adhoc

completed
2026-09-22T23:51:49.429743+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (75 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5
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
414.6 s
total steps
343
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 large white bowl on the left, a blue bowl right-of-centre and two yellow fruits beside the blue bowl. Moving the right arm above the nearer fruit to line up a grasp.
move_to
right_x0.3600right_y0.0600right_z0.1600right_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, 0.6132, -0.3824, -0.0139, -0.0296, 0.9939, -0.0227, 0.8005, 0.6182, -0.3874, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1819 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9939 right_x=0.2959 right_y=0.0005 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5538, -1.7983, 9.7846, 1.7851, -0.1197, 0.1441, -0.3785, -0.294, -1.7983, 9.3744, 1.8632, -0.0659, -0.0513, -0.0757] 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": 0.36, "right_y": 0.06, "right_z": 0.16, "right_gripper": 1}, "note": "Top view shows a large white bowl on the left, a blue bowl right-of-centre and two yellow fruits beside the blue bowl. Moving the right arm above the nearer fruit to line up a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent noteWrist view shows the quince slightly right of the jaw column and low in the frame; nudging right and forward, and lowering, to centre it before descending.
move_to
right_x0.3700right_y0.0350right_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, 0.8059, 0.6132, -0.3939, -0.0139, -0.0307, 0.9933, 0.2619, 1.1744, 0.6544, -0.1307, 0.1909, 0.1165, 0.9994] state[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1781 left_yaw=-0.0012 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9933 right_x=0.3501 right_y=0.0628 right_z=0.1385 right_yaw=0.0366 right_pitch=-0.0674 right_roll=-0.0226 right_gripper=0.9994 state[joint_eff]: [-0.1846, -1.7299, 7.0496, 1.8437, -0.0415, -0.0171, -0.0708, -0.2667, -4.3966, 9.0735, 1.9658, 0.2906, 0.2027, -0.0757] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.37, "right_y": 0.035, "right_z": 0.12}, "note": "Wrist view shows the quince slightly right of the jaw column and low in the frame; nudging right and forward, and lowering, to centre it before descending."})
tool
executing move_to over 3 steps (0.3s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe quince is nearly on the jaw column but still a few cm beyond the fingertips; advancing 3 cm and descending to fruit mid-height.
move_to
right_x0.4000right_y0.0300right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4049, -0.0139, -0.0307, 0.9932, 0.1223, 1.2716, 0.6399, -0.033, 0.0799, 0.0326, 0.9994] state[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0012 left_pitch=-0.0282 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3677 right_y=0.0346 right_z=0.1163 right_yaw=0.0355 right_pitch=-0.0928 right_roll=-0.0246 right_gripper=0.9994 state[joint_eff]: [-0.1709, -1.1556, 7.0085, 1.8632, -0.0708, -0.0659, -0.022, 0.0615, -4.9299, 6.1333, 1.9853, -0.0122, -0.0855, -0.022] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.03, "right_z": 0.06}, "note": "The quince is nearly on the jaw column but still a few cm beyond the fingertips; advancing 3 cm and descending to fruit mid-height."})
tool
executing move_to over 4 steps (0.4s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe quince now fills the lower centre of the wrist view between the jaws; lowering slightly and closing the gripper to grasp it.
move_to
right_z0.0350right_gripper0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8089, 0.6132, -0.4168, -0.0139, -0.0307, 0.9932, 0.0944, 1.56, 0.6064, 0.247, 0.0502, 0.0071, 0.9994] state[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3942 right_y=0.032 right_z=0.051 right_yaw=0.0464 right_pitch=-0.1362 right_roll=-0.0284 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.388, 7.0632, 1.8095, -0.0562, -0.0415, -0.0171, -0.3624, -6.8308, 5.4769, 2.0293, 0.0366, 0.0366, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.035, "right_gripper": 0.05}, "note": "The quince now fills the lower centre of the wrist view between the jaws; lowering slightly and closing the gripper to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe gripper closed to 0.05 with no resistance, so the quince was not between the jaws; reopening before advancing 2 cm.
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, 0.8089, 0.6132, -0.4236, -0.0139, -0.0307, 0.9932, 0.0952, 1.6085, 0.5827, 0.3, 0.0475, -0.001, 0.0508] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0012 left_pitch=-0.0496 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3914 right_y=0.0325 right_z=0.0339 right_yaw=0.0537 right_pitch=-0.1555 right_roll=-0.0336 right_gripper=0.0508 state[joint_eff]: [-0.0479, -1.1419, 7.1453, 1.7607, -0.0464, -0.0317, -0.0171, -0.0752, -5.8325, 4.9162, 1.8974, 0.0562, 0.0269, 0.0708] camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The gripper closed to 0.05 with no resistance, so the quince was not between the jaws; reopening before advancing 2 cm."})
tool
executing move_to over 10 steps (1.0s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteWith jaws open the quince sits just above/beyond the jaw tips in the wrist view; advancing 2.5 cm so the fruit sits between the fingers.
move_to
right_x0.4150right_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, 0.8124, 0.6132, -0.4244, -0.0139, -0.0307, 0.9932, 0.0952, 1.6089, 0.5781, 0.2939, 0.0471, -0.009, 0.9958] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0012 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3888 right_y=0.0324 right_z=0.031 right_yaw=0.0583 right_pitch=-0.1667 right_roll=-0.0399 right_gripper=0.9958 state[joint_eff]: [-0.212, -1.3197, 7.0085, 1.7558, -0.0171, -0.0366, -0.0122, -0.3487, -6.4342, 5.7368, 1.6239, -0.0464, 0.0513, -0.1783] camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.415, "right_z": 0.035}, "note": "With jaws open the quince sits just above/beyond the jaw tips in the wrist view; advancing 2.5 cm so the fruit sits between the fingers."})
tool
executing move_to over 3 steps (0.3s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe quince now fills the jaw area in the wrist view; closing fully 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, 0.8127, 0.6128, -0.4271, -0.0135, -0.0307, 0.9932, 0.0925, 1.684, 0.6575, 0.2562, 0.0433, -0.017, 0.997] state[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1693 left_yaw=-0.0015 left_pitch=-0.0572 left_roll=-0.0002 left_gripper=0.9932 right_x=0.4037 right_y=0.0334 right_z=0.0242 right_yaw=0.0631 right_pitch=-0.2005 right_roll=-0.0443 right_gripper=0.997 state[joint_eff]: [-0.2803, -1.1145, 7.0222, 1.707, -0.0366, -0.0415, -0.0122, -0.7043, -6.6393, 7.6103, 1.5995, -0.0317, -0.0269, 0.1099] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The quince now fills the jaw area in the wrist view; closing fully to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteClose was empty again (gripper read 0.01), so the pear is still beyond the fingertips; reopening and advancing another 3.5 cm.
move_to
right_gripper1.0000right_x0.4400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4278, -0.0139, -0.0307, 0.9932, 0.0898, 1.6844, 0.6617, 0.2447, 0.0429, -0.0196, 0.0102] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0012 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9932 right_x=0.4032 right_y=0.0323 right_z=0.0235 right_yaw=0.0622 right_pitch=-0.2082 right_roll=-0.0462 right_gripper=0.0102 state[joint_eff]: [-0.0615, -1.4017, 7.241, 1.6972, -0.0317, -0.0513, -0.0122, 0.1846, -6.8718, 5.0393, 1.6532, -0.0171, -0.0024, 0.9206] camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.44}, "note": "Close was empty again (gripper read 0.01), so the pear is still beyond the fingertips; reopening and advancing another 3.5 cm."})
tool
executing move_to over 10 steps (1.0s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe pear now fills the wrist view right at the jaws; closing to grasp.
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, 0.8154, 0.6128, -0.4355, -0.0135, -0.0307, 0.9932, 0.0875, 1.7958, 0.7841, 0.2008, 0.0277, -0.038, 0.9953] state[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1669 left_yaw=-0.0015 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9932 right_x=0.4282 right_y=0.0363 right_z=0.0148 right_yaw=0.0831 right_pitch=-0.2416 right_roll=-0.0487 right_gripper=0.9953 state[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.7216, -0.0366, -0.0611, -0.0122, -0.9504, -7.3778, 7.4325, 1.6435, 0.0952, 0.0904, 0.0806] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "The pear now fills the wrist view right at the jaws; closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteTwo closes at ~1 cm height came up empty; reopening and trying at 5.5 cm, the fat middle of the pear.
move_to
right_gripper1.0000right_z0.0550
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4423, -0.0135, -0.0311, 0.9932, 0.0887, 1.7992, 0.7864, 0.1894, 0.0277, -0.0422, 0.0103] state[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1655 left_yaw=-0.0013 left_pitch=-0.0751 left_roll=-0.0001 left_gripper=0.9932 right_x=0.4266 right_y=0.0366 right_z=0.0123 right_yaw=0.0866 right_pitch=-0.2543 right_roll=-0.0517 right_gripper=0.0103 state[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.707, -0.0366, -0.0562, -0.0122, -0.253, -8.4444, 5.3538, 1.6093, -0.0464, 0.0415, 0.9109] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.055}, "note": "Two closes at ~1 cm height came up empty; reopening and trying at 5.5 cm, the fat middle of the pear."})
tool
executing move_to over 10 steps (1.0s)
step 75
top_cam
camera top_cam step 75
left_cam
camera left_cam step 75
right_cam
camera right_cam step 75
assistant
agent noteThe jaws sit clearly short of the pear and the arm is near its reach limit; pitching the tool forward to gain reach and pushing x to 0.46.
move_to
right_x0.4600right_z0.0400right_pitch0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4461, -0.0135, -0.0307, 0.9932, 0.0895, 1.718, 0.8387, -0.0135, 0.0238, -0.0536, 0.9986] state[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1638 left_yaw=-0.0015 left_pitch=-0.0828 left_roll=0.0003 left_gripper=0.9932 right_x=0.4143 right_y=0.0365 right_z=0.0307 right_yaw=0.0972 right_pitch=-0.324 right_roll=-0.0563 right_gripper=0.9986 state[joint_eff]: [-0.0752, -1.347, 7.0632, 1.7851, -0.0073, -0.0464, -0.0122, -0.2803, -10.6325, 7.5829, 1.5507, -0.0269, 0.0562, -0.1587] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 75): [image omitted: streamed camera frame] camera 'left_cam' (step 75): [image omitted: streamed camera frame] camera 'right_cam' (step 75): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.04, "right_pitch": 0.25}, "note": "The jaws sit clearly short of the pear and the arm is near its reach limit; pitching the tool forward to gain reach and pushing x to 0.46."})
tool
executing move_to over 20 steps (2.0s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent notePitching forward gained reach; the pear now sits right between the jaw tips. Closing to grasp.
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, 0.8192, 0.6128, -0.4534, -0.0135, -0.0307, 0.9932, 0.0765, 1.9957, 0.5892, 1.0027, 0.0051, -0.0608, 0.9986] state[eef_state]: left_x=0.287 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0015 left_pitch=-0.09 left_roll=0.0005 left_gripper=0.9932 right_x=0.4536 right_y=0.0374 right_z=0.0239 right_yaw=0.1038 right_pitch=0.1649 right_roll=-0.0593 right_gripper=0.9986 state[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0269, -0.022, -0.0122, -0.5538, -7.5829, 3.453, 2.3712, 0.0024, 0.0269, -0.0171] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pitching forward gained reach; the pear now sits right between the jaw tips. Closing to grasp."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThird empty close despite the pear looking centred between the jaws, so my y or x estimate must be off; lifting and retracting to get an unobstructed top view of the fruit and the arm.
move_to
right_x0.3800right_z0.2200right_pitch0.0000right_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, 0.8257, 0.6128, -0.4675, -0.0135, -0.0311, 0.9932, 0.0765, 2.0068, 0.5892, 0.9962, -0.0013, -0.0639, 0.0102] state[eef_state]: left_x=0.2851 left_y=-0.0003 left_z=0.1579 left_yaw=-0.0012 left_pitch=-0.1106 left_roll=0.0006 left_gripper=0.9932 right_x=0.4519 right_y=0.0385 right_z=0.0176 right_yaw=0.1109 right_pitch=0.1473 right_roll=-0.0589 right_gripper=0.0102 state[joint_eff]: [0.0889, -1.4154, 6.9265, 1.9023, -0.0122, -0.0366, -0.0122, -0.0068, -9.2923, 3.8632, 1.9805, 0.0562, -0.022, 0.8913] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_z": 0.22, "right_pitch": 0, "right_gripper": 1}, "note": "Third empty close despite the pear looking centred between the jaws, so my y or x estimate must be off; lifting and retracting to get an unobstructed top view of the fruit and the arm."})
tool
executing move_to over 14 steps (1.4s)
step 119
top_cam
camera top_cam step 119
left_cam
camera left_cam step 119
right_cam
camera right_cam step 119
assistant
agent noteDiagnostic: with the jaws closed I push forward at fruit height to see in the top view exactly where my fingertips are relative to the pear; if the pear shifts, my x estimate is right.
move_to
right_gripper0.0000right_pitch0.2500right_z0.0300right_x0.4800
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, 0.8284, 0.6125, -0.4755, -0.0139, -0.0307, 0.9932, 0.1009, 1.214, 0.8886, -0.2253, 0.0063, -0.0711, 0.9965] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=-0.0011 left_pitch=-0.1217 left_roll=0.0014 left_gripper=0.9932 right_x=0.3873 right_y=0.0417 right_z=0.209 right_yaw=0.1325 right_pitch=0.0178 right_roll=-0.0647 right_gripper=0.9965 state[joint_eff]: [-0.1983, -1.6342, 6.9812, 1.7656, -0.0464, -0.0611, -0.0122, 0.2256, -5.4222, 9.1556, 1.7167, 0.1538, 0.1099, -0.1441] camera 'top_cam' (step 119): [image omitted: streamed camera frame] camera 'left_cam' (step 119): [image omitted: streamed camera frame] camera 'right_cam' (step 119): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0, "right_pitch": 0.25, "right_z": 0.03, "right_x": 0.48}, "note": "Diagnostic: with the jaws closed I push forward at fruit height to see in the top view exactly where my fingertips are relative to the pear; if the pear shifts, my x estimate is right."})
tool
executing move_to over 12 steps (1.2s)
step 131
top_cam
camera top_cam step 131
left_cam
camera left_cam step 131
right_cam
camera right_cam step 131
assistant
agent noteThe closed jaws are now right against the base of the pear in the wrist view; opening the gripper so the pear ends up between the fingers.
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, 0.8322, 0.6125, -0.4767, -0.0135, -0.0307, 0.9932, 0.0742, 2.0624, 0.6483, 0.9539, -0.025, -0.0795, 0.0096] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0014 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4614 right_y=0.0423 right_z=0.0027 right_yaw=0.137 right_pitch=0.1085 right_roll=-0.0611 right_gripper=0.0096 state[joint_eff]: [-0.3214, -1.7026, 7.0906, 1.6288, -0.0366, -0.0122, -0.0122, -0.7043, -9.8393, 5.094, 2.3516, -0.0464, 0.0269, 0.8181] camera 'top_cam' (step 131): [image omitted: streamed camera frame] camera 'left_cam' (step 131): [image omitted: streamed camera frame] camera 'right_cam' (step 131): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "The closed jaws are now right against the base of the pear in the wrist view; opening the gripper so the pear ends up between the fingers."})
tool
executing move_to over 10 steps (1.0s)
step 141
top_cam
camera top_cam step 141
left_cam
camera left_cam step 141
right_cam
camera right_cam step 141
assistant
agent notePear base sits just beyond the open jaws; advancing 1.5 cm and raising slightly so the fingers straddle its widest part.
move_to
right_x0.4780right_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, 0.8322, 0.6125, -0.4763, -0.0139, -0.0311, 0.9932, 0.0746, 2.0781, 0.6449, 0.9939, -0.0319, -0.0795, 0.9955] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1262 left_roll=0.0012 left_gripper=0.9932 right_x=0.4627 right_y=0.0438 right_z=0.0036 right_yaw=0.1434 right_pitch=0.1296 right_roll=-0.0595 right_gripper=0.9955 state[joint_eff]: [-0.0342, -1.2923, 6.9402, 1.6044, -0.0513, -0.0708, -0.0122, -0.0889, -10.1675, 4.0137, 1.409, 0.0269, -0.0269, -0.0904] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 141): [image omitted: streamed camera frame] camera 'left_cam' (step 141): [image omitted: streamed camera frame] camera 'right_cam' (step 141): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.478, "right_z": 0.025}, "note": "Pear base sits just beyond the open jaws; advancing 1.5 cm and raising slightly so the fingers straddle its widest part."})
tool
executing move_to over 2 steps (0.2s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent notePear is between the open jaws now; 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, 0.8322, 0.6125, -0.4767, -0.0139, -0.0311, 0.9932, 0.0746, 2.0613, 0.6743, 0.9371, -0.0399, -0.0811, 0.9964] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4683 right_y=0.0456 right_z=0.0079 right_yaw=0.1509 right_pitch=0.1192 right_roll=-0.0567 right_gripper=0.9964 state[joint_eff]: [-0.0068, -1.4427, 6.9675, 1.5995, -0.0366, -0.0708, -0.0073, -0.4308, -11.7402, 5.9145, 1.8926, 0.0415, -0.022, 0.0806] camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "Pear is between the open jaws now; closing to grasp it."})
tool
executing move_to over 10 steps (1.0s)
step 153
top_cam
camera top_cam step 153
left_cam
camera left_cam step 153
right_cam
camera right_cam step 153
assistant
agent noteStill empty: the pear's centre sits ~20 px right of the jaw column, so the jaws are closing beside it. Opening and shifting 3 cm to the arm's right to line up.
move_to
right_gripper1.0000right_y0.0150
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, 0.8322, 0.6125, -0.4763, -0.0135, -0.0311, 0.9932, 0.0746, 2.0514, 0.6746, 0.9157, -0.0399, -0.0875, 0.0102] state[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0009 left_gripper=0.9932 right_x=0.4671 right_y=0.0456 right_z=0.0078 right_yaw=0.1543 right_pitch=0.108 right_roll=-0.0617 right_gripper=0.0102 state[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.6239, -0.0317, -0.0269, -0.0122, -0.0615, -8.1162, 3.959, 2.0537, 0.0024, 0.0317, 0.862] camera 'top_cam' (step 153): [image omitted: streamed camera frame] camera 'left_cam' (step 153): [image omitted: streamed camera frame] camera 'right_cam' (step 153): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_y": 0.015}, "note": "Still empty: the pear's centre sits ~20 px right of the jaw column, so the jaws are closing beside it. Opening and shifting 3 cm to the arm's right to line up."})
tool
executing move_to over 10 steps (1.0s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe pear still sits beyond the fingertips; pitching the tool further forward and pushing x to 0.50 to extend reach onto it.
