bs6rSh97nNsVLMbWx/o/3rge2r6p+I3fkX83n6twzq0cY95iB2R239WFraKlwzl0ZF1zs9I1Atm0/RSpsZVN9/j7uc6dMECEK+EoZ+gQFQTHB6y6s7XHJaLWDeuCW5EjXj30cbk3f5icfwDaiwLZqp9ecDtbbQcwbxBt3OJ7WrlImfkmZoHuSwsuHwjmABzviJbuZGpRQP//VcrDpoon8prtVHrkYYcX3uVG9S2sE3JXy9IfC1ZFJFN6xmi71i3T7cPqud971gIMxG01lDdU/+dYIEEfe7/lfLfMGzrBm7fCDh85/RdUpiawlS4W7sIflggL/FTrGOd/kqskT2RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HLzfXEYcbdjN17aeXVHqpE",
      "input": {
        "note": "Pear is between the open jaws in the wrist view; closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HLzfXEYcbdjN17aeXVHqpE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0788, 1.4952, 0.5091, 0.2436, -0.0654, -0.0788, 0.5171]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.367 right_y=-0.0138 right_z=0.0376 right_yaw=0.0171 right_pitch=-0.1726 right_roll=-0.0164 right_gripper=0.5171\nstate[joint_eff]: [-0.3077, -1.1419, 7.1179, 1.7167, -0.0562, -0.0611, -0.0122, -0.4308, -5.3538, 5.5179, 1.4628, -0.0171, 0.0513, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9746a8d5738170f62ade1a2d6c6a887b25be72e91c1bdf7a820f8f5690a40630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fea97f43945469c4c77a5f192919291df36160c5994cf25fc11710ce56c1ab60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e0f73516f227a4c3209e8f43adb0fe43bc42c7fe8ceb3c530d9aae095d345ce8",
        "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 · 16.27 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4236, -0.0139, -0.0307, 0.9987, -0.062, 1.3636, 0.5201, 0.1188, -0.0498, -0.0605, 0.9993]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1702 left_yaw=-0.0014 left_pitch=-0.0534 left_roll=0.0002 left_gripper=0.9987 right_x=0.3582 right_y=-0.0098 right_z=0.064 right_yaw=0.0103 right_pitch=-0.1555 right_roll=-0.0147 right_gripper=0.9993\nstate[joint_eff]: [-0.3214, -1.4564, 7.2137, 1.7314, -0.0757, -0.0415, -0.0122, -0.1573, -5.5726, 6.4752, 1.9023, -0.0659, 0.0513, -0.0122]\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, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0795, 1.496, 0.5091, 0.2348, -0.062, -0.0723, 0.9993]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.3654 right_y=-0.0145 right_z=0.0358 right_yaw=0.01 right_pitch=-0.1822 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.6777, -0.0269, -0.0757, -0.0073, -0.4718, -5.8872, 4.9162, 1.8779, -0.1001, -0.0317, -0.0073]",
      "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, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0788, 1.4952, 0.5091, 0.2436, -0.0654, -0.0788, 0.5171]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.367 right_y=-0.0138 right_z=0.0376 right_yaw=0.0171 right_pitch=-0.1726 right_roll=-0.0164 right_gripper=0.5171\nstate[joint_eff]: [-0.3077, -1.1419, 7.1179, 1.7167, -0.0562, -0.0611, -0.0122, -0.4308, -5.3538, 5.5179, 1.4628, -0.0171, 0.0513, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9746a8d5738170f62ade1a2d6c6a887b25be72e91c1bdf7a820f8f5690a40630",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fea97f43945469c4c77a5f192919291df36160c5994cf25fc11710ce56c1ab60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0f73516f227a4c3209e8f43adb0fe43bc42c7fe8ceb3c530d9aae095d345ce8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQoKjgEIEhgCKkAo9DtHBMiomZdTXYWbDZ/M3+m61fo41kdhTA2o9JAMVEoojfycoZ69k4QTXYyHJYOEmBYlXDyycPE7ycxwW+iwMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcz+y9UGEgyGSe+6hemT2SS2oboaDEaAKRO7jxSQs2hrGyIwS24ZFkmHxrq/iopVnc32fpu6V62ojSJJQXk4GVoXKoLdUbddOwAc2Aqvnb3R65M2Kp8Igvy4oXbkja20Eqalo2h1tvfRCU5SC8AqcftrMFoGA+tj8DdAiwaWQnpREGqXlfW1jw+IHiShtGTuaqUrhlpK7A/TLEYVXqb6B5PcwQMnDvbm0x0cIfgmWUhfE1i1F418Dyla2yLBT+/H+c/1njrJWraJlhgdX0GoLCtlrmL4Ebi8g97v8ZBLzgFjACNa+KbBf4VxiDvJuYgStfAUG4ZAlWEdPvo6KlUnjz2Sr2X0v2nT20NqMmWtR1nofcBj0ayGmsuY5uFxomKYfR7cm7OcWL6WnEZAkNQtxm3HTUZSRotr6AX9muOlRejJ/ZgCG/EYN422LYq3UdmSbkWRCS1WPz95JrLo+Exd7mSYU9zG8E+pPNF5lbcbNisbudY43KTz9gIG9FI9MG/KfP6cR8b7vzgmebWpbzw2Hl5R0VQjhKeG3FyEXWJzSXIhOedDFjGO/vQBCTFkpZ6QffNi8kXvyorhTyugF0cV2pp+tvARoa/gtqG2IntuOskXn2g9aKmTYsMMjXH7tzY8MlclrDWZrXmAY7rnQdMBa4xWYmQl5L1Gbfy+DjZ1+/aJedE7wJqVSKhL8WNZCVklaRSaHOZMkWzkR8acHSAAXw1vDK4RxnKJnQuobhGN5l55d4xp4xERMVbI24f2sV62dk2x03XDmOz2BQeKoE64DGGYwhuwiqc4SjMHSl90+zwpcw9fN69PhlM3YDyWJyEcKTwiWa+de8LgpzwoOMgSDIQ6lIGBmJagXTzjHSY8ztVKCaTY19SUsm1Czc/9vJ3UgJjecGPsTLeuHFd1USS6wHWRMqacEaukh1KRCKTawuLs/cjqx8vYMUWmflPBc8XmNLRL6JZoWZQW5eouWUhQJjcNmn1uCWR7abSm5QULHxwlL6sKKC5OU5/lNEZeRApBA7REmNwiAeJE9E2I4gCTT98A4wXNDLWMXCCbS0zCaZ+Rlv2yEFb/wTI+Qb6DxgaP0m8KY9ganRQ/eBLa42rzMi4W3tPZ+6rnj0YSFWZ/Yd6/o+nX9Uilyq0joWD10H+7CDZ0O29RdzEINEinvWPg9FnS5f05ZmIR/YelKkhW/cFfHqh+wddmPDFvUEvqkweeqQ9Sf9+YQ3vtNpuKRECQCkWU6cOlh8f4/WjxR3FzkKDT2WOUAguYBI82hsGewZCDWnsGRm9Rf6nit2L0bpESnSHEUbR+KcDVIkeceQD8TPpztRYM7N9B/M9z9Vagt/J4zLbEns0h3b9dhlWt25yhYqT73NROd4LLfXyZVBjEtgF25BjlvV6JDdAwICKjG0EtK9nhVI37cJuHLHglLDsggu/4nMr7ad6PYiJtsEmxfZHXdxp6FDJtPYtfkoBYnOdzW4IvRvUL9CEBo/UXk+XihN+bnlbCwEkZ3uPX9jxaqpSlvumliowYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VcNDEnwm8eMAvLYF9PDwHB",
      "input": {
        "note": "Gripper settled at 0.52 (~5 cm object) so the pear is held. Lifting to 22 cm and moving forward-left toward the blue bowl.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.06,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01VcNDEnwm8eMAvLYF9PDwHB",
      "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, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1867, 1.4696, 1.2438, -0.5716, 0.1123, 0.0719, 0.5188]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1664 left_yaw=-0.0014 left_pitch=-0.0702 left_roll=0.0006 left_gripper=0.9987 right_x=0.4129 right_y=0.0615 right_z=0.2026 right_yaw=0.0468 right_pitch=-0.2232 right_roll=-0.0331 right_gripper=0.5188\nstate[joint_eff]: [-0.0615, -1.6889, 7.0085, 1.7802, -0.0513, -0.0171, -0.0122, 0.0752, -6.9675, 9.1556, 1.6386, 0.2027, 0.232, 0.7253]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608829090d93e003740b074b08f4eb0137bce90349d379385090313dc6274970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee23592e848a05e2fa0ca04f1c97e9c32222df741cb558638f388f57ab67a167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3cce17d9b56731526ed199eb369964441d4ad1dce43321b6a0d23e5296515439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 14.23 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0795, 1.496, 0.5091, 0.2348, -0.062, -0.0723, 0.9993]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.3654 right_y=-0.0145 right_z=0.0358 right_yaw=0.01 right_pitch=-0.1822 right_roll=-0.013 right_gripper=0.9993\nstate[joint_eff]: [-0.0752, -1.1692, 6.9949, 1.6777, -0.0269, -0.0757, -0.0073, -0.4718, -5.8872, 4.9162, 1.8779, -0.1001, -0.0317, -0.0073]",
      "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, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0788, 1.4952, 0.5091, 0.2436, -0.0654, -0.0788, 0.5171]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.367 right_y=-0.0138 right_z=0.0376 right_yaw=0.0171 right_pitch=-0.1726 right_roll=-0.0164 right_gripper=0.5171\nstate[joint_eff]: [-0.3077, -1.1419, 7.1179, 1.7167, -0.0562, -0.0611, -0.0122, -0.4308, -5.3538, 5.5179, 1.4628, -0.0171, 0.0513, 1.033]",
      "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, 0.8188, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1867, 1.4696, 1.2438, -0.5716, 0.1123, 0.0719, 0.5188]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1664 left_yaw=-0.0014 left_pitch=-0.0702 left_roll=0.0006 left_gripper=0.9987 right_x=0.4129 right_y=0.0615 right_z=0.2026 right_yaw=0.0468 right_pitch=-0.2232 right_roll=-0.0331 right_gripper=0.5188\nstate[joint_eff]: [-0.0615, -1.6889, 7.0085, 1.7802, -0.0513, -0.0171, -0.0122, 0.0752, -6.9675, 9.1556, 1.6386, 0.2027, 0.232, 0.7253]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608829090d93e003740b074b08f4eb0137bce90349d379385090313dc6274970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee23592e848a05e2fa0ca04f1c97e9c32222df741cb558638f388f57ab67a167",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 51):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cce17d9b56731526ed199eb369964441d4ad1dce43321b6a0d23e5296515439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISpBIKjgEIEhgCKkBaUnCHr/k7FFfR5JD+2WN1Urv7gE17LkdBGVlVTvhQ2InIQ83lsqbquOboaCtAdRlAqAW1HjmfYDr103i4cEvnMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd/+y9UGEgxQ60/dTdiz1YNRGxAaDCMhF+c/jWSvklCn8SIw+NgwvGmq54UQ2xl3gDZxH6yDpGR3DLWYiwndXEEvwbotvJko97HQEV/LDQ40olXBKsIQvyzz+XX+nuX+dOGC0qbjWMBtTA/gXFfJnCbcclQTtlmHZgrDJS2EQRyPRyZ/z2/vQ9Lx9+164vxPGHt4I7U5KZirlutfIz+os5AYdLpzTnARnibBWXsjTfrHGvuuQjCX42zF/rR5fIuFqyB0u0xTQCbPFwwY/r8h8Sg/rDGpuFIhN4eXOhGzEVcwYjgYeOzpnsO5/BStGWl8sJhoByuFbriTak9WRpAf9a73F3+YCPr1UTVOIQvlIhyv5W8MQZguWnCDsec7wgnbAyVSq4SxYBtRTOeuBzWEwvtG2ZxCb1u8td1dbkUVQuoJ2k3XBOObHaInnUrmiRpdhEcrGUC+96KBac6SjmBFZO1h6GJXwUlgL7LBBcIf707AWtTGyMupyqn56zM68gn0So8x+b4vEL/0bcJgOGv24f9SKh/4bFh100HLsj5r8NE1unV6I01kEhpjbcPQ1wEI669BB756YfdIOVoL31cTxj2TpPZdksh1G4kmPIZ2jfEcbXneTmtt10FX/dFLhK7wVvaL076mKa4mRJ6Q/60GkPLiYMSuDVy+GaXoXS6Yzk+sopj5jynIL3J+Qg7nDGUjOv2RPMVVcubrCkQ4aZLkiM/JVQHzXHVWdc7boPuFZ0A3tmJHQ04Gydg6Qr1MioQFDBD3fBHp0XXU+3N0n+r2eEwII38B4K1W3woriwwfd02usG8D/MyvVxme3HNXlHOOrmnlvqHgnfzrrkbU/NHSMdK5UgaTwEdDRJiaZCMdVNFqi6W1wa68PGQ8H3UjE0J+dT2ExA02n5vgSlFYXJLVMI9F4PNT4vgB6oSZME0lcAqYZP45YxAnnl+pFP6iKZFa2hpuFGPj1oPTspeG8lD7L/4kxGMiLYqjZsZbQBvjJWrCfS58WdAel6P/UevTb+JLYTMSu1lAp162Fq5mP5pDUU2tJ8DnZIwGNypCzYIjci1qWEqYduSJ1yQdTy4fx7E4NyTGCIn/6MtaKlulep1e++6Ud9o2nh7WfFFIEpden8xxbVGXpK0LQm6ayXyBokCGP0HE+oAYNlZGSKprcQr9fuB4i+ZOJ/UR7DBusPuGWOqTDCarb4e+KslHkBmgC5VXzPBoEnFmdt2e6gN2QxYAo6PZ5vwrqkWUby1BIM8MOcAryBsIO/+yodX3G58b+GY0I6uW57ycuyszcbKzr/eUVEhSNoG7MywNUyzk9DWTZ1nI/CVEqClFJs9zssr/Q/3Uzkl3ZmoIDjjiwdrd+tcwvsxh3j2foi3p0NjR5fD+9BIw0aiwD9FyXfN5BC12/SAbP+dIMtbUJSeaVrxTS4m9h2phygdjXgct67qhx31TKueMfMrHvSuGmNqOw6wdZmUO9tUZ9nCoHr8WjdkuzXPWleO4kLITU4l3+gsET0VN3J7MYdQrCLluZ9WKus1VrlJB70FBix3F9zlM4f3DQOzy1qLP7bhUeYNBZuXVf5nF+u+FeZTo3dlkqqmo96VCOSFYcvI7wJpTwJe6hueV84ivKqYjOSxU0caJWLDcQwL5TgSRaVl9EBqwueN7BY16zYZ5WEeToRCfkRgs8AbFagt45XZr6qIgDN8NbY08Td5owmN0bLhr+oeK+v5cHjdh6hEoLzPPB69mRiQ3iIra+LocSwnJG7NxUSxUUMBTcXioXTZSmX8YP7WLLKn0n8+L56eUF4O5D9JzQVLVuu9U/oD5TB0L/JXrePhfN3/4LhPG8711y4eZwCkUbi67+6XzSqdbHnIlYBk8IMBKq7GYg6v2BskkyGLnzMtIOcWO14aqvyHXI+HvlzAt2sKqY8cJXLhn25onDSfc9ZcbUPYC1YtHpDLTjP4MlcM0Wz7ZEtWBKK3qLYXOQQSvUs+FxCq+19GO8QQ5IUF5aZmVJZqnrhHJkJBWNBKhLQMxpo+GQR12UsfDgYtJqMenX6zKmw5FSE0hdqgSrgMf7SVC21PLLVBMJ7VGvaYKWe3TAdkkazTsDYIn1VHwj38UrWalEmrZiWQ4n6kp9ihKY6mVFIaH3x2JlrYXyEuJKDel9PUAS0nZX/AKMsi0uJxYRk1S32YADLNV/sHbVMWr1NYhMWRQrxcMSvxJ4U2zK6Q8ij6AwcL2r62O0u87WsBH7JYRHVxULFtUjUJLUZ8M5nRWNu7Z+SA7EuQZQNgUS/D2/Ww+1KYwKFypa52jlr1xH85jO7sF49N/CrTyAw1GGMUDupn3qAbToOFPu4HY4RoHW+Wk+jXG0+EgCF+VKZ+mNUdPuDnrWXO2pSHTbeHXxSzWQ7XVkONzcVYW4OFrakNfMiIz+Imyz3hbCWBYMdhR7LllNdMVTlChQ0sA7by/1w3bHO+xIfdSDXObWS4ze42OFclR3KLy7hWD3RncyAZBpDxf/16X0ky7OEquNBTNB2RHkbJK7OMgFSRPnSEwfGC5hrfQ410p61ekWRMfwjvXzHOW6WGHPTqCgDE/qQ4iroiwjVwSp5rBY/mFd2BVVs7tmmJmsFphcFba63SCvfq9OfS4rx5YPwkGvMoTy1gZNLjUZ3Zvr91t1ptHPnP5oj8ILMQMX4R7zlVpL5NMAd//GojdpWTJqEE+Hihou1sNwUbfHa+izZqeo331LiFoc8Pa5lGpMLbkwyC8PlSpCO0H2wUXJwr6tkirE87oGFt11Nvq4Ik3Es3hbfXaYhzBXbGNcHwBtJbNsFwM36XyAQeEZV8m4eer6JIRI/zy1SsffpmzmfIZMP+S9JEimILA8i4UHHv/kw3g39gXoHgrbAzhaKsbOGeTOaJpg2GSHUlylGPzAcfP5AvHpPbgYPcwRi7Udg4Uhtiiimi0nSRqgxeNBh8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011zvCk98m5oYkQAVSM229tC",
      "input": {
        "note": "Carrying the pear; the blue bowl is a bit farther forward than the current position, so advancing 6 cm in x to hover over the bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.065,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011zvCk98m5oYkQAVSM229tC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.1719, 1.6871, 1.4101, -0.6044, 0.0963, 0.0483, 0.5208]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1647 left_yaw=-0.0017 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9987 right_x=0.4547 right_y=0.0653 right_z=0.1753 right_yaw=0.0562 right_pitch=-0.3084 right_roll=-0.0484 right_gripper=0.5208\nstate[joint_eff]: [-0.0068, -1.4017, 7.1453, 1.7705, -0.022, -0.0708, -0.0122, -0.7316, -8.4718, 10.1265, 1.8291, 0.0366, 0.0122, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00b0649b7f1712d8e58f16f554e5c37744517052e650502b9311b934d0dd90d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4212790f1fca7326d09d828de1722b6f600ceb92ca9e0fce633f6bc59548fef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f83c903d613dc530dda306780b3f506a657e80340846bd57335df9aea3db1979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.076 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, -0.0788, 1.4952, 0.5091, 0.2436, -0.0654, -0.0788, 0.5171]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0557 left_roll=0.0003 left_gripper=0.9987 right_x=0.367 right_y=-0.0138 right_z=0.0376 right_yaw=0.0171 right_pitch=-0.1726 right_roll=-0.0164 right_gripper=0.5171\nstate[joint_eff]: [-0.3077, -1.1419, 7.1179, 1.7167, -0.0562, -0.0611, -0.0122, -0.4308, -5.3538, 5.5179, 1.4628, -0.0171, 0.0513, 1.033]",
      "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, 0.8188, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1867, 1.4696, 1.2438, -0.5716, 0.1123, 0.0719, 0.5188]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1664 left_yaw=-0.0014 left_pitch=-0.0702 left_roll=0.0006 left_gripper=0.9987 right_x=0.4129 right_y=0.0615 right_z=0.2026 right_yaw=0.0468 right_pitch=-0.2232 right_roll=-0.0331 right_gripper=0.5188\nstate[joint_eff]: [-0.0615, -1.6889, 7.0085, 1.7802, -0.0513, -0.0171, -0.0122, 0.0752, -6.9675, 9.1556, 1.6386, 0.2027, 0.232, 0.7253]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.1719, 1.6871, 1.4101, -0.6044, 0.0963, 0.0483, 0.5208]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1647 left_yaw=-0.0017 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9987 right_x=0.4547 right_y=0.0653 right_z=0.1753 right_yaw=0.0562 right_pitch=-0.3084 right_roll=-0.0484 right_gripper=0.5208\nstate[joint_eff]: [-0.0068, -1.4017, 7.1453, 1.7705, -0.022, -0.0708, -0.0122, -0.7316, -8.4718, 10.1265, 1.8291, 0.0366, 0.0122, 0.7204]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00b0649b7f1712d8e58f16f554e5c37744517052e650502b9311b934d0dd90d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e4212790f1fca7326d09d828de1722b6f600ceb92ca9e0fce633f6bc59548fef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f83c903d613dc530dda306780b3f506a657e80340846bd57335df9aea3db1979",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS/hIKjgEIEhgCKkDaMUa+ntJK4qAZ7EZ1ioEqksSDK6mycNN5nNLk8XYpQK79DpQvpg9GbIFP57Df537ARxEXGRotGac65YFCrz21Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfL+y9UGEgxarAJ0wWtq9HQc0HkaDKj0xc9zFRyTrkioqSIwFnL1jwh7aR6PjA1gYEXe9+yU/H5wVy8r6DIYrbq8xF/Cb8Q8OmHcad3G6vFADmCHKpwR5MktTrgQwOgQz8VWCMOc5GJGzKx8Equw7UAg1Q89kLVLKjq+8AhRMrB8RX+Ac2AE0TcFwclLNiTHadNrEPS1eWs1QqmQuOmJdI9WKmixmHl0BU+ta1uqeKtBPiT85lTr2yKXiMnBLiY7TxjPmGZs3twfsBk1h63F5KoKRrKU3iWp/jP0ptLxm3Lqfu8XvnpdTLDBp56/qLl4aUvHoiRUZuE2U5Vx4y0bzHbiVgLQS8fZW3ep8mKvpKB3bEeCg/7IDwCCvNUhbvBTVj02L58YF5rWG22GfBGbFLvkeoDrv6ny9+0W3Pg//mQFBo7eER7zUgtAz1HGbI16jRePJoPNibopM731b5DjszZvVbhEIXxqWMy0LH4aVZsx6hBv0Ux4WjMD9kAfDevNtUWzPx1q8Zhzhb1k0U9Ob0bbGSwa+pt4+Uq8GYUAEZbEf3oBnUnBEOL0iguG6brsS3PvvPL6dnbyle4YiqVrqljBMECidW7N6lZark1AQo+XyB3D5D1EuNawQpYLFpau2eQrPmqKfEx1NBYLpGcSrYJ43QZDYbxXkEG9rpay7/c49arIRP8VJ/6OLhFGm/G5QmsgvQLcBn4b7nqcXxx9IScr79K7tafMHm2G6D0yce+DGJP7MFbFoiR1723+Kla+fuyN1UkPHsmkayPYOeF8WXXEvQYy1VIJWXZGdWisYSgo7CCCkwQHfh3f9Xpnre2n5CR5E/szZ+dTpjzrWtCXKCM1AwkEAPLwXmfBaE/kqOGkMAqgK4VRjGZoU9obfmgPCuPn3G+CiHJbwOzLcNtjJMoxP1/MIBSI8iOSgwJXAX4KuMZt0bSSqlczV/tRonivMBhK6NRvls90dh1o6J3rKQZoYSLD7knq4qHrZeVY2pfnI9tkiEcCRv9QvOrgKsuW3JzYxVDIsHm+oi3Gb2w8PP3oPVtVD9+TbxztMY/lYhtgozRj3+uHzvzNpH7sCFGjq/j73G3wAa5lub8hj3vyldTdPNPZeuOSMgQONj8Sr8Sr83ZADLoXh+NlLuUjHOmu7CX57MDYNFYLWxErw2Zqb9vAosh4sZEKFvlpJ4VpNpWOB59Fybk3V9LbzXjdCd18kDpgtvaOBWb00k68qZetcXBlvUUuzopi0S81IWG6G7C1JEdUW6cF4ciiLW98M/5x8Z+wqPUtjylCLLcF/VkO0PLyXJv/J2L8oCVx497Od6/qwGwPBnjnPMhvh7aI8vcMpK99lIBDeK7vNN5tVTO3JDHScJZjcAL0NhzNzkxLJG5UfAYr2FHHZrZYb5jnl3M0p3jxfdimtgS830SGTBV4CozxT3KLjMAkgeZmXcK8qr/FNq1+6lKeqlYo5Z44uSlAYB3o6yimPoEXZuYjOxHr3ZumD5sawuntOeuVqMz8AJT1EhoA+tSW8pR/WQr2KOeIItHqufpiQQHI7Dw4CqusbDh0xWO2/PyW7230K6GVtW4bWMhcAW0bTDtWlGdfmFEcAX+I/9q5P9pfTtS1ZpPIBOTd3EosmZUjR1daAfd2JBbPhQcPon7geqx2WbhVRhVJw5F34x4FMX4WqDT6aSikKy8vk98CeeQwtpvUbXu4spZh9xvBtSjtxLhMFbk65tG0w0a76WSWfaQXsYY5WT3GPxznWnVtQR+8tMdRXBLg+ouWlliPWJ562YvF6Rfe+aDSFS88AtuaieaMtpigcK7hl8KvUeBfLaq2tdsD9NkCpqjGxDaZlh5zquOCTD4yJTxwmbY1mHF6JvcvGRblTwAYRpLGg/zkOOzVnPF53KnI1SBko/TFrA6gcz1ZoJWXZIw7m77IzM7J4PU/r10E74XQL3K6zK12b/K5JaM0bgyxzELK4F3tP1iD6Wqud56Pq2ninYo+cvT6ICqcZX9AFsGvRd9CMlBe39GcpZJgG+SLlOdXpl+E/tnGVqoWDVgv/ZhinuWVF5iE59y/S8aHB7ZERNoa1OLv+8oWfKHhoO9lZDdeFF/+TJYapl2KJxyPMR2nNHxA8ms3Pw3V9WddGd6AeVLKP6KkrjDoXLEk3ADGZJgIMd27DdabF4Hv+kPWVhkiGbUteoNfK+xIsqplexOseNKg/YE9mV+zWD3faRNj8DJhTpcU/0hneMklX7rgTDVWZdktCH8Q6lzZqgFo4qdkGQY9Jm83B42eykru6brwb/j++5v1rIUXkudgEyfa8Pc9fMtPKoEfvxLS68X3Gag7kBIvMAeTOAO3f+pb99uRq36SI5L54vIB71KnEFYIRxHBQQx4eYmFO5Azu7KyoHrWOAUlxTiC8UosAbEM9a7vADfsKi2/crrRLDWyBHUpliOrKA3W8Hdp7wG5oAOHETrrOurytOUlRjtRbMb5KioLSB170Ievs38TLSsB8V1UXylVOUVCk/PZpO7et7RpPC3VrFnh5W/Y3QewRO5wdD81yYBX+okyKLugvDCRADKaydD3nvltSR5zLDWtL6i3pn8USFFQNIwoi/N2Y2tEkWHhwr4jYEaX9z638OuADJGeVF92ikcCNr1CdcouvgOeSFVtHTG+WCpqbI1qMt/lOzhyXf9lTWHz0glYPqJT+EzZVJExOCm7QUn9H8tM/oV1aXx1XSUVEoRyoSz7S7eyHABa12bONz1sqRQbfUZj/1fHYipY1nfzIoA7i6MV3zEHIQKUw7JjrwWt3dUkMbq2DHFGCIcY85resKzZnEMdcI4A9hNqaDNrshJwNsbIecBBq7u88LpF5UkAL2HNRYjeD8kpC+nUAzqgvB/EQ3NMzUOj+ZGgynvSs0MRjiIgSZwcY4MfnCpRw5LluNRhgWrUjcCSdqt+E9k746BsJkUv8ofMeM4boCwGkPaQAJTWMAYt8AD5IeZHj+0/iNNFpsUAdEjwpGLIBh6dSdDx1AKFQI4Xc0y8bpyITl/uClfoVgujIjcUXs36UgcYGIIrlGdpwQAtX8y3jRMYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MEtF6hFQ9N4sedY2vZmm5t",
      "input": {
        "note": "Pear appears near the blue bowl in the top view but parallax from its 18 cm height makes it look offset; descending to 10 cm to judge alignment with less parallax.",
        "targets": {
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01MEtF6hFQ9N4sedY2vZmm5t",
      "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, 0.8219, 0.6132, -0.4473, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.355, 0.0963, 0.0414, 0.5212]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.163 left_yaw=-0.0014 left_pitch=-0.0866 left_roll=0.0009 left_gripper=0.9987 right_x=0.4456 right_y=0.0646 right_z=0.0912 right_yaw=0.0599 right_pitch=-0.3594 right_roll=-0.0591 right_gripper=0.5212\nstate[joint_eff]: [-0.0752, -1.5658, 6.9812, 1.7118, -0.0464, -0.0464, -0.0073, -0.335, -8.9778, 6.5709, 1.8437, 0.0317, 0.022, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b948c070dbcfd76110d60f6bc7308995896d5ef4c099fd7e8ae09dd48ed19110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aea75a26e2f19ddbbc0c149b1508c937e5c8bef26b3495a1941323fd74faa722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f1a208c7098390350753d2532c2a9ce7c4cc6732d2cc43300cdb797d4b6948e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 12.31 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8188, 0.6132, -0.4339, -0.0139, -0.0307, 0.9987, 0.1867, 1.4696, 1.2438, -0.5716, 0.1123, 0.0719, 0.5188]\nstate[eef_state]: left_x=0.2899 left_y=-0.0003 left_z=0.1664 left_yaw=-0.0014 left_pitch=-0.0702 left_roll=0.0006 left_gripper=0.9987 right_x=0.4129 right_y=0.0615 right_z=0.2026 right_yaw=0.0468 right_pitch=-0.2232 right_roll=-0.0331 right_gripper=0.5188\nstate[joint_eff]: [-0.0615, -1.6889, 7.0085, 1.7802, -0.0513, -0.0171, -0.0122, 0.0752, -6.9675, 9.1556, 1.6386, 0.2027, 0.232, 0.7253]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.1719, 1.6871, 1.4101, -0.6044, 0.0963, 0.0483, 0.5208]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1647 left_yaw=-0.0017 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9987 right_x=0.4547 right_y=0.0653 right_z=0.1753 right_yaw=0.0562 right_pitch=-0.3084 right_roll=-0.0484 right_gripper=0.5208\nstate[joint_eff]: [-0.0068, -1.4017, 7.1453, 1.7705, -0.022, -0.0708, -0.0122, -0.7316, -8.4718, 10.1265, 1.8291, 0.0366, 0.0122, 0.7204]",
      "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, 0.8219, 0.6132, -0.4473, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.355, 0.0963, 0.0414, 0.5212]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.163 left_yaw=-0.0014 left_pitch=-0.0866 left_roll=0.0009 left_gripper=0.9987 right_x=0.4456 right_y=0.0646 right_z=0.0912 right_yaw=0.0599 right_pitch=-0.3594 right_roll=-0.0591 right_gripper=0.5212\nstate[joint_eff]: [-0.0752, -1.5658, 6.9812, 1.7118, -0.0464, -0.0464, -0.0073, -0.335, -8.9778, 6.5709, 1.8437, 0.0317, 0.022, 0.7595]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b948c070dbcfd76110d60f6bc7308995896d5ef4c099fd7e8ae09dd48ed19110",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:aea75a26e2f19ddbbc0c149b1508c937e5c8bef26b3495a1941323fd74faa722",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f1a208c7098390350753d2532c2a9ce7c4cc6732d2cc43300cdb797d4b6948e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AIKjgEIEhgCKkAeQAWOiG98ssIP/AHlmJlnXyXs6PJFLL8YsW8GtXX/GLW4z4m1hvVZQSuGzMaRZAyWavUwUCtdJHARJlLxs0AEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfv+y9UGEgx13AgjL3+VvcYecVMaDF92WpBl2BytVI48pyIwzdslWK+dTOyQEqw656q9kSQXyD15keTriIZX8TpUkU1X3oE8B+D4soIooZJ5jT+WKo4BRLKqR1JzLxdRNaXwNv2MjtmAzwLb5S2pePZp9hKqgSu4279V7BXLB4fVee6so3e86HuuOJvDnAahVhL1xaaSruvzOeiB9CpHSfcGHV9vj23aqGfraullMffTf3SLJ0rk9Cr8FDiBZxx5VSTPCFqzGom21DdLhJPkDtjOlmMQu1UZCBR/T8k4psylp59taBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01SgesjrfGNKxNU9JZKaBXhQ",
      "input": {
        "note": "Wrist view shows the pear directly over the blue bowl's interior; opening the gripper to release it into the bowl.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01SgesjrfGNKxNU9JZKaBXhQ",
      "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]: [-0.0223, 0.8219, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.3634, 0.0967, 0.0353, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0004 left_z=0.1625 left_yaw=-0.0017 left_pitch=-0.0889 left_roll=0.001 left_gripper=0.9987 right_x=0.4439 right_y=0.0642 right_z=0.09 right_yaw=0.0628 right_pitch=-0.3679 right_roll=-0.0643 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.0872, 6.9812, 1.6581, -0.0269, -0.0464, -0.0122, -0.0615, -8.7453, 6.735, 1.3944, 0.0122, 0.0952, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04bbb1bfaf4d430bb4956e79407638df1d26787289e01883720d662b5bda81dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d95007eacc36c7e92a42672571d41bf7d88c3ce5c2164fb386b568d2c64f7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:01af7a13fdb34eb9b8b267ef51962e6fc73a773b20bd24708e5bf6a4fa93f425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 4.116 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4423, -0.0135, -0.0307, 0.9987, 0.1719, 1.6871, 1.4101, -0.6044, 0.0963, 0.0483, 0.5208]\nstate[eef_state]: left_x=0.2887 left_y=-0.0004 left_z=0.1647 left_yaw=-0.0017 left_pitch=-0.079 left_roll=0.0005 left_gripper=0.9987 right_x=0.4547 right_y=0.0653 right_z=0.1753 right_yaw=0.0562 right_pitch=-0.3084 right_roll=-0.0484 right_gripper=0.5208\nstate[joint_eff]: [-0.0068, -1.4017, 7.1453, 1.7705, -0.022, -0.0708, -0.0122, -0.7316, -8.4718, 10.1265, 1.8291, 0.0366, 0.0122, 0.7204]",
      "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, 0.8219, 0.6132, -0.4473, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.355, 0.0963, 0.0414, 0.5212]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.163 left_yaw=-0.0014 left_pitch=-0.0866 left_roll=0.0009 left_gripper=0.9987 right_x=0.4456 right_y=0.0646 right_z=0.0912 right_yaw=0.0599 right_pitch=-0.3594 right_roll=-0.0591 right_gripper=0.5212\nstate[joint_eff]: [-0.0752, -1.5658, 6.9812, 1.7118, -0.0464, -0.0464, -0.0073, -0.335, -8.9778, 6.5709, 1.8437, 0.0317, 0.022, 0.7595]\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]: [-0.0223, 0.8219, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.3634, 0.0967, 0.0353, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0004 left_z=0.1625 left_yaw=-0.0017 left_pitch=-0.0889 left_roll=0.001 left_gripper=0.9987 right_x=0.4439 right_y=0.0642 right_z=0.09 right_yaw=0.0628 right_pitch=-0.3679 right_roll=-0.0643 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.0872, 6.9812, 1.6581, -0.0269, -0.0464, -0.0122, -0.0615, -8.7453, 6.735, 1.3944, 0.0122, 0.0952, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04bbb1bfaf4d430bb4956e79407638df1d26787289e01883720d662b5bda81dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:81d95007eacc36c7e92a42672571d41bf7d88c3ce5c2164fb386b568d2c64f7d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 66):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01af7a13fdb34eb9b8b267ef51962e6fc73a773b20bd24708e5bf6a4fa93f425",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CnSXMBg1JcZZwqe5xhsYbc",
      "input": {
        "note": "Pear is now in the blue bowl. Lifting clear and moving over the yellow lemon (estimated ~7 cm left and 7 cm nearer than the bowl).",
        "targets": {
          "right_x": 0.39,
          "right_y": 0.13,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01CnSXMBg1JcZZwqe5xhsYbc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8249, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.4042, 1.6096, 1.3979, -0.7689, 0.2062, 0.1848, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.161 left_yaw=-0.002 left_pitch=-0.0957 left_roll=0.0009 left_gripper=0.9987 right_x=0.3968 right_y=0.1343 right_z=0.1812 right_yaw=0.1061 right_pitch=-0.3835 right_roll=-0.0731 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.6205, 7.2684, 1.7265, -0.0171, -0.0366, -0.0122, 0.1436, -9.8256, 8.7043, 1.2772, 0.1099, 0.1783, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f7a3ea9f696e1057e2f76517f938188f8994b6397a8b716b9ba78c474ca039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0eca30a17185381e07c1a2fee018576eeac19a1bfd052017598d5ceba78a2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:69d74ce71c4d8fa4d0c37f410d91c17148ac9f116e5469455a88a1658a001271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 3.675 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8219, 0.6132, -0.4473, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.355, 0.0963, 0.0414, 0.5212]\nstate[eef_state]: left_x=0.2881 left_y=-0.0003 left_z=0.163 left_yaw=-0.0014 left_pitch=-0.0866 left_roll=0.0009 left_gripper=0.9987 right_x=0.4456 right_y=0.0646 right_z=0.0912 right_yaw=0.0599 right_pitch=-0.3594 right_roll=-0.0591 right_gripper=0.5212\nstate[joint_eff]: [-0.0752, -1.5658, 6.9812, 1.7118, -0.0464, -0.0464, -0.0073, -0.335, -8.9778, 6.5709, 1.8437, 0.0317, 0.022, 0.7595]\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]: [-0.0223, 0.8219, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.3634, 0.0967, 0.0353, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0004 left_z=0.1625 left_yaw=-0.0017 left_pitch=-0.0889 left_roll=0.001 left_gripper=0.9987 right_x=0.4439 right_y=0.0642 right_z=0.09 right_yaw=0.0628 right_pitch=-0.3679 right_roll=-0.0643 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.0872, 6.9812, 1.6581, -0.0269, -0.0464, -0.0122, -0.0615, -8.7453, 6.735, 1.3944, 0.0122, 0.0952, 0.0513]",
      "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]: [-0.0223, 0.8249, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.4042, 1.6096, 1.3979, -0.7689, 0.2062, 0.1848, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.161 left_yaw=-0.002 left_pitch=-0.0957 left_roll=0.0009 left_gripper=0.9987 right_x=0.3968 right_y=0.1343 right_z=0.1812 right_yaw=0.1061 right_pitch=-0.3835 right_roll=-0.0731 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.6205, 7.2684, 1.7265, -0.0171, -0.0366, -0.0122, 0.1436, -9.8256, 8.7043, 1.2772, 0.1099, 0.1783, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f7a3ea9f696e1057e2f76517f938188f8994b6397a8b716b9ba78c474ca039",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f0eca30a17185381e07c1a2fee018576eeac19a1bfd052017598d5ceba78a2f7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 74):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69d74ce71c4d8fa4d0c37f410d91c17148ac9f116e5469455a88a1658a001271",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiQQKjgEIEhgCKkARayL8BgMnC0k6qZt2y0T28w4Wsrmuaju/U6WIfMqdaC7DB8CFkpiPhxlTjzLZBoUovCq42ytzS7Aqk6W644khMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY3/y9UGEgxCwApaJB+UN2OeL08aDJrrE/sLDuWT2feQHiIw1ad5foYjhkdI7oY8NtnAxBdvbiUn5vPZh/uL1khupHjXFdrOYnqNKgBb0HOJVyB+KqcCOmhay9xgeiaWATuAuc5emTaWBGU9F/ebp0uhdKbebVisTQp21sOR5c0nR/1lP0MDiZaQeTOI4CPYpnE6u9ao+4szMe1Cu6eeAuD5DNb46+BforTzMvkmHk3Cd44+JlVFK9LkNCCj7x6ndBjX4706ciwmEjLYOrrhzoOJ3jXLXYM7woy9vELykxBG8Nve2KhgNzyw9NgNxJMGsIdpXMp4ALtQffonVeu4Z3Ss6SOS7gJRmr0tdzXU1w88MjNlk6n3ivFrl7OMojua1Hb0QhLogb+NxTSW/M52+xSt+Qn88T1v0/SX9aJi2gv//KImn5SH1xw1RNORTwlXM9dHHCW/bdLuDeNvaifEsHrUnkesVKipPJ/OuyOO+qeVO/AVaxxqOo1NMn2dGxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ajw1MRCYQcW4pvU3eDWZSM",
      "input": {
        "note": "Wrist view shows the lemon left of the jaw column; shifting ~2.5 cm left and descending to 7 cm above the table.",
        "targets": {
          "right_x": 0.385,
          "right_y": 0.158,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01Ajw1MRCYQcW4pvU3eDWZSM",
      "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, 0.8257, 0.6132, -0.4679, -0.0139, -0.0307, 0.9987, 0.4801, 1.6806, 1.0527, -0.4194, 0.2348, 0.2295, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.158 left_yaw=-0.0013 left_pitch=-0.111 left_roll=0.0014 left_gripper=0.9987 right_x=0.3751 right_y=0.153 right_z=0.0697 right_yaw=0.1214 right_pitch=-0.437 right_roll=-0.0944 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.388, 7.1316, 1.8193, -0.0464, -0.0171, -0.0122, 0.3897, -7.1316, 6.5026, 1.3602, 0.2271, 0.2173, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75a16204b0fc17e03b0273920fad3cf08e599de470b048cc20a88b1f8811b0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943e26d3d32a9f392f6f93816a565011fdff0c7d39336124501209064be2a920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f5866a3f69ae54d6abd9ce196e82210100c13a192fd63ab495c3d39cb2ff94f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.774 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8219, 0.6132, -0.4496, -0.0139, -0.0307, 0.9987, 0.1738, 1.7439, 1.1664, -0.3634, 0.0967, 0.0353, 0.9954]\nstate[eef_state]: left_x=0.2877 left_y=-0.0004 left_z=0.1625 left_yaw=-0.0017 left_pitch=-0.0889 left_roll=0.001 left_gripper=0.9987 right_x=0.4439 right_y=0.0642 right_z=0.09 right_yaw=0.0628 right_pitch=-0.3679 right_roll=-0.0643 right_gripper=0.9954\nstate[joint_eff]: [-0.294, -1.0872, 6.9812, 1.6581, -0.0269, -0.0464, -0.0122, -0.0615, -8.7453, 6.735, 1.3944, 0.0122, 0.0952, 0.0513]",
      "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]: [-0.0223, 0.8249, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.4042, 1.6096, 1.3979, -0.7689, 0.2062, 0.1848, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.161 left_yaw=-0.002 left_pitch=-0.0957 left_roll=0.0009 left_gripper=0.9987 right_x=0.3968 right_y=0.1343 right_z=0.1812 right_yaw=0.1061 right_pitch=-0.3835 right_roll=-0.0731 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.6205, 7.2684, 1.7265, -0.0171, -0.0366, -0.0122, 0.1436, -9.8256, 8.7043, 1.2772, 0.1099, 0.1783, 0.0904]",
      "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, 0.8257, 0.6132, -0.4679, -0.0139, -0.0307, 0.9987, 0.4801, 1.6806, 1.0527, -0.4194, 0.2348, 0.2295, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.158 left_yaw=-0.0013 left_pitch=-0.111 left_roll=0.0014 left_gripper=0.9987 right_x=0.3751 right_y=0.153 right_z=0.0697 right_yaw=0.1214 right_pitch=-0.437 right_roll=-0.0944 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.388, 7.1316, 1.8193, -0.0464, -0.0171, -0.0122, 0.3897, -7.1316, 6.5026, 1.3602, 0.2271, 0.2173, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:75a16204b0fc17e03b0273920fad3cf08e599de470b048cc20a88b1f8811b0e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:943e26d3d32a9f392f6f93816a565011fdff0c7d39336124501209064be2a920",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5866a3f69ae54d6abd9ce196e82210100c13a192fd63ab495c3d39cb2ff94f1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS/QQKjgEIEhgCKkAfWPyHPDNJPj0AnhRdGXgBTtNFdT2NlMbZSkIndqQp6rkRAwEPTL48JOzTrGwTnTTWXP1zDcT4iyN0oFuHT0GeMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZL/y9UGEgzGYLWHhvladTJYjzgaDL6PjQbaQoefIbrijiIwWYNtr7wmTn7rKZ1piuissD3uy8JW5J1neA6w4zlF6npFuL6jt8OgMtjF9uNzn/meKpsDcSqsds/UkKO2Kl4J36DIEnBqKb1+HEM5XDykVlfx7Hgw457XqCeT5f/Yh4inh+RuibwESgYRyzFmObH5TXq/5qIvIarujSomhK1TycImYUBM35IqHCD0lzbdEKL1pkyot5cwKdoxpa0/AVeNXaNlk2OD1a1wkkKhLGmwgfqPA/2KrByUrZTZ2Yz1u5vL9vehekMmBX+hxGWYnmzKF8J7CoXw55poxrikrJ5Uf6EoU2IS1ZHE0TsAxJZHi0P+LGrpND/r5gS2FtLKJ3Ymx6wRSuAqnnTKylxpEaJ+w3Wb5UNDMKfI/Xi6CDGbWE/6fTZkfFstwlsREt6lBmcGhScokcgK0dGs6f8JzyVGSEWivNKQxjl0WV/zZhODSA0nFVjeQbhPujytKsdQOUZ35U84YvtDYcC5t4nKH6eOt3cy+shxIdsv7KBMOxMycCDcRiDhjYPA6e7WZ9Qi80vnwMS06NxItPSHXWzXLw+bUeaGZ07cORDTawhO5qakY2FJS+Nw4ofRDPt98yuwrLLjyDAiIOHfuD15KpEk3YTiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LSjAz65BxWt7Abgha1VCHE",
      "input": {
        "note": "The lemon is centred between the jaws in the wrist view; descending to grasp height.",
        "targets": {
          "right_x": 0.378,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01LSjAz65BxWt7Abgha1VCHE",