move_to
right_x0.5000right_y0.0300right_pitch0.4500right_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, 0.8352, 0.6125, -0.4911, -0.0135, -0.0311, 0.9932, -0.0154, 2.0514, 0.6746, 0.8997, -0.1287, -0.1364, 0.9953] state[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1507 left_yaw=-0.0011 left_pitch=-0.1442 left_roll=0.0013 left_gripper=0.9932 right_x=0.4666 right_y=0.0191 right_z=0.0048 right_yaw=0.1657 right_pitch=0.0957 right_roll=-0.0633 right_gripper=0.9953 state[joint_eff]: [-0.0615, -1.4154, 7.0359, 1.7314, -0.0269, -0.0708, -0.0122, -0.6359, -9.2376, 3.6991, 2.0537, 0.1197, 0.0269, -0.0122] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.5, "right_y": 0.03, "right_pitch": 0.45, "right_z": 0.03}, "note": "The pear still sits beyond the fingertips; pitching the tool further forward and pushing x to 0.50 to extend reach onto it."})
tool
executing move_to over 12 steps (1.2s)
step 175
top_cam
camera top_cam step 175
left_cam
camera left_cam step 175
right_cam
camera right_cam step 175
assistant
agent noteAt x=0.49 the pear extends to the bottom of the wrist view, so it should now be within the jaws; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4938, -0.0135, -0.0311, 0.9932, 0.0074, 2.3024, 0.7158, 1.3911, -0.1364, -0.094, 0.9964] state[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0011 left_pitch=-0.1469 left_roll=0.0014 left_gripper=0.9932 right_x=0.493 right_y=0.0313 right_z=0.0152 right_yaw=0.1837 right_pitch=0.3748 right_roll=-0.071 right_gripper=0.9964 state[joint_eff]: [-0.335, -1.2103, 6.9675, 1.6532, -0.0513, -0.0562, -0.0122, -0.1026, -8.6496, 4.547, 2.2149, 0.0611, 0.149, 0.1001] camera 'top_cam' (step 175): [image omitted: streamed camera frame] camera 'left_cam' (step 175): [image omitted: streamed camera frame] camera 'right_cam' (step 175): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "At x=0.49 the pear extends to the bottom of the wrist view, so it should now be within the jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 185
top_cam
camera top_cam step 185
left_cam
camera left_cam step 185
right_cam
camera right_cam step 185
assistant
agent noteThe jaws keep stopping ~2 cm short of the pear at table level, which is the arm's reach limit; trying higher up (z≈9 cm) where the arm can extend further, to grasp the pear's neck.
move_to
right_gripper1.0000right_x0.5300right_z0.0950right_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4942, -0.0139, -0.0311, 0.9932, 0.0074, 2.3146, 0.7197, 1.401, -0.1394, -0.0967, 0.0105] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0008 left_pitch=-0.1472 left_roll=0.0016 left_gripper=0.9932 right_x=0.4933 right_y=0.0318 right_z=0.0129 right_yaw=0.1881 right_pitch=0.3763 right_roll=-0.0734 right_gripper=0.0105 state[joint_eff]: [-0.0068, -1.4154, 7.0496, 1.6288, -0.0415, -0.0708, -0.0122, -0.1299, -10.7145, 2.6051, 1.8437, -0.0122, -0.0366, 0.7985] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 185): [image omitted: streamed camera frame] camera 'left_cam' (step 185): [image omitted: streamed camera frame] camera 'right_cam' (step 185): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.53, "right_z": 0.095, "right_pitch": 0.3}, "note": "The jaws keep stopping ~2 cm short of the pear at table level, which is the arm's reach limit; trying higher up (z\u22489 cm) where the arm can extend further, to grasp the pear's neck."})
tool
executing move_to over 10 steps (1.0s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteAt z=7.5 cm the arm reached x=0.52 and the pear's neck now sits on the jaw column filling the lower frame; closing to grasp the neck.
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, 0.8368, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0113, 2.043, 0.8665, 0.8875, -0.1516, -0.1223, 0.9953] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=-0.001 left_pitch=-0.1491 left_roll=0.0019 left_gripper=0.9932 right_x=0.524 right_y=0.0362 right_z=0.0745 right_yaw=0.2112 right_pitch=0.2825 right_roll=-0.0777 right_gripper=0.9953 state[joint_eff]: [-0.0068, -1.5658, 6.9402, 1.5702, -0.0415, -0.0122, -0.0122, -0.5538, -12.3419, 7.159, 1.9853, 0.0513, 0.0904, -0.0464] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0}, "note": "At z=7.5 cm the arm reached x=0.52 and the pear's neck now sits on the jaw column filling the lower frame; closing to grasp the neck."})
tool
executing move_to over 10 steps (1.0s)
step 205
top_cam
camera top_cam step 205
left_cam
camera left_cam step 205
right_cam
camera right_cam step 205
assistant
agent noteThe closed jaws are overlapping the pear in the image but still passing in front of it; opening and reaching 3 cm further out and slightly left.
move_to
right_gripper1.0000right_x0.5600right_y0.0500right_z0.0850
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8368, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0113, 2.035, 0.8711, 0.8631, -0.1555, -0.1249, 0.0104] state[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1497 left_yaw=-0.0011 left_pitch=-0.1491 left_roll=0.0014 left_gripper=0.9932 right_x=0.5237 right_y=0.0368 right_z=0.0746 right_yaw=0.2154 right_pitch=0.2711 right_roll=-0.0767 right_gripper=0.0104 state[joint_eff]: [-0.1299, -1.4564, 6.9402, 1.6044, -0.0317, -0.0757, -0.0073, 0.0615, -9.1829, 4.7795, 2.1074, -0.0317, -0.0513, 0.8425] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 205): [image omitted: streamed camera frame] camera 'left_cam' (step 205): [image omitted: streamed camera frame] camera 'right_cam' (step 205): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_x": 0.56, "right_y": 0.05, "right_z": 0.085}, "note": "The closed jaws are overlapping the pear in the image but still passing in front of it; opening and reaching 3 cm further out and slightly left."})
tool
executing move_to over 10 steps (1.0s)
step 215
top_cam
camera top_cam step 215
left_cam
camera left_cam step 215
right_cam
camera right_cam step 215
assistant
agent noteThe open jaws now flank the pear in the wrist view; closing on it.
move_to
right_gripper0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0463, 2.0895, 1.0195, 0.7567, -0.1505, -0.1318, 0.9958] state[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0011 left_pitch=-0.1495 left_roll=0.0014 left_gripper=0.9932 right_x=0.5522 right_y=0.0557 right_z=0.0799 right_yaw=0.2493 right_pitch=0.2582 right_roll=-0.0824 right_gripper=0.9958 state[joint_eff]: [-0.1846, -1.2239, 6.9538, 1.6239, -0.0562, -0.0757, -0.0122, -0.212, -9.6479, 7.8291, 1.7851, 0.1636, 0.0855, -0.1148] approver: 10 step(s) modified (delta_clamped ×10). 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": {"right_gripper": 0.15}, "note": "The open jaws now flank the pear in the wrist view; closing on it."})
tool
executing move_to over 9 steps (0.9s)
step 224
top_cam
camera top_cam step 224
left_cam
camera left_cam step 224
right_cam
camera right_cam step 224
assistant
agent noteGripper settled at 0.34 (≈3 cm of pear neck) — the pear is grasped. Lifting it clear of the table.
move_to
right_z0.2500right_x0.5000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0467, 2.0911, 1.0218, 0.7395, -0.1562, -0.1402, 0.3366] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1496 left_yaw=-0.001 left_pitch=-0.1495 left_roll=0.002 left_gripper=0.9932 right_x=0.5512 right_y=0.0569 right_z=0.0761 right_yaw=0.2584 right_pitch=0.2421 right_roll=-0.0853 right_gripper=0.3366 state[joint_eff]: [-0.1436, -1.4154, 6.9265, 1.5849, -0.0708, -0.0708, -0.0122, -0.3624, -10.9333, 5.4496, 2.0293, 0.0073, 0.0513, 0.779] camera 'top_cam' (step 224): [image omitted: streamed camera frame] camera 'left_cam' (step 224): [image omitted: streamed camera frame] camera 'right_cam' (step 224): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.25, "right_x": 0.5}, "note": "Gripper settled at 0.34 (\u22483 cm of pear neck) \u2014 the pear is grasped. Lifting it clear of the table."})
tool
executing move_to over 12 steps (1.2s)
step 236
assistant
agent notePear is in the gripper; moving it over the blue bowl (left of the pear's old spot) before releasing.
move_to
right_x0.4700right_y0.1350right_z0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0505, 1.6238, 1.1084, 0.1272, -0.1585, -0.1436, 0.3377] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.501 right_y=0.0569 right_z=0.2147 right_yaw=0.2634 right_pitch=0.1851 right_roll=-0.0752 right_gripper=0.3377 state[joint_eff]: [-0.0068, -1.347, 6.9538, 1.5849, -0.0757, -0.0708, -0.0122, -0.0889, -10.3316, 10.0308, 2.0244, 0.0611, 0.0073, 0.1001] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 236): [image omitted: streamed camera frame] camera 'left_cam' (step 236): [image omitted: streamed camera frame] camera 'right_cam' (step 236): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.135, "right_z": 0.25}, "note": "Pear is in the gripper; moving it over the blue bowl (left of the pear's old spot) before releasing."})
tool
executing move_to over 7 steps (0.7s)
step 243
assistant
agent noteThe blue bowl's interior is directly under the held pear; lowering to just above the rim before releasing.
move_to
right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.2825, 1.5726, 1.1225, -0.0208, 0.0277, -0.0799, 0.3384] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.4682 right_y=0.1345 right_z=0.2117 right_yaw=0.3008 right_pitch=0.0969 right_roll=-0.0848 right_gripper=0.3384 state[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.58, -0.0464, -0.0513, -0.0122, 0.2256, -10.4547, 10.2496, 2.1856, 0.1294, 0.105, 0.0562] camera 'top_cam' (step 243): [image omitted: streamed camera frame] camera 'left_cam' (step 243): [image omitted: streamed camera frame] camera 'right_cam' (step 243): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.14}, "note": "The blue bowl's interior is directly under the held pear; lowering to just above the rim before releasing."})
tool
executing move_to over 5 steps (0.5s)
step 248
assistant
agent noteThe blue bowl sits just beyond the hanging pear in the wrist view; nudging 3 cm forward to centre the pear over the bowl.
move_to
right_x0.4850right_y0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0135, -0.0307, 0.9932, 0.2802, 1.6752, 0.9287, 0.1562, 0.0311, -0.0731, 0.3384] state[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1491 left_yaw=-0.0013 left_pitch=-0.1514 left_roll=0.0017 left_gripper=0.9932 right_x=0.4552 right_y=0.129 right_z=0.1151 right_yaw=0.2919 right_pitch=-0.0223 right_roll=-0.0788 right_gripper=0.3384 state[joint_eff]: [-0.1162, -1.4291, 7.2274, 1.6093, -0.0464, -0.0317, -0.0122, 0.0342, -8.7316, 7.3641, 2.4737, -0.0122, -0.1001, -0.0024] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 248): [image omitted: streamed camera frame] camera 'left_cam' (step 248): [image omitted: streamed camera frame] camera 'right_cam' (step 248): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.485, "right_y": 0.14}, "note": "The blue bowl sits just beyond the hanging pear in the wrist view; nudging 3 cm forward to centre the pear over the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 251
assistant
agent notePear hangs over the blue bowl's opening; opening the gripper to drop it in.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.841, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.2825, 1.7767, 1.0203, 0.1562, 0.0261, -0.0788, 0.3384] state[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4776 right_y=0.1376 right_z=0.1067 right_yaw=0.3014 right_pitch=-0.0324 right_roll=-0.0806 right_gripper=0.3384 state[joint_eff]: [-0.1573, -1.4974, 6.9265, 1.6288, -0.0269, -0.0415, -0.0171, 0.0068, -9.7026, 8.4991, 1.7265, 0.0806, 0.1001, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 251): [image omitted: streamed camera frame] camera 'left_cam' (step 251): [image omitted: streamed camera frame] camera 'right_cam' (step 251): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1}, "note": "Pear hangs over the blue bowl's opening; opening the gripper to drop it in."})
tool
executing move_to over 7 steps (0.7s)
step 258
assistant
agent noteThe pear is in the blue bowl. Now moving over the yellow lemon, which lies to the left and nearer than the bowl.
move_to
right_x0.4300right_y0.2100right_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]: [-0.0219, 0.841, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.2821, 1.7954, 1.0271, 0.1307, 0.025, -0.0872, 0.9959] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1537 left_roll=0.002 left_gripper=0.9932 right_x=0.4757 right_y=0.137 right_z=0.0956 right_yaw=0.3066 right_pitch=-0.0701 right_roll=-0.086 right_gripper=0.9959 state[joint_eff]: [-0.212, -1.4564, 6.9265, 1.5653, -0.0806, -0.0317, -0.0122, -0.2667, -10.5231, 5.9145, 1.9023, -0.0415, 0.0269, -0.1832] camera 'top_cam' (step 258): [image omitted: streamed camera frame] camera 'left_cam' (step 258): [image omitted: streamed camera frame] camera 'right_cam' (step 258): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.21, "right_z": 0.16}, "note": "The pear is in the blue bowl. Now moving over the yellow lemon, which lies to the left and nearer than the bowl."})
tool
executing move_to over 7 steps (0.7s)
step 265
assistant
agent noteThe lemon is on the jaw column but a few cm beyond the fingertips; advancing 3 cm and descending to its mid-height.
move_to
right_x0.4600right_z0.0350right_pitch0.2000
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, 0.8417, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.5133, 1.689, 1.1114, -0.104, 0.1806, 0.02, 0.9965] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1484 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4308 right_y=0.2105 right_z=0.1372 right_yaw=0.3483 right_pitch=-0.1019 right_roll=-0.0992 right_gripper=0.9965 state[joint_eff]: [-0.3487, -1.3333, 7.2, 1.6337, -0.0464, -0.0562, -0.0122, 0.2256, -10.865, 8.9778, 1.619, 0.1685, 0.2515, 0.0464] camera 'top_cam' (step 265): [image omitted: streamed camera frame] camera 'left_cam' (step 265): [image omitted: streamed camera frame] camera 'right_cam' (step 265): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_z": 0.035, "right_pitch": 0.2}, "note": "The lemon is on the jaw column but a few cm beyond the fingertips; advancing 3 cm and descending to its mid-height."})
tool
executing move_to over 11 steps (1.1s)
step 276
assistant
agent noteLemon fills the bottom of the wrist view just short of the jaws; advancing 2 cm so the fingers straddle it.
move_to
right_x0.4780
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, 0.8448, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.4873, 2.0552, 0.82, 0.7956, 0.1787, -0.0341, 0.9965] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=-0.001 left_pitch=-0.1575 left_roll=0.0021 left_gripper=0.9932 right_x=0.4559 right_y=0.2101 right_z=0.0304 right_yaw=0.3527 right_pitch=0.1342 right_roll=-0.1083 right_gripper=0.9965 state[joint_eff]: [-0.0889, -1.6205, 7.1043, 1.5702, -0.022, -0.0073, -0.0122, -0.5675, -8.6906, 3.7675, 1.7949, -0.0464, 0.1001, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 276): [image omitted: streamed camera frame] camera 'left_cam' (step 276): [image omitted: streamed camera frame] camera 'right_cam' (step 276): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.478}, "note": "Lemon fills the bottom of the wrist view just short of the jaws; advancing 2 cm so the fingers straddle it."})
tool
executing move_to over 2 steps (0.2s)
step 278
assistant
agent noteLemon centred at the jaws; closing to grasp it.
move_to
right_gripper0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8455, 0.6125, -0.495, -0.0139, -0.0311, 0.9932, 0.4759, 2.0914, 0.8627, 0.8253, 0.1627, -0.046, 0.9965] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0008 left_pitch=-0.1583 left_roll=0.0018 left_gripper=0.9932 right_x=0.4692 right_y=0.2137 right_z=0.0346 right_yaw=0.3606 right_pitch=0.1686 right_roll=-0.108 right_gripper=0.9965 state[joint_eff]: [-0.3624, -1.5248, 7.0769, 1.58, -0.0562, -0.0562, -0.0122, -0.9778, -8.9915, 6.0923, 1.7998, 0.0513, -0.0122, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.1}, "note": "Lemon centred at the jaws; closing to grasp it."})
tool
executing move_to over 9 steps (0.9s)
step 287
assistant
agent noteThe close reached its commanded 0.10 (likely empty) and the lemon has shifted; lifting and retracting to get a clear view of where the lemon now is.
move_to
right_gripper1.0000right_z0.2000right_x0.4200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8474, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.4606, 2.0926, 0.9127, 0.8101, 0.152, -0.0525, 0.1048] state[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1468 left_yaw=-0.001 left_pitch=-0.1606 left_roll=0.0022 left_gripper=0.9932 right_x=0.484 right_y=0.2143 right_z=0.049 right_yaw=0.3573 right_pitch=0.2012 right_roll=-0.1063 right_gripper=0.1048 state[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.0479, -9.5385, 5.2444, 1.3455, 0.0366, 0.0366, -0.0317] camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1, "right_z": 0.2, "right_x": 0.42}, "note": "The close reached its commanded 0.10 (likely empty) and the lemon has shifted; lifting and retracting to get a clear view of where the lemon now is."})
tool
executing move_to over 10 steps (1.0s)
step 297
assistant
agent noteThe lemon sits on the table just left of the bowl, right on the jaw column and very close; descending onto it at x=0.455.
move_to
right_x0.4550right_y0.2150right_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, 0.8513, 0.6125, -0.498, -0.0139, -0.0307, 0.9932, 0.5472, 1.5658, 0.8917, 0.2794, 0.215, -0.0341, 0.9958] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1453 left_yaw=-0.0009 left_pitch=-0.1671 left_roll=0.0023 left_gripper=0.9932 right_x=0.4206 right_y=0.2163 right_z=0.1769 right_yaw=0.3806 right_pitch=0.1809 right_roll=-0.1161 right_gripper=0.9958 state[joint_eff]: [-0.3487, -1.6615, 6.9265, 1.6337, -0.0562, -0.0415, -0.0122, 0.1983, -8.8684, 9.6342, 1.873, 0.2759, 0.0904, -0.0269] camera 'top_cam' (step 297): [image omitted: streamed camera frame] camera 'left_cam' (step 297): [image omitted: streamed camera frame] camera 'right_cam' (step 297): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.455, "right_y": 0.215, "right_z": 0.03}, "note": "The lemon sits on the table just left of the bowl, right on the jaw column and very close; descending onto it at x=0.455."})
tool
executing move_to over 10 steps (1.0s)
step 307
assistant
agent noteThe lemon is between the open jaws at the bottom of the wrist view; closing onto it.