      "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, 0.8257, 0.6132, -0.4694, -0.0139, -0.0303, 0.9987, 0.4805, 1.7382, 0.9913, -0.3016, 0.2314, 0.2272, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0015 left_pitch=-0.1125 left_roll=0.0018 left_gripper=0.9987 right_x=0.3764 right_y=0.1546 right_z=0.0403 right_yaw=0.126 right_pitch=-0.4393 right_roll=-0.0931 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3607, 6.9675, 1.6874, -0.022, -0.0366, -0.0122, -0.5402, -7.5829, 5.6821, 1.2821, 0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:602d04d3361e0bdc33b0cce6d79af891ee836eb4ae8cc77aec460cf77a2fde47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5c0eb0e677a99967a97b930b15630fcc8d83a2df80ce26ba13a851db934772e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5f6f0492f55301a5d3d7940f1f89317207f7a11d89d4dc2bc768fa68df6923c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 2.465 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8249, 0.6132, -0.4534, -0.0135, -0.0307, 0.9987, 0.4042, 1.6096, 1.3979, -0.7689, 0.2062, 0.1848, 0.9965]\nstate[eef_state]: left_x=0.2873 left_y=-0.0004 left_z=0.161 left_yaw=-0.002 left_pitch=-0.0957 left_roll=0.0009 left_gripper=0.9987 right_x=0.3968 right_y=0.1343 right_z=0.1812 right_yaw=0.1061 right_pitch=-0.3835 right_roll=-0.0731 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.6205, 7.2684, 1.7265, -0.0171, -0.0366, -0.0122, 0.1436, -9.8256, 8.7043, 1.2772, 0.1099, 0.1783, 0.0904]",
      "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, 0.8257, 0.6132, -0.4679, -0.0139, -0.0307, 0.9987, 0.4801, 1.6806, 1.0527, -0.4194, 0.2348, 0.2295, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.158 left_yaw=-0.0013 left_pitch=-0.111 left_roll=0.0014 left_gripper=0.9987 right_x=0.3751 right_y=0.153 right_z=0.0697 right_yaw=0.1214 right_pitch=-0.437 right_roll=-0.0944 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.388, 7.1316, 1.8193, -0.0464, -0.0171, -0.0122, 0.3897, -7.1316, 6.5026, 1.3602, 0.2271, 0.2173, -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 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, 0.8257, 0.6132, -0.4694, -0.0139, -0.0303, 0.9987, 0.4805, 1.7382, 0.9913, -0.3016, 0.2314, 0.2272, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0015 left_pitch=-0.1125 left_roll=0.0018 left_gripper=0.9987 right_x=0.3764 right_y=0.1546 right_z=0.0403 right_yaw=0.126 right_pitch=-0.4393 right_roll=-0.0931 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3607, 6.9675, 1.6874, -0.022, -0.0366, -0.0122, -0.5402, -7.5829, 5.6821, 1.2821, 0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:602d04d3361e0bdc33b0cce6d79af891ee836eb4ae8cc77aec460cf77a2fde47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a5c0eb0e677a99967a97b930b15630fcc8d83a2df80ce26ba13a851db934772e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f6f0492f55301a5d3d7940f1f89317207f7a11d89d4dc2bc768fa68df6923c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQQKjgEIEhgCKkDiRwogv3NJxsVv05+fjRsu1zu3A9kvGogXBh6GFJRBUuyq2y0gNnQ2uzwc8QQCRNeZUTcIeAqsBBIxIWODJyH4Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZf/y9UGEgxMnyyjIW+7zF/W7N8aDKK5cRBbEaVClqsnYyIw7RqVwuxOQ15M7PP/pjkaGeIwteemtUwu0dbGu5wVsk7LXN3jtzBGDi3VH1O9zouLKr8CjWDgDno8X6ag7tkeF5gSlLuXg9l7E1QL07qdhwE/ResDg1OC6QBy1bR3KuQ6XCE3NLQV9QkNTp+gsGmg2eb+ogywkHBrDAYhX8rlEqXaZZ7WT5cVYz9MxySDUJjQ5wRxVMKdkR4/6zMsYPvDzv3eeRKD5v+tjlnpJbQk/l6i80qBgSijIdMSZUwb+gojUDgWOSSRR9/xoEkcKkftqelGf0kh5c11flXwB4jBoGBUtWDnBTirXMbJujPVzu22jkQoNEjPgciRIMrNUVDqGQnDS58VIvDnJUnYNjLtQy7YYnzWdlKqIX+FoJHzhd/cUGeOSk8fB2G1Wu6QC+xlL/u4BtvpsdrxXxdqmlH7W+SndHIW6k6zehqtxtneY866hoaWPzX8Hvcfhd4DfTvYlrOPt3wGTTEw3D/qmIn0LXVUqhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01DLBTrQNq32K89HsD7Ldc5B",
      "input": {
        "note": "Lemon sits slightly left of the jaw centreline; nudging 1 cm left and dropping to 2.5 cm before closing.",
        "targets": {
          "right_y": 0.166,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 1 steps (0.1s)",
      "tool_use_id": "toolu_01DLBTrQNq32K89HsD7Ldc5B",
      "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, 0.8257, 0.6132, -0.4751, -0.0139, -0.0307, 0.9987, 0.4805, 1.7664, 0.9668, -0.2802, 0.2314, 0.2249, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.1182 left_roll=0.0016 left_gripper=0.9987 right_x=0.3711 right_y=0.1518 right_z=0.0238 right_yaw=0.122 right_pitch=-0.4687 right_roll=-0.1066 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3607, 7.2137, 1.746, -0.0464, -0.0513, -0.0122, -0.5265, -8.6632, 6.3385, 1.3309, 0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2605e4a349557e3affe5a8d98a541c1f41ed82fe1571b3230b265cdfead71f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7e708cb1a85af784505988a0ebc779d311c7303441a4aecac1c4b48898cae9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d1a7cd695a70935f0a4730b96b27319fab73b0c466ef659df931464498f2d11e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 2.471 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4679, -0.0139, -0.0307, 0.9987, 0.4801, 1.6806, 1.0527, -0.4194, 0.2348, 0.2295, 0.9965]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.158 left_yaw=-0.0013 left_pitch=-0.111 left_roll=0.0014 left_gripper=0.9987 right_x=0.3751 right_y=0.153 right_z=0.0697 right_yaw=0.1214 right_pitch=-0.437 right_roll=-0.0944 right_gripper=0.9965\nstate[joint_eff]: [-0.1709, -1.388, 7.1316, 1.8193, -0.0464, -0.0171, -0.0122, 0.3897, -7.1316, 6.5026, 1.3602, 0.2271, 0.2173, -0.0073]\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, 0.8257, 0.6132, -0.4694, -0.0139, -0.0303, 0.9987, 0.4805, 1.7382, 0.9913, -0.3016, 0.2314, 0.2272, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0015 left_pitch=-0.1125 left_roll=0.0018 left_gripper=0.9987 right_x=0.3764 right_y=0.1546 right_z=0.0403 right_yaw=0.126 right_pitch=-0.4393 right_roll=-0.0931 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3607, 6.9675, 1.6874, -0.022, -0.0366, -0.0122, -0.5402, -7.5829, 5.6821, 1.2821, 0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4751, -0.0139, -0.0307, 0.9987, 0.4805, 1.7664, 0.9668, -0.2802, 0.2314, 0.2249, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.1182 left_roll=0.0016 left_gripper=0.9987 right_x=0.3711 right_y=0.1518 right_z=0.0238 right_yaw=0.122 right_pitch=-0.4687 right_roll=-0.1066 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3607, 7.2137, 1.746, -0.0464, -0.0513, -0.0122, -0.5265, -8.6632, 6.3385, 1.3309, 0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2605e4a349557e3affe5a8d98a541c1f41ed82fe1571b3230b265cdfead71f6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7e708cb1a85af784505988a0ebc779d311c7303441a4aecac1c4b48898cae9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1a7cd695a70935f0a4730b96b27319fab73b0c466ef659df931464498f2d11e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QIKjgEIEhgCKkCs5Q3SavUuRbhErgyJBR+byWDGC6P5YhsSRnxuszneZ2hbMaPNs3kwnvEL1dGZ0ae9pzmQCCnxRXA9LKJDIbQpMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZr/y9UGEgxMAL9KVhziMuJioZgaDBJVDqFI3Cvgw+ahhCIwUgD1tdeERqoA0yiaTRIXySE58Uj3XAeo0+YNNtewpB3x2y0ezEAGXaeJfUU3iTupKoMBV5+IoxF65ol1OXhcqMe6w2bU/DwW+t+9xFIfGQWhm46pMv2ZnZaAnKLArMo7P0oJYUVCzI0EF09t2sSxQEjWESdEUAH/nHwfiJpdwqhyY6quToN+0z2KZGmEYWMLDOrlAuwxJnNGuj2wCoEJNPUk+n7KjLRWFbrIr72pKq8MIOTQVagYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GsksBvJkoiMaP3bSrAcYYs",
      "input": {
        "note": "Lemon fills the lower wrist view between the jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GsksBvJkoiMaP3bSrAcYYs",
      "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, 0.8257, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.514, 1.7828, 0.9672, -0.2653, 0.2348, 0.247, 0.387]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1564 left_yaw=-0.0013 left_pitch=-0.1194 left_roll=0.0016 left_gripper=0.9987 right_x=0.3676 right_y=0.1645 right_z=0.0195 right_yaw=0.139 right_pitch=-0.4675 right_roll=-0.0976 right_gripper=0.387\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.6288, -0.0708, -0.0171, -0.0122, -0.2803, -7.665, 7.1316, 1.2723, 0.1783, 0.0317, 0.8083]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62ff516ff28e0cb050632ea2e8d68ad4d7c8a6339a0a0a1090fafb142cc68d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8b94b6baf65de749efac2a1fb2612c251cb4cd9a7b69511f67bcfb2eb035ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9bb37711eeaaf820583a99c0205c1755c637779e7d4e43557599e5937dac73ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 2.742 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4694, -0.0139, -0.0303, 0.9987, 0.4805, 1.7382, 0.9913, -0.3016, 0.2314, 0.2272, 0.9965]\nstate[eef_state]: left_x=0.2849 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0015 left_pitch=-0.1125 left_roll=0.0018 left_gripper=0.9987 right_x=0.3764 right_y=0.1546 right_z=0.0403 right_yaw=0.126 right_pitch=-0.4393 right_roll=-0.0931 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.3607, 6.9675, 1.6874, -0.022, -0.0366, -0.0122, -0.5402, -7.5829, 5.6821, 1.2821, 0.0708, -0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4751, -0.0139, -0.0307, 0.9987, 0.4805, 1.7664, 0.9668, -0.2802, 0.2314, 0.2249, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.1182 left_roll=0.0016 left_gripper=0.9987 right_x=0.3711 right_y=0.1518 right_z=0.0238 right_yaw=0.122 right_pitch=-0.4687 right_roll=-0.1066 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3607, 7.2137, 1.746, -0.0464, -0.0513, -0.0122, -0.5265, -8.6632, 6.3385, 1.3309, 0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.514, 1.7828, 0.9672, -0.2653, 0.2348, 0.247, 0.387]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1564 left_yaw=-0.0013 left_pitch=-0.1194 left_roll=0.0016 left_gripper=0.9987 right_x=0.3676 right_y=0.1645 right_z=0.0195 right_yaw=0.139 right_pitch=-0.4675 right_roll=-0.0976 right_gripper=0.387\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.6288, -0.0708, -0.0171, -0.0122, -0.2803, -7.665, 7.1316, 1.2723, 0.1783, 0.0317, 0.8083]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62ff516ff28e0cb050632ea2e8d68ad4d7c8a6339a0a0a1090fafb142cc68d60",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8b94b6baf65de749efac2a1fb2612c251cb4cd9a7b69511f67bcfb2eb035ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 96):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9bb37711eeaaf820583a99c0205c1755c637779e7d4e43557599e5937dac73ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgIKjgEIEhgCKkAoz56r6cTwo2GvgZngkjnvVTMjcWfwlKurf5xPodMSON0ZSLbjtnMk2ZFLwVOz3nnJeeJNRI9Hn/k1UjDH3l33Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZ3/y9UGEgw7mD+rkPns1XFnyRcaDPSdt9ovqwvhyOxvQCIwHaj2/1I8jVMxvTHb2/laPM4Mv+ZNU9r1QS7VlPWr4XS0UPAml3JZxCvnrz002prqKmHw2uMgWxPA6ZbXgVoH61Y0FV8hFuYLSNLPddrOL0yF0VzC+oMfacA8C69pMAc2w26lDTXLd8qBG2wjKdXuiF1jO+XpzOlrfrL3QMZS18eDFgZxyJtnLTYBxGiRx64i4lKWGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U9cU3K2fXW5KsWkN1zkdUE",
      "input": {
        "note": "Lemon grasped (gripper settled at 0.39). Lifting and carrying it over the blue bowl.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.07,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01U9cU3K2fXW5KsWkN1zkdUE",
      "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]: [-0.0223, 0.8276, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.189, 1.7481, 1.6363, -0.9035, 0.0837, -0.0326, 0.3899]\nstate[eef_state]: left_x=0.2838 left_y=-0.0003 left_z=0.1558 left_yaw=-0.0017 left_pitch=-0.1217 left_roll=0.0017 left_gripper=0.9987 right_x=0.4407 right_y=0.0729 right_z=0.1952 right_yaw=0.1268 right_pitch=-0.4457 right_roll=-0.1012 right_gripper=0.3899\nstate[joint_eff]: [-0.1436, -1.5248, 6.9538, 1.6093, -0.0269, -0.0513, -0.0122, -0.4718, -7.4462, 8.1026, 1.0916, -0.0464, -0.0073, 0.2857]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a306345564ea940833971299279904c783a714621cb7c43a99f22f101477cd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aca354d2a2c2e839c189c7be9fd7520deb423b2baaa730ce6bb006f8ef4331f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d98e39a951e1d1fcb624dca8acdcdcf98799dafeac331aa51ebf05beef02d1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 3.106 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4751, -0.0139, -0.0307, 0.9987, 0.4805, 1.7664, 0.9668, -0.2802, 0.2314, 0.2249, 0.9965]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0013 left_pitch=-0.1182 left_roll=0.0016 left_gripper=0.9987 right_x=0.3711 right_y=0.1518 right_z=0.0238 right_yaw=0.122 right_pitch=-0.4687 right_roll=-0.1066 right_gripper=0.9965\nstate[joint_eff]: [-0.0342, -1.3607, 7.2137, 1.746, -0.0464, -0.0513, -0.0122, -0.5265, -8.6632, 6.3385, 1.3309, 0.0904, -0.022, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.514, 1.7828, 0.9672, -0.2653, 0.2348, 0.247, 0.387]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1564 left_yaw=-0.0013 left_pitch=-0.1194 left_roll=0.0016 left_gripper=0.9987 right_x=0.3676 right_y=0.1645 right_z=0.0195 right_yaw=0.139 right_pitch=-0.4675 right_roll=-0.0976 right_gripper=0.387\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.6288, -0.0708, -0.0171, -0.0122, -0.2803, -7.665, 7.1316, 1.2723, 0.1783, 0.0317, 0.8083]",
      "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]: [-0.0223, 0.8276, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.189, 1.7481, 1.6363, -0.9035, 0.0837, -0.0326, 0.3899]\nstate[eef_state]: left_x=0.2838 left_y=-0.0003 left_z=0.1558 left_yaw=-0.0017 left_pitch=-0.1217 left_roll=0.0017 left_gripper=0.9987 right_x=0.4407 right_y=0.0729 right_z=0.1952 right_yaw=0.1268 right_pitch=-0.4457 right_roll=-0.1012 right_gripper=0.3899\nstate[joint_eff]: [-0.1436, -1.5248, 6.9538, 1.6093, -0.0269, -0.0513, -0.0122, -0.4718, -7.4462, 8.1026, 1.0916, -0.0464, -0.0073, 0.2857]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a306345564ea940833971299279904c783a714621cb7c43a99f22f101477cd22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4aca354d2a2c2e839c189c7be9fd7520deb423b2baaa730ce6bb006f8ef4331f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d98e39a951e1d1fcb624dca8acdcdcf98799dafeac331aa51ebf05beef02d1ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0QIKjgEIEhgCKkDbgagiLMKAYULBjpRx8yWiFU5br86EqeH/Y8j2BCe1OJFu85lpyWFcTEz56vkEU47KZ5rAH5VYAKtSuKlWRBcaMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaH/y9UGEgz+/CQIZZzSMoTH9g8aDAVjqO+c8I/orLJOuSIwnqnZsdC2EdEQIkLz0kkNTXRy6v7tjPcZsqty4ULF9uqMrfn3t1DqDj9wLWi+qZ4rKnA5SWnhyXlL5B+3SLY+UhAK12+HM0oyoJeLyFLfxBzFZu+HCNo9mAEBmOClWtiVK8o3371UHA1X80QfPH9PPqN4fkbc6nwCRL+PzDIT1C9L63q/OVxhu0nF2hM35KrLiK6GIYdUhHQ2oEs48q5VT7fsGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01NxoXaqqQPauXCMuXmvqvBe",
      "input": {
        "note": "Over the blue bowl with the lemon; descending to the same release pose that worked for the pear.",
        "targets": {
          "right_x": 0.444,
          "right_y": 0.064,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01NxoXaqqQPauXCMuXmvqvBe",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7588, 1.3052, -0.6083, 0.0731, -0.0463, 0.3919]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1551 left_yaw=-0.0013 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4314 right_y=0.0629 right_z=0.103 right_yaw=0.121 right_pitch=-0.4934 right_roll=-0.1015 right_gripper=0.3919\nstate[joint_eff]: [-0.0068, -1.6342, 7.241, 1.5946, -0.0464, -0.0415, -0.0122, -0.6359, -7.4598, 6.5299, 1.4579, -0.0366, -0.1392, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd36ca6f7aab2bb00723398f75f48fad4b5a8b35e1a451bcd099fc3efcffe9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d46e19bbb71e6746888fba5405ff05d7c5fe7021ce0f2bcc33b4f9015f7d48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9637e0dbdecfce5b6016238905e16b614d12fee9a14b09bcf7b7dbd941f49637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 9.517 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.514, 1.7828, 0.9672, -0.2653, 0.2348, 0.247, 0.387]\nstate[eef_state]: left_x=0.2838 left_y=-0.0002 left_z=0.1564 left_yaw=-0.0013 left_pitch=-0.1194 left_roll=0.0016 left_gripper=0.9987 right_x=0.3676 right_y=0.1645 right_z=0.0195 right_yaw=0.139 right_pitch=-0.4675 right_roll=-0.0976 right_gripper=0.387\nstate[joint_eff]: [-0.2256, -1.3744, 6.9675, 1.6288, -0.0708, -0.0171, -0.0122, -0.2803, -7.665, 7.1316, 1.2723, 0.1783, 0.0317, 0.8083]",
      "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]: [-0.0223, 0.8276, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.189, 1.7481, 1.6363, -0.9035, 0.0837, -0.0326, 0.3899]\nstate[eef_state]: left_x=0.2838 left_y=-0.0003 left_z=0.1558 left_yaw=-0.0017 left_pitch=-0.1217 left_roll=0.0017 left_gripper=0.9987 right_x=0.4407 right_y=0.0729 right_z=0.1952 right_yaw=0.1268 right_pitch=-0.4457 right_roll=-0.1012 right_gripper=0.3899\nstate[joint_eff]: [-0.1436, -1.5248, 6.9538, 1.6093, -0.0269, -0.0513, -0.0122, -0.4718, -7.4462, 8.1026, 1.0916, -0.0464, -0.0073, 0.2857]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7588, 1.3052, -0.6083, 0.0731, -0.0463, 0.3919]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1551 left_yaw=-0.0013 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4314 right_y=0.0629 right_z=0.103 right_yaw=0.121 right_pitch=-0.4934 right_roll=-0.1015 right_gripper=0.3919\nstate[joint_eff]: [-0.0068, -1.6342, 7.241, 1.5946, -0.0464, -0.0415, -0.0122, -0.6359, -7.4598, 6.5299, 1.4579, -0.0366, -0.1392, 0.2027]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd36ca6f7aab2bb00723398f75f48fad4b5a8b35e1a451bcd099fc3efcffe9fe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d5d46e19bbb71e6746888fba5405ff05d7c5fe7021ce0f2bcc33b4f9015f7d48",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9637e0dbdecfce5b6016238905e16b614d12fee9a14b09bcf7b7dbd941f49637",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WSumWHYHsm8K3owmQBQyyF",