move_to
right_gripper0.2500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8558, 0.6125, -0.4992, -0.0135, -0.0311, 0.9932, 0.4942, 2.0655, 0.7929, 0.8104, 0.1673, -0.0452, 0.9965] state[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1439 left_yaw=-0.001 left_pitch=-0.1728 left_roll=0.0019 left_gripper=0.9932 right_x=0.4467 right_y=0.2113 right_z=0.0191 right_yaw=0.3755 right_pitch=0.1106 right_roll=-0.1162 right_gripper=0.9965 state[joint_eff]: [-0.3624, -1.8803, 6.9402, 1.5604, -0.0317, -0.0562, -0.0122, -0.3624, -9.5248, 5.4769, 2.1758, 0.0611, -0.1197, 0.0562] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 307): [image omitted: streamed camera frame] camera 'left_cam' (step 307): [image omitted: streamed camera frame] camera 'right_cam' (step 307): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.25}, "note": "The lemon is between the open jaws at the bottom of the wrist view; closing onto it."})
tool
executing move_to over 8 steps (0.8s)
step 315
assistant
agent noteGripper settled at 0.55 — the lemon is grasped. Lifting it and carrying it over the blue bowl.
move_to
right_x0.4700right_y0.1400right_z0.2200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8566, 0.6125, -0.4992, -0.0139, -0.0311, 0.9932, 0.4934, 2.0926, 0.7925, 0.8154, 0.16, -0.0525, 0.552] state[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1437 left_yaw=-0.0007 left_pitch=-0.1735 left_roll=0.0022 left_gripper=0.9932 right_x=0.4444 right_y=0.2111 right_z=0.0071 right_yaw=0.3851 right_pitch=0.0874 right_roll=-0.1219 right_gripper=0.552 state[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5556, -0.0611, -0.0611, -0.0073, 0.0205, -11.6718, 4.547, 1.7851, 0.1001, 0.0562, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 315): [image omitted: streamed camera frame] camera 'left_cam' (step 315): [image omitted: streamed camera frame] camera 'right_cam' (step 315): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.14, "right_z": 0.22}, "note": "Gripper settled at 0.55 \u2014 the lemon is grasped. Lifting it and carrying it over the blue bowl."})
tool
executing move_to over 14 steps (1.4s)
step 329
assistant
agent noteHolding the lemon at the same pose that worked for dropping the pear; lowering to the bowl rim and opening to release it into the blue bowl.
move_to
right_z0.1200right_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, 0.8585, 0.6125, -0.5022, -0.0139, -0.0307, 0.9932, 0.2779, 1.6207, 1.1275, -0.0135, -0.0261, -0.1585, 0.5533] state[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1426 left_yaw=-0.0009 left_pitch=-0.1785 left_roll=0.0026 left_gripper=0.9932 right_x=0.472 right_y=0.1432 right_z=0.193 right_yaw=0.3839 right_pitch=0.0583 right_roll=-0.1267 right_gripper=0.5533 state[joint_eff]: [-0.0068, -1.7026, 6.8991, 1.6142, -0.0806, -0.0513, -0.0122, -0.6222, -11.0154, 9.0462, 1.8926, -0.1343, 0.1099, 0.8913] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 329): [image omitted: streamed camera frame] camera 'left_cam' (step 329): [image omitted: streamed camera frame] camera 'right_cam' (step 329): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.12, "right_gripper": 1}, "note": "Holding the lemon at the same pose that worked for dropping the pear; lowering to the bowl rim and opening to release it into the blue bowl."})
tool
executing move_to over 5 steps (0.5s)
step 334
assistant
agent noteThe lemon dropped just short of the bowl onto the table; descending onto its new position to re-grasp it.
move_to
right_x0.4450right_y0.1150right_z0.0300right_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, 0.8585, 0.6125, -0.5034, -0.0139, -0.0307, 0.9932, 0.2768, 1.7309, 0.947, 0.178, -0.0315, -0.1665, 0.9958] state[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1424 left_yaw=-0.0009 left_pitch=-0.1796 left_roll=0.0026 left_gripper=0.9932 right_x=0.46 right_y=0.1402 right_z=0.1018 right_yaw=0.3915 right_pitch=-0.0405 right_roll=-0.1198 right_gripper=0.9958 state[joint_eff]: [-0.1573, -1.5521, 7.0769, 1.6044, -0.0317, -0.0269, -0.0073, 0.0615, -8.5949, 6.5846, 2.3077, 0.0073, 0.0659, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 334): [image omitted: streamed camera frame] camera 'left_cam' (step 334): [image omitted: streamed camera frame] camera 'right_cam' (step 334): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.445, "right_y": 0.115, "right_z": 0.03, "right_gripper": 1}, "note": "The lemon dropped just short of the bowl onto the table; descending onto its new position to re-grasp it."})
tool
executing move_to over 5 steps (0.5s)
step 339
assistant
agent noteThe lemon rolled far back toward the base, out of easy reach with my remaining budget, so I move to the pour step: positioning the open jaws astride the near rim of the blue bowl (which holds the pear).
move_to
right_x0.4200right_y0.1400right_z0.0500right_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, 0.8604, 0.6125, -0.5133, -0.0139, -0.0307, 0.9932, 0.2165, 1.8557, 0.7528, 0.4114, -0.0658, -0.1925, 0.9986] state[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1401 left_yaw=-0.0008 left_pitch=-0.1915 left_roll=0.0028 left_gripper=0.9932 right_x=0.4344 right_y=0.1111 right_z=0.0168 right_yaw=0.3752 right_pitch=-0.1239 right_roll=-0.1082 right_gripper=0.9986 state[joint_eff]: [-0.0205, -1.7162, 6.8991, 1.6337, -0.0757, -0.0366, -0.0122, -0.3761, -8.4444, 5.559, 2.2247, -0.2125, -0.0659, -0.1587] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 339): [image omitted: streamed camera frame] camera 'left_cam' (step 339): [image omitted: streamed camera frame] camera 'right_cam' (step 339): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.14, "right_z": 0.05, "right_gripper": 1}, "note": "The lemon rolled far back toward the base, out of easy reach with my remaining budget, so I move to the pour step: positioning the open jaws astride the near rim of the blue bowl (which holds the pear)."})
tool
executing move_to over 3 steps (0.3s)
step 342
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, 0.8639, 0.6125, -0.5167, -0.0139, -0.0307, 0.9932, 0.2131, 1.8702, 0.7403, 0.4969, -0.0841, -0.2031, 0.9986] state[eef_state]: left_x=0.2783 left_y=-0.0001 left_z=0.1386 left_yaw=-0.0008 left_pitch=-0.1983 left_roll=0.003 left_gripper=0.9932 right_x=0.441 right_y=0.1143 right_z=0.0228 right_yaw=0.3921 right_pitch=-0.0651 right_roll=-0.1153 right_gripper=0.9986 state[joint_eff]: [-0.0479, -1.7573, 6.8991, 1.5751, -0.0513, -0.0366, -0.0122, -0.3624, -8.9778, 5.3675, 1.8486, -0.0611, -0.0513, -0.1538] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 342): [image omitted: streamed camera frame] camera 'left_cam' (step 342): [image omitted: streamed camera frame] camera 'right_cam' (step 342): [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 · 19.35 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, 0.6132, -0.3824, -0.0139, -0.0296, 0.9939, -0.0227, 0.8005, 0.6182, -0.3874, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1819 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9939 right_x=0.2959 right_y=0.0005 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.7983, 9.7846, 1.7851, -0.1197, 0.1441, -0.3785, -0.294, -1.7983, 9.3744, 1.8632, -0.0659, -0.0513, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e8a5418f1c41755454851d391881763ffaa7d9a0902cf42fdf250cf2a8d5d3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310907bcfd4209c68ff6627638ff917063cacdadb6089a9d0726b27fbb16ad65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:ce6661a039f1f8c624f79f5f7f2c48f151e18772db9d9b112be22144c37700e0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 5.808 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, 0.6132, -0.3824, -0.0139, -0.0296, 0.9939, -0.0227, 0.8005, 0.6182, -0.3874, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1819 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9939 right_x=0.2959 right_y=0.0005 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.7983, 9.7846, 1.7851, -0.1197, 0.1441, -0.3785, -0.294, -1.7983, 9.3744, 1.8632, -0.0659, -0.0513, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7e8a5418f1c41755454851d391881763ffaa7d9a0902cf42fdf250cf2a8d5d3a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:310907bcfd4209c68ff6627638ff917063cacdadb6089a9d0726b27fbb16ad65",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce6661a039f1f8c624f79f5f7f2c48f151e18772db9d9b112be22144c37700e0",
        "media_type": "image/png",
        "type": "base64"
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      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
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      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01R3dVyXE3N2jnFjBLNyr6ZS",
      "input": {
        "note": "Top view shows a large white bowl on the left, a blue bowl right-of-centre and two yellow fruits beside the blue bowl. Moving the right arm above the nearer fruit to line up a grasp.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.36,
          "right_y": 0.06,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01R3dVyXE3N2jnFjBLNyr6ZS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.3939, -0.0139, -0.0307, 0.9933, 0.2619, 1.1744, 0.6544, -0.1307, 0.1909, 0.1165, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1781 left_yaw=-0.0012 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9933 right_x=0.3501 right_y=0.0628 right_z=0.1385 right_yaw=0.0366 right_pitch=-0.0674 right_roll=-0.0226 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.7299, 7.0496, 1.8437, -0.0415, -0.0171, -0.0708, -0.2667, -4.3966, 9.0735, 1.9658, 0.2906, 0.2027, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0095c81d2c8c3cd2ae8f1db7fd01c336c0b41a16fb55b28146216ebb3cca5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd59f963c69d5cc2290c8fcc9951170a7b9c38f28877988d5fb298d84c7c6372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c0cb6f40ae9a75e864c24d7021fea403606566ee20d651b325897ab8cc6113ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 4.887 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, 0.6132, -0.3824, -0.0139, -0.0296, 0.9939, -0.0227, 0.8005, 0.6182, -0.3874, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1819 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9939 right_x=0.2959 right_y=0.0005 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.7983, 9.7846, 1.7851, -0.1197, 0.1441, -0.3785, -0.294, -1.7983, 9.3744, 1.8632, -0.0659, -0.0513, -0.0757]",
      "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, 0.8059, 0.6132, -0.3939, -0.0139, -0.0307, 0.9933, 0.2619, 1.1744, 0.6544, -0.1307, 0.1909, 0.1165, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1781 left_yaw=-0.0012 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9933 right_x=0.3501 right_y=0.0628 right_z=0.1385 right_yaw=0.0366 right_pitch=-0.0674 right_roll=-0.0226 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.7299, 7.0496, 1.8437, -0.0415, -0.0171, -0.0708, -0.2667, -4.3966, 9.0735, 1.9658, 0.2906, 0.2027, -0.0757]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0095c81d2c8c3cd2ae8f1db7fd01c336c0b41a16fb55b28146216ebb3cca5e6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bd59f963c69d5cc2290c8fcc9951170a7b9c38f28877988d5fb298d84c7c6372",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0cb6f40ae9a75e864c24d7021fea403606566ee20d651b325897ab8cc6113ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0wUKjgEIEhgCKkBmC2JKrEY/ca7KkWT347UQXE+TM/iec4aPy92sdJiq+eXOTHiKlHnBXH0VdkoX3cQCHF7XRJS26oqT9K73RIlgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAb+pzNUGEgy26ol1VmBly6QMXFYaDEhyrQR8E6vtTDaRMiIwDUsg7Ele+wFj96fcBMA+JaRDv6KqLfzUi2K+klZaHWI94bmIXjJd2h0lo8JQTuCPKvEDXlRiYBPRZJlBuWDXLWkNaMtLw2QDLpwH05/wW3O7fs+t1RQDk3Ow4o7TfagoZQEPRDn7fHWkNgEHYk7Tz/likZWKdQmuA/0Oyl2H10QpZAdq0Mu09WovFqoo62qz4VGUM7ehGJk/5qzGHKTK7V/twfAIv7dBf30lTx4ro5Uk9WRFME0YjuEog6mllNjqJFuYLN+oXQR6eGBTs2SutVoyxa3qctK2+R4V30b8OMA88/KKW+cKoTbmItEnHfyc1zTgnHR41F4jq6EdM5aPC6qbiy5NxFV38mZK+061zaefk+GT4DTRDaHgJMfzvlxWp2Ps9ROQQgRk+VKfy6K8FqSVgb9J0L0puVUIK0epGvk64hSZAUo50tAHTYuACEw7tAC73o2LNJVHaCQo6vfmP0jPNkxWEU5eWyRhv3JC0e+DT6iSnwPcA8bGsPQ08aC6aGU6oryxF17dwd63GNKNpl3eil8nNeses+vTbS/ouo48DOg8su8BV+V0omDE49+o76vf8GjQT7zObI+uRTRjd3UyAwEtft42Ni+Vcd4YGiF/AqeOyr361kZSyL5+aqn/A+u6kEVM5mkWk3db4np7lvNwGWHJ8tqH1bUOM7b7KtUYtKVK2zwudioIOaR5ZmFWYvYm0+UhxSF93LBW/ozeiq3nY+UYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WCMRor114E6PZh5YoxGtFh",
      "input": {
        "note": "Wrist view shows the quince slightly right of the jaw column and low in the frame; nudging right and forward, and lowering, to centre it before descending.",
        "targets": {
          "right_x": 0.37,
          "right_y": 0.035,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01WCMRor114E6PZh5YoxGtFh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4049, -0.0139, -0.0307, 0.9932, 0.1223, 1.2716, 0.6399, -0.033, 0.0799, 0.0326, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0012 left_pitch=-0.0282 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3677 right_y=0.0346 right_z=0.1163 right_yaw=0.0355 right_pitch=-0.0928 right_roll=-0.0246 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1556, 7.0085, 1.8632, -0.0708, -0.0659, -0.022, 0.0615, -4.9299, 6.1333, 1.9853, -0.0122, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ce5fd2a3ac3aad0912548b1945338cecada54dbc93ac078afc6b5958a13a3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af115ca384a115cb5cf64b2d6c7ec9f6d6d79ef5791f3673e8eea73aded9bd1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:71bc5c0392561bb8ba1a3bc5856610b2337db8d3e759d056ec891b9a9b76f24f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /messages · status 200 · 4.171 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, 0.6132, -0.3824, -0.0139, -0.0296, 0.9939, -0.0227, 0.8005, 0.6182, -0.3874, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=0.0 left_z=0.1819 left_yaw=-0.0003 left_pitch=-0.0 left_roll=-0.0002 left_gripper=0.9939 right_x=0.2959 right_y=0.0005 right_z=0.1832 right_yaw=0.0 right_pitch=-0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5538, -1.7983, 9.7846, 1.7851, -0.1197, 0.1441, -0.3785, -0.294, -1.7983, 9.3744, 1.8632, -0.0659, -0.0513, -0.0757]",
      "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, 0.8059, 0.6132, -0.3939, -0.0139, -0.0307, 0.9933, 0.2619, 1.1744, 0.6544, -0.1307, 0.1909, 0.1165, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1781 left_yaw=-0.0012 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9933 right_x=0.3501 right_y=0.0628 right_z=0.1385 right_yaw=0.0366 right_pitch=-0.0674 right_roll=-0.0226 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.7299, 7.0496, 1.8437, -0.0415, -0.0171, -0.0708, -0.2667, -4.3966, 9.0735, 1.9658, 0.2906, 0.2027, -0.0757]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4049, -0.0139, -0.0307, 0.9932, 0.1223, 1.2716, 0.6399, -0.033, 0.0799, 0.0326, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0012 left_pitch=-0.0282 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3677 right_y=0.0346 right_z=0.1163 right_yaw=0.0355 right_pitch=-0.0928 right_roll=-0.0246 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1556, 7.0085, 1.8632, -0.0708, -0.0659, -0.022, 0.0615, -4.9299, 6.1333, 1.9853, -0.0122, -0.0855, -0.022]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:65ce5fd2a3ac3aad0912548b1945338cecada54dbc93ac078afc6b5958a13a3f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af115ca384a115cb5cf64b2d6c7ec9f6d6d79ef5791f3673e8eea73aded9bd1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:71bc5c0392561bb8ba1a3bc5856610b2337db8d3e759d056ec891b9a9b76f24f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISzwQKjgEIEhgCKkAXLnra1xA+H+Y3vqmmHp80JwtQ3ihnaS81Hp6PaFUu0E+6oCqd6/LZHIPpUFBtfbafX4R/FX+9NItuxnIlLWN8Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcapzNUGEgzZ3cO6/bfZyRuIMewaDDXhSxDuCxu0OLcmASIwY4MAnkeSr92ST3VmBjI466M10e2Xyy99yJIAhZklG0RVlfUKQhnhgwacI1oYZnAiKu0CZVUTKg0BvqHTYVWxqHr0+/cgqRwDNQ2eIgU1AKAaupgZ5V8IBHLDXDZVVCuO4AAnFPtFNH+sYRuCfvlmJlWMnN0R7VmjoR9/QFuck/9J/pWdWIm+wR9pBwgn91jbI98u/RHVitjrhmt6qn2Amp1/gWC7OkiUH20ummNw5YEpsqAg8UcJGGKY8Pnyf9IyGd4SJSH6qoIEbTGvpyAFJebXO8YoXdjEYKVXloBpRSw0AVFyHiQ6l8JUQFzgg0x2p8ExvHa+xTL4cAT2m0XpS4aAdc5AMwg0cLqDUDwKVf9DNqX/Gs8HIco2dmMnTDi6weTsE77n+a6yIcCQQJSFS1hnRSKv1ggp2NMuFXseZL5bhg8+ciXHrwJz87C5zshoCCr15hPlM+P1ggj1UcYmxS9HC13YkKAOCDQCya20KOEj3QxmIs9wCxWnAUOwcidmRJ3o3FEbA0WuOEG0asV9aaL/UI4NubFzeBhM+p489u0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JPGwQ8DFehSDK5AAqBysN6",