      "input": {
        "note": "Wrist view confirms the lemon is over the blue bowl (pear visible inside); opening to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01WSumWHYHsm8K3owmQBQyyF",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7733, 1.2896, -0.6113, 0.0731, -0.0605, 0.9959]\nstate[eef_state]: left_x=0.2839 left_y=-0.0003 left_z=0.1551 left_yaw=-0.0017 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4263 right_y=0.062 right_z=0.091 right_yaw=0.1289 right_pitch=-0.5273 right_roll=-0.1108 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.4154, 6.9402, 1.6288, -0.0317, -0.0464, -0.0122, -0.3214, -10.1128, 7.8154, 1.1551, -0.0073, 0.1001, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bb66195ce7d245ef47ea746c5788e02a000463f4109be4604bb9a6b719d54c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef5b45a66b9db0f791e99cad255e83ed3061dcb6b47ecf2fab276c667c8cdcf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2cbc061b8f8c92f1305f3d9b83998b7a961366101de197077f36e466456b5582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 8.689 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8276, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.189, 1.7481, 1.6363, -0.9035, 0.0837, -0.0326, 0.3899]\nstate[eef_state]: left_x=0.2838 left_y=-0.0003 left_z=0.1558 left_yaw=-0.0017 left_pitch=-0.1217 left_roll=0.0017 left_gripper=0.9987 right_x=0.4407 right_y=0.0729 right_z=0.1952 right_yaw=0.1268 right_pitch=-0.4457 right_roll=-0.1012 right_gripper=0.3899\nstate[joint_eff]: [-0.1436, -1.5248, 6.9538, 1.6093, -0.0269, -0.0513, -0.0122, -0.4718, -7.4462, 8.1026, 1.0916, -0.0464, -0.0073, 0.2857]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "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, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7588, 1.3052, -0.6083, 0.0731, -0.0463, 0.3919]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1551 left_yaw=-0.0013 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4314 right_y=0.0629 right_z=0.103 right_yaw=0.121 right_pitch=-0.4934 right_roll=-0.1015 right_gripper=0.3919\nstate[joint_eff]: [-0.0068, -1.6342, 7.241, 1.5946, -0.0464, -0.0415, -0.0122, -0.6359, -7.4598, 6.5299, 1.4579, -0.0366, -0.1392, 0.2027]",
      "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]: [-0.0223, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7733, 1.2896, -0.6113, 0.0731, -0.0605, 0.9959]\nstate[eef_state]: left_x=0.2839 left_y=-0.0003 left_z=0.1551 left_yaw=-0.0017 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4263 right_y=0.062 right_z=0.091 right_yaw=0.1289 right_pitch=-0.5273 right_roll=-0.1108 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.4154, 6.9402, 1.6288, -0.0317, -0.0464, -0.0122, -0.3214, -10.1128, 7.8154, 1.1551, -0.0073, 0.1001, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3bb66195ce7d245ef47ea746c5788e02a000463f4109be4604bb9a6b719d54c1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ef5b45a66b9db0f791e99cad255e83ed3061dcb6b47ecf2fab276c667c8cdcf1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cbc061b8f8c92f1305f3d9b83998b7a961366101de197077f36e466456b5582",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UJbivBpun1WcMRs8ti9Mjk",
      "input": {
        "note": "Pear and lemon are both in the blue bowl. Now moving the right arm toward the remaining dark fruit (avocado) on the left side of the table, hovering at 20 cm first.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.3,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01UJbivBpun1WcMRs8ti9Mjk",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8326, 0.6132, -0.4774, -0.0135, -0.0307, 0.9987, 0.857, 1.9598, 1.9675, -1.2251, 0.3347, 0.5453, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0004 left_z=0.1543 left_yaw=-0.002 left_pitch=-0.1274 left_roll=0.0015 left_gripper=0.9987 right_x=0.3335 right_y=0.3019 right_z=0.196 right_yaw=0.1784 right_pitch=-0.5254 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5385, 7.241, 1.6337, -0.0415, -0.0659, -0.0122, 0.1983, -9.935, 7.0496, 0.6032, 0.2271, 0.3101, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bfe03a8871bc8e04ce6bbb2547911275beef0f21e0b854c3defa4ecc12f050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:858e1e8f450359ccfd45442dcff931d1f01396090a9f1d7084f8758093c89fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9fe3c13b2472b72038366e94913b3512a565135977011047225bbb98f70fc5c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 7.274 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7588, 1.3052, -0.6083, 0.0731, -0.0463, 0.3919]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1551 left_yaw=-0.0013 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4314 right_y=0.0629 right_z=0.103 right_yaw=0.121 right_pitch=-0.4934 right_roll=-0.1015 right_gripper=0.3919\nstate[joint_eff]: [-0.0068, -1.6342, 7.241, 1.5946, -0.0464, -0.0415, -0.0122, -0.6359, -7.4598, 6.5299, 1.4579, -0.0366, -0.1392, 0.2027]",
      "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]: [-0.0223, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7733, 1.2896, -0.6113, 0.0731, -0.0605, 0.9959]\nstate[eef_state]: left_x=0.2839 left_y=-0.0003 left_z=0.1551 left_yaw=-0.0017 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4263 right_y=0.062 right_z=0.091 right_yaw=0.1289 right_pitch=-0.5273 right_roll=-0.1108 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.4154, 6.9402, 1.6288, -0.0317, -0.0464, -0.0122, -0.3214, -10.1128, 7.8154, 1.1551, -0.0073, 0.1001, -0.0317]",
      "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]: [-0.0223, 0.8326, 0.6132, -0.4774, -0.0135, -0.0307, 0.9987, 0.857, 1.9598, 1.9675, -1.2251, 0.3347, 0.5453, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0004 left_z=0.1543 left_yaw=-0.002 left_pitch=-0.1274 left_roll=0.0015 left_gripper=0.9987 right_x=0.3335 right_y=0.3019 right_z=0.196 right_yaw=0.1784 right_pitch=-0.5254 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5385, 7.241, 1.6337, -0.0415, -0.0659, -0.0122, 0.1983, -9.935, 7.0496, 0.6032, 0.2271, 0.3101, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7bfe03a8871bc8e04ce6bbb2547911275beef0f21e0b854c3defa4ecc12f050",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:858e1e8f450359ccfd45442dcff931d1f01396090a9f1d7084f8758093c89fd7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9fe3c13b2472b72038366e94913b3512a565135977011047225bbb98f70fc5c4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAISnAoKjgEIEhgCKkAsxXEoqY4T66TCU6aLtNBXo2aVpJbxelW7DcWHd0EQ3yk7WxuHGdSU4zoDZliC0Lr08yhxSIZoLqofTCmUl32UMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbn/y9UGEgzmJJ2+kfkU3lvWkfwaDLCzIzn9sSFQ8rlA0iIwDA54LYVbe/09SwgCrjJgmDeWj0fNUcjs7cMMhduOmsQbKZYxLXcg2v2iOfd92ZO9KroIEndeLAdvZCLnWeN0dP81RMOpGGXX5V55esCVk4piYnusEmefTEqwTTk8eSUr5pbfJh+Fg6HFSz9dJam4P6vzfuc8wSNc/78AS2Tmb/QR6rw9E8j4FkezBDUNk98PeLlhgyhWMScS/TgD6mIhwu8yf37rqKEJLqvjxPdHSpz1s8MSDX49HonLCOAfMBRFmBRzXLcrjVNz3ghy/fAIyuoSFplwTfXST5gDJJZn2ysjIoQtXs2N0yvrknfHtSrOhsAfhAzEOx0d7Qt4Rk6TkSuMLI25UcwwJnjFd0TS3KqhD4mhUgGjpSIL3+zrqbzjelCgO5Jpio5JVm73/2jak4zCDFhIK39PPGfFH6uhD2EfX8A0zvhZpZfEOFGmIHAk5ZBIixC6iz/k9XQUGxDdcOBdNT7Wcjd4V4OZbilRtlo+w2ATw792RqU7zY7Ll9Qdieo2tJTjpV3O5oIwSOi8+QLmFvJMuzLmVkXdDDOI5vkyYELTlwC7jFyTHIaZ1K3zX2fOiLA0aKqpL8VU7Wv84Q6/S65wSUFJMnJwdRiXybmGMzDWXqwrUS1kwF1aUuNvwy6ndNCEl1B2PLDXSChyVzl7opxFA58yM9bz0m+3NZBBk7PzARSTK5etzhhV7SLYYZQmWz6sKFP8Nz2sbFVOS7/4ZJk5zLckidtr7RMi3+RqR3mWXb3CX5vqdgAWs4Dmds2sPhBdv9svlbi8/WlBROtkZ7uy0zHmUjyT+DtsVF/0ZcVxJpkVG8dqHSxSX6dswmLBz/o+Wbc6VJm6aAiKYSRRI7LaSQJd2JDCizb59pmb3dV4IfRhn982z1B1MCGvInt76mfNiWE5CyuFvpMJVhcyxMnc2MeHlhsBHXX9JjIG2Ze7NFBIPP12Svx1DX+rDFmg8lRZ3tbms+K2UQmueDn2ajJPrJWtfVxPhjGnnDKcTpu/f+g1v5zekqa1G/QqfG5wJ0TTwqSSCgrvsc1B4wA+6jkzcSgzVA3IqkZrsCGWqg/a+Ttwch2MQTaEouw2DmTu8WsFGdoVcfs91/IlAk36L5RN/az77mQnAdfX5btDjbCRBoIB+4uyAd5uV/r8Q7JFe6x1QydRWikNQmjU1/N5OYJR4o380uCOLegzMNi/qN/2yJMgPXGG52YvIeufUZkEKzIow+eOpx91/UuPeOtYnYlT5+AtWBbJZbtimy6IkKXjUQr9gu9rpznD+2nDYfjte3UCawN0f5ewbRUUlmo9p5lCFIfAUB/ISKg1BGKc4/RcLWIZp8KALQjS1jaMBBIKA3AGph63UFWTYjot4EkWTiWqjhTzm78MAYwBN7FZEkcQsVI5upgLh4Y2R1J202lzSQnwLOjfkedbQB8ZxINxBTJr+Gh9jo0uqnJE7abjrwbGbv2sJi8mTcOU9ag3yz+AAhxh7Ct2lf5IwBRe2NEjKsAY7I1fvrYcTAIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018MRx1F62RS4PpkEEasRix2",
      "input": {
        "note": "Wrist view puts the avocado well to the left of the jaw column; shifting ~7 cm left and descending to 12 cm.",
        "targets": {
          "right_x": 0.325,
          "right_y": 0.37,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_018MRx1F62RS4PpkEEasRix2",
      "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]: [-0.0223, 0.8341, 0.6132, -0.4877, -0.0139, -0.0307, 0.9987, 0.9665, 2.1399, 1.9415, -1.0946, 0.3527, 0.6312, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=-0.0003 left_z=0.152 left_yaw=-0.0016 left_pitch=-0.1392 left_roll=0.002 left_gripper=0.9987 right_x=0.3193 right_y=0.3614 right_z=0.1183 right_yaw=0.1904 right_pitch=-0.5655 right_roll=-0.1301 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.3744, 6.9402, 1.7509, -0.0611, -0.0659, -0.0122, 0.2393, -11.6308, 6.8991, 0.8913, 0.3346, 0.1978, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7edb5b839c65490a5762f8bd27a8d15edd9c9efa1f7d307c6be0b30a18c428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:958d91aca544e6c96ca14e5def8c1583075b3de854ecf6825922b807f49f3e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8abca78da9437eeef52c92e9c83342a33089ddbb7854fa4ecbf3e2ca91851e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 9.631 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8303, 0.6132, -0.4767, -0.0139, -0.0307, 0.9987, 0.1661, 1.7733, 1.2896, -0.6113, 0.0731, -0.0605, 0.9959]\nstate[eef_state]: left_x=0.2839 left_y=-0.0003 left_z=0.1551 left_yaw=-0.0017 left_pitch=-0.1243 left_roll=0.0017 left_gripper=0.9987 right_x=0.4263 right_y=0.062 right_z=0.091 right_yaw=0.1289 right_pitch=-0.5273 right_roll=-0.1108 right_gripper=0.9959\nstate[joint_eff]: [-0.3487, -1.4154, 6.9402, 1.6288, -0.0317, -0.0464, -0.0122, -0.3214, -10.1128, 7.8154, 1.1551, -0.0073, 0.1001, -0.0317]",
      "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]: [-0.0223, 0.8326, 0.6132, -0.4774, -0.0135, -0.0307, 0.9987, 0.857, 1.9598, 1.9675, -1.2251, 0.3347, 0.5453, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0004 left_z=0.1543 left_yaw=-0.002 left_pitch=-0.1274 left_roll=0.0015 left_gripper=0.9987 right_x=0.3335 right_y=0.3019 right_z=0.196 right_yaw=0.1784 right_pitch=-0.5254 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5385, 7.241, 1.6337, -0.0415, -0.0659, -0.0122, 0.1983, -9.935, 7.0496, 0.6032, 0.2271, 0.3101, 0.0562]",
      "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]: [-0.0223, 0.8341, 0.6132, -0.4877, -0.0139, -0.0307, 0.9987, 0.9665, 2.1399, 1.9415, -1.0946, 0.3527, 0.6312, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=-0.0003 left_z=0.152 left_yaw=-0.0016 left_pitch=-0.1392 left_roll=0.002 left_gripper=0.9987 right_x=0.3193 right_y=0.3614 right_z=0.1183 right_yaw=0.1904 right_pitch=-0.5655 right_roll=-0.1301 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.3744, 6.9402, 1.7509, -0.0611, -0.0659, -0.0122, 0.2393, -11.6308, 6.8991, 0.8913, 0.3346, 0.1978, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb7edb5b839c65490a5762f8bd27a8d15edd9c9efa1f7d307c6be0b30a18c428",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:958d91aca544e6c96ca14e5def8c1583075b3de854ecf6825922b807f49f3e9b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8abca78da9437eeef52c92e9c83342a33089ddbb7854fa4ecbf3e2ca91851e11",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnwgKjgEIEhgCKkCbF6Gcrt6jqPtOStxAQcLwBXAqElGU8xcqTnB6NfrmUhxy7jEyMBgiDcxeSduWsLqrBeUuurBdqlSU9aG9kaglMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcH/y9UGEgy8O51QJESZxBgQBwAaDI9u7kSzx65mTKR0/iIwJ31I9AhiPGQkrxtxMc0NX6YpObn9IWaOChAZDwfgQiLEutIzCskKqtAC+lnRRCXjKr0G+IobGi7ikkTbZdbsXPmIsM4gMawhwdkt/EEI/xOoAc3+tD0sFNtoWPhGJi/adocutHWc49R/NgCdnNymrUGQgycGBJy0LbTGi4//WjZzIhwhNRJmFJmljb3lYwO5Hnk1puVd/MCjuTE2OmJxSRW4mk9DljfJcvaVlpROJhWqcXZP1NI0ScwbJiKWl73cjUufksocA/g5/UsY99kCraskjrhpRLENfUfO+13MQCGJ/U73fuLLQP5CW68vS7Kht0xKPB2TfH3tcRnq5cLITFXmRG1zYKmzqmTSOjZ4E2fandQCZo5fcudcCWv8EO2hbCArAZw4tfg0+CnNPy3B2apkI9+bFBntQ2bJONMHRWC6FA9eahzXDelB8yCblR3y2wc3Zp6h0j8X9T+KBKZ6ssGooNtGyg5Z5je2+NMT2sT8JaMope7avgvjj8t02zwkKJI60cQTA0iUARMceYzS0IbaiF24nuu5aWFz5PZi+Hw/luKd6qHHlD1/LF3b7QPuOIbsrVkC93Lzil93O8Cu+PTs1TOQ4K7ji/4o0YNgmVvyVbiUvAo1Ce9KyM3TkmPhKrUKA6vMFUtDP5De8D3UlXeDDpngBeid0UUjp7RBeufoqj9gZKTzLLc/k6TK/7QhJ+0ZOzuTGlHrJkk46wSBwEw9nIk+/z5oYeqGO0p3hK2mLK4XcZu3Fut1Bxxxnktot5dyf3IV+RKe3F3kVA/ozdEpV5UijrFzbEqJntKPpHbhaBuYdk6hffKhkjVonmchCvqynheaYH/s2lucdlQhPIyl0uUVlf+2Cfnrhf1+Cq/81dW7ZsY/t1ThUUoHSrcQpreA6Ug7XE8HUsWv9ymQN7NFjsaYPnd6WH2rYV6DSNBx19gb7KcPUlaV/woTLZdT5L8kxt+6eVwO7mAkrJOmnVbMljU7GQviqnPQWZpvwxn+VLywOd3ELhP59qmDsLGNTTb10jpge0BhRpd1wp/57grmG5yBr96xvHcXOV8sNojm5zjyoj4/aJFkZBoobmc1ebJQyj9Mtu1/eJrkik9drAiCHm5NEmTJYUt2l03f33H1JWeZK0/tkTWmTh1WNZgssXlJPnFCvM1HOdHllAwhYhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EVkFNPu3GpHaZfcYGEfB3o",
      "input": {
        "note": "Avocado still sits left of the jaw column in the wrist view; shifting 3 cm further left and descending to 7 cm.",
        "targets": {
          "right_x": 0.312,
          "right_y": 0.392,
          "right_z": 0.07
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01EVkFNPu3GpHaZfcYGEfB3o",
      "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, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.005, 2.2284, 1.9366, -1.0206, 0.3553, 0.6575, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3133 right_y=0.3854 right_z=0.0802 right_yaw=0.2015 right_pitch=-0.5756 right_roll=-0.1355 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.6239, -0.0513, -0.0269, -0.0122, 0.6359, -11.7949, 5.6684, 0.7692, 0.2369, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f7e58c0feb2768bbe61c47089bd4ee8bc7c7f7812aba19de13abb1c4a0d13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31250ec996d0a542f4b841282db9e8bcb246ea62566fcf69458b84e4ef1656e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4ddc4c5601b7304e8adf135326aeb9059bb3708644791fdd3b02bb9ad7f5642e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 11.36 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8326, 0.6132, -0.4774, -0.0135, -0.0307, 0.9987, 0.857, 1.9598, 1.9675, -1.2251, 0.3347, 0.5453, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0004 left_z=0.1543 left_yaw=-0.002 left_pitch=-0.1274 left_roll=0.0015 left_gripper=0.9987 right_x=0.3335 right_y=0.3019 right_z=0.196 right_yaw=0.1784 right_pitch=-0.5254 right_roll=-0.1009 right_gripper=0.9965\nstate[joint_eff]: [-0.2667, -1.5385, 7.241, 1.6337, -0.0415, -0.0659, -0.0122, 0.1983, -9.935, 7.0496, 0.6032, 0.2271, 0.3101, 0.0562]",
      "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]: [-0.0223, 0.8341, 0.6132, -0.4877, -0.0139, -0.0307, 0.9987, 0.9665, 2.1399, 1.9415, -1.0946, 0.3527, 0.6312, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=-0.0003 left_z=0.152 left_yaw=-0.0016 left_pitch=-0.1392 left_roll=0.002 left_gripper=0.9987 right_x=0.3193 right_y=0.3614 right_z=0.1183 right_yaw=0.1904 right_pitch=-0.5655 right_roll=-0.1301 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.3744, 6.9402, 1.7509, -0.0611, -0.0659, -0.0122, 0.2393, -11.6308, 6.8991, 0.8913, 0.3346, 0.1978, -0.0073]",