      "input": {
        "note": "The quince is nearly on the jaw column but still a few cm beyond the fingertips; advancing 3 cm and descending to fruit mid-height.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.03,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JPGwQ8DFehSDK5AAqBysN6",
      "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, -0.4168, -0.0139, -0.0307, 0.9932, 0.0944, 1.56, 0.6064, 0.247, 0.0502, 0.0071, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3942 right_y=0.032 right_z=0.051 right_yaw=0.0464 right_pitch=-0.1362 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.388, 7.0632, 1.8095, -0.0562, -0.0415, -0.0171, -0.3624, -6.8308, 5.4769, 2.0293, 0.0366, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7bfa828f8704e0339bc971765c26dd906b6366e988fab2d8846cc6bcb87235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1395bcee6159cf9804e195f92051a074ea0149c1e81838d0a9582cca4184bb54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f8180b4388892d5d81ca5d3f0e0fa740e311161617e088c19c8d23d5c4666d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 4 attempt 0 · /messages · status 200 · 9.847 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, 0.8059, 0.6132, -0.3939, -0.0139, -0.0307, 0.9933, 0.2619, 1.1744, 0.6544, -0.1307, 0.1909, 0.1165, 0.9994]\nstate[eef_state]: left_x=0.2948 left_y=-0.0004 left_z=0.1781 left_yaw=-0.0012 left_pitch=-0.0168 left_roll=-0.0008 left_gripper=0.9933 right_x=0.3501 right_y=0.0628 right_z=0.1385 right_yaw=0.0366 right_pitch=-0.0674 right_roll=-0.0226 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.7299, 7.0496, 1.8437, -0.0415, -0.0171, -0.0708, -0.2667, -4.3966, 9.0735, 1.9658, 0.2906, 0.2027, -0.0757]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4049, -0.0139, -0.0307, 0.9932, 0.1223, 1.2716, 0.6399, -0.033, 0.0799, 0.0326, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0012 left_pitch=-0.0282 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3677 right_y=0.0346 right_z=0.1163 right_yaw=0.0355 right_pitch=-0.0928 right_roll=-0.0246 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1556, 7.0085, 1.8632, -0.0708, -0.0659, -0.022, 0.0615, -4.9299, 6.1333, 1.9853, -0.0122, -0.0855, -0.022]\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, 0.8089, 0.6132, -0.4168, -0.0139, -0.0307, 0.9932, 0.0944, 1.56, 0.6064, 0.247, 0.0502, 0.0071, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3942 right_y=0.032 right_z=0.051 right_yaw=0.0464 right_pitch=-0.1362 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.388, 7.0632, 1.8095, -0.0562, -0.0415, -0.0171, -0.3624, -6.8308, 5.4769, 2.0293, 0.0366, 0.0366, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0b7bfa828f8704e0339bc971765c26dd906b6366e988fab2d8846cc6bcb87235",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1395bcee6159cf9804e195f92051a074ea0149c1e81838d0a9582cca4184bb54",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f8180b4388892d5d81ca5d3f0e0fa740e311161617e088c19c8d23d5c4666d26",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISsAQKjgEIEhgCKkDWWh/aCuVl0jeF+5+rbGw4+KFWEaKYobt5Xyu7IDlR8qXhn+brOlsaBco4jYTs90fjQNYr9BhR20jIVxLfbiVgMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc2pzNUGEgxju8hC35p1oi8iJicaDCYDCMfcY9nNGHcKUyIwUl3x8wfq6Mx6oKZQvjqkMTcJRMgpXQ1aQDKVIy29fwXcH8wILisxX4j3omD7KwPWKs4CT+7UoNUhrw1R2TLJFXbbCm63bZpvOmak8oK2pR0sGu39moG5otqnSlpg4JiMrM49/cYvHYgQ9bmqmJjWdEa5lQKF7n/muafNXRMhHBOdBDdFyr8UBvuKFXj7BdZGcXGB7OTDaKTOMdf2kCPDncfHqKAzaQWf7dvwKgtVO9cMy9nFDNWnqelfJvG+Qh3N3dZatTVOSqhflVr12TqJI8TkyMnks5Pjk+mtUTjWLclf1K7HwGAu+SlMkamKeiQEMia7tKZG8s98hF3YbiS+WN11dsaFArHHE4x5OX+YojdLHqCrKop5+YXZjRZ3j4QLqkBI8fRnX3izIzy7hiWQiHRNUFOrTmDYfQ+JKZsNpRndLEp2Cc32+HnlsXb4JUPJVuUKeASbBDTEd35PjY3lxSOOrU+ZHg/eswoBFpsGxMTzC5W+wRETqejvppkcpj2bshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BhYQSSfevq8L36u4m2uS2z",
      "input": {
        "note": "The quince now fills the lower centre of the wrist view between the jaws; lowering slightly and closing the gripper to grasp it.",
        "targets": {
          "right_gripper": 0.05,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BhYQSSfevq8L36u4m2uS2z",
      "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, -0.4236, -0.0139, -0.0307, 0.9932, 0.0952, 1.6085, 0.5827, 0.3, 0.0475, -0.001, 0.0508]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0012 left_pitch=-0.0496 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3914 right_y=0.0325 right_z=0.0339 right_yaw=0.0537 right_pitch=-0.1555 right_roll=-0.0336 right_gripper=0.0508\nstate[joint_eff]: [-0.0479, -1.1419, 7.1453, 1.7607, -0.0464, -0.0317, -0.0171, -0.0752, -5.8325, 4.9162, 1.8974, 0.0562, 0.0269, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:545ed0d7a9b18cb44141679edc4ba3332b05b45df752d9a5a5e5116cab95493d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04de5b3607f13fb7bf862fd4c13700ddd0a5aa8fa5cf5d6624468b866ab4513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9dd1976777bcfa4574be350d3bf6b3e255a756f36d207654914c9683b7e1b353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 3.88 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, 0.8062, 0.6132, -0.4049, -0.0139, -0.0307, 0.9932, 0.1223, 1.2716, 0.6399, -0.033, 0.0799, 0.0326, 0.9994]\nstate[eef_state]: left_x=0.2933 left_y=-0.0004 left_z=0.1757 left_yaw=-0.0012 left_pitch=-0.0282 left_roll=-0.0006 left_gripper=0.9932 right_x=0.3677 right_y=0.0346 right_z=0.1163 right_yaw=0.0355 right_pitch=-0.0928 right_roll=-0.0246 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -1.1556, 7.0085, 1.8632, -0.0708, -0.0659, -0.022, 0.0615, -4.9299, 6.1333, 1.9853, -0.0122, -0.0855, -0.022]\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, 0.8089, 0.6132, -0.4168, -0.0139, -0.0307, 0.9932, 0.0944, 1.56, 0.6064, 0.247, 0.0502, 0.0071, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3942 right_y=0.032 right_z=0.051 right_yaw=0.0464 right_pitch=-0.1362 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.388, 7.0632, 1.8095, -0.0562, -0.0415, -0.0171, -0.3624, -6.8308, 5.4769, 2.0293, 0.0366, 0.0366, -0.0122]",
      "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, -0.4236, -0.0139, -0.0307, 0.9932, 0.0952, 1.6085, 0.5827, 0.3, 0.0475, -0.001, 0.0508]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0012 left_pitch=-0.0496 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3914 right_y=0.0325 right_z=0.0339 right_yaw=0.0537 right_pitch=-0.1555 right_roll=-0.0336 right_gripper=0.0508\nstate[joint_eff]: [-0.0479, -1.1419, 7.1453, 1.7607, -0.0464, -0.0317, -0.0171, -0.0752, -5.8325, 4.9162, 1.8974, 0.0562, 0.0269, 0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:545ed0d7a9b18cb44141679edc4ba3332b05b45df752d9a5a5e5116cab95493d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a04de5b3607f13fb7bf862fd4c13700ddd0a5aa8fa5cf5d6624468b866ab4513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9dd1976777bcfa4574be350d3bf6b3e255a756f36d207654914c9683b7e1b353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISogwKjgEIEhgCKkDcYv00A81cB7bUrUi1d5TKFzIjAC+BM4tcuGG0gjG6Gr8I2dLVrFZQ8ahSP92fKTPyTq+t06xiDjclfAybDYwKMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdmpzNUGEgwootnxck0mtAHcCRoaDNSjwA5rtYOlBBzFOCIwP74KqKHUkIyGfX9y0m87giJBJujql/mdLLkDmxFXBX+O44urPlD1YD0XBaj19awHKsAKCI1ZCWXQe/2a+Z/W//cfH7PoD/15GMwHuCh8KK6Q8giwQ70H6uzjC2vIvaPnHmzqRMrNiCGKbIwHHRKEGDlV1AxAkgHkP54iq1ElbOfSEdwlkkhmO+ci5CK4zbPVPtb/fY8nXAhQjLCZglDr27NEuxe1Hah4pbiFVTZEYXEH76cc1ZdxKfPcXxHWYbSMEdPr+ngmKNgf2XoV4gcs31rfUq5CSKYvVVAeJeNdAYJMiqr9cjWawWxyN2D3MTBduwpyV/I9uOv2idNC/ecXhBxZlVZdomFwOiQZuRXwt7uhX/1cbD+aP3GRhOebku2o1/wG3nXq7fMXouJNfpu4+JFaWXUO0dmJd2R4hn44xzdRK9JJtOuVjKwFgOqlXlxNvRpwZF+yhRE/+vFjJsuzmN6Iq1ZwTdHTAySKdyQCd81tTB6/O7Jg+FcaVzZV27IyrADZz3V+uG7abb8CJF9tvPB4JwO/sf6F2NBwk48BNOUG3AqEfMFC8xC3xeryugwH0jJiO45zp+matv2b+7ExQhpRRz32XxqqFzwan+zLRC3CBtNE07UQICyWlFyOGQrNzRWaPE74YQvepIDBsFmD/do8j2UA6ZzoV7xDy7TrDT1gOLPiniEgYSZFkp78U7Apq1hueWMdkZXP1pZKAGXREv/aa9aicfXPg8l5PCCeO/ZVQDdZNvfaSc4CywaPe+2WAPQZBjiN2EtSZtVdFwQ2873ArVL+BvnM/jloVS+2wnbaG1mhhv2O8lGNOWSI9Ub62GZUHU8ZQ8yAyGDwTPDKiB7ZcsgCimTvxVpP4hJdZodW87KXEjh+GBIvri232r4SmxoD7aVBlVFA3zwzv5rvEuinjQwFNMSkonYIuwypzGbxcSwGS/ZPJ8VawNPEt+/y+wN1NEueBSjdIWSNp8nUO5t6MU7wUmNc7ibGlXWxIxqYGwFfS+ou6IJIqApq+W+gRZAsUBMXor5Ba6kguYZIOdSd8DnKlDiE9OTh/KqU9NH5+cL26XWBG3pFevDEfeVzE51J+Az0xyfrTx9i0KbNVqZXA4hEhGqZujXIY/UMzlraKvt0BQeIAd7kN70p/PQy0pJWj8CDirKOsYUDb5YYB5ABvT26cUY22BwIEj3SPsDohT6JH8yns8Igd+nrx87ez6qyCGuX9PJebeHTaed9ybUyfYm3AZ7qncKL8KeawhgyVn6HGv+gMHXnyWBCRFQKyjpJy8gkYQ64umdMSswtWRs+RFpSuJ5NlHzjqh54CD+jy1+IlMdaiAZ01NGOvXiIOvTe2B/9ozpdekMugumwKOHlu8bV3olPryyEzxpRZ+/hk1SIGTbocx4bwBc0oe6PM2ssoh48OfheiRIwXcbAQ03VgdX+OfwtNBfD0xrqXn9aHbMr39TJUgmKRWm04cIGx0CnXKi3Y6e8kK4xv57GUgOaf3ulrVRULjPm0EM1PxX14IK769oUR5faD/UaJbh4PAVwhpllj7tPnVkQ9XtKX0K2daa+HUTRJAf1hEaM5IMjm7Cy1jS7ihUE0mNAl0A8SZ9nq1VdOr/xXxh3d2vw6PmZxX4WBhhqP1wBRDdpxxTr16tuoggsNwpQ6zO1mxqDkBrNX8YF6zU/Sb88m9fsN8pSamdthknxufLH8KWNh50FPBjSbstSmueP4fa0Ul6HaDfDedvcbiijDEChRYnTdvx2Z58aAS09DtVuPCi7AEHEO8oalBKjiIXyCHzMBI/JKTfql8xvKsI7K/LQFeCxzFiogXtyrsG6ZIi2ZDUcdxUAe441DJqqJNm+dKNGcAyuOOp3GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011mgTH5UMqkTyQRogbHwwFq",
      "input": {
        "note": "The gripper closed to 0.05 with no resistance, so the quince was not between the jaws; reopening before advancing 2 cm.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_011mgTH5UMqkTyQRogbHwwFq",
      "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, -0.4244, -0.0139, -0.0307, 0.9932, 0.0952, 1.6089, 0.5781, 0.2939, 0.0471, -0.009, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0012 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3888 right_y=0.0324 right_z=0.031 right_yaw=0.0583 right_pitch=-0.1667 right_roll=-0.0399 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.3197, 7.0085, 1.7558, -0.0171, -0.0366, -0.0122, -0.3487, -6.4342, 5.7368, 1.6239, -0.0464, 0.0513, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234628d0b836b3b0516edaf746b60c99a89b6b242625751c68ffdb7b8dccb21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5a0177c495173ec13168b0c5ef06a90bcfa6a7b129c7fd3534109e61a981ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3b245617fb83228a59c245b04e93a05cca4617bafa5f1f1cb3de549f4cd1ad77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 3.488 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, 0.8089, 0.6132, -0.4168, -0.0139, -0.0307, 0.9932, 0.0944, 1.56, 0.6064, 0.247, 0.0502, 0.0071, 0.9994]\nstate[eef_state]: left_x=0.2918 left_y=-0.0004 left_z=0.1726 left_yaw=-0.0012 left_pitch=-0.0427 left_roll=-0.0003 left_gripper=0.9932 right_x=0.3942 right_y=0.032 right_z=0.051 right_yaw=0.0464 right_pitch=-0.1362 right_roll=-0.0284 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.388, 7.0632, 1.8095, -0.0562, -0.0415, -0.0171, -0.3624, -6.8308, 5.4769, 2.0293, 0.0366, 0.0366, -0.0122]",
      "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, -0.4236, -0.0139, -0.0307, 0.9932, 0.0952, 1.6085, 0.5827, 0.3, 0.0475, -0.001, 0.0508]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0012 left_pitch=-0.0496 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3914 right_y=0.0325 right_z=0.0339 right_yaw=0.0537 right_pitch=-0.1555 right_roll=-0.0336 right_gripper=0.0508\nstate[joint_eff]: [-0.0479, -1.1419, 7.1453, 1.7607, -0.0464, -0.0317, -0.0171, -0.0752, -5.8325, 4.9162, 1.8974, 0.0562, 0.0269, 0.0708]",
      "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, -0.4244, -0.0139, -0.0307, 0.9932, 0.0952, 1.6089, 0.5781, 0.2939, 0.0471, -0.009, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0012 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3888 right_y=0.0324 right_z=0.031 right_yaw=0.0583 right_pitch=-0.1667 right_roll=-0.0399 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.3197, 7.0085, 1.7558, -0.0171, -0.0366, -0.0122, -0.3487, -6.4342, 5.7368, 1.6239, -0.0464, 0.0513, -0.1783]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:234628d0b836b3b0516edaf746b60c99a89b6b242625751c68ffdb7b8dccb21b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5a0177c495173ec13168b0c5ef06a90bcfa6a7b129c7fd3534109e61a981ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3b245617fb83228a59c245b04e93a05cca4617bafa5f1f1cb3de549f4cd1ad77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoQMKjgEIEhgCKkAVusyduF5uD0zz52paLG9Nze3O2YcJ3uRzBRVaWkbpa4+yz6EowVHD3TMG6vAHe2yz6NXlcO8Gj1s4nocM7vFMMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6pzNUGEgy3R+v/1MEMIyJTcjoaDEN1SaFMYM6rj1VpRCIwkZ404BI9B9ARnJ1qtlexnaG75M6wINTxWK1LPc7l7xo1lpLz2toXuC5NMgiWcdwCKr8BOs90M+DY27dOJn8g1FVKqzlOf+cJq/IfXMpJRtBEttosSXYSx258LzTO+YET7FGe2WW7EFofCFFVGWG3oV3F+3JpIqgNzWBSQQaM0KJ8Gd+qx7hFF51878PL9j9cFu9ghY3IcYyl9/fVf8cT/pudDsS2nV44B1G1hccXvMGX1c2cTXMS6dY1hUc+ZVkNBbgJEHbbYWPq9npTU0q5UtHBDyNworeOf+UW4i2w8rctb8qYCoclUZn8aeSX3ylj+n8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FpNMrSctiN2nHJHM4yXfzg",
      "input": {
        "note": "With jaws open the quince sits just above/beyond the jaw tips in the wrist view; advancing 2.5 cm so the fruit sits between the fingers.",
        "targets": {
          "right_x": 0.415,
          "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_01FpNMrSctiN2nHJHM4yXfzg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8127, 0.6128, -0.4271, -0.0135, -0.0307, 0.9932, 0.0925, 1.684, 0.6575, 0.2562, 0.0433, -0.017, 0.997]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1693 left_yaw=-0.0015 left_pitch=-0.0572 left_roll=-0.0002 left_gripper=0.9932 right_x=0.4037 right_y=0.0334 right_z=0.0242 right_yaw=0.0631 right_pitch=-0.2005 right_roll=-0.0443 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -1.1145, 7.0222, 1.707, -0.0366, -0.0415, -0.0122, -0.7043, -6.6393, 7.6103, 1.5995, -0.0317, -0.0269, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d10ebe12480b477ebb66ead5f029090300b175bcfc7c51bea6e0bbf7a4e1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914c7378e2c44699a522fdeb66d178c5816332db9ce9eccfaf26fdcd4929da7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8ecb7b0dd4c1c62b5d8d4e0ecefbc14ec492714904b85dad3c9cc948d156e977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 7 attempt 0 · /messages · status 200 · 6.767 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, -0.4236, -0.0139, -0.0307, 0.9932, 0.0952, 1.6085, 0.5827, 0.3, 0.0475, -0.001, 0.0508]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1712 left_yaw=-0.0012 left_pitch=-0.0496 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3914 right_y=0.0325 right_z=0.0339 right_yaw=0.0537 right_pitch=-0.1555 right_roll=-0.0336 right_gripper=0.0508\nstate[joint_eff]: [-0.0479, -1.1419, 7.1453, 1.7607, -0.0464, -0.0317, -0.0171, -0.0752, -5.8325, 4.9162, 1.8974, 0.0562, 0.0269, 0.0708]",
      "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, -0.4244, -0.0139, -0.0307, 0.9932, 0.0952, 1.6089, 0.5781, 0.2939, 0.0471, -0.009, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0012 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3888 right_y=0.0324 right_z=0.031 right_yaw=0.0583 right_pitch=-0.1667 right_roll=-0.0399 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.3197, 7.0085, 1.7558, -0.0171, -0.0366, -0.0122, -0.3487, -6.4342, 5.7368, 1.6239, -0.0464, 0.0513, -0.1783]",
      "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, 0.8127, 0.6128, -0.4271, -0.0135, -0.0307, 0.9932, 0.0925, 1.684, 0.6575, 0.2562, 0.0433, -0.017, 0.997]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1693 left_yaw=-0.0015 left_pitch=-0.0572 left_roll=-0.0002 left_gripper=0.9932 right_x=0.4037 right_y=0.0334 right_z=0.0242 right_yaw=0.0631 right_pitch=-0.2005 right_roll=-0.0443 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -1.1145, 7.0222, 1.707, -0.0366, -0.0415, -0.0122, -0.7043, -6.6393, 7.6103, 1.5995, -0.0317, -0.0269, 0.1099]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d1d10ebe12480b477ebb66ead5f029090300b175bcfc7c51bea6e0bbf7a4e1e4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:914c7378e2c44699a522fdeb66d178c5816332db9ce9eccfaf26fdcd4929da7c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8ecb7b0dd4c1c62b5d8d4e0ecefbc14ec492714904b85dad3c9cc948d156e977",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwQIKjgEIEhgCKkCrpgAajbPhJpLYH0t6pr2F7foiHB1AVjXXjqsmNlCz3ZmEIIivXsiDSxm5VLVwE6k00e4w0K4kumBnQv6W0VMfMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeOpzNUGEgxfSyxx1HyciV5CqI8aDK/PxaS/9DoNFlG/3CIwAKwoiX336L5GpbfTyewSy/1XqLP5D6vjdTfR1MB7IOfDbTG/pGdDG0S41Et+RUuvKmDrJstNnUYAAns/75YlBYL6K45qXBbeq7GRN8zLpgHLpYnDnm5/nQSL70YEEo/238PJl8OcwEkMy7eZkkRqg1uWeLSpF/Fomw9wpeB3/F4WLiGCEtrWxXqd4jEb/wsRlSYYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014rpuo83as8EEn7yeqwRpHN",
      "input": {
        "note": "The quince now fills the jaw area in the wrist view; closing fully to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_014rpuo83as8EEn7yeqwRpHN",
      "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, -0.4278, -0.0139, -0.0307, 0.9932, 0.0898, 1.6844, 0.6617, 0.2447, 0.0429, -0.0196, 0.0102]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0012 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9932 right_x=0.4032 right_y=0.0323 right_z=0.0235 right_yaw=0.0622 right_pitch=-0.2082 right_roll=-0.0462 right_gripper=0.0102\nstate[joint_eff]: [-0.0615, -1.4017, 7.241, 1.6972, -0.0317, -0.0513, -0.0122, 0.1846, -6.8718, 5.0393, 1.6532, -0.0171, -0.0024, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c67c1f49f9a7ab4a567ac06aff2afac9fe0e235d99566c8269e7f1c9cd2bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e9070c620adaeb7c64366873762bf0cf7e23a1c4a94e56a14407f75cae5675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a25b23e6a2a8e6eca8b661919d74ca2854b10e80937415435915c69e1c50632a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 8 attempt 0 · /messages · status 200 · 3.037 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, -0.4244, -0.0139, -0.0307, 0.9932, 0.0952, 1.6089, 0.5781, 0.2939, 0.0471, -0.009, 0.9958]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1701 left_yaw=-0.0012 left_pitch=-0.0538 left_roll=-0.0001 left_gripper=0.9932 right_x=0.3888 right_y=0.0324 right_z=0.031 right_yaw=0.0583 right_pitch=-0.1667 right_roll=-0.0399 right_gripper=0.9958\nstate[joint_eff]: [-0.212, -1.3197, 7.0085, 1.7558, -0.0171, -0.0366, -0.0122, -0.3487, -6.4342, 5.7368, 1.6239, -0.0464, 0.0513, -0.1783]",
      "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, 0.8127, 0.6128, -0.4271, -0.0135, -0.0307, 0.9932, 0.0925, 1.684, 0.6575, 0.2562, 0.0433, -0.017, 0.997]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1693 left_yaw=-0.0015 left_pitch=-0.0572 left_roll=-0.0002 left_gripper=0.9932 right_x=0.4037 right_y=0.0334 right_z=0.0242 right_yaw=0.0631 right_pitch=-0.2005 right_roll=-0.0443 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -1.1145, 7.0222, 1.707, -0.0366, -0.0415, -0.0122, -0.7043, -6.6393, 7.6103, 1.5995, -0.0317, -0.0269, 0.1099]",
      "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, -0.4278, -0.0139, -0.0307, 0.9932, 0.0898, 1.6844, 0.6617, 0.2447, 0.0429, -0.0196, 0.0102]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0012 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9932 right_x=0.4032 right_y=0.0323 right_z=0.0235 right_yaw=0.0622 right_pitch=-0.2082 right_roll=-0.0462 right_gripper=0.0102\nstate[joint_eff]: [-0.0615, -1.4017, 7.241, 1.6972, -0.0317, -0.0513, -0.0122, 0.1846, -6.8718, 5.0393, 1.6532, -0.0171, -0.0024, 0.9206]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c67c1f49f9a7ab4a567ac06aff2afac9fe0e235d99566c8269e7f1c9cd2bd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09e9070c620adaeb7c64366873762bf0cf7e23a1c4a94e56a14407f75cae5675",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a25b23e6a2a8e6eca8b661919d74ca2854b10e80937415435915c69e1c50632a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISwgcKjgEIEhgCKkBc9uY6FS+QTo4INrsl7OFGJ4CmkvsiQX9zUG5KcBX9+uBPOJkL0E/H3etdNYQus1NQdmXXxU31h/ItHcYVF+IyMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeqpzNUGEgyrUzn7F3HGVgzrbToaDFLjfPGMxRdGTAEreCIw8p149rbciSOhjE+naI+ELH8aKz2XAPrjvbNI7sH6ECRSeYNbRiHPZiml9HH6F/5jKuAFdoe69Xg0imp+0QuFRmjrXJIusKf9KZh/4TiE7AZIDB+uM8u5gEspr7btS/rUpT0GiF23tPnz18rZnTJWocUPFGbKnR1eSUXIaYmsVDSR1huS0XqbASU/VYLpBYHH7DUtu7CHL1FeajmSt+P7YldJuFgo/4GiASHunnl+g2W2gRQQspq1BvdWKlZiicPxx9iSp/VCmnBfeXoqjEebe0Hokc+luGEXBary36rnonOVM155g8VwoHEqo4DNaO24AB7nEk1a9qJ+WiVs0c2ETXblg5CP0qKj25+AXPFyULTvMlMBh5uT90dfr1zzZEPzs4U3n6tDheUuDXTdfXplNqV65ghyLtpyl/2rU3yoKzX6Pytas6AdRBeTM6ITCFSjBbXydagy84ycBZqhVl1ZfBDRMp1w167tu2aIZr3ICyIsnfzJXYAp61UkGPGwALqRswoXKc3fHlrGErPCLx4MEhdvpTHoyXJiYvJ8bvocyuYs0X9UpIFL+Vbx26hJSP6ELViLUEJTu3TJIK5YAaULNdc511rcTUE+XkZkGnt0EYhHsNiHOlJO/BxIM/r/JzU9+R6iBzC8wibNGrIYu6ANr5WPfLp/oi4cSFJk+co9SCc8zOUuJZbmR7Vqmab0AZ7ttvv0kQr5N0Mn5OSw8HuACX8amFNj0jYO2QUa1lFZideMuuO5IgaD6UETnRScoavGPZwLcZQ0eT7k6ilfgdQf9TNkZBTkdwO3V6KhD4wCZy5NjlP8riDtyxb6kGBTetI2fPg9TjnFRb+rqZ+bim9+nyXM2+GvU/GlMrrER8m2JRuU7QX8+YOYKSuz0z9UsHOuL9tZYrewgoQ0bfwVcRzPNwTxnqU8sfeiDP4cseJzakCph+2OSmSMZG5iAEZPjl2EkrVHH1VK9GhoOK6pGIudhxhLfL8BMPFaHEpTM2gRI6fmIK8lmaoGvMjdfZWu/yQKRhZk7oN6LZAFrwBpUbTy1I/f9xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KTksSFgRfkeA5cEQT1YW9g",
      "input": {
        "note": "Close was empty again (gripper read 0.01), so the pear is still beyond the fingertips; reopening and advancing another 3.5 cm.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.44
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KTksSFgRfkeA5cEQT1YW9g",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4355, -0.0135, -0.0307, 0.9932, 0.0875, 1.7958, 0.7841, 0.2008, 0.0277, -0.038, 0.9953]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1669 left_yaw=-0.0015 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9932 right_x=0.4282 right_y=0.0363 right_z=0.0148 right_yaw=0.0831 right_pitch=-0.2416 right_roll=-0.0487 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.7216, -0.0366, -0.0611, -0.0122, -0.9504, -7.3778, 7.4325, 1.6435, 0.0952, 0.0904, 0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2941759ffe7712d84a5215932ffdb0a43ba9f248e18de29bdbbf093a1b9c31df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a4aa97058368d59e2912e9c52dbea1231df8934a557eb0732ce322c60d8991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:280f90e2287d093f2f5dc02bf763fbab021cbed0beaf80ba8e640531095e2ab8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 22.64 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, 0.8127, 0.6128, -0.4271, -0.0135, -0.0307, 0.9932, 0.0925, 1.684, 0.6575, 0.2562, 0.0433, -0.017, 0.997]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1693 left_yaw=-0.0015 left_pitch=-0.0572 left_roll=-0.0002 left_gripper=0.9932 right_x=0.4037 right_y=0.0334 right_z=0.0242 right_yaw=0.0631 right_pitch=-0.2005 right_roll=-0.0443 right_gripper=0.997\nstate[joint_eff]: [-0.2803, -1.1145, 7.0222, 1.707, -0.0366, -0.0415, -0.0122, -0.7043, -6.6393, 7.6103, 1.5995, -0.0317, -0.0269, 0.1099]",
      "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, -0.4278, -0.0139, -0.0307, 0.9932, 0.0898, 1.6844, 0.6617, 0.2447, 0.0429, -0.0196, 0.0102]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0012 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9932 right_x=0.4032 right_y=0.0323 right_z=0.0235 right_yaw=0.0622 right_pitch=-0.2082 right_roll=-0.0462 right_gripper=0.0102\nstate[joint_eff]: [-0.0615, -1.4017, 7.241, 1.6972, -0.0317, -0.0513, -0.0122, 0.1846, -6.8718, 5.0393, 1.6532, -0.0171, -0.0024, 0.9206]",
      "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, 0.8154, 0.6128, -0.4355, -0.0135, -0.0307, 0.9932, 0.0875, 1.7958, 0.7841, 0.2008, 0.0277, -0.038, 0.9953]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1669 left_yaw=-0.0015 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9932 right_x=0.4282 right_y=0.0363 right_z=0.0148 right_yaw=0.0831 right_pitch=-0.2416 right_roll=-0.0487 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.7216, -0.0366, -0.0611, -0.0122, -0.9504, -7.3778, 7.4325, 1.6435, 0.0952, 0.0904, 0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2941759ffe7712d84a5215932ffdb0a43ba9f248e18de29bdbbf093a1b9c31df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a4aa97058368d59e2912e9c52dbea1231df8934a557eb0732ce322c60d8991",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:280f90e2287d093f2f5dc02bf763fbab021cbed0beaf80ba8e640531095e2ab8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3gIKjgEIEhgCKkD17URWzxw3KJi4IAHBUWua7pMjAD2B0xXC2hY3/OVsULFpN19jjowGwS5Vy7ECpQ0y5JnRzRN5S8Z2oo+4Fbp9Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe6pzNUGEgxFrvA8ZCByCAHfYisaDPsMbCtVV5dqFdgwMyIwpkrXL17L6s50s8c/VZhMb0fFEjJKG7RY8LPZ0tNoGZkiv/buWMIhUN/b+CJ6bsAwKn1qAc65xNeapCrbFsL4/9VDHD2XFxzO1VOQDiXZrgp5S+Q5y145qPIfryZZZuCoV62Bx/n65t3iIrFIK9SKH7X9iP9V3k3QGP6ToORtNJEi4lcBChybU/99TU59DhsVad7lDOU1rRN2VI9RGBuAW6CaOjruwxl9Zw0rrOpPURgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GUaFk8MFYTxa3cm3VNDBs5",
      "input": {
        "note": "The pear now fills the wrist view right at the jaws; closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01GUaFk8MFYTxa3cm3VNDBs5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4423, -0.0135, -0.0311, 0.9932, 0.0887, 1.7992, 0.7864, 0.1894, 0.0277, -0.0422, 0.0103]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1655 left_yaw=-0.0013 left_pitch=-0.0751 left_roll=-0.0001 left_gripper=0.9932 right_x=0.4266 right_y=0.0366 right_z=0.0123 right_yaw=0.0866 right_pitch=-0.2543 right_roll=-0.0517 right_gripper=0.0103\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.707, -0.0366, -0.0562, -0.0122, -0.253, -8.4444, 5.3538, 1.6093, -0.0464, 0.0415, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09ee9b3dbe122ebcfbbebff12547ec6332d251ef6167a942229285a28ef2ca2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2e75ac2b75676a3cfef6d6c07dbd08079bde89e19a23561bde916e8557bcc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7858853c2041643c328f3a291e910942e0fdbc63744e39aa94db276856d25dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 11.23 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, -0.4278, -0.0139, -0.0307, 0.9932, 0.0898, 1.6844, 0.6617, 0.2447, 0.0429, -0.0196, 0.0102]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=-0.0012 left_pitch=-0.0584 left_roll=0.0 left_gripper=0.9932 right_x=0.4032 right_y=0.0323 right_z=0.0235 right_yaw=0.0622 right_pitch=-0.2082 right_roll=-0.0462 right_gripper=0.0102\nstate[joint_eff]: [-0.0615, -1.4017, 7.241, 1.6972, -0.0317, -0.0513, -0.0122, 0.1846, -6.8718, 5.0393, 1.6532, -0.0171, -0.0024, 0.9206]",
      "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, 0.8154, 0.6128, -0.4355, -0.0135, -0.0307, 0.9932, 0.0875, 1.7958, 0.7841, 0.2008, 0.0277, -0.038, 0.9953]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1669 left_yaw=-0.0015 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9932 right_x=0.4282 right_y=0.0363 right_z=0.0148 right_yaw=0.0831 right_pitch=-0.2416 right_roll=-0.0487 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.7216, -0.0366, -0.0611, -0.0122, -0.9504, -7.3778, 7.4325, 1.6435, 0.0952, 0.0904, 0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4423, -0.0135, -0.0311, 0.9932, 0.0887, 1.7992, 0.7864, 0.1894, 0.0277, -0.0422, 0.0103]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1655 left_yaw=-0.0013 left_pitch=-0.0751 left_roll=-0.0001 left_gripper=0.9932 right_x=0.4266 right_y=0.0366 right_z=0.0123 right_yaw=0.0866 right_pitch=-0.2543 right_roll=-0.0517 right_gripper=0.0103\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.707, -0.0366, -0.0562, -0.0122, -0.253, -8.4444, 5.3538, 1.6093, -0.0464, 0.0415, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:09ee9b3dbe122ebcfbbebff12547ec6332d251ef6167a942229285a28ef2ca2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bb2e75ac2b75676a3cfef6d6c07dbd08079bde89e19a23561bde916e8557bcc9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7858853c2041643c328f3a291e910942e0fdbc63744e39aa94db276856d25dbb",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01W78qFwMrzPA3X5aVJk5Shy",
      "input": {
        "note": "Two closes at ~1 cm height came up empty; reopening and trying at 5.5 cm, the fat middle of the pear.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.055
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01W78qFwMrzPA3X5aVJk5Shy",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4461, -0.0135, -0.0307, 0.9932, 0.0895, 1.718, 0.8387, -0.0135, 0.0238, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1638 left_yaw=-0.0015 left_pitch=-0.0828 left_roll=0.0003 left_gripper=0.9932 right_x=0.4143 right_y=0.0365 right_z=0.0307 right_yaw=0.0972 right_pitch=-0.324 right_roll=-0.0563 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.347, 7.0632, 1.7851, -0.0073, -0.0464, -0.0122, -0.2803, -10.6325, 7.5829, 1.5507, -0.0269, 0.0562, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d56a1a5289e4b069c5c3a0ebccb34cc2136f41de847baee10df90cd1979f0c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab095d7fc3a28a5317fe9c1087a30d70d9290a6a14a1210fae9c35873d17fb95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c71b17a2d5035047252f69e8a89349e6a32c61a1859b0d5404c495c543544513",
        "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 · 4.49 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, 0.8154, 0.6128, -0.4355, -0.0135, -0.0307, 0.9932, 0.0875, 1.7958, 0.7841, 0.2008, 0.0277, -0.038, 0.9953]\nstate[eef_state]: left_x=0.2894 left_y=-0.0004 left_z=0.1669 left_yaw=-0.0015 left_pitch=-0.0683 left_roll=0.0 left_gripper=0.9932 right_x=0.4282 right_y=0.0363 right_z=0.0148 right_yaw=0.0831 right_pitch=-0.2416 right_roll=-0.0487 right_gripper=0.9953\nstate[joint_eff]: [-0.1709, -1.4838, 7.0085, 1.7216, -0.0366, -0.0611, -0.0122, -0.9504, -7.3778, 7.4325, 1.6435, 0.0952, 0.0904, 0.0806]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6128, -0.4423, -0.0135, -0.0311, 0.9932, 0.0887, 1.7992, 0.7864, 0.1894, 0.0277, -0.0422, 0.0103]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1655 left_yaw=-0.0013 left_pitch=-0.0751 left_roll=-0.0001 left_gripper=0.9932 right_x=0.4266 right_y=0.0366 right_z=0.0123 right_yaw=0.0866 right_pitch=-0.2543 right_roll=-0.0517 right_gripper=0.0103\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.707, -0.0366, -0.0562, -0.0122, -0.253, -8.4444, 5.3538, 1.6093, -0.0464, 0.0415, 0.9109]\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 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, 0.8192, 0.6128, -0.4461, -0.0135, -0.0307, 0.9932, 0.0895, 1.718, 0.8387, -0.0135, 0.0238, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1638 left_yaw=-0.0015 left_pitch=-0.0828 left_roll=0.0003 left_gripper=0.9932 right_x=0.4143 right_y=0.0365 right_z=0.0307 right_yaw=0.0972 right_pitch=-0.324 right_roll=-0.0563 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.347, 7.0632, 1.7851, -0.0073, -0.0464, -0.0122, -0.2803, -10.6325, 7.5829, 1.5507, -0.0269, 0.0562, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2d56a1a5289e4b069c5c3a0ebccb34cc2136f41de847baee10df90cd1979f0c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ab095d7fc3a28a5317fe9c1087a30d70d9290a6a14a1210fae9c35873d17fb95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 75):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c71b17a2d5035047252f69e8a89349e6a32c61a1859b0d5404c495c543544513",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01H9zv9fJWaA2tZNGMaZNN82",
      "input": {