      "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, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.005, 2.2284, 1.9366, -1.0206, 0.3553, 0.6575, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3133 right_y=0.3854 right_z=0.0802 right_yaw=0.2015 right_pitch=-0.5756 right_roll=-0.1355 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.6239, -0.0513, -0.0269, -0.0122, 0.6359, -11.7949, 5.6684, 0.7692, 0.2369, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04f7e58c0feb2768bbe61c47089bd4ee8bc7c7f7812aba19de13abb1c4a0d13a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b31250ec996d0a542f4b841282db9e8bcb246ea62566fcf69458b84e4ef1656e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 152):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4ddc4c5601b7304e8adf135326aeb9059bb3708644791fdd3b02bb9ad7f5642e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrgkKjgEIEhgCKkAj3H8oDf6o28RihjLiDDgQfD6tEr78LZFWvi4ooTXEFgH6WKsNQl7JQ1DHRMALwxOj/Ugf0GCK4wq/ohuRkZgCMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcv/y9UGEgzuIUuqmrRBIjK/arsaDAVX1Nhb+YpvvqoLjiIwetJrOM7xrZfTjdgM8LCrygryTeo8dpgU/PHNmGAH86p7OQcTzAZeyZGcqArg2HCtKswHb/crrMq5n3GsI5NDEaiRGX46uo+gIIo1h+QfT6Ig+9nEBpdser/vQZr7Zpz1Me4cREvuZ0uWArzlYjz7/pi2Fq5BX+6vz17Z1e/DmyYTwy5DHGEhf9zO2wn4vOW5ynTDQDWVKpQFRrW+Ec8FiA3i0csjv4x7Kf8Rg8vYdYHjYNznDwbq7DEp1ceDUWrdnkXO0CT5p5Tx/XajZZ+qt2oBqbmHB5AS4uEc7E77d9cPAccLwQPkkhAnEF9CQT1OrB5dkkhGAAU7n6e79E+ooZ1O9mjeLwcuon2lBhFtH0ULSBxWNb9FYxRvZ7A6CDyF0wnJRaKwi/unfgMQb8zSiMOdiI+z/eqYMOlRMFwv/F945Tjf5qrDHR/2XDj13uztR+mr1ebPCkS5jNxtkOIRZvWGKS8BkoTsfv9O78O7m+FV5PwQ5BcyjVwVyvOKfqB5MQPWWwYoePWeXdZXAY0TSLEa7Q+1cBb1DHspnyeA6oJG2cFdFwgqeHHxC82+l6Ay3Osjtptwjw0w9eVTl1T+o0QKzOjynUTK5VaUSCC6NrI+kNnSVq8N8shbDNHhCQVnWyfHxM8qGIovklZkpFbxCfj4r9FGzdB7vN6XpJzWuC8gqBwyiEeAy547uOebyqjx9Rv2exWaENPyaxpvXI/tNvlpNobXZK13XpOvMimTG2Y+/Ly+WvD0xlFObaDugTKjp5xBc21MI3aKrZfIREYw8DsIJnVsQLlbkFJ2JOFU0wWmwFcobCSFQBjiUGh1nS4cKivcASPEfOeXLbYxruhUkbTnHkJhah7JQZYv+1vlfErkNWSypH1fuznXFkXD8wUus4PMtdsKUEbK3yf9Xe5Zgkz2OC+MwnQVD009mnw3Ff1fm/vx3qgQ+G1lLHLc42izjm9DFmwZlZdJPPZyqAPR+5BJxlRPecL4EbogxudgVuzJUMjxLcvkFEDcS8pNGpDyjiOl3zg9ZeLI/yVPYNjuDiNanmaannhF9zaciIku4/kUJV0v4433/y+6fNbcCTCX9ixJyyFPs7nbpxnC+Y05BLEg+mfR4tVITYujx38LUqEtXtZW79EF/pWm+RD0rQFbhn5crzlT8lecgNYVo7KWK6nXG+mx5fNm3oNWrmW55pCrb7HDgbHek+Sq9SGZlm8kGu6vR/mTDA55ZNUeWPf8cv/IcEQ0pfVdu3K7TDay+J1RrNOspiy8vlkePvzLEx58Abyc+bIj2bEiBuJKrrPCgnLwZO8B8ihsv5r6Uzm+3Jfax/9+u/3YB7sA59OnCp5TicCk328bq+sRyuJ4FaeZGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WQPa88PoB48cwXsC1y1B8n",
      "input": {
        "note": "Avocado is still a few cm left of the jaws; going to the y-limit (0.40) and descending to grasp height to see if I can reach it with the right arm.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.4,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WQPa88PoB48cwXsC1y1B8n",
      "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, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.0172, 2.2597, 1.9305, -1.0016, 0.355, 0.6666, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3094 right_y=0.3906 right_z=0.0646 right_yaw=0.1994 right_pitch=-0.5878 right_roll=-0.1465 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.5751, -0.0317, -0.0757, -0.0122, -0.0752, -13.4906, 6.0513, 0.8278, 0.2564, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220eb8a2bd18255337af19bd43c2e1e2a3ceea2088378c8393f8bd6e9a713287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be13c4f2ab41651cde6a028e3556ac9c7ed3845ebf20ce696c2bfa1a5001141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4c6ef9ad9883e06a7be977ebb0e64e8427a6ddd1b6b7f6012ddd8a7c76bf41ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 5.856 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0223, 0.8341, 0.6132, -0.4877, -0.0139, -0.0307, 0.9987, 0.9665, 2.1399, 1.9415, -1.0946, 0.3527, 0.6312, 0.9965]\nstate[eef_state]: left_x=0.2823 left_y=-0.0003 left_z=0.152 left_yaw=-0.0016 left_pitch=-0.1392 left_roll=0.002 left_gripper=0.9987 right_x=0.3193 right_y=0.3614 right_z=0.1183 right_yaw=0.1904 right_pitch=-0.5655 right_roll=-0.1301 right_gripper=0.9965\nstate[joint_eff]: [-0.1299, -1.3744, 6.9402, 1.7509, -0.0611, -0.0659, -0.0122, 0.2393, -11.6308, 6.8991, 0.8913, 0.3346, 0.1978, -0.0073]",
      "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, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.005, 2.2284, 1.9366, -1.0206, 0.3553, 0.6575, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3133 right_y=0.3854 right_z=0.0802 right_yaw=0.2015 right_pitch=-0.5756 right_roll=-0.1355 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.6239, -0.0513, -0.0269, -0.0122, 0.6359, -11.7949, 5.6684, 0.7692, 0.2369, 0.1978, -0.0122]",
      "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, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.0172, 2.2597, 1.9305, -1.0016, 0.355, 0.6666, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3094 right_y=0.3906 right_z=0.0646 right_yaw=0.1994 right_pitch=-0.5878 right_roll=-0.1465 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.5751, -0.0317, -0.0757, -0.0122, -0.0752, -13.4906, 6.0513, 0.8278, 0.2564, 0.1001, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:220eb8a2bd18255337af19bd43c2e1e2a3ceea2088378c8393f8bd6e9a713287",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3be13c4f2ab41651cde6a028e3556ac9c7ed3845ebf20ce696c2bfa1a5001141",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 155):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c6ef9ad9883e06a7be977ebb0e64e8427a6ddd1b6b7f6012ddd8a7c76bf41ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VoFxZARibJAaPRmyi5za11",
      "input": {
        "note": "The right arm has hit its reach/limit short of the avocado, so I'm retracting it home to clear the way and will use the left arm for that fruit.",
        "targets": {
          "right_x": 0.3,
          "right_y": 0.05,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 29 steps (2.9s)",
      "tool_use_id": "toolu_01VoFxZARibJAaPRmyi5za11",
      "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, 0.8387, 0.6132, -0.4976, -0.0139, -0.0307, 0.9987, 0.2142, 1.3552, 1.2888, -1.124, 0.0986, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.149 left_yaw=-0.0012 left_pitch=-0.1537 left_roll=0.0023 left_gripper=0.9987 right_x=0.2992 right_y=0.051 right_z=0.1854 right_yaw=0.1593 right_pitch=-0.6226 right_roll=-0.1522 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.5385, 6.9812, 1.6972, -0.0464, -0.0513, -0.0122, -0.1846, -6.4205, 8.6632, 1.072, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0dcc0e15664db275cabc797eeec9dc8668e499952a23c00c58e1ecd59bca8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0fb0dd0b7919402d7b18b6188994023d2331f041061e02d0e954401ee5a049b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7b4420c69bb9099ff633a92bd6ef88dd1d333a1d39bbdc5a48efe0c383362bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 8.717 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.005, 2.2284, 1.9366, -1.0206, 0.3553, 0.6575, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3133 right_y=0.3854 right_z=0.0802 right_yaw=0.2015 right_pitch=-0.5756 right_roll=-0.1355 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.6239, -0.0513, -0.0269, -0.0122, 0.6359, -11.7949, 5.6684, 0.7692, 0.2369, 0.1978, -0.0122]",
      "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, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.0172, 2.2597, 1.9305, -1.0016, 0.355, 0.6666, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3094 right_y=0.3906 right_z=0.0646 right_yaw=0.1994 right_pitch=-0.5878 right_roll=-0.1465 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.5751, -0.0317, -0.0757, -0.0122, -0.0752, -13.4906, 6.0513, 0.8278, 0.2564, 0.1001, -0.0122]",
      "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, 0.8387, 0.6132, -0.4976, -0.0139, -0.0307, 0.9987, 0.2142, 1.3552, 1.2888, -1.124, 0.0986, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.149 left_yaw=-0.0012 left_pitch=-0.1537 left_roll=0.0023 left_gripper=0.9987 right_x=0.2992 right_y=0.051 right_z=0.1854 right_yaw=0.1593 right_pitch=-0.6226 right_roll=-0.1522 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.5385, 6.9812, 1.6972, -0.0464, -0.0513, -0.0122, -0.1846, -6.4205, 8.6632, 1.072, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e0dcc0e15664db275cabc797eeec9dc8668e499952a23c00c58e1ecd59bca8fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b0fb0dd0b7919402d7b18b6188994023d2331f041061e02d0e954401ee5a049b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 184):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7b4420c69bb9099ff633a92bd6ef88dd1d333a1d39bbdc5a48efe0c383362bb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISigcKjgEIEhgCKkDzuNVutK+M2VV03w6fN2FUuPShqtLZkZA8i8Gxry9ijkiWKk+RSADCx7l+pRAQHcfMWDLUBftbEZWLXvDB0fUqMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd//y9UGEgze8QWPSw9dwZeo6Y8aDPCgoagTKHvQ4O/w2SIwDSvmXs8QR1EvbBQczliCvGntGhppNhQ6x6AFvSri6mYTdBS0i42Fo4DyFFEiZbvIKqgFzwGyRF5gtd4ucDqOv4gV+u+QjA98Ya5UFjKy7EP4xZcP494bb9xDW4SKKRyDOVqdHhHZ/vYRBcipebeg76Dui8qlaca+t25xFeegYtEgwCpmLABU820bnAij62LGF4ibl1HjJegyFD6pwDoGMMSyQkJcYDnGN3ea/xKnI1yrL46t8DRnlUWh/boTPBgiWRMe39QU1r+fOwwzg797S37l/J5W9/DaE8drxZ/VZl4k1LYrUq1nGdP128jI+4RJJrlxaN3ygckhSOr+dV3n/M1/+FcOKSlzg0OpQvU0ZjIN3wbzBodv3xM4OOxHxWmMGtD4iDDvAYDyxIUxkxSzRVqz/a/GFbH63IvA0l1c+qfczAFC20I3t3JbLqlQt5DzIqsoEVI9Z+MSpzywqlz5c+Mffwxz1SqWmsQzB/kxZxAjoQ1MEK1zH5+mEN+qIJ2KjwPA6+Fcr60Fx+GDKa2fyr7YxoNBhGGe/z2WSQGtPehSNopJwb9ygoCWVN8HE+qpmNHjwUSK6dHQQeu2lkpJVtXYd369iuGXRWmjPjOyAwJkYLKz/HWVC1PE/TULq+va9h1KTKqLIBEkdtq2q0hvHWZQSvP41d5ckzMpqBNPcf9dn9b/XPMjpE4Y9nN677fKFH+uckcXZqK9zvGKDXtiSuj+/YJLyAM55E8ZHvPt8FYtoZr0xiu+oXfRXV8hOVlHTeiXs3DbY4yoR8O5zBr2dkFYOcf9eSD7zvd6LQhRZW+FYrESzX3K/W++T438eQ1R5JBWjXCIJq29al6dZMtd7kQ/uLcKG5USHFdFNwlHyfPThZ/iG0Cnqql1D+C3cWTUSOjWL4XvHfYTWqszmaCBg+XiLUbnN1dMApFaZZywnl0hw6dKlbeP0zTtbBk3WYo1/89IoA7BdLqgzl8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Fq9KrUrVEVtDCBwHpWWPp9",
      "input": {
        "note": "Right arm is parked. Moving the left arm out over the dark avocado (estimated ~25 cm to its right) at 15 cm height.",
        "targets": {
          "left_x": 0.31,
          "left_y": -0.25,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01Fq9KrUrVEVtDCBwHpWWPp9",
      "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]: [-0.952, 1.5639, 1.0901, -0.5503, -0.63, -0.7597, 0.9987, 0.2157, 1.346, 1.2644, -1.1191, 0.0959, -0.0944, 0.9965]\nstate[eef_state]: left_x=0.3048 left_y=-0.2423 left_z=0.1359 left_yaw=-0.0137 left_pitch=-0.1926 left_roll=0.023 left_gripper=0.9987 right_x=0.295 right_y=0.051 right_z=0.1801 right_yaw=0.1743 right_pitch=-0.6344 right_roll=-0.1574 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -7.2274, 8.7453, 1.1502, -0.6276, -0.0562, -0.0073, -0.2393, -5.7094, 6.2838, 1.1258, 0.0757, 0.1245, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b35aa8995de58c6a9bb4ba3e5cc388a9be326e524879287e18fa4cd076ecfa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1274931ba1ae63f77abc2a401c21f65c5bf36f6f5b21e51e555a55bf644906e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1326f19d6685166d036c5b59f48a1acc5d2e7b216b3c84d756d32eeeb2a27d88",
        "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 · 5.691 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, 1.0172, 2.2597, 1.9305, -1.0016, 0.355, 0.6666, 0.9965]\nstate[eef_state]: left_x=0.2817 left_y=-0.0001 left_z=0.1513 left_yaw=-0.0012 left_pitch=-0.143 left_roll=0.0021 left_gripper=0.9987 right_x=0.3094 right_y=0.3906 right_z=0.0646 right_yaw=0.1994 right_pitch=-0.5878 right_roll=-0.1465 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.4017, 7.1316, 1.5751, -0.0317, -0.0757, -0.0122, -0.0752, -13.4906, 6.0513, 0.8278, 0.2564, 0.1001, -0.0122]",
      "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, 0.8387, 0.6132, -0.4976, -0.0139, -0.0307, 0.9987, 0.2142, 1.3552, 1.2888, -1.124, 0.0986, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.149 left_yaw=-0.0012 left_pitch=-0.1537 left_roll=0.0023 left_gripper=0.9987 right_x=0.2992 right_y=0.051 right_z=0.1854 right_yaw=0.1593 right_pitch=-0.6226 right_roll=-0.1522 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.5385, 6.9812, 1.6972, -0.0464, -0.0513, -0.0122, -0.1846, -6.4205, 8.6632, 1.072, -0.0806, -0.0513, -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 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]: [-0.952, 1.5639, 1.0901, -0.5503, -0.63, -0.7597, 0.9987, 0.2157, 1.346, 1.2644, -1.1191, 0.0959, -0.0944, 0.9965]\nstate[eef_state]: left_x=0.3048 left_y=-0.2423 left_z=0.1359 left_yaw=-0.0137 left_pitch=-0.1926 left_roll=0.023 left_gripper=0.9987 right_x=0.295 right_y=0.051 right_z=0.1801 right_yaw=0.1743 right_pitch=-0.6344 right_roll=-0.1574 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -7.2274, 8.7453, 1.1502, -0.6276, -0.0562, -0.0073, -0.2393, -5.7094, 6.2838, 1.1258, 0.0757, 0.1245, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b35aa8995de58c6a9bb4ba3e5cc388a9be326e524879287e18fa4cd076ecfa5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1274931ba1ae63f77abc2a401c21f65c5bf36f6f5b21e51e555a55bf644906e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 207):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1326f19d6685166d036c5b59f48a1acc5d2e7b216b3c84d756d32eeeb2a27d88",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISiAYKjgEIEhgCKkDlymSDSxNzCdVyVxcU/gKOsNLQSc9eiCqCP65Byi24pUZ6lrinzUrgy4bysHVT/OuDdjvDb2eX6Y8KC4Z835f6Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAer/y9UGEgw8jbxu4SYuYnadEtkaDNBn0xssJ80HWYPfrSIwWO/DwsumR89gOqzWgmrSFgWt0GkEVRe2WDauEkdaRoieGfsGEbgGRokFJzhWy6CjKqYEOmE7Mqy+hkglQqUlo9JH4kTv+6ZyqdZBUCARq8UUKdvhaBwkpCYJelMFsBo8eSqk/Iiph4BYNR9OjIHJGwo6gyx0aBexpo7G1akrNGTg3J8ouPGBhHoVqE2Wmf1y91krkMYcigu10bhHHk2gyiiye0ekPxfwTCyBwF9YSilN9iubF9TSVqUWbTMxNoYBeW/qyAefFM/fCjb3frQZUYlCeRnOn2FlgmixL632MX6x4EQViQ1XLS5wZVOpYAcw3YOPL6pSVLd0HUx5jaaasjA9L2JSi5JrtionVTqAhg9N7X9bOlkCPwUjBjC3X1rGJ352qkyatED4XArLDJeUyi4xoUvBrt2WI8cNPgIA4qfKlp7JzYn5RHXgkogmG7qBe0CqupwmE2+nE0vsBGanhstyaVeEYXMFAnAl+35m2h3YO10HQsmFZX503dl75T5pffNU7bNZ9BZI1gKyttLRpzlxZc9EE8dHMSN8KupCrDAttEU2aDh13Mr8Z9UDJdJrW65jfR0vrJQRq6EODv9+X2z4MGrxZGijA0DBvuU/TXUBA65BqCs5EqlaHFnTkmYPSzDIQnd5FqHPps9f/HpZxRLqF6ZrTHUn0uU3kI391Wxd80/olZn3eJM3Zub/DI2VJ9xFgOm0B7j7ZGcPirq1egfCP66Aes22U2r0bGbFoNmvZu9ythpTRYs+7W/zJ9gsEtw4nsb9LNhHFVkwUwrahxw2YGXCWfjBqhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014uwnzW6dcoGQKPkNAreXCA",
      "input": {
        "note": "Left wrist view shows the avocado left of the jaw column and a bit farther out; shifting 4 cm toward the arm's left, 2 cm forward and descending to 10 cm.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.2,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014uwnzW6dcoGQKPkNAreXCA",
      "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]: [-0.8043, 1.5562, 0.9085, -0.3893, -0.5674, -0.6582, 0.9987, 0.2157, 1.335, 1.2308, -1.0996, 0.0959, -0.0959, 0.9965]\nstate[eef_state]: left_x=0.3201 left_y=-0.1904 left_z=0.0875 left_yaw=0.0405 left_pitch=-0.2449 left_roll=0.0721 left_gripper=0.9987 right_x=0.2924 right_y=0.0504 right_z=0.1735 right_yaw=0.1752 right_pitch=-0.6376 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.5402, 6.7624, 1.5604, -0.2662, 0.0952, -0.0122, -0.0342, -6.3111, 6.2974, 1.1258, 0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8093889b5136f2f791225df859b71337d9c15dbe79973b4684b37dd93aff429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e04729608c4ea91794cea54cd5febcc074c2cfcf088452c80fd3274a2e915887",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2e2c2909c40e53d3382344d89b39f66623b53b54d331c307a0c8ce89244247a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /messages · status 200 · 4.83 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8387, 0.6132, -0.4976, -0.0139, -0.0307, 0.9987, 0.2142, 1.3552, 1.2888, -1.124, 0.0986, -0.0776, 0.9965]\nstate[eef_state]: left_x=0.2809 left_y=-0.0001 left_z=0.149 left_yaw=-0.0012 left_pitch=-0.1537 left_roll=0.0023 left_gripper=0.9987 right_x=0.2992 right_y=0.051 right_z=0.1854 right_yaw=0.1593 right_pitch=-0.6226 right_roll=-0.1522 right_gripper=0.9965\nstate[joint_eff]: [-0.0479, -1.5385, 6.9812, 1.6972, -0.0464, -0.0513, -0.0122, -0.1846, -6.4205, 8.6632, 1.072, -0.0806, -0.0513, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.952, 1.5639, 1.0901, -0.5503, -0.63, -0.7597, 0.9987, 0.2157, 1.346, 1.2644, -1.1191, 0.0959, -0.0944, 0.9965]\nstate[eef_state]: left_x=0.3048 left_y=-0.2423 left_z=0.1359 left_yaw=-0.0137 left_pitch=-0.1926 left_roll=0.023 left_gripper=0.9987 right_x=0.295 right_y=0.051 right_z=0.1801 right_yaw=0.1743 right_pitch=-0.6344 right_roll=-0.1574 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -7.2274, 8.7453, 1.1502, -0.6276, -0.0562, -0.0073, -0.2393, -5.7094, 6.2838, 1.1258, 0.0757, 0.1245, -0.0073]",