        "note": "The jaws sit clearly short of the pear and the arm is near its reach limit; pitching the tool forward to gain reach and pushing x to 0.46.",
        "targets": {
          "right_pitch": 0.25,
          "right_x": 0.46,
          "right_z": 0.04
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 20 steps (2.0s)",
      "tool_use_id": "toolu_01H9zv9fJWaA2tZNGMaZNN82",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4534, -0.0135, -0.0307, 0.9932, 0.0765, 1.9957, 0.5892, 1.0027, 0.0051, -0.0608, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0015 left_pitch=-0.09 left_roll=0.0005 left_gripper=0.9932 right_x=0.4536 right_y=0.0374 right_z=0.0239 right_yaw=0.1038 right_pitch=0.1649 right_roll=-0.0593 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0269, -0.022, -0.0122, -0.5538, -7.5829, 3.453, 2.3712, 0.0024, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a175d2c39965893596081051c1feb6991c82f5e8e91557d457532eb4c1433c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6214e66d8376c66838d4b0f76a8d57f1b60be92f6bf144bd09b333f9082b4fc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:03a012eace78712f6c0b833a72e3b84f6434fb64b77e194d21d09673e0a544ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 13.9 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, 0.8154, 0.6128, -0.4423, -0.0135, -0.0311, 0.9932, 0.0887, 1.7992, 0.7864, 0.1894, 0.0277, -0.0422, 0.0103]\nstate[eef_state]: left_x=0.2884 left_y=-0.0003 left_z=0.1655 left_yaw=-0.0013 left_pitch=-0.0751 left_roll=-0.0001 left_gripper=0.9932 right_x=0.4266 right_y=0.0366 right_z=0.0123 right_yaw=0.0866 right_pitch=-0.2543 right_roll=-0.0517 right_gripper=0.0103\nstate[joint_eff]: [-0.1299, -1.3197, 6.9538, 1.707, -0.0366, -0.0562, -0.0122, -0.253, -8.4444, 5.3538, 1.6093, -0.0464, 0.0415, 0.9109]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8192, 0.6128, -0.4461, -0.0135, -0.0307, 0.9932, 0.0895, 1.718, 0.8387, -0.0135, 0.0238, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1638 left_yaw=-0.0015 left_pitch=-0.0828 left_roll=0.0003 left_gripper=0.9932 right_x=0.4143 right_y=0.0365 right_z=0.0307 right_yaw=0.0972 right_pitch=-0.324 right_roll=-0.0563 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.347, 7.0632, 1.7851, -0.0073, -0.0464, -0.0122, -0.2803, -10.6325, 7.5829, 1.5507, -0.0269, 0.0562, -0.1587]\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 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4534, -0.0135, -0.0307, 0.9932, 0.0765, 1.9957, 0.5892, 1.0027, 0.0051, -0.0608, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0015 left_pitch=-0.09 left_roll=0.0005 left_gripper=0.9932 right_x=0.4536 right_y=0.0374 right_z=0.0239 right_yaw=0.1038 right_pitch=0.1649 right_roll=-0.0593 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0269, -0.022, -0.0122, -0.5538, -7.5829, 3.453, 2.3712, 0.0024, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a175d2c39965893596081051c1feb6991c82f5e8e91557d457532eb4c1433c4c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6214e66d8376c66838d4b0f76a8d57f1b60be92f6bf144bd09b333f9082b4fc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03a012eace78712f6c0b833a72e3b84f6434fb64b77e194d21d09673e0a544ef",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAIS8wQKjgEIEhgCKkCVbuMs2km910EuEHaVunX+k3QQGu/tNZM77Q4wqWsg7TLZHfkwehg7Z+jPJInvRNbGQhvj0JizRZ9fRWEvV3NRMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAaSqzNUGEgzQiu4mOdk1r1OPkd8aDAjrVk1fhNUHKsyUNyIw6oq38C1x6SgUNDosepRl/kthOHU2L5iqfM6BneyZlNK4jiHd86c09oNpSL7UBEvEKpEDkGzyh4BzW8yM/oIeGkUXNH11+G8uhf1gjrO3cMTwTS3fcaWmG+r4TYoQgXH0msNn+6It0D4j1Oq/xXstk3AeL1giOzn3gsMOyeXuqH/w97H2fml6ntL94ASVaR6DwHp22wsf0uCEDGutMGBqBWSlbmqGz/WYdM8dRx7Ckz8nUN+uyNR3Sua0VbKnqSgK9NwWXrNMrCnTgoy+a5UBqnnB+8RN6LhZozkFoCTP49pI4DHcx8yaQEX8nuKXCMMcyrA0KXpm6p68pxAtjjRi+6gDxdZ2vD+EGZxWwyq3WWrZZ7lHKgbf1hpe4KSIR29MyMl171sOB4mNvoYeTEX4n/9KErfpFMLPnfzaV+q7IllOO9hwnkQlkQhHO8JZ1ts4pQLQ56htjHCXK1D1rNYQT1hYcy5Ic72+pOsesmDP2KrOAWpLHlwZEzklSyHYCGbPhhZF8/mX4k/zBg5LSB2A0haHBtJDTjM3/AANZExaxg09I75K0oEbv3tSl0weAGcRYxI1UQQQEt660t+6947eG879oy0YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PMnTaUfmMHHVZQgEe8S7Vt",
      "input": {
        "note": "Pitching forward gained reach; the pear now sits right between the jaw tips. Closing to grasp.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PMnTaUfmMHHVZQgEe8S7Vt",
      "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, 0.6128, -0.4675, -0.0135, -0.0311, 0.9932, 0.0765, 2.0068, 0.5892, 0.9962, -0.0013, -0.0639, 0.0102]\nstate[eef_state]: left_x=0.2851 left_y=-0.0003 left_z=0.1579 left_yaw=-0.0012 left_pitch=-0.1106 left_roll=0.0006 left_gripper=0.9932 right_x=0.4519 right_y=0.0385 right_z=0.0176 right_yaw=0.1109 right_pitch=0.1473 right_roll=-0.0589 right_gripper=0.0102\nstate[joint_eff]: [0.0889, -1.4154, 6.9265, 1.9023, -0.0122, -0.0366, -0.0122, -0.0068, -9.2923, 3.8632, 1.9805, 0.0562, -0.022, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b9b7078724aa45754154bec69736e5dc3cb0e91e55662706d95e3766f8e231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cc837d2973c640a04a897d8b8ca66b20eeebee6a87aeece123629b4dc4e000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:139f4391802002320bfa959d9eca48e92711263bdc03d67869be30ce23d4d730",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 13 attempt 0 · /messages · status 200 · 33.42 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, 0.8192, 0.6128, -0.4461, -0.0135, -0.0307, 0.9932, 0.0895, 1.718, 0.8387, -0.0135, 0.0238, -0.0536, 0.9986]\nstate[eef_state]: left_x=0.288 left_y=-0.0003 left_z=0.1638 left_yaw=-0.0015 left_pitch=-0.0828 left_roll=0.0003 left_gripper=0.9932 right_x=0.4143 right_y=0.0365 right_z=0.0307 right_yaw=0.0972 right_pitch=-0.324 right_roll=-0.0563 right_gripper=0.9986\nstate[joint_eff]: [-0.0752, -1.347, 7.0632, 1.7851, -0.0073, -0.0464, -0.0122, -0.2803, -10.6325, 7.5829, 1.5507, -0.0269, 0.0562, -0.1587]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4534, -0.0135, -0.0307, 0.9932, 0.0765, 1.9957, 0.5892, 1.0027, 0.0051, -0.0608, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0015 left_pitch=-0.09 left_roll=0.0005 left_gripper=0.9932 right_x=0.4536 right_y=0.0374 right_z=0.0239 right_yaw=0.1038 right_pitch=0.1649 right_roll=-0.0593 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0269, -0.022, -0.0122, -0.5538, -7.5829, 3.453, 2.3712, 0.0024, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4675, -0.0135, -0.0311, 0.9932, 0.0765, 2.0068, 0.5892, 0.9962, -0.0013, -0.0639, 0.0102]\nstate[eef_state]: left_x=0.2851 left_y=-0.0003 left_z=0.1579 left_yaw=-0.0012 left_pitch=-0.1106 left_roll=0.0006 left_gripper=0.9932 right_x=0.4519 right_y=0.0385 right_z=0.0176 right_yaw=0.1109 right_pitch=0.1473 right_roll=-0.0589 right_gripper=0.0102\nstate[joint_eff]: [0.0889, -1.4154, 6.9265, 1.9023, -0.0122, -0.0366, -0.0122, -0.0068, -9.2923, 3.8632, 1.9805, 0.0562, -0.022, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63b9b7078724aa45754154bec69736e5dc3cb0e91e55662706d95e3766f8e231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:99cc837d2973c640a04a897d8b8ca66b20eeebee6a87aeece123629b4dc4e000",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:139f4391802002320bfa959d9eca48e92711263bdc03d67869be30ce23d4d730",
        "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_01JoTRATGnFXF36HxLMD3Fjz",
      "input": {
        "note": "Third empty close despite the pear looking centred between the jaws, so my y or x estimate must be off; lifting and retracting to get an unobstructed top view of the fruit and the arm.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0,
          "right_x": 0.38,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01JoTRATGnFXF36HxLMD3Fjz",
      "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, 0.8284, 0.6125, -0.4755, -0.0139, -0.0307, 0.9932, 0.1009, 1.214, 0.8886, -0.2253, 0.0063, -0.0711, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=-0.0011 left_pitch=-0.1217 left_roll=0.0014 left_gripper=0.9932 right_x=0.3873 right_y=0.0417 right_z=0.209 right_yaw=0.1325 right_pitch=0.0178 right_roll=-0.0647 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9812, 1.7656, -0.0464, -0.0611, -0.0122, 0.2256, -5.4222, 9.1556, 1.7167, 0.1538, 0.1099, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03368d80a0a255e62e18169c3489250610a2b953a76635f29582cc5abb4ba5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25bb4adb7c20ef28f152b5d49bbbea2b12805ee5d3f0a5b407cb9153cb31441c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f900f698550674ecda5336ab98dffcdf78b1c9a486946449654aa4d2e99c06a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /messages · status 200 · 7.002 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6128, -0.4534, -0.0135, -0.0307, 0.9932, 0.0765, 1.9957, 0.5892, 1.0027, 0.0051, -0.0608, 0.9986]\nstate[eef_state]: left_x=0.287 left_y=-0.0003 left_z=0.1623 left_yaw=-0.0015 left_pitch=-0.09 left_roll=0.0005 left_gripper=0.9932 right_x=0.4536 right_y=0.0374 right_z=0.0239 right_yaw=0.1038 right_pitch=0.1649 right_roll=-0.0593 right_gripper=0.9986\nstate[joint_eff]: [-0.0479, -1.3333, 6.9538, 1.6825, -0.0269, -0.022, -0.0122, -0.5538, -7.5829, 3.453, 2.3712, 0.0024, 0.0269, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4675, -0.0135, -0.0311, 0.9932, 0.0765, 2.0068, 0.5892, 0.9962, -0.0013, -0.0639, 0.0102]\nstate[eef_state]: left_x=0.2851 left_y=-0.0003 left_z=0.1579 left_yaw=-0.0012 left_pitch=-0.1106 left_roll=0.0006 left_gripper=0.9932 right_x=0.4519 right_y=0.0385 right_z=0.0176 right_yaw=0.1109 right_pitch=0.1473 right_roll=-0.0589 right_gripper=0.0102\nstate[joint_eff]: [0.0889, -1.4154, 6.9265, 1.9023, -0.0122, -0.0366, -0.0122, -0.0068, -9.2923, 3.8632, 1.9805, 0.0562, -0.022, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6125, -0.4755, -0.0139, -0.0307, 0.9932, 0.1009, 1.214, 0.8886, -0.2253, 0.0063, -0.0711, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=-0.0011 left_pitch=-0.1217 left_roll=0.0014 left_gripper=0.9932 right_x=0.3873 right_y=0.0417 right_z=0.209 right_yaw=0.1325 right_pitch=0.0178 right_roll=-0.0647 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9812, 1.7656, -0.0464, -0.0611, -0.0122, 0.2256, -5.4222, 9.1556, 1.7167, 0.1538, 0.1099, -0.1441]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03368d80a0a255e62e18169c3489250610a2b953a76635f29582cc5abb4ba5bd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25bb4adb7c20ef28f152b5d49bbbea2b12805ee5d3f0a5b407cb9153cb31441c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f900f698550674ecda5336ab98dffcdf78b1c9a486946449654aa4d2e99c06a",
        "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_01UWwvGKjuKDENVfdTcrzt3r",
      "input": {
        "note": "Diagnostic: with the jaws closed I push forward at fruit height to see in the top view exactly where my fingertips are relative to the pear; if the pear shifts, my x estimate is right.",
        "targets": {
          "right_gripper": 0,
          "right_pitch": 0.25,
          "right_x": 0.48,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01UWwvGKjuKDENVfdTcrzt3r",
      "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, 0.8322, 0.6125, -0.4767, -0.0135, -0.0307, 0.9932, 0.0742, 2.0624, 0.6483, 0.9539, -0.025, -0.0795, 0.0096]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0014 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4614 right_y=0.0423 right_z=0.0027 right_yaw=0.137 right_pitch=0.1085 right_roll=-0.0611 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.7026, 7.0906, 1.6288, -0.0366, -0.0122, -0.0122, -0.7043, -9.8393, 5.094, 2.3516, -0.0464, 0.0269, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6488156ea820135d498e2c4e7855ab5d310e6b97e440dfb53c5ea97ab5ad52b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817e12fd3a10ce7e7091b92b3d036221a1c2c4682085bcab279ab837315f3c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8bef576410bceec8fc22e38ca2ffea804e492165e8222c6c7572454054090535",
        "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 · 7.164 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6128, -0.4675, -0.0135, -0.0311, 0.9932, 0.0765, 2.0068, 0.5892, 0.9962, -0.0013, -0.0639, 0.0102]\nstate[eef_state]: left_x=0.2851 left_y=-0.0003 left_z=0.1579 left_yaw=-0.0012 left_pitch=-0.1106 left_roll=0.0006 left_gripper=0.9932 right_x=0.4519 right_y=0.0385 right_z=0.0176 right_yaw=0.1109 right_pitch=0.1473 right_roll=-0.0589 right_gripper=0.0102\nstate[joint_eff]: [0.0889, -1.4154, 6.9265, 1.9023, -0.0122, -0.0366, -0.0122, -0.0068, -9.2923, 3.8632, 1.9805, 0.0562, -0.022, 0.8913]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8284, 0.6125, -0.4755, -0.0139, -0.0307, 0.9932, 0.1009, 1.214, 0.8886, -0.2253, 0.0063, -0.0711, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=-0.0011 left_pitch=-0.1217 left_roll=0.0014 left_gripper=0.9932 right_x=0.3873 right_y=0.0417 right_z=0.209 right_yaw=0.1325 right_pitch=0.0178 right_roll=-0.0647 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9812, 1.7656, -0.0464, -0.0611, -0.0122, 0.2256, -5.4222, 9.1556, 1.7167, 0.1538, 0.1099, -0.1441]",
      "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, 0.8322, 0.6125, -0.4767, -0.0135, -0.0307, 0.9932, 0.0742, 2.0624, 0.6483, 0.9539, -0.025, -0.0795, 0.0096]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0014 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4614 right_y=0.0423 right_z=0.0027 right_yaw=0.137 right_pitch=0.1085 right_roll=-0.0611 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.7026, 7.0906, 1.6288, -0.0366, -0.0122, -0.0122, -0.7043, -9.8393, 5.094, 2.3516, -0.0464, 0.0269, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f6488156ea820135d498e2c4e7855ab5d310e6b97e440dfb53c5ea97ab5ad52b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:817e12fd3a10ce7e7091b92b3d036221a1c2c4682085bcab279ab837315f3c77",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 131):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8bef576410bceec8fc22e38ca2ffea804e492165e8222c6c7572454054090535",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISvAgKjgEIEhgCKkAb44h31lAGCFxUAyghcE9w3QDiI+Dl1fLW3pxBgu7KInxvLSQo5GotoTUm7HKoxyG+QC8F1m6xT7HZ8UIOaS6QMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAd6qzNUGEgyYeFdQe4QhQe7TqAEaDO62tOyUtt11/GKtcCIw7Nc7y2vssgyOzbbDPf9V1vovEuvGw7ZVvFJxCEV1W60etkkgcIhR2KdKwcFpywCfKtoGMHXfPp1iZbJMVZwSeY8l2Ea4RVbonzBBfzu7c4s84tMDLaQdtWk0e2hviTZjQyevK7e4yjppkj0zb/t/VvPRZ3ZuzqAe8ojS6T9iHA/rvtu9/VTlgKzR77/8B/pOMKJiVcM7XuVAX++dXBsDNLBXOz0kuBAkb5NvetbKMIOOhhknIFPZPAKSKyZGokdK0Pn/bpzqfdUBVg9KsQfWEIMAGD9ddqFPFJyxm4iknVAiz8WSqc6phIsirEeTY3+q4ig46WPkee7twR+VCbys7vWun4C20N+/gphfLSOW2t/wC8CA5m7BhqP2A0xFOgr+asIkY8HSpypfN4B2lnIk7yW0EkpjfGyD++ubv6b8k17wN2lvqB9aDV4YRDRZ0DC9QZH5wiXbxRo6+AZiOLXt9MwAzuw+4nrytHOiuKlJEeLUtyFfsnaAJ02++L4BuVwwxbr1UHWx5bBOK7ROkC162pfdsixDu/iTjlI20FY6D5YNCOuTmLOpfrnYVxIsnfLLcyDTPM6/86TMd39YFt441/3VwO6hGC4LQqxYpvGo91nx20E04rhYzdcohq8B9B9YNfvqgpOmPxrPhv14Dzd2uFxHNDK6PUJPxF9zUKstUl0J7Tun7rJkCdxR4aElAjmWwFazuyBC5tfXXDCTSiiKH0Y7Mu9qlQS00KhFxA1UQ3xh4eVvil10kKGhY2ksytQiAtkAVzk3MjXnMvZLpDaWtPP55FZLzDA7o1kN2VR0XjYMe0ie0gVssO/KJ9XFyVswVbSltBFectqFu3xj7eeirm8URCTcH4WQyRc4DMoTUZNjmcN1+gA3sIrm0Sk2+sYzmJeswW+lJMRs5h8+eH9navVj08rH3OIzTeaU9Szi+mXDDzmwt/k0OU0qDAaCgYAeMwmV/xaSh8bJsitC4BW5YtuB5TRp4EZOe1oEeqiZrihncMg4zcguWokrUpj1bQgj1M8QMTLcHdKyB2+OQBDZkWHTVs5Gy45xcCAvO2rlVtk6NHTdGmdAlT0TSQnXJ5vi2JIuf4zHeKcMt+tShNIb9wWuDKjkG6H3iOzisPcP9vJxa/jtOvmPmyhZvjLHBUhfdlyyOsn7ivwBsgtE18KGGRzjVzxU/4aGyFSYIgCm+9sZGK2Asu77gZnlBK1hGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VoYvS9dGmE9kaRmFoBK8zW",
      "input": {
        "note": "The closed jaws are now right against the base of the pear in the wrist view; opening the gripper so the pear ends up between the fingers.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01VoYvS9dGmE9kaRmFoBK8zW",