      "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]: [-0.8043, 1.5562, 0.9085, -0.3893, -0.5674, -0.6582, 0.9987, 0.2157, 1.335, 1.2308, -1.0996, 0.0959, -0.0959, 0.9965]\nstate[eef_state]: left_x=0.3201 left_y=-0.1904 left_z=0.0875 left_yaw=0.0405 left_pitch=-0.2449 left_roll=0.0721 left_gripper=0.9987 right_x=0.2924 right_y=0.0504 right_z=0.1735 right_yaw=0.1752 right_pitch=-0.6376 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.5402, 6.7624, 1.5604, -0.2662, 0.0952, -0.0122, -0.0342, -6.3111, 6.2974, 1.1258, 0.0562, -0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8093889b5136f2f791225df859b71337d9c15dbe79973b4684b37dd93aff429",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e04729608c4ea91794cea54cd5febcc074c2cfcf088452c80fd3274a2e915887",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 211):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2e2c2909c40e53d3382344d89b39f66623b53b54d331c307a0c8ce89244247a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIShgUKjgEIEhgCKkCW2XFmNqxYq/UoN5duJJJOq9+lpe9K+2DdjYoBuJp+qeWFdWbC7QkbYn5bmDRmNq7rKFPvaFx9xPdaHqp66zTsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfD/y9UGEgximBb9dLP+imDXGoUaDBTeCM3UCqnXEYEzCCIwivQl2sLVc1mvJ1aB6aJh1O2ZDoCDHqLIi8LcVZQHJzGtM6FGpQUnaRIi9Bg/EA+9KqQDSiCeOQgTBVpQ522DXpSQWmVJ7kLnu/5tbxV5BlENa7/3j1lM27mtVltbjuXdswpqHGuQrkpDwIXuOle6mgHoIM05GAtMu+KxHfkvzmhNaUh8Cg1noPsQUi44SV5XV8D63uNTSdwsitxYQQsjc3d5ADPnK7p3tfWN7Dx+66+AKrj0mSWgqiMHuMM2unYf0cipXJKdsgxKQdt4zPeUIwXsmcnk/Ig3IHb+ebOeuS+fcoX7nB/0aF9iqUaI/1xA4146joevgnxTLh9kR2cipNxPcl/8d1+4DEROMy96ejwXudBJio+/1gw3UcAtJU7gLLUu7KmiDDa9dEgkjUT22qjUugn0tbME/RDuTogIIJAsZKD2MljK86gU/kS6y5k1Mlh9p9Hq48Fk+8llocT9lWvg5w5iJRnuqAdQA83X5JOY+y9Ca0JWvv3W/XDIF8wFAQUsiovPg54/9/VJD4QIB4e9g9SsOOVqlC5kvvNza4mekdeH8DLB1lKMxlbLhi3AtHZuCMmH4pwE+klCSxRhlKkxLGk8shdtBYXqfDGORpLqFtQwluKGGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xh7CAkH5iWYhGpCbJFTvx4",
      "input": {
        "note": "Avocado is now centred on the jaw column in the left wrist view; advancing ~1.5 cm and descending to grasp height.",
        "targets": {
          "left_x": 0.345,
          "left_y": -0.194,
          "left_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_01Xh7CAkH5iWYhGpCbJFTvx4",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3264, -0.5457, -0.6361, 0.9987, 0.2161, 1.3216, 1.195, -1.0748, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3256 left_y=-0.1934 left_z=0.0728 left_yaw=0.0272 left_pitch=-0.2566 left_roll=0.0715 left_gripper=0.9987 right_x=0.2902 right_y=0.0501 right_z=0.1672 right_yaw=0.1776 right_pitch=-0.6355 right_roll=-0.1587 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.2821, 5.9419, 1.1746, -0.4762, -0.1197, -0.0122, -0.0342, -6.147, 5.9966, 1.0916, 0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35f4abe978f2d6588d71f821003712e7a5ad05c150b10ce3fbf5fa4ed12b6343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4128a2c16f35d9de7bb017ef49f83a4388996914bdaebfeb5bda210a9cdcf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9b9cde695c5a24e09587b5d943b68f10f862f708e123be4852dfa7900a05ed8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 2.741 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.952, 1.5639, 1.0901, -0.5503, -0.63, -0.7597, 0.9987, 0.2157, 1.346, 1.2644, -1.1191, 0.0959, -0.0944, 0.9965]\nstate[eef_state]: left_x=0.3048 left_y=-0.2423 left_z=0.1359 left_yaw=-0.0137 left_pitch=-0.1926 left_roll=0.023 left_gripper=0.9987 right_x=0.295 right_y=0.051 right_z=0.1801 right_yaw=0.1743 right_pitch=-0.6344 right_roll=-0.1574 right_gripper=0.9965\nstate[joint_eff]: [-0.5812, -7.2274, 8.7453, 1.1502, -0.6276, -0.0562, -0.0073, -0.2393, -5.7094, 6.2838, 1.1258, 0.0757, 0.1245, -0.0073]",
      "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]: [-0.8043, 1.5562, 0.9085, -0.3893, -0.5674, -0.6582, 0.9987, 0.2157, 1.335, 1.2308, -1.0996, 0.0959, -0.0959, 0.9965]\nstate[eef_state]: left_x=0.3201 left_y=-0.1904 left_z=0.0875 left_yaw=0.0405 left_pitch=-0.2449 left_roll=0.0721 left_gripper=0.9987 right_x=0.2924 right_y=0.0504 right_z=0.1735 right_yaw=0.1752 right_pitch=-0.6376 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.5402, 6.7624, 1.5604, -0.2662, 0.0952, -0.0122, -0.0342, -6.3111, 6.2974, 1.1258, 0.0562, -0.0366, -0.0122]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3264, -0.5457, -0.6361, 0.9987, 0.2161, 1.3216, 1.195, -1.0748, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3256 left_y=-0.1934 left_z=0.0728 left_yaw=0.0272 left_pitch=-0.2566 left_roll=0.0715 left_gripper=0.9987 right_x=0.2902 right_y=0.0501 right_z=0.1672 right_yaw=0.1776 right_pitch=-0.6355 right_roll=-0.1587 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.2821, 5.9419, 1.1746, -0.4762, -0.1197, -0.0122, -0.0342, -6.147, 5.9966, 1.0916, 0.0366, -0.0317, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35f4abe978f2d6588d71f821003712e7a5ad05c150b10ce3fbf5fa4ed12b6343",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a4128a2c16f35d9de7bb017ef49f83a4388996914bdaebfeb5bda210a9cdcf13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b9cde695c5a24e09587b5d943b68f10f862f708e123be4852dfa7900a05ed8d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS8AIKjgEIEhgCKkAiOfgOfVhtlSb1EWSTcbE0Tlx7N5hTO/i21Qlq0cvwUUQBqHANztHNcF09BT32hgtqEJXKuECZGoGMYPd9ovcfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfX/y9UGEgxai9+WEe+nFdi2vk8aDA8/cEseHqz1td/zzyIwFVYVq16iuTpaunY3GTrx0U/1PcTuK4PxZwbKV8R89RRbT6DShCx3b8py+12QZSwUKo4BvmtKkazAVbDweHgGsyDlQKnaLRgtbvBHyWA0P0UVq8H8hFwj3g+ehBnr6eQdJxlzneYvi6mgxM+KnNH62HvraCHDGWaKvvoJPcOumKrh8EMnTAGDdjHdsJD0awpoeTnGdqdjXuWC+wNmbq0p2/ETNA/AF4Lwef35/MupLnDrusDZ579Y2slYwq7jR+Xy2BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Mrsemi6zJC2EgPcnp2MXST",
      "input": {
        "note": "Descent stopped short at z=0.073; re-sending the forward-and-down target to reach the avocado.",
        "targets": {
          "left_x": 0.345,
          "left_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01Mrsemi6zJC2EgPcnp2MXST",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3256, -0.5457, -0.6361, 0.9987, 0.2161, 1.3098, 1.1652, -1.058, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3257 left_y=-0.1935 left_z=0.0728 left_yaw=0.027 left_pitch=-0.2561 left_roll=0.0709 left_gripper=0.9987 right_x=0.2875 right_y=0.0495 right_z=0.1618 right_yaw=0.1776 right_pitch=-0.6366 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9402, 5.7641, 1.16, -0.4518, -0.105, -0.0171, 0.0479, -6.2154, 5.7368, 1.1502, 0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3379ecb579cab7c05ce69261a4d97c58cc943e32003367efe7be08c579a1d905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c51d85deb4f22c75d21baf2f2aa06b99663fae4379894dfd7ae28b9d7fe67b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:70ae74ba9efb53cf1f4d7ab6bf3071c2fe714848ac4d85969771fdf382790dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 7.82 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8043, 1.5562, 0.9085, -0.3893, -0.5674, -0.6582, 0.9987, 0.2157, 1.335, 1.2308, -1.0996, 0.0959, -0.0959, 0.9965]\nstate[eef_state]: left_x=0.3201 left_y=-0.1904 left_z=0.0875 left_yaw=0.0405 left_pitch=-0.2449 left_roll=0.0721 left_gripper=0.9987 right_x=0.2924 right_y=0.0504 right_z=0.1735 right_yaw=0.1752 right_pitch=-0.6376 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.1026, -8.5402, 6.7624, 1.5604, -0.2662, 0.0952, -0.0122, -0.0342, -6.3111, 6.2974, 1.1258, 0.0562, -0.0366, -0.0122]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3264, -0.5457, -0.6361, 0.9987, 0.2161, 1.3216, 1.195, -1.0748, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3256 left_y=-0.1934 left_z=0.0728 left_yaw=0.0272 left_pitch=-0.2566 left_roll=0.0715 left_gripper=0.9987 right_x=0.2902 right_y=0.0501 right_z=0.1672 right_yaw=0.1776 right_pitch=-0.6355 right_roll=-0.1587 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.2821, 5.9419, 1.1746, -0.4762, -0.1197, -0.0122, -0.0342, -6.147, 5.9966, 1.0916, 0.0366, -0.0317, -0.0122]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3256, -0.5457, -0.6361, 0.9987, 0.2161, 1.3098, 1.1652, -1.058, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3257 left_y=-0.1935 left_z=0.0728 left_yaw=0.027 left_pitch=-0.2561 left_roll=0.0709 left_gripper=0.9987 right_x=0.2875 right_y=0.0495 right_z=0.1618 right_yaw=0.1776 right_pitch=-0.6366 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9402, 5.7641, 1.16, -0.4518, -0.105, -0.0171, 0.0479, -6.2154, 5.7368, 1.1502, 0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3379ecb579cab7c05ce69261a4d97c58cc943e32003367efe7be08c579a1d905",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9c51d85deb4f22c75d21baf2f2aa06b99663fae4379894dfd7ae28b9d7fe67b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 218):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70ae74ba9efb53cf1f4d7ab6bf3071c2fe714848ac4d85969771fdf382790dd0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwMKjgEIEhgCKkCwGxUcHXjspbbRGxe1fGvhbJY4u4lmILVT2Hi3MnSy3bxCAphPg19Pyg76HkZWJI/vZcWl70j4O5XaswpKd4jQMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfj/y9UGEgwBZopJATbj9jqxM00aDC8CaxPYokGzS6U6aSIw43mK7l1jsZhDh+b4x6WFj8J2oXfZetA2SYvMMu27HnoQaDXOfhp4tnX6cQLUZIIYKt0B364OuSJSaLCQLwGbl8ug2Z7XCUeNlLqj1XqkSoA5BaCOPO2bISxEKVxekROsNlXDNx2XWcaX3K4M91Sn8XgXYatlLcssevi8btYsX4cHiQ8thRSv9/I3N+cETUXcEnRFriwdBYVh5wPDRY/JVIYII1h0PXSQ//ar+MQNEpEDNSqh6B7j5RNFkS3MSCy2ljMQJVT37DYhoUoct/UDBZmcz6Qx3NyiQ3MmIbFO67E7XzZOdMmUTgjwTx0FyFTRXlhHxLFB7KtSA4idEIa1aInM5H9dH2ERzMeCDkc5ACQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CCq6X8UUMiNx3FuYwUUge1",
      "input": {
        "note": "The arm stalls on large targets; issuing a small 2 cm incremental descent toward the avocado.",
        "targets": {
          "left_x": 0.335,
          "left_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01CCq6X8UUMiNx3FuYwUUge1",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3279, -0.5457, -0.6365, 0.9987, 0.2157, 1.2984, 1.1431, -1.0363, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3254 left_y=-0.1932 left_z=0.0726 left_yaw=0.0277 left_pitch=-0.2577 left_roll=0.0724 left_gripper=0.9987 right_x=0.2874 right_y=0.0494 right_z=0.1594 right_yaw=0.1772 right_pitch=-0.6255 right_roll=-0.1581 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -7.2547, 5.9692, 1.2088, -0.4908, -0.1148, -0.0122, 0.0615, -5.9419, 6.1607, 1.1551, -0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44162782909cfb950586ca61b672b0702cfbfee568b46f4acb55c9d0d1b1ba18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a533a50271c25c5fe7a7d47153aded5f30f902698646182885b86fafdb3a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bb3da11f7531d5ca5c133f8a407afe2e4af203ba909124ba95deaeacd2be3e10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 9.466 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3264, -0.5457, -0.6361, 0.9987, 0.2161, 1.3216, 1.195, -1.0748, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3256 left_y=-0.1934 left_z=0.0728 left_yaw=0.0272 left_pitch=-0.2566 left_roll=0.0715 left_gripper=0.9987 right_x=0.2902 right_y=0.0501 right_z=0.1672 right_yaw=0.1776 right_pitch=-0.6355 right_roll=-0.1587 right_gripper=0.9965\nstate[joint_eff]: [-0.2393, -7.2821, 5.9419, 1.1746, -0.4762, -0.1197, -0.0122, -0.0342, -6.147, 5.9966, 1.0916, 0.0366, -0.0317, -0.0122]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3256, -0.5457, -0.6361, 0.9987, 0.2161, 1.3098, 1.1652, -1.058, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3257 left_y=-0.1935 left_z=0.0728 left_yaw=0.027 left_pitch=-0.2561 left_roll=0.0709 left_gripper=0.9987 right_x=0.2875 right_y=0.0495 right_z=0.1618 right_yaw=0.1776 right_pitch=-0.6366 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9402, 5.7641, 1.16, -0.4518, -0.105, -0.0171, 0.0479, -6.2154, 5.7368, 1.1502, 0.0171, -0.0708, -0.0073]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3279, -0.5457, -0.6365, 0.9987, 0.2157, 1.2984, 1.1431, -1.0363, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3254 left_y=-0.1932 left_z=0.0726 left_yaw=0.0277 left_pitch=-0.2577 left_roll=0.0724 left_gripper=0.9987 right_x=0.2874 right_y=0.0494 right_z=0.1594 right_yaw=0.1772 right_pitch=-0.6255 right_roll=-0.1581 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -7.2547, 5.9692, 1.2088, -0.4908, -0.1148, -0.0122, 0.0615, -5.9419, 6.1607, 1.1551, -0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44162782909cfb950586ca61b672b0702cfbfee568b46f4acb55c9d0d1b1ba18",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:46a533a50271c25c5fe7a7d47153aded5f30f902698646182885b86fafdb3a9f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb3da11f7531d5ca5c133f8a407afe2e4af203ba909124ba95deaeacd2be3e10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsgkKjgEIEhgCKkDfZgWEj9SVXAnxe+4jscR5XK2wmqyJ92eVfgzwxlkys97csBDKA7Oe4mbiPDLJ92DbBbPGfu3pzySL6e29WMmVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYCAzNUGEgyFIiuQ5gj5U8bAq80aDM7bTSjpXa8YtzjaKyIwa/iEOqA/LZzLOXaoJNyT/9z/NJ3iUM2GrSAuUZJZbxkQNJT+BFUn0Mom2Z2Z5DNuKtAHgD7SZzgT0I1woNzmChrxhSJqlc3dpxHMBiKWLniXojPTkCxi5NLD9LlOFOcPLaGe2pTgLbn44ZWs6j+OHwOK2dgx6hT8PmWBsHdUD/VhYv9C6J7RwiPoyD69hiH2dOCb4h02ReTANNCDTyuEsIqlqU+kEH2hJ8xPskdkXOVhd4maI05N27Vd6GxqFDGD8zyTJnjG027XHlsR212OYSbstHyRPUvuV7W4kOyYGQnCYD2EqbRTPlgW7PWmoo1n4C33CV3+ryWk+KrZS/ixicV+njUZQ75TWA2hokJIkjYBxgLrMFs9K6G8VA/5DiIU6EP3PXC/oVkZi7dLS0XYnRw4B+pqV8XUjVwZVdHJGmpYbLjKPEC0FwNEZCVIuyUqzdt9F9FGKgG2ILCfxXAYl56JYPqdQovEHZL8O3jNcghhA6tepyjejKSUzW7oEaOrnrUlehal9Uk0h5tEZ+GaJ0YCB57uj7MYXX3CmhK3L8c4DCojiy/44J98aKhyURfQrEAGGoa3BYBAmMWcUE2KobQ2MGsv0aeX4CD9IltXmI0UkDQ0SZBgt/mQu/A8CqfnA1VG5sCFMuak5rJJPXVNtndwSoEAX0ilzAn+JKXC522Or3moKckleT2oTU2XpxxK9QrUXyHLVHPVfmfRVDC/Znx6I1q2RWWwHE0GKJtr7px0unDFleXfBpgf4SQLzY4SicOvoiLMop9YcOwowxXo2NyhIlq+GCqD9YQigDvsWqvwC0AnBOO3RsTZjy1a1YnS3I8k2RuFFh9KOPhh5CLEuxCWJVaNo72F+huDob/xWNiTOSztWRrI7pVRSBhNa6e2Iirfo791t2yvK6Z5HZhfsaIxH9UFIznPGHCP8L9KkXRCyXyb0F1vfR6srfBIgZUFgVbldggIjmnIfXUvOGt5muNIMMcza777iR3Atgm0xN5jbeLo7G7sHu0QOzjoATd5l5+GXaT3QQMfja2AAbHvJKEtkdFY2jQUCpYuNBM/0gfyvVXk0hV7pahQjucVEpPeiQuZX7RgQHHlJWZy1naRm7Kc5SjW6GSOg+zqFwZxwLh3RifG3oxiLo22cxC6D7WskX6iXNtnEtkjFyTf3D4rfaThfxeRtctaND49RPYktf4Zb4pO29ebwtiOVO7nF3PSRBvi/taoHOtCAiH6gznywdKUFpDcgMuR7Qa3S8Ro2At2/1Ee55p69Bmewchew+I+MKkKoQrj7Pa3mE+NexKYZEurPIj8rHBBFdbcuVxNtCWAEnx0ScUz99jAv5GUEwm9l27KGrl6toAXN/LuQ9FZmG7r4hgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CesfFqBeWw5rgofyUGioG8",
      "input": {
        "note": "Still stalled; backing off 1 cm in x while dropping 2.5 cm, in case a fingertip is snagged on the table or the fruit.",
        "targets": {
          "left_x": 0.315,
          "left_z": 0.045
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01CesfFqBeWw5rgofyUGioG8",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3286, -0.5457, -0.6365, 0.9987, 0.2161, 1.2911, 1.1316, -1.0317, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3253 left_y=-0.1931 left_z=0.0725 left_yaw=0.0278 left_pitch=-0.2582 left_roll=0.0729 left_gripper=0.9987 right_x=0.2857 right_y=0.0491 right_z=0.1578 right_yaw=0.1779 right_pitch=-0.6252 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.2821, 5.8735, 1.1697, -0.4762, -0.1538, -0.0122, -0.0889, -5.7094, 5.1897, 1.1893, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad821be68f15cc8b5e8fa050385f80be2e25f10fea6690313bdd58e1bccb614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:752ca3715b2ee1ce1c0da362b3df76df8f850b561af6325504b8aa5239e63a7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:faf9139e7b94b4844d82360b84f524651e84e4699b3f1717ced13f595ff1c16b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.012 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3256, -0.5457, -0.6361, 0.9987, 0.2161, 1.3098, 1.1652, -1.058, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3257 left_y=-0.1935 left_z=0.0728 left_yaw=0.027 left_pitch=-0.2561 left_roll=0.0709 left_gripper=0.9987 right_x=0.2875 right_y=0.0495 right_z=0.1618 right_yaw=0.1776 right_pitch=-0.6366 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -6.9402, 5.7641, 1.16, -0.4518, -0.105, -0.0171, 0.0479, -6.2154, 5.7368, 1.1502, 0.0171, -0.0708, -0.0073]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.3279, -0.5457, -0.6365, 0.9987, 0.2157, 1.2984, 1.1431, -1.0363, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3254 left_y=-0.1932 left_z=0.0726 left_yaw=0.0277 left_pitch=-0.2577 left_roll=0.0724 left_gripper=0.9987 right_x=0.2874 right_y=0.0494 right_z=0.1594 right_yaw=0.1772 right_pitch=-0.6255 right_roll=-0.1581 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -7.2547, 5.9692, 1.2088, -0.4908, -0.1148, -0.0122, 0.0615, -5.9419, 6.1607, 1.1551, -0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3286, -0.5457, -0.6365, 0.9987, 0.2161, 1.2911, 1.1316, -1.0317, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3253 left_y=-0.1931 left_z=0.0725 left_yaw=0.0278 left_pitch=-0.2582 left_roll=0.0729 left_gripper=0.9987 right_x=0.2857 right_y=0.0491 right_z=0.1578 right_yaw=0.1779 right_pitch=-0.6252 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.2821, 5.8735, 1.1697, -0.4762, -0.1538, -0.0122, -0.0889, -5.7094, 5.1897, 1.1893, -0.0122, -0.0659, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9ad821be68f15cc8b5e8fa050385f80be2e25f10fea6690313bdd58e1bccb614",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:752ca3715b2ee1ce1c0da362b3df76df8f850b561af6325504b8aa5239e63a7a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 222):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf9139e7b94b4844d82360b84f524651e84e4699b3f1717ced13f595ff1c16b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISvwcKjgEIEhgCKkBDuB3FH0Qg4+vu1dunXs/4ETaDFC/bbunG7YX1I0JkVSJ3tjgihMwZytAJD4eLMa+ZTdeNggujfheZBIAE2M9MMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYqAzNUGEgy+yJ21XeQ0mHdHw9QaDLb9nk4u5r1auY5spyIwhbv18nwflxWMgndxDBtR2mVbxanJlYGSiCwk3dCzl9y6iWs4feB7zEIi93GM4QjtKt0FXCNcakCuJpKBLTNkeHLR+WjTQUNcQNNv806Hymq+zI+IWRxCdxBshDp6/PPSpePwf+y9ykhfd8F4yAzOmHB3RgmdaLx1Dd35rXOCNGrWdNjpNGWWfTdC6j0VQR1XOlVVmMgMHw4dBPxu/joNbEiI2eYGOOWXri7+j8NIdScK1r8qyod4bLcKn6DOS5wo9F1+n8xCAvQe/w17UHCuPIiFr/EmDvVNEV8zd67LKQkq+Hku/STvzV4n2ern97RU7NOWLvUMzX8+kjZT87Fa/aD7KwjYeKngnabn/bgxpVe5Q6MuwRexue57Jj9FX/q6vdU1ZOChVdN4upOmutq1TOAFl/P7zFqWMzR01XholT3ZuCHfj7Mqke8XgSEYqSRRF3lTA/R+cePnv0qeC5oVw4xe323QPcsbSGz/xrkiFXb9/OURlJdway+sIOD0eJj5tk9Rzgnn8obQMEwDAKJVM6/HYybha20rOCgkj18aT/THyWr9+EjPwanvBe5KpPL19gW1vPtq8p36OU/oGnS84L8amLzAW0pOsujuiU+GrWprFVJAWdlDeraEr26VigbDaKWwCPb7XdaBMhhMFkWLlJgjPEhmJUE6fFqDscdb5ILkM3FKUjz81geZlmz7uLB+o1C2djalXPduRJ4KxWq1dHffHGKTTTxWeVSHNce/h5gCzVUbm/lsqTkIfan/XNtixzYQeIALOqOiShmPOh0T5xjwbliQyEd3gdSU+Wdrvv/nipwV2Wr1vS9fIuLjRfaRMkqdIp888c3UJhUOcO3tzJ+j3T0TZdUDxgqJJpF83dlJkpkztMgCWkk8GQTOWF/PAfsOw2Nyfyh1WjFysiHqYy0m584nVXcFO6wGeCQ3ZNaVis6ezRtdfytnAgjgIy5c7EVAXG+HH1JZ42gfON5nI5SHth8fQejfVuBsL9U6MsGKFCSCZSWWe4uMyQrVeASavUT+yU+u1JRnTXFk//1ugRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016qECcEMgKVHALtiyFezvQ2",