      "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, 0.8322, 0.6125, -0.4763, -0.0139, -0.0311, 0.9932, 0.0746, 2.0781, 0.6449, 0.9939, -0.0319, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1262 left_roll=0.0012 left_gripper=0.9932 right_x=0.4627 right_y=0.0438 right_z=0.0036 right_yaw=0.1434 right_pitch=0.1296 right_roll=-0.0595 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2923, 6.9402, 1.6044, -0.0513, -0.0708, -0.0122, -0.0889, -10.1675, 4.0137, 1.409, 0.0269, -0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10db9af894d09c2684bbb7a3d28a240186db82e8bd16d098e2afd200c4b9633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09e7bac0f8c6891c1334ccf8724089b11b5b254ebadbfe53bba1e5ecf0cc0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:42bee0b00ca7448f60a2b1ca5fc47a2df953935fe8a1aa8e074338828cd64ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /messages · status 200 · 3.372 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, 0.8284, 0.6125, -0.4755, -0.0139, -0.0307, 0.9932, 0.1009, 1.214, 0.8886, -0.2253, 0.0063, -0.0711, 0.9965]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1555 left_yaw=-0.0011 left_pitch=-0.1217 left_roll=0.0014 left_gripper=0.9932 right_x=0.3873 right_y=0.0417 right_z=0.209 right_yaw=0.1325 right_pitch=0.0178 right_roll=-0.0647 right_gripper=0.9965\nstate[joint_eff]: [-0.1983, -1.6342, 6.9812, 1.7656, -0.0464, -0.0611, -0.0122, 0.2256, -5.4222, 9.1556, 1.7167, 0.1538, 0.1099, -0.1441]",
      "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, 0.8322, 0.6125, -0.4767, -0.0135, -0.0307, 0.9932, 0.0742, 2.0624, 0.6483, 0.9539, -0.025, -0.0795, 0.0096]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0014 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4614 right_y=0.0423 right_z=0.0027 right_yaw=0.137 right_pitch=0.1085 right_roll=-0.0611 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.7026, 7.0906, 1.6288, -0.0366, -0.0122, -0.0122, -0.7043, -9.8393, 5.094, 2.3516, -0.0464, 0.0269, 0.8181]",
      "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, 0.8322, 0.6125, -0.4763, -0.0139, -0.0311, 0.9932, 0.0746, 2.0781, 0.6449, 0.9939, -0.0319, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1262 left_roll=0.0012 left_gripper=0.9932 right_x=0.4627 right_y=0.0438 right_z=0.0036 right_yaw=0.1434 right_pitch=0.1296 right_roll=-0.0595 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2923, 6.9402, 1.6044, -0.0513, -0.0708, -0.0122, -0.0889, -10.1675, 4.0137, 1.409, 0.0269, -0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10db9af894d09c2684bbb7a3d28a240186db82e8bd16d098e2afd200c4b9633",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c09e7bac0f8c6891c1334ccf8724089b11b5b254ebadbfe53bba1e5ecf0cc0aa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 141):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:42bee0b00ca7448f60a2b1ca5fc47a2df953935fe8a1aa8e074338828cd64ae3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISggcKjgEIEhgCKkBfRsWeQ+wJt9TWaN3jTkz8CwBfEKQ26ni26TinrwRdLXgDDPYv8k5k4ypRU6fEsaYRbwb0aE2MF9jyzPlY0lu+Mg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeWqzNUGEgyQAmELYIhb8LKFlskaDMNLgW9cY+Ky95sFriIwGIdI99it6+iMOClRCvSSZRaR0cwjBsBQ0HM0E2YgSMV5qkx6mFihv20qAwLbCTSHKqAF5DCKyX5+iGfSOmcHFXzADf6azLFZRMdy/8nm/sbkIw2nHvRpas/4QScGxdIRvc+Fy1W9BXagjjgSPv+FKUNVdnlLdxco0mfGy1PqT5pREpQSh+XJWo8CszC2lM/auwDNUXMLHe44FRuz+/nUqwlUdUNgUKMOqAt3L0r5ezt0oadN//eLAuu9RAEx6Yvdvy7IVTh2tG+NHoJOv2Hz3TAf2Vk80JXc84/SLNRW3wPMGZhhiiWwIVxrN+nMutgLfRluo0El7CuLJTsr7hKnEUjKUKYIlPpwQ5t7AIVwwnlrB4g2RFQDlYmWm4aBxYqUSgO/dvyphD+h7Wjw5TtyOu1nIgILn26tajbeddr4dMTJZf2bz27SM0vA7u4FV8Ic1FVJfYb34Sc8zAbtbiDmf7ozdJGVfCHJ3QvqvskEZRDemGVwnE6OFuERKM0Vpc1rKNflmU2yl8snLhP5/esGeX6BmDD8Z3rEYI1UrJjFj+pxgFf9sWZwXlNpgUGU8dF7Tox+ebM+PUBYDC8BJf6Qzn6lL9WDRe5EmulHg1WsWz1ukoLCLvsIEo1Qm54wKM9HdI0E+P8gmauqctmDybRIGMipEi45Qi1wezyifNoO4qnzMybERyTndC6PSD0vmPb6DL7/7d+iqY4nEGo1zcMjWq3afV1oXZNbbc2TZh1lUd+ehFKW7rpWVJckZMC9BvikHEjbjwvxcl3rBJoiwVnPHjF22v7IrpXZEwdf/GlQPZ1WSo+2zvlXkHPMLkbCUFbin3lMIoDXZo3F5+htnkcDAWeu9cAGfeUkZowLIgAakPNuOCiN0RixCK/Qi0LjOtMY/FK7481xqVYeOaGJdCos6VUboR6VTlZpDGDUL/NvSQ5k+2CETQJN/YIZRwnp4gPFKTHnGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01L3wQPeQqrzpnKh82Z8HH35",
      "input": {
        "note": "Pear base sits just beyond the open jaws; advancing 1.5 cm and raising slightly so the fingers straddle its widest part.",
        "targets": {
          "right_x": 0.478,
          "right_z": 0.025
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01L3wQPeQqrzpnKh82Z8HH35",
      "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, 0.8322, 0.6125, -0.4767, -0.0139, -0.0311, 0.9932, 0.0746, 2.0613, 0.6743, 0.9371, -0.0399, -0.0811, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4683 right_y=0.0456 right_z=0.0079 right_yaw=0.1509 right_pitch=0.1192 right_roll=-0.0567 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.4427, 6.9675, 1.5995, -0.0366, -0.0708, -0.0073, -0.4308, -11.7402, 5.9145, 1.8926, 0.0415, -0.022, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f5526153d023094808f36e2ae99901691472881e5d3eaf8ec60661a0832642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf476f08dc5f7fd8a967f0325483594407b6851fc29d9922e862d07f0cec8c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f2b3848f519fc7fab067b404bdec19563b0e87ff7d44b38deeb970c6bc01a74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 17 attempt 0 · /messages · status 200 · 16.28 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, 0.8322, 0.6125, -0.4767, -0.0135, -0.0307, 0.9932, 0.0742, 2.0624, 0.6483, 0.9539, -0.025, -0.0795, 0.0096]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0014 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4614 right_y=0.0423 right_z=0.0027 right_yaw=0.137 right_pitch=0.1085 right_roll=-0.0611 right_gripper=0.0096\nstate[joint_eff]: [-0.3214, -1.7026, 7.0906, 1.6288, -0.0366, -0.0122, -0.0122, -0.7043, -9.8393, 5.094, 2.3516, -0.0464, 0.0269, 0.8181]",
      "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, 0.8322, 0.6125, -0.4763, -0.0139, -0.0311, 0.9932, 0.0746, 2.0781, 0.6449, 0.9939, -0.0319, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1262 left_roll=0.0012 left_gripper=0.9932 right_x=0.4627 right_y=0.0438 right_z=0.0036 right_yaw=0.1434 right_pitch=0.1296 right_roll=-0.0595 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2923, 6.9402, 1.6044, -0.0513, -0.0708, -0.0122, -0.0889, -10.1675, 4.0137, 1.409, 0.0269, -0.0269, -0.0904]\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 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, 0.8322, 0.6125, -0.4767, -0.0139, -0.0311, 0.9932, 0.0746, 2.0613, 0.6743, 0.9371, -0.0399, -0.0811, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4683 right_y=0.0456 right_z=0.0079 right_yaw=0.1509 right_pitch=0.1192 right_roll=-0.0567 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.4427, 6.9675, 1.5995, -0.0366, -0.0708, -0.0073, -0.4308, -11.7402, 5.9145, 1.8926, 0.0415, -0.022, 0.0806]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:73f5526153d023094808f36e2ae99901691472881e5d3eaf8ec60661a0832642",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf476f08dc5f7fd8a967f0325483594407b6851fc29d9922e862d07f0cec8c1b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f2b3848f519fc7fab067b404bdec19563b0e87ff7d44b38deeb970c6bc01a74b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Uw1zuQSnZxGNmQPRLvjHXh",
      "input": {
        "note": "Pear is between the open jaws now; closing to grasp it.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Uw1zuQSnZxGNmQPRLvjHXh",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6125, -0.4763, -0.0135, -0.0311, 0.9932, 0.0746, 2.0514, 0.6746, 0.9157, -0.0399, -0.0875, 0.0102]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0009 left_gripper=0.9932 right_x=0.4671 right_y=0.0456 right_z=0.0078 right_yaw=0.1543 right_pitch=0.108 right_roll=-0.0617 right_gripper=0.0102\nstate[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.6239, -0.0317, -0.0269, -0.0122, -0.0615, -8.1162, 3.959, 2.0537, 0.0024, 0.0317, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c54b173f646236d0de7d785e0b7349a7cceb6279b6a39b91555b4b10487086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:498c51c37adf74e5141f4b640e3ca7c28c1da717fbcf188d46e87e73ab489ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6d9e9515c8f7a4e12957a44259ff3f6d120775dd592d0373003e7c6e3e81f1ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 18 attempt 0 · /messages · status 200 · 12.43 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, 0.8322, 0.6125, -0.4763, -0.0139, -0.0311, 0.9932, 0.0746, 2.0781, 0.6449, 0.9939, -0.0319, -0.0795, 0.9955]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1262 left_roll=0.0012 left_gripper=0.9932 right_x=0.4627 right_y=0.0438 right_z=0.0036 right_yaw=0.1434 right_pitch=0.1296 right_roll=-0.0595 right_gripper=0.9955\nstate[joint_eff]: [-0.0342, -1.2923, 6.9402, 1.6044, -0.0513, -0.0708, -0.0122, -0.0889, -10.1675, 4.0137, 1.409, 0.0269, -0.0269, -0.0904]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8322, 0.6125, -0.4767, -0.0139, -0.0311, 0.9932, 0.0746, 2.0613, 0.6743, 0.9371, -0.0399, -0.0811, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4683 right_y=0.0456 right_z=0.0079 right_yaw=0.1509 right_pitch=0.1192 right_roll=-0.0567 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.4427, 6.9675, 1.5995, -0.0366, -0.0708, -0.0073, -0.4308, -11.7402, 5.9145, 1.8926, 0.0415, -0.022, 0.0806]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6125, -0.4763, -0.0135, -0.0311, 0.9932, 0.0746, 2.0514, 0.6746, 0.9157, -0.0399, -0.0875, 0.0102]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0009 left_gripper=0.9932 right_x=0.4671 right_y=0.0456 right_z=0.0078 right_yaw=0.1543 right_pitch=0.108 right_roll=-0.0617 right_gripper=0.0102\nstate[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.6239, -0.0317, -0.0269, -0.0122, -0.0615, -8.1162, 3.959, 2.0537, 0.0024, 0.0317, 0.862]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:52c54b173f646236d0de7d785e0b7349a7cceb6279b6a39b91555b4b10487086",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:498c51c37adf74e5141f4b640e3ca7c28c1da717fbcf188d46e87e73ab489ccf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 153):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6d9e9515c8f7a4e12957a44259ff3f6d120775dd592d0373003e7c6e3e81f1ac",
        "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_01DbphAfBHPvT14JPa1gVzqs",
      "input": {
        "note": "Still empty: the pear's centre sits ~20 px right of the jaw column, so the jaws are closing beside it. Opening and shifting 3 cm to the arm's right to line up.",
        "targets": {
          "right_gripper": 1,
          "right_y": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DbphAfBHPvT14JPa1gVzqs",
      "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, 0.8352, 0.6125, -0.4911, -0.0135, -0.0311, 0.9932, -0.0154, 2.0514, 0.6746, 0.8997, -0.1287, -0.1364, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1507 left_yaw=-0.0011 left_pitch=-0.1442 left_roll=0.0013 left_gripper=0.9932 right_x=0.4666 right_y=0.0191 right_z=0.0048 right_yaw=0.1657 right_pitch=0.0957 right_roll=-0.0633 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4154, 7.0359, 1.7314, -0.0269, -0.0708, -0.0122, -0.6359, -9.2376, 3.6991, 2.0537, 0.1197, 0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39dbe4f7266fcc756bf63c0cd8cfec9fb5983b9c2d59670a9ef4c967ea15239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79c67d0536a317d56a02374f41eedefcae01a654aa57e4735b65da3db92ecbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2f9c52b8539c36e33b237d4c37177c5025f2de181e033302c8a7a332c1485be3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /messages · status 200 · 3.747 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, 0.8322, 0.6125, -0.4767, -0.0139, -0.0311, 0.9932, 0.0746, 2.0613, 0.6743, 0.9371, -0.0399, -0.0811, 0.9964]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0009 left_pitch=-0.1266 left_roll=0.0012 left_gripper=0.9932 right_x=0.4683 right_y=0.0456 right_z=0.0079 right_yaw=0.1509 right_pitch=0.1192 right_roll=-0.0567 right_gripper=0.9964\nstate[joint_eff]: [-0.0068, -1.4427, 6.9675, 1.5995, -0.0366, -0.0708, -0.0073, -0.4308, -11.7402, 5.9145, 1.8926, 0.0415, -0.022, 0.0806]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6125, -0.4763, -0.0135, -0.0311, 0.9932, 0.0746, 2.0514, 0.6746, 0.9157, -0.0399, -0.0875, 0.0102]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0009 left_gripper=0.9932 right_x=0.4671 right_y=0.0456 right_z=0.0078 right_yaw=0.1543 right_pitch=0.108 right_roll=-0.0617 right_gripper=0.0102\nstate[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.6239, -0.0317, -0.0269, -0.0122, -0.0615, -8.1162, 3.959, 2.0537, 0.0024, 0.0317, 0.862]",
      "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, 0.8352, 0.6125, -0.4911, -0.0135, -0.0311, 0.9932, -0.0154, 2.0514, 0.6746, 0.8997, -0.1287, -0.1364, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1507 left_yaw=-0.0011 left_pitch=-0.1442 left_roll=0.0013 left_gripper=0.9932 right_x=0.4666 right_y=0.0191 right_z=0.0048 right_yaw=0.1657 right_pitch=0.0957 right_roll=-0.0633 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4154, 7.0359, 1.7314, -0.0269, -0.0708, -0.0122, -0.6359, -9.2376, 3.6991, 2.0537, 0.1197, 0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f39dbe4f7266fcc756bf63c0cd8cfec9fb5983b9c2d59670a9ef4c967ea15239",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f79c67d0536a317d56a02374f41eedefcae01a654aa57e4735b65da3db92ecbe",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f9c52b8539c36e33b237d4c37177c5025f2de181e033302c8a7a332c1485be3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01EE17KL2P9QRmhxrPSUg3go",
      "input": {
        "note": "The pear still sits beyond the fingertips; pitching the tool further forward and pushing x to 0.50 to extend reach onto it.",
        "targets": {
          "right_pitch": 0.45,
          "right_x": 0.5,
          "right_y": 0.03,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01EE17KL2P9QRmhxrPSUg3go",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4938, -0.0135, -0.0311, 0.9932, 0.0074, 2.3024, 0.7158, 1.3911, -0.1364, -0.094, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0011 left_pitch=-0.1469 left_roll=0.0014 left_gripper=0.9932 right_x=0.493 right_y=0.0313 right_z=0.0152 right_yaw=0.1837 right_pitch=0.3748 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.2103, 6.9675, 1.6532, -0.0513, -0.0562, -0.0122, -0.1026, -8.6496, 4.547, 2.2149, 0.0611, 0.149, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf4140d49b5fa5d530c0db8dcdbfec364c3a607f1c976dc76d6fda1d0466b232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31f217f44c7c8e763518b1b05911b8dcd3ab908a24f9900a0e4c66fe012b647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f93f3e91b0de51293224df24b3852b611c98bcfdcd7192aaba7dec234ad95d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 18.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8322, 0.6125, -0.4763, -0.0135, -0.0311, 0.9932, 0.0746, 2.0514, 0.6746, 0.9157, -0.0399, -0.0875, 0.0102]\nstate[eef_state]: left_x=0.2839 left_y=-0.0002 left_z=0.1543 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0009 left_gripper=0.9932 right_x=0.4671 right_y=0.0456 right_z=0.0078 right_yaw=0.1543 right_pitch=0.108 right_roll=-0.0617 right_gripper=0.0102\nstate[joint_eff]: [-0.0068, -1.4291, 7.0769, 1.6239, -0.0317, -0.0269, -0.0122, -0.0615, -8.1162, 3.959, 2.0537, 0.0024, 0.0317, 0.862]",