      "input": {
        "note": "The left arm refuses to descend further and the avocado sits right at the jaw line in the wrist view; closing the gripper to test whether it is already straddling the fruit.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016qECcEMgKVHALtiyFezvQ2",
      "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]: [-0.7902, 1.6009, 0.8944, -0.334, -0.5415, -0.6369, 0.0088, 0.2157, 1.29, 1.113, -1.0168, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.1929 left_z=0.0716 left_yaw=0.0263 left_pitch=-0.2645 left_roll=0.0741 left_gripper=0.0088 right_x=0.2852 right_y=0.0489 right_z=0.1531 right_yaw=0.1774 right_pitch=-0.6278 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -6.8718, 5.9966, 1.2332, -0.2613, 0.022, 0.696, -0.1026, -5.9692, 5.7778, 1.1355, 0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e851d35d62f17d4ad4caf7a341bcf0b20682449d6685d80d66127f8b815fe19b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acaa249411f300fdcb5871c6c59ff9ab2e70cafa40935cd677db28279cdffce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a023f0404c26ebeaddf6762c8bc0eb39ed88c19f60ea547e4a9002861e190244",
        "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 · 5.465 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3279, -0.5457, -0.6365, 0.9987, 0.2157, 1.2984, 1.1431, -1.0363, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3254 left_y=-0.1932 left_z=0.0726 left_yaw=0.0277 left_pitch=-0.2577 left_roll=0.0724 left_gripper=0.9987 right_x=0.2874 right_y=0.0494 right_z=0.1594 right_yaw=0.1772 right_pitch=-0.6255 right_roll=-0.1581 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -7.2547, 5.9692, 1.2088, -0.4908, -0.1148, -0.0122, 0.0615, -5.9419, 6.1607, 1.1551, -0.0073, -0.0366, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3286, -0.5457, -0.6365, 0.9987, 0.2161, 1.2911, 1.1316, -1.0317, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3253 left_y=-0.1931 left_z=0.0725 left_yaw=0.0278 left_pitch=-0.2582 left_roll=0.0729 left_gripper=0.9987 right_x=0.2857 right_y=0.0491 right_z=0.1578 right_yaw=0.1779 right_pitch=-0.6252 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.2821, 5.8735, 1.1697, -0.4762, -0.1538, -0.0122, -0.0889, -5.7094, 5.1897, 1.1893, -0.0122, -0.0659, -0.0122]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.334, -0.5415, -0.6369, 0.0088, 0.2157, 1.29, 1.113, -1.0168, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.1929 left_z=0.0716 left_yaw=0.0263 left_pitch=-0.2645 left_roll=0.0741 left_gripper=0.0088 right_x=0.2852 right_y=0.0489 right_z=0.1531 right_yaw=0.1774 right_pitch=-0.6278 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -6.8718, 5.9966, 1.2332, -0.2613, 0.022, 0.696, -0.1026, -5.9692, 5.7778, 1.1355, 0.0171, -0.0708, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e851d35d62f17d4ad4caf7a341bcf0b20682449d6685d80d66127f8b815fe19b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:acaa249411f300fdcb5871c6c59ff9ab2e70cafa40935cd677db28279cdffce6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a023f0404c26ebeaddf6762c8bc0eb39ed88c19f60ea547e4a9002861e190244",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowQKjgEIEhgCKkBsxLsFeMOwmjReL81ywkkshCzfS1kkXXeUyY5mWgI7EHCzRrEyI260GN0Sq68aXvRkO8Ap6WxzD19ZbPeZEBPbMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY+AzNUGEgznNA4zY4sjBktUqx8aDCAWAE2NfWavqMw3UiIwndFzt6i67lCFghn7TLslOn6909rl48oFyKdAFYzzpt0ZhnIOGI2JzTLeE7Mdy3MqKsECaNFzuWsv1ShEcSZ8oJ44lNMx3e0ArD2Tczzz7+n5C+Nu9YXfpexTRhRnBB5Zjl30rn2dafA6+4+JFRWHRf6CuR3DAmNiG/qirtEbe1L+SQa/oSdowZZrTVreh4w6gxiGuhTYqib7Xk7aOd73s0GYjZCZM7OWVq/oGefGdf+IynUeMleFwB4HdGfsfg4UfHXt6jaBCwMdVANgNuLTJPuCIXdse52EFqdedHsSQzv6FrAzqmUpPqRxL8uo/xzMU8gdptMkyUBW6NOSv2M9Q705Rvq8dEewdx3/LGG1PUK6CiENYvqGxz5uNbY4m5oHLOFkavuol5mUV/T4rx9FxL3ugP+GdzgyUFpmc/k8uVoFLWnWDYzEDDb83diUPNip/xfkRrIrvgIaAlRpgJtXNezhqV/uAyq6WOi08RDJWY3gOKqxGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YYS6mcJjqU129MgSz3F9hU",
      "input": {
        "note": "The close came up empty (0.009), so the avocado is beyond the fingertips and the arm was stalled; lifting to unstick the IK before re-approaching.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01YYS6mcJjqU129MgSz3F9hU",
      "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]: [-0.7902, 1.5311, 1.124, -0.6632, -0.5373, -0.6514, 0.9949, 0.2161, 1.2808, 1.0885, -1.0042, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3234 left_y=-0.193 left_z=0.1394 left_yaw=0.0378 left_pitch=-0.2868 left_roll=0.0842 left_gripper=0.9949 right_x=0.2825 right_y=0.0484 right_z=0.1483 right_yaw=0.1773 right_pitch=-0.6305 right_roll=-0.1589 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.8137, 9.3744, 1.0379, -0.3492, 0.0708, -0.1294, -0.0342, -5.6, 6.0376, 1.0916, 0.0415, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de81eb618500fab7852a4955f3c8edff30c5ab48f902733e9014f985743977a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd8869a7e9a792cb98680f1f6dc23656ac453a7144e6fdf7baa26054126c0f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fd2169ed639e22e1497331cb55aa51c41b1aa7add1bc9d4a78c536c253b5ae33",
        "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 · 2.838 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.3286, -0.5457, -0.6365, 0.9987, 0.2161, 1.2911, 1.1316, -1.0317, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3253 left_y=-0.1931 left_z=0.0725 left_yaw=0.0278 left_pitch=-0.2582 left_roll=0.0729 left_gripper=0.9987 right_x=0.2857 right_y=0.0491 right_z=0.1578 right_yaw=0.1779 right_pitch=-0.6252 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [-0.2256, -7.2821, 5.8735, 1.1697, -0.4762, -0.1538, -0.0122, -0.0889, -5.7094, 5.1897, 1.1893, -0.0122, -0.0659, -0.0122]",
      "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]: [-0.7902, 1.6009, 0.8944, -0.334, -0.5415, -0.6369, 0.0088, 0.2157, 1.29, 1.113, -1.0168, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.1929 left_z=0.0716 left_yaw=0.0263 left_pitch=-0.2645 left_roll=0.0741 left_gripper=0.0088 right_x=0.2852 right_y=0.0489 right_z=0.1531 right_yaw=0.1774 right_pitch=-0.6278 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -6.8718, 5.9966, 1.2332, -0.2613, 0.022, 0.696, -0.1026, -5.9692, 5.7778, 1.1355, 0.0171, -0.0708, -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]: [-0.7902, 1.5311, 1.124, -0.6632, -0.5373, -0.6514, 0.9949, 0.2161, 1.2808, 1.0885, -1.0042, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3234 left_y=-0.193 left_z=0.1394 left_yaw=0.0378 left_pitch=-0.2868 left_roll=0.0842 left_gripper=0.9949 right_x=0.2825 right_y=0.0484 right_z=0.1483 right_yaw=0.1773 right_pitch=-0.6305 right_roll=-0.1589 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.8137, 9.3744, 1.0379, -0.3492, 0.0708, -0.1294, -0.0342, -5.6, 6.0376, 1.0916, 0.0415, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de81eb618500fab7852a4955f3c8edff30c5ab48f902733e9014f985743977a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd8869a7e9a792cb98680f1f6dc23656ac453a7144e6fdf7baa26054126c0f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fd2169ed639e22e1497331cb55aa51c41b1aa7add1bc9d4a78c536c253b5ae33",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS2gQKjgEIEhgCKkC0j/HEFNUjst2qfeZc2L5cWHqXgPDuB5A+6o3zoCvtmGXze/B3ZS8BrS/+8x1iYYogkXkB26kCTuxJ5m90q6w8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZWAzNUGEgwILC/uGcWrAqZtjEEaDFof0RrGwSFr9mxjEyIwVN4BHVGIx+A/X9xjx3/Zv+ND8s9zG0gb2wZabH45TKC14skhV7vimjAspMop1T+wKvgCqQjOI4VyjhqRSLtINpMQpBP+FbMqMUstKSxKFb522kBv0aqOaOv0X0/gFN6EyHBoD1fQBYkqPyYcOnPPZ8Cl/IEM7XaJTPpMbgDaoAojTCAZ8kFBnu3ztVVyVG8Kl3f7PDYCh88LBkyqJzJgjJzJva46NOm3/Rck4mWPja+hjhkNg8yLf9moo2ivgmVYcMlLOFTyQvu4m2k7n8MwCwStKPyAGqsUdXikUJwy4rFut0QI0T6qhdNbg9J9wgW9BHwAIM8Ow9LgIPybcUgdz02a8IPs2NSbDbCZMEvdgMBj2VvHqN5V/Zv22DCgN8J0ktWc+/ppwU8gpq/vsPpt9LwJs58vB2ev1vNR30fa8pbTWA1RGhk3VbRBqbey3fE/1LYPdCLMcF8aCHg56kTRHWn+1BTEcMSqJ5bmOuvLzUH8GofAROjb2Y8bmPo/vIZOt4AsmP70mg3FfYxHdbAGdQ7Z0vbAxdkrtCcNOyL3+XpxZUGr1uEr5rcAIBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01RrgQ1himXDrfEcnFk8uEN5",
      "input": {
        "note": "Avocado is centred between the jaws in the wrist view but further out than the fingertips; advancing 3.5 cm and descending to 10 cm with the tool levelled.",
        "targets": {
          "left_pitch": 0,
          "left_x": 0.36,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01RrgQ1himXDrfEcnFk8uEN5",
      "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]: [-0.7895, 1.6005, 0.8352, -0.0956, -0.6678, -0.5217, 0.9958, 0.2157, 1.2713, 1.0607, -0.9878, 0.0956, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3494 left_y=-0.1918 left_z=0.0912 left_yaw=0.0274 left_pitch=-0.0715 left_roll=0.0996 left_gripper=0.9958 right_x=0.2799 right_y=0.0478 right_z=0.1428 right_yaw=0.1773 right_pitch=-0.6324 right_roll=-0.1586 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -6.4205, 5.9692, 1.5507, -0.6129, 0.0659, 0.0757, -0.1436, -5.7368, 6.1197, 1.1062, 0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f250c5fd7a17caa132fe41a62104910cd6ae06f615da96592d7816ee18c46d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d2f3c7a73b77a10ddd16204ea12ee368cebb830fe6b32eb7bbb9fb69005e35c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ad474b0cce194833965f2ed2e398db60bcea224beb0a044896d55ccd97697669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 34 attempt 0 · /messages · status 200 · 1.979 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.6009, 0.8944, -0.334, -0.5415, -0.6369, 0.0088, 0.2157, 1.29, 1.113, -1.0168, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3243 left_y=-0.1929 left_z=0.0716 left_yaw=0.0263 left_pitch=-0.2645 left_roll=0.0741 left_gripper=0.0088 right_x=0.2852 right_y=0.0489 right_z=0.1531 right_yaw=0.1774 right_pitch=-0.6278 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -6.8718, 5.9966, 1.2332, -0.2613, 0.022, 0.696, -0.1026, -5.9692, 5.7778, 1.1355, 0.0171, -0.0708, -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]: [-0.7902, 1.5311, 1.124, -0.6632, -0.5373, -0.6514, 0.9949, 0.2161, 1.2808, 1.0885, -1.0042, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3234 left_y=-0.193 left_z=0.1394 left_yaw=0.0378 left_pitch=-0.2868 left_roll=0.0842 left_gripper=0.9949 right_x=0.2825 right_y=0.0484 right_z=0.1483 right_yaw=0.1773 right_pitch=-0.6305 right_roll=-0.1589 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.8137, 9.3744, 1.0379, -0.3492, 0.0708, -0.1294, -0.0342, -5.6, 6.0376, 1.0916, 0.0415, -0.0659, -0.0073]\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 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]: [-0.7895, 1.6005, 0.8352, -0.0956, -0.6678, -0.5217, 0.9958, 0.2157, 1.2713, 1.0607, -0.9878, 0.0956, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3494 left_y=-0.1918 left_z=0.0912 left_yaw=0.0274 left_pitch=-0.0715 left_roll=0.0996 left_gripper=0.9958 right_x=0.2799 right_y=0.0478 right_z=0.1428 right_yaw=0.1773 right_pitch=-0.6324 right_roll=-0.1586 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -6.4205, 5.9692, 1.5507, -0.6129, 0.0659, 0.0757, -0.1436, -5.7368, 6.1197, 1.1062, 0.0122, -0.0415, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f250c5fd7a17caa132fe41a62104910cd6ae06f615da96592d7816ee18c46d9d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d2f3c7a73b77a10ddd16204ea12ee368cebb830fe6b32eb7bbb9fb69005e35c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad474b0cce194833965f2ed2e398db60bcea224beb0a044896d55ccd97697669",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS6gIKjgEIEhgCKkD5Sgwe9pY71+NdPnuMb0o+KlcdZ/ErFdJVQMJl6mnUYD+g+tTWHKaYEnWSBjwYwne63MyR6fsKxD7JWmggML5EMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZmAzNUGEgzWOoXDbnZNXjxS0h8aDFBh80HIfTrggezcPCIwGC1wtUzAfaDq8usTALtVASsRG9owZkyNQnjIgGyAhwoGsGEbH00nq2qMh9ab24EEKogBpPFwZJuQVSJ5sIsC7fL7zKSbLrQZMmrTDScT/XhKYBtXUHyH+agEUvc26IvULawOb65Yq3koIv67/FA57aLc2NXTloZf1imoXS5cXGcHyEuCC2hPD0t41Yi/DDXyjuc3u500rIUHVckvGW/V7xRmroBEVBvnZiUtWg32MGYoUa/3zHr/7PHwTxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0159UY88FoHVzTjDNARWbXCY",
      "input": {
        "note": "Avocado now sits right between the jaw tips in the wrist view; descending to grasp height.",
        "targets": {
          "left_x": 0.365,
          "left_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_0159UY88FoHVzTjDNARWbXCY",
      "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]: [-0.7593, 1.7596, 0.7826, 0.0834, -0.6537, -0.5041, 0.9958, 0.2161, 1.2591, 1.0344, -0.9688, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.358 left_y=-0.1867 left_z=0.0381 left_yaw=0.0405 left_pitch=-0.1031 left_roll=0.1298 left_gripper=0.9958 right_x=0.2781 right_y=0.0475 right_z=0.1387 right_yaw=0.1778 right_pitch=-0.6275 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -8.5265, 5.2991, 1.6825, -0.2418, 0.0513, -0.0122, 0.0205, -5.5453, 5.9692, 1.0818, 0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0286439904de6c1cfa371a7540928f429fe6fe716fb32c03c2d038770d77e7e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf56fc4abb91c6febe28c504ef2b0692060a6a2410ee7bf9e2e8fbf5a142ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a652f7710222524b84e5c7857664a89b2bd6e9e0f474c50376055f23ebb37efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 35 attempt 0 · /messages · status 200 · 13.44 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7902, 1.5311, 1.124, -0.6632, -0.5373, -0.6514, 0.9949, 0.2161, 1.2808, 1.0885, -1.0042, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.3234 left_y=-0.193 left_z=0.1394 left_yaw=0.0378 left_pitch=-0.2868 left_roll=0.0842 left_gripper=0.9949 right_x=0.2825 right_y=0.0484 right_z=0.1483 right_yaw=0.1773 right_pitch=-0.6305 right_roll=-0.1589 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -8.8137, 9.3744, 1.0379, -0.3492, 0.0708, -0.1294, -0.0342, -5.6, 6.0376, 1.0916, 0.0415, -0.0659, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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]: [-0.7895, 1.6005, 0.8352, -0.0956, -0.6678, -0.5217, 0.9958, 0.2157, 1.2713, 1.0607, -0.9878, 0.0956, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3494 left_y=-0.1918 left_z=0.0912 left_yaw=0.0274 left_pitch=-0.0715 left_roll=0.0996 left_gripper=0.9958 right_x=0.2799 right_y=0.0478 right_z=0.1428 right_yaw=0.1773 right_pitch=-0.6324 right_roll=-0.1586 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -6.4205, 5.9692, 1.5507, -0.6129, 0.0659, 0.0757, -0.1436, -5.7368, 6.1197, 1.1062, 0.0122, -0.0415, -0.0122]",
      "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]: [-0.7593, 1.7596, 0.7826, 0.0834, -0.6537, -0.5041, 0.9958, 0.2161, 1.2591, 1.0344, -0.9688, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.358 left_y=-0.1867 left_z=0.0381 left_yaw=0.0405 left_pitch=-0.1031 left_roll=0.1298 left_gripper=0.9958 right_x=0.2781 right_y=0.0475 right_z=0.1387 right_yaw=0.1778 right_pitch=-0.6275 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -8.5265, 5.2991, 1.6825, -0.2418, 0.0513, -0.0122, 0.0205, -5.5453, 5.9692, 1.0818, 0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0286439904de6c1cfa371a7540928f429fe6fe716fb32c03c2d038770d77e7e1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ebf56fc4abb91c6febe28c504ef2b0692060a6a2410ee7bf9e2e8fbf5a142ac3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 256):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a652f7710222524b84e5c7857664a89b2bd6e9e0f474c50376055f23ebb37efe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Gm99tHUieHLgwsPW7SUfTL",
      "input": {
        "note": "At 3.8 cm height with the avocado between the jaws; closing to grasp.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Gm99tHUieHLgwsPW7SUfTL",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7551, 1.7824, 0.7712, 0.1398, -0.6426, -0.4942, 0.501, 0.2161, 1.253, 1.0149, -0.9569, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3608 left_y=-0.1893 left_z=0.0326 left_yaw=0.0302 left_pitch=-0.0942 left_roll=0.1158 left_gripper=0.501 right_x=0.2763 right_y=0.0471 right_z=0.1347 right_yaw=0.1775 right_pitch=-0.629 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -8.5675, 5.5453, 1.4921, -0.3248, 0.0415, 1.0037, -0.0068, -5.5863, 5.7368, 1.1551, 0.022, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408d771e360283e47a6dc322e5948ce098fcce7d825d2d6c9239378cf47918e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7cd08cf152ef25c9ff5a2bbf42b35dda8de62d153dc787985f6910ed5e6cd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:342ea0913c78b1ae867f3ad86d9be701d7d9db8b6364fac51d31638dc9619fe6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 36 attempt 0 · /messages · status 200 · 14.09 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7895, 1.6005, 0.8352, -0.0956, -0.6678, -0.5217, 0.9958, 0.2157, 1.2713, 1.0607, -0.9878, 0.0956, -0.0982, 0.9966]\nstate[eef_state]: left_x=0.3494 left_y=-0.1918 left_z=0.0912 left_yaw=0.0274 left_pitch=-0.0715 left_roll=0.0996 left_gripper=0.9958 right_x=0.2799 right_y=0.0478 right_z=0.1428 right_yaw=0.1773 right_pitch=-0.6324 right_roll=-0.1586 right_gripper=0.9966\nstate[joint_eff]: [0.3214, -6.4205, 5.9692, 1.5507, -0.6129, 0.0659, 0.0757, -0.1436, -5.7368, 6.1197, 1.1062, 0.0122, -0.0415, -0.0122]",
      "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]: [-0.7593, 1.7596, 0.7826, 0.0834, -0.6537, -0.5041, 0.9958, 0.2161, 1.2591, 1.0344, -0.9688, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.358 left_y=-0.1867 left_z=0.0381 left_yaw=0.0405 left_pitch=-0.1031 left_roll=0.1298 left_gripper=0.9958 right_x=0.2781 right_y=0.0475 right_z=0.1387 right_yaw=0.1778 right_pitch=-0.6275 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -8.5265, 5.2991, 1.6825, -0.2418, 0.0513, -0.0122, 0.0205, -5.5453, 5.9692, 1.0818, 0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.7551, 1.7824, 0.7712, 0.1398, -0.6426, -0.4942, 0.501, 0.2161, 1.253, 1.0149, -0.9569, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3608 left_y=-0.1893 left_z=0.0326 left_yaw=0.0302 left_pitch=-0.0942 left_roll=0.1158 left_gripper=0.501 right_x=0.2763 right_y=0.0471 right_z=0.1347 right_yaw=0.1775 right_pitch=-0.629 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -8.5675, 5.5453, 1.4921, -0.3248, 0.0415, 1.0037, -0.0068, -5.5863, 5.7368, 1.1551, 0.022, -0.022, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:408d771e360283e47a6dc322e5948ce098fcce7d825d2d6c9239378cf47918e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e7cd08cf152ef25c9ff5a2bbf42b35dda8de62d153dc787985f6910ed5e6cd2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 266):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:342ea0913c78b1ae867f3ad86d9be701d7d9db8b6364fac51d31638dc9619fe6",
        "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_01PXsn5YEgWfinr4qWPojZfy",
      "input": {
        "note": "Avocado grasped (gripper 0.50). The left arm cannot reach the blue bowl, so I'm relaying the fruit: carrying it to a spot on the right side of the table where the right arm can pick it up.",
        "targets": {
          "left_x": 0.4,
          "left_y": -0.35,
          "left_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 15 steps (1.5s)",
      "tool_use_id": "toolu_01PXsn5YEgWfinr4qWPojZfy",
      "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]: [-0.947, 2.1174, 1.7599, -0.6312, -0.7349, -0.7052, 0.5035, 0.2157, 1.2427, 0.9886, -0.9409, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.4018 left_y=-0.3494 left_z=0.1402 left_yaw=0.021 left_pitch=-0.1013 left_roll=0.0872 left_gripper=0.5035 right_x=0.2737 right_y=0.0463 right_z=0.1298 right_yaw=0.177 right_pitch=-0.629 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -12.2872, 8.0205, 0.906, -0.652, -0.0464, 0.652, -0.253, -5.3265, 6.2701, 1.116, 0.0513, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ccdea1886443b6eae7d43fbbe992fa31a6f9c323d529e070c777b65ce929251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:346586cf589e98ba621aaf832a2095114a17f7c7040c5a8f6aaf9dc10ff01afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:be82f4622e616b267efa10e1dbde3a0324ad31e9891b4b4033d1bc424e14bf21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 37 attempt 0 · /messages · status 200 · 7.116 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7593, 1.7596, 0.7826, 0.0834, -0.6537, -0.5041, 0.9958, 0.2161, 1.2591, 1.0344, -0.9688, 0.0956, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.358 left_y=-0.1867 left_z=0.0381 left_yaw=0.0405 left_pitch=-0.1031 left_roll=0.1298 left_gripper=0.9958 right_x=0.2781 right_y=0.0475 right_z=0.1387 right_yaw=0.1778 right_pitch=-0.6275 right_roll=-0.1583 right_gripper=0.9965\nstate[joint_eff]: [0.3761, -8.5265, 5.2991, 1.6825, -0.2418, 0.0513, -0.0122, 0.0205, -5.5453, 5.9692, 1.0818, 0.0073, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7551, 1.7824, 0.7712, 0.1398, -0.6426, -0.4942, 0.501, 0.2161, 1.253, 1.0149, -0.9569, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3608 left_y=-0.1893 left_z=0.0326 left_yaw=0.0302 left_pitch=-0.0942 left_roll=0.1158 left_gripper=0.501 right_x=0.2763 right_y=0.0471 right_z=0.1347 right_yaw=0.1775 right_pitch=-0.629 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -8.5675, 5.5453, 1.4921, -0.3248, 0.0415, 1.0037, -0.0068, -5.5863, 5.7368, 1.1551, 0.022, -0.022, -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]: [-0.947, 2.1174, 1.7599, -0.6312, -0.7349, -0.7052, 0.5035, 0.2157, 1.2427, 0.9886, -0.9409, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.4018 left_y=-0.3494 left_z=0.1402 left_yaw=0.021 left_pitch=-0.1013 left_roll=0.0872 left_gripper=0.5035 right_x=0.2737 right_y=0.0463 right_z=0.1298 right_yaw=0.177 right_pitch=-0.629 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -12.2872, 8.0205, 0.906, -0.652, -0.0464, 0.652, -0.253, -5.3265, 6.2701, 1.116, 0.0513, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ccdea1886443b6eae7d43fbbe992fa31a6f9c323d529e070c777b65ce929251",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:346586cf589e98ba621aaf832a2095114a17f7c7040c5a8f6aaf9dc10ff01afd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 281):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:be82f4622e616b267efa10e1dbde3a0324ad31e9891b4b4033d1bc424e14bf21",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KExqaAdHQfY4HzScBsTwKM",
      "input": {
        "note": "Lowering the avocado to just above the table on the right-hand side and opening the jaws to drop it there for the right arm to collect.",
        "targets": {
          "left_gripper": 1,
          "left_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01KExqaAdHQfY4HzScBsTwKM",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9493, 2.183, 1.5776, -0.4206, -0.733, -0.7071, 0.9954, 0.2157, 1.2354, 0.9649, -0.9272, 0.0959, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3969 left_y=-0.3451 left_z=0.0659 left_yaw=0.0221 left_pitch=-0.1237 left_roll=0.1159 left_gripper=0.9954 right_x=0.2713 right_y=0.0458 right_z=0.1248 right_yaw=0.1767 right_pitch=-0.6316 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -10.7829, 5.6274, 1.2821, -0.3639, 0.0317, 0.0904, -0.0342, -5.3402, 5.9966, 1.0867, 0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae12624574feed929d7013cd17313955d09bf4a1e12ff8c19582672b62894245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbddda391e067e6168202e469a034a91827cac38f1818d8fa293f5bac3ac1a74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21ef65529798ead4e4b4fa31acb04045743ee8adde22479821216b6a86886769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 3.561 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7551, 1.7824, 0.7712, 0.1398, -0.6426, -0.4942, 0.501, 0.2161, 1.253, 1.0149, -0.9569, 0.0956, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3608 left_y=-0.1893 left_z=0.0326 left_yaw=0.0302 left_pitch=-0.0942 left_roll=0.1158 left_gripper=0.501 right_x=0.2763 right_y=0.0471 right_z=0.1347 right_yaw=0.1775 right_pitch=-0.629 right_roll=-0.1582 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -8.5675, 5.5453, 1.4921, -0.3248, 0.0415, 1.0037, -0.0068, -5.5863, 5.7368, 1.1551, 0.022, -0.022, -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]: [-0.947, 2.1174, 1.7599, -0.6312, -0.7349, -0.7052, 0.5035, 0.2157, 1.2427, 0.9886, -0.9409, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.4018 left_y=-0.3494 left_z=0.1402 left_yaw=0.021 left_pitch=-0.1013 left_roll=0.0872 left_gripper=0.5035 right_x=0.2737 right_y=0.0463 right_z=0.1298 right_yaw=0.177 right_pitch=-0.629 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -12.2872, 8.0205, 0.906, -0.652, -0.0464, 0.652, -0.253, -5.3265, 6.2701, 1.116, 0.0513, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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]: [-0.9493, 2.183, 1.5776, -0.4206, -0.733, -0.7071, 0.9954, 0.2157, 1.2354, 0.9649, -0.9272, 0.0959, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3969 left_y=-0.3451 left_z=0.0659 left_yaw=0.0221 left_pitch=-0.1237 left_roll=0.1159 left_gripper=0.9954 right_x=0.2713 right_y=0.0458 right_z=0.1248 right_yaw=0.1767 right_pitch=-0.6316 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -10.7829, 5.6274, 1.2821, -0.3639, 0.0317, 0.0904, -0.0342, -5.3402, 5.9966, 1.0867, 0.0659, -0.0464, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ae12624574feed929d7013cd17313955d09bf4a1e12ff8c19582672b62894245",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fbddda391e067e6168202e469a034a91827cac38f1818d8fa293f5bac3ac1a74",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21ef65529798ead4e4b4fa31acb04045743ee8adde22479821216b6a86886769",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QYKjgEIEhgCKkBRQI7KnWHPCSNTnoW5DmBAk4P3IAfSPgVoqNMC0DadwfrWqR8d9hwDhp+hGwosyH6AGgyoL6J3nGJ/EIEcZxViMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCAzNUGEgwdv4NFNdVO3icd74AaDGvDoFKchfDgGlkSCSIwQRzAYu5XG03Da4wXEDJhKQmXJMI3JuW9nNMrLd7qAMLO18qx54y9ZZE2RiJqiYhEKoMFpPKVbGDoVZ8kdG8Npu808s2vrcK+72Pgn/VU9Jd7rnO9axIz2vP+JkLAXb2bQTiAxKta0q5ZQp94Y85GCvhlpB5Mba8rFkHLaidcL1u4qszB7oDPpoloE//jKJAZHqeM9VE70pvIyuE83T0aySy66OiUf76fVyepUQorL6TXg6h9ZH9uxjW6QHsZ9VlJRn/4GP0pVRNtrM0rf4G+fw8WiTXcfFXsQ5JVXwhWxgYKpKHAQaipS/Xd1DJf0vEWlfbwbDXLOIMrbkDT7WISIPFV+rlg0s+ncOtB7tSC9diZ4sJcqJt1B0g5hBEYAjByleRTR69uo76P0eMpxXLJ4RU6RYbDfqAPtyulrgu6O3m3CKjnaOXnAy58p0d9JeooV+W2ZzwtWSqHcxeuy20NE2PU/2YGyBBWCSTEwLZHrAJtERE2X77jwDfy7okMqgvparfcgyfMB4PDscFi/KZvIcH5UVLhOGq+GcOonDElUv2GPZ9BbVLYErnYs7ZPiTspjVZRAF8BxJir0MEVso5Vre0ipe9nQE80DwSZFtdEGSEGC96CSZOq8wx9p7onF49MPc3+yRMBdeSen+NaF0tcOGeLGA+adRi0hxABYmi7gpSVkJNoW6c474y5KJ4oBxKeYME1PpJ3U4/QvE+Cmfgw4rp0tz7al4NjIDx42r9hyYDf0aUYxLix8V9nOD5qPYMm9iu+IO6KKha+VExovXlncnz035io/tZfhEUXz+i9h1er3cdacvMC5tXCu3aFVv7zXu4b2JCRMM6e4MoDK0EvML+hVKmPg1rLJrAnsgJqiemBesDWvl+FqPl72bo9Re2PHcIzzxxqbql9wYohenzRgwTbk8LyxRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BH1kaH7ot2wPBmK3crr6fx",
      "input": {
        "note": "Avocado is now parked on the right half of the table; retracting the left arm home and bringing the right arm over the avocado.",
        "targets": {
          "left_x": 0.28,
          "left_y": 0.0,
          "left_z": 0.18,
          "right_x": 0.4,
          "right_y": 0.29,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 31 steps (3.1s)",
      "tool_use_id": "toolu_01BH1kaH7ot2wPBmK3crr6fx",
      "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]: [-0.1486, 0.8425, 0.7033, -0.5621, -0.2321, -0.0757, 0.9963, 0.7139, 2.1525, 2.0377, -1.1519, 0.2577, 0.3473, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=0.0023 left_z=0.1784 left_yaw=0.0808 left_pitch=-0.1132 left_roll=0.1076 left_gripper=0.9963 right_x=0.3955 right_y=0.2878 right_z=0.1344 right_yaw=0.2074 right_pitch=-0.6203 right_roll=-0.1604 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.7436, 7.3915, 1.7021, 0.1538, 0.1245, 0.0806, 0.2256, -11.4393, 7.7197, 0.6911, 0.3639, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5032f0515a97e3b9530727679f3d42692f3f3685bf94d2b65ad0115157aff39c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5933875369b4fe0fec2d9feeacc47d40cb1dd57db75a6c9b28031aa38e146f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1323319a4b7a859e43119dbe60ace5e460819117dcad8070bb8a3a94c32e7fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 1.682 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.947, 2.1174, 1.7599, -0.6312, -0.7349, -0.7052, 0.5035, 0.2157, 1.2427, 0.9886, -0.9409, 0.0959, -0.0982, 0.9965]\nstate[eef_state]: left_x=0.4018 left_y=-0.3494 left_z=0.1402 left_yaw=0.021 left_pitch=-0.1013 left_roll=0.0872 left_gripper=0.5035 right_x=0.2737 right_y=0.0463 right_z=0.1298 right_yaw=0.177 right_pitch=-0.629 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [-0.7726, -12.2872, 8.0205, 0.906, -0.652, -0.0464, 0.652, -0.253, -5.3265, 6.2701, 1.116, 0.0513, -0.0366, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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]: [-0.9493, 2.183, 1.5776, -0.4206, -0.733, -0.7071, 0.9954, 0.2157, 1.2354, 0.9649, -0.9272, 0.0959, -0.0978, 0.9965]\nstate[eef_state]: left_x=0.3969 left_y=-0.3451 left_z=0.0659 left_yaw=0.0221 left_pitch=-0.1237 left_roll=0.1159 left_gripper=0.9954 right_x=0.2713 right_y=0.0458 right_z=0.1248 right_yaw=0.1767 right_pitch=-0.6316 right_roll=-0.1588 right_gripper=0.9965\nstate[joint_eff]: [0.1026, -10.7829, 5.6274, 1.2821, -0.3639, 0.0317, 0.0904, -0.0342, -5.3402, 5.9966, 1.0867, 0.0659, -0.0464, -0.0122]",
      "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]: [-0.1486, 0.8425, 0.7033, -0.5621, -0.2321, -0.0757, 0.9963, 0.7139, 2.1525, 2.0377, -1.1519, 0.2577, 0.3473, 0.9965]\nstate[eef_state]: left_x=0.2837 left_y=0.0023 left_z=0.1784 left_yaw=0.0808 left_pitch=-0.1132 left_roll=0.1076 left_gripper=0.9963 right_x=0.3955 right_y=0.2878 right_z=0.1344 right_yaw=0.2074 right_pitch=-0.6203 right_roll=-0.1604 right_gripper=0.9965\nstate[joint_eff]: [0.1162, -1.7436, 7.3915, 1.7021, 0.1538, 0.1245, 0.0806, 0.2256, -11.4393, 7.7197, 0.6911, 0.3639, 0.1978, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5032f0515a97e3b9530727679f3d42692f3f3685bf94d2b65ad0115157aff39c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5933875369b4fe0fec2d9feeacc47d40cb1dd57db75a6c9b28031aa38e146f6a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 318):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1323319a4b7a859e43119dbe60ace5e460819117dcad8070bb8a3a94c32e7fc4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISjwQKjgEIEhgCKkCqkKVfoYUhecsUq+mn3IDq5sBCqx5oHTjII55k8eBVo+wyBGjhV1LBZaOWd1UIfhimrU1t/5P8ZPgmDXg/Bz6xMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAceAzNUGEgxhUZurWYxznmCm2wMaDF+SiGZqNTBxQVHGACIwN+PUX8foNQZc40qJMe7L4NNxxOdcsGDsn3lcOd9huExWIUbLAfZrXIVoo5yLK+cNKq0CUxxUfvonYl1WmEGHMYrDMO+7ShuY090FaSTGwLVL8C6kjxLJgRccZCL0BlKeBYahyeMg7itgG0R7Xyv2GnrO9iRci262TFpXKRwj+jiC2xcc/8RDi3VfQwOLXRCAizYsFAj96CbweBdLA9RkwlKhTRnfUedVYC9f6V/BLz9SbDUilWrO9VMhk/OsiMEykj75522vIoxBb4V2Q+kaBQJA1njb2KZ10v5PjywAL7heQZvZHYktfmCbXyeqNUmTKQ33t7AY4Kho52XzBetayviAsFYhoL471Oto8Ni+za9VUCfX6EVJXDHBgsZ/NEfjNoTHA1gRL9xWogvpQYzYePmzlRlr6sXla56qXysU+9/7R8q5HUpg2bF91qvcNo1EXhwl/dJ6Yi9Ae+/d7XktIBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0136Hft8LTVybJpydiFm9AYH",
      "input": {
        "note": "Right wrist view shows the avocado just beyond and slightly right of the jaws; advancing 2 cm, nudging right and descending to grasp height.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.275,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0136Hft8LTVybJpydiFm9AYH",
      "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]: [-0.1463, 0.8471, 0.7029, -0.58, -0.2245, -0.0757, 0.9964, 0.6682, 2.1769, 1.742, -0.8402, 0.2497, 0.2951, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=0.002 left_z=0.1736 left_yaw=0.0773 left_pitch=-0.1366 left_roll=0.1078 left_gripper=0.9964 right_x=0.4079 right_y=0.2709 right_z=0.0495 right_yaw=0.2004 right_pitch=-0.6359 right_roll=-0.1808 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.812, 6.9128, 1.7802, -0.232, -0.0757, -0.0024, -0.9504, -10.7009, 6.1744, 0.9695, 0.0659, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7cec83d5f97b9e6a1782f3d4f983a775362ba882bfbd41d1464929d4a97e171",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 325):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:518b092a24296082d774eae286d86cafe0777009d96694ea2f5d81a50735383b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 325):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c26c4cb9a9c3f2e52a748a927597841e27ff458ae1c890a86afc35e883050fca",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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