      "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, 0.8352, 0.6125, -0.4911, -0.0135, -0.0311, 0.9932, -0.0154, 2.0514, 0.6746, 0.8997, -0.1287, -0.1364, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1507 left_yaw=-0.0011 left_pitch=-0.1442 left_roll=0.0013 left_gripper=0.9932 right_x=0.4666 right_y=0.0191 right_z=0.0048 right_yaw=0.1657 right_pitch=0.0957 right_roll=-0.0633 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4154, 7.0359, 1.7314, -0.0269, -0.0708, -0.0122, -0.6359, -9.2376, 3.6991, 2.0537, 0.1197, 0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4938, -0.0135, -0.0311, 0.9932, 0.0074, 2.3024, 0.7158, 1.3911, -0.1364, -0.094, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0011 left_pitch=-0.1469 left_roll=0.0014 left_gripper=0.9932 right_x=0.493 right_y=0.0313 right_z=0.0152 right_yaw=0.1837 right_pitch=0.3748 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.2103, 6.9675, 1.6532, -0.0513, -0.0562, -0.0122, -0.1026, -8.6496, 4.547, 2.2149, 0.0611, 0.149, 0.1001]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bf4140d49b5fa5d530c0db8dcdbfec364c3a607f1c976dc76d6fda1d0466b232",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d31f217f44c7c8e763518b1b05911b8dcd3ab908a24f9900a0e4c66fe012b647",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 175):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f93f3e91b0de51293224df24b3852b611c98bcfdcd7192aaba7dec234ad95d10",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISnQMKjgEIEhgCKkClYnMDanhLk6Ndf2ahJvCkma6zCA00T33QCQqz1cEB3Z7nhxRVBF5dIoKCpoavUYMdjQTYEDviSm3pPetCo33EMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAY2rzNUGEgw4odp/tn295vZZdU8aDNI8iE6jWhGyMySqvyIwlS+4chNq6cOtJb2lnJFpqJBbrEYFOK81Shm4rbvFu7YYrG89eLHpQPlkt1t7a8WvKrsBl6j10g9ORwyo7/LDaI/d1dlhiWrMQn8El4VHq3E0Zws4Y3noOZ6cR+2rkaDa9B1kJVnnEKtgFxz8gGPhluAfVmCsiLXWafMqVJCGmgXueB1QtMp9kYCQlMbawt/Y4chlwECoIEldSM6Fl70qHS3Y3k1heyeMQ38PJl+7soF871r8sj9NcboS5clYEgdki5TzcJ9IQUO81UYJypiYYGtuqKDOSHTq1ybzpUznmfdY3ETLCP0ebDYtVlFIwBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01HBaGaVsShXN2QbGoZnLSm2",
      "input": {
        "note": "At x=0.49 the pear extends to the bottom of the wrist view, so it should now be within the jaws; closing.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01HBaGaVsShXN2QbGoZnLSm2",
      "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, 0.8352, 0.6125, -0.4942, -0.0139, -0.0311, 0.9932, 0.0074, 2.3146, 0.7197, 1.401, -0.1394, -0.0967, 0.0105]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0008 left_pitch=-0.1472 left_roll=0.0016 left_gripper=0.9932 right_x=0.4933 right_y=0.0318 right_z=0.0129 right_yaw=0.1881 right_pitch=0.3763 right_roll=-0.0734 right_gripper=0.0105\nstate[joint_eff]: [-0.0068, -1.4154, 7.0496, 1.6288, -0.0415, -0.0708, -0.0122, -0.1299, -10.7145, 2.6051, 1.8437, -0.0122, -0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff9e4c216d317b9a206931323bd49bfccc7063a9fc81aaa4c27b74d962449ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a67a300875b9e543b020582271db9018482b54f25ff64348863e2256065735f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b8627af7fa5e14b1d7f8aae7c1a9291613d721afe49909e69d18526da4092fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 6.881 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, 0.8352, 0.6125, -0.4911, -0.0135, -0.0311, 0.9932, -0.0154, 2.0514, 0.6746, 0.8997, -0.1287, -0.1364, 0.9953]\nstate[eef_state]: left_x=0.2817 left_y=-0.0002 left_z=0.1507 left_yaw=-0.0011 left_pitch=-0.1442 left_roll=0.0013 left_gripper=0.9932 right_x=0.4666 right_y=0.0191 right_z=0.0048 right_yaw=0.1657 right_pitch=0.0957 right_roll=-0.0633 right_gripper=0.9953\nstate[joint_eff]: [-0.0615, -1.4154, 7.0359, 1.7314, -0.0269, -0.0708, -0.0122, -0.6359, -9.2376, 3.6991, 2.0537, 0.1197, 0.0269, -0.0122]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4938, -0.0135, -0.0311, 0.9932, 0.0074, 2.3024, 0.7158, 1.3911, -0.1364, -0.094, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0011 left_pitch=-0.1469 left_roll=0.0014 left_gripper=0.9932 right_x=0.493 right_y=0.0313 right_z=0.0152 right_yaw=0.1837 right_pitch=0.3748 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.2103, 6.9675, 1.6532, -0.0513, -0.0562, -0.0122, -0.1026, -8.6496, 4.547, 2.2149, 0.0611, 0.149, 0.1001]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4942, -0.0139, -0.0311, 0.9932, 0.0074, 2.3146, 0.7197, 1.401, -0.1394, -0.0967, 0.0105]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0008 left_pitch=-0.1472 left_roll=0.0016 left_gripper=0.9932 right_x=0.4933 right_y=0.0318 right_z=0.0129 right_yaw=0.1881 right_pitch=0.3763 right_roll=-0.0734 right_gripper=0.0105\nstate[joint_eff]: [-0.0068, -1.4154, 7.0496, 1.6288, -0.0415, -0.0708, -0.0122, -0.1299, -10.7145, 2.6051, 1.8437, -0.0122, -0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:eff9e4c216d317b9a206931323bd49bfccc7063a9fc81aaa4c27b74d962449ee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a67a300875b9e543b020582271db9018482b54f25ff64348863e2256065735f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 185):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b8627af7fa5e14b1d7f8aae7c1a9291613d721afe49909e69d18526da4092fee",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016G9LSERzMgRdcoRtePSDow",
      "input": {
        "note": "The jaws keep stopping ~2 cm short of the pear at table level, which is the arm's reach limit; trying higher up (z≈9 cm) where the arm can extend further, to grasp the pear's neck.",
        "targets": {
          "right_gripper": 1,
          "right_pitch": 0.3,
          "right_x": 0.53,
          "right_z": 0.095
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_016G9LSERzMgRdcoRtePSDow",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0113, 2.043, 0.8665, 0.8875, -0.1516, -0.1223, 0.9953]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=-0.001 left_pitch=-0.1491 left_roll=0.0019 left_gripper=0.9932 right_x=0.524 right_y=0.0362 right_z=0.0745 right_yaw=0.2112 right_pitch=0.2825 right_roll=-0.0777 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.5658, 6.9402, 1.5702, -0.0415, -0.0122, -0.0122, -0.5538, -12.3419, 7.159, 1.9853, 0.0513, 0.0904, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4358fbcc3decd2dd66707307a208bd831a6359358cfb184d5f71028cb73afbc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b79d3f673de2a1263b24ef4c0053385f8523855b36c6830ef604cd917783a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8115ab53bb87f8ecfafa7c8a1579b1cf5e9c48c79b650fad1c98c5827c7ba37f",
        "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 · 11.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4938, -0.0135, -0.0311, 0.9932, 0.0074, 2.3024, 0.7158, 1.3911, -0.1364, -0.094, 0.9964]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1502 left_yaw=-0.0011 left_pitch=-0.1469 left_roll=0.0014 left_gripper=0.9932 right_x=0.493 right_y=0.0313 right_z=0.0152 right_yaw=0.1837 right_pitch=0.3748 right_roll=-0.071 right_gripper=0.9964\nstate[joint_eff]: [-0.335, -1.2103, 6.9675, 1.6532, -0.0513, -0.0562, -0.0122, -0.1026, -8.6496, 4.547, 2.2149, 0.0611, 0.149, 0.1001]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4942, -0.0139, -0.0311, 0.9932, 0.0074, 2.3146, 0.7197, 1.401, -0.1394, -0.0967, 0.0105]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0008 left_pitch=-0.1472 left_roll=0.0016 left_gripper=0.9932 right_x=0.4933 right_y=0.0318 right_z=0.0129 right_yaw=0.1881 right_pitch=0.3763 right_roll=-0.0734 right_gripper=0.0105\nstate[joint_eff]: [-0.0068, -1.4154, 7.0496, 1.6288, -0.0415, -0.0708, -0.0122, -0.1299, -10.7145, 2.6051, 1.8437, -0.0122, -0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0113, 2.043, 0.8665, 0.8875, -0.1516, -0.1223, 0.9953]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=-0.001 left_pitch=-0.1491 left_roll=0.0019 left_gripper=0.9932 right_x=0.524 right_y=0.0362 right_z=0.0745 right_yaw=0.2112 right_pitch=0.2825 right_roll=-0.0777 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.5658, 6.9402, 1.5702, -0.0415, -0.0122, -0.0122, -0.5538, -12.3419, 7.159, 1.9853, 0.0513, 0.0904, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4358fbcc3decd2dd66707307a208bd831a6359358cfb184d5f71028cb73afbc0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9b79d3f673de2a1263b24ef4c0053385f8523855b36c6830ef604cd917783a95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8115ab53bb87f8ecfafa7c8a1579b1cf5e9c48c79b650fad1c98c5827c7ba37f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS0gcKjgEIEhgCKkAkr/1RMtvWxXnkJCEnqsKWLGQcnz9GdWtEpYOx9Z30sLrmdUkXQhnq/xT12gctc023AN+oxZZpCQhqt/wQr8jJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAairzNUGEgxDkXzszNVTHTIygmsaDJSWovJ6+5sgMs9v6CIwnKiw/B5tcTPYwL35OwgxHF7wNyJLjtKV6Qi4bzqTGmvvAwZyN/3O2u0jfzxiyx8RKvAFEzhbG9PUYJqb19rEibOn1eHtY8LY7L7vQkyNhRpm+AdDLIe3PhxzHNSyLCoUckMzbvhxa/1cmXqtJXe8brZ4VWbLqJTCyB5Lzr+US0zWUVK1O3PghjPzzagcUEhzB+qKdOofa7nNGQKX/3WRuCjVzcFVdxLWf/NA+yV4aVjGAnE5i8lbssR3jY0GxoG94dwUdBr3M0fUex2xiVO1wvj8ok0r3N15820zXF9MkffsJ6aIze/gk7qYQ8bfn24JIWyvk9szPS5gUDHQQkLxtBCp558buhxb1PWLh+jH/PCdd6oLMQ5znlWdwrSZqK6LWkRlLfMX4akXrY6NW2uiGWSQSrMfUqYQkfMGTvupg3iNNLPy42mCnjJkSRUtpxlKSqrk/4uNtl5jbhQsIGffn4TTUZsADGeptjDiW8k0SN31RDMP4b+/Yyje/JG3f9hwK2hdc0AYS4adO0/64rdrV9UShtKtEfRfHtav0N39R0VduYgoEzSkSGAXrd0ww6/4yQlmFxfUaAY6t72AXp9eFg3Z6DgDoaN9Ke/LF1fPBFfANCzDdwXnF7hdKseiE+/RhosMXsgjCFGwSH4yHGSG93hvw2CoIk/CdmVZPriJA7PFeYCPGQ6E6e0os4B3QU0wU4RzebTECLiVjknCE0AsY7dYQe7cZFmxlo4XVCz8cJ4XAexbbUFtmoe6xw4HdMJYJbX2Gp0YYMyW/7FfqpnIN6VBD7RwKs85uA1h7p4PL2S5Gfdz1OdG36zsv02OxG1ccAhxvxqc0uISbfraQCuUZLPGM6RP3SnfR2hCZcYmdHbrRIGrpY1KJUrqI32MQTWjymRLa9K3enOzgdWrpcVJzOsOHGKAtxEcWaeCxfLSGal0z7wIt31NRzG8noxyITYezm/3otydCv8H7l1V4axSsLHAvacJW3vgGrjcbgMeGuFQmnlMUJYItMTC796oaUh0m5t9EEnUGHZQEGGMhBFjzTTQdrwL7fQKSQemoru3cEM9b84YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JZAe1Ue2nw4czsiSzpQY9n",
      "input": {
        "note": "At z=7.5 cm the arm reached x=0.52 and the pear's neck now sits on the jaw column filling the lower frame; closing to grasp the neck.",
        "targets": {
          "right_gripper": 0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01JZAe1Ue2nw4czsiSzpQY9n",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0113, 2.035, 0.8711, 0.8631, -0.1555, -0.1249, 0.0104]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1497 left_yaw=-0.0011 left_pitch=-0.1491 left_roll=0.0014 left_gripper=0.9932 right_x=0.5237 right_y=0.0368 right_z=0.0746 right_yaw=0.2154 right_pitch=0.2711 right_roll=-0.0767 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -1.4564, 6.9402, 1.6044, -0.0317, -0.0757, -0.0073, 0.0615, -9.1829, 4.7795, 2.1074, -0.0317, -0.0513, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f262e7b88ceaabf29b5375682fcaf1627dced3214edbe6bfba6846224cf6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380608cce4afb2f4ee5fdc52f47ac62d80b00886da4d53175919f08b212c9182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a68d8ba6433795852585bf88418dfba8fc31eba64c35572939f8f584e04051c",
        "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 · 3.121 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8352, 0.6125, -0.4942, -0.0139, -0.0311, 0.9932, 0.0074, 2.3146, 0.7197, 1.401, -0.1394, -0.0967, 0.0105]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1502 left_yaw=-0.0008 left_pitch=-0.1472 left_roll=0.0016 left_gripper=0.9932 right_x=0.4933 right_y=0.0318 right_z=0.0129 right_yaw=0.1881 right_pitch=0.3763 right_roll=-0.0734 right_gripper=0.0105\nstate[joint_eff]: [-0.0068, -1.4154, 7.0496, 1.6288, -0.0415, -0.0708, -0.0122, -0.1299, -10.7145, 2.6051, 1.8437, -0.0122, -0.0366, 0.7985]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0113, 2.043, 0.8665, 0.8875, -0.1516, -0.1223, 0.9953]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=-0.001 left_pitch=-0.1491 left_roll=0.0019 left_gripper=0.9932 right_x=0.524 right_y=0.0362 right_z=0.0745 right_yaw=0.2112 right_pitch=0.2825 right_roll=-0.0777 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.5658, 6.9402, 1.5702, -0.0415, -0.0122, -0.0122, -0.5538, -12.3419, 7.159, 1.9853, 0.0513, 0.0904, -0.0464]\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 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, 0.8368, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0113, 2.035, 0.8711, 0.8631, -0.1555, -0.1249, 0.0104]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1497 left_yaw=-0.0011 left_pitch=-0.1491 left_roll=0.0014 left_gripper=0.9932 right_x=0.5237 right_y=0.0368 right_z=0.0746 right_yaw=0.2154 right_pitch=0.2711 right_roll=-0.0767 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -1.4564, 6.9402, 1.6044, -0.0317, -0.0757, -0.0073, 0.0615, -9.1829, 4.7795, 2.1074, -0.0317, -0.0513, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:18f262e7b88ceaabf29b5375682fcaf1627dced3214edbe6bfba6846224cf6a2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380608cce4afb2f4ee5fdc52f47ac62d80b00886da4d53175919f08b212c9182",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 205):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a68d8ba6433795852585bf88418dfba8fc31eba64c35572939f8f584e04051c",
        "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_01DxLcQe3Y2BuS7Y9TzLuRkT",
      "input": {
        "note": "The closed jaws are overlapping the pear in the image but still passing in front of it; opening and reaching 3 cm further out and slightly left.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.56,
          "right_y": 0.05,
          "right_z": 0.085
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01DxLcQe3Y2BuS7Y9TzLuRkT",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0463, 2.0895, 1.0195, 0.7567, -0.1505, -0.1318, 0.9958]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0011 left_pitch=-0.1495 left_roll=0.0014 left_gripper=0.9932 right_x=0.5522 right_y=0.0557 right_z=0.0799 right_yaw=0.2493 right_pitch=0.2582 right_roll=-0.0824 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.2239, 6.9538, 1.6239, -0.0562, -0.0757, -0.0122, -0.212, -9.6479, 7.8291, 1.7851, 0.1636, 0.0855, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68bd01565a548e0d4be7c61b499bd78b5eafd17183a4861cadb83c320e91f158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2485696a490766b7b6d6002310d0ef2e1d95d9ab8c13eaef39fcafa3ed2dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a2008d1fb5467655eba3a46ba1d0bc8e7d002168e594652f5ad334392e359b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 24 attempt 0 · /messages · status 200 · 6.919 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8368, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0113, 2.043, 0.8665, 0.8875, -0.1516, -0.1223, 0.9953]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1497 left_yaw=-0.001 left_pitch=-0.1491 left_roll=0.0019 left_gripper=0.9932 right_x=0.524 right_y=0.0362 right_z=0.0745 right_yaw=0.2112 right_pitch=0.2825 right_roll=-0.0777 right_gripper=0.9953\nstate[joint_eff]: [-0.0068, -1.5658, 6.9402, 1.5702, -0.0415, -0.0122, -0.0122, -0.5538, -12.3419, 7.159, 1.9853, 0.0513, 0.0904, -0.0464]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "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, 0.8368, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0113, 2.035, 0.8711, 0.8631, -0.1555, -0.1249, 0.0104]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1497 left_yaw=-0.0011 left_pitch=-0.1491 left_roll=0.0014 left_gripper=0.9932 right_x=0.5237 right_y=0.0368 right_z=0.0746 right_yaw=0.2154 right_pitch=0.2711 right_roll=-0.0767 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -1.4564, 6.9402, 1.6044, -0.0317, -0.0757, -0.0073, 0.0615, -9.1829, 4.7795, 2.1074, -0.0317, -0.0513, 0.8425]\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 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0463, 2.0895, 1.0195, 0.7567, -0.1505, -0.1318, 0.9958]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0011 left_pitch=-0.1495 left_roll=0.0014 left_gripper=0.9932 right_x=0.5522 right_y=0.0557 right_z=0.0799 right_yaw=0.2493 right_pitch=0.2582 right_roll=-0.0824 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.2239, 6.9538, 1.6239, -0.0562, -0.0757, -0.0122, -0.212, -9.6479, 7.8291, 1.7851, 0.1636, 0.0855, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:68bd01565a548e0d4be7c61b499bd78b5eafd17183a4861cadb83c320e91f158",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:db2485696a490766b7b6d6002310d0ef2e1d95d9ab8c13eaef39fcafa3ed2dd4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 215):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a2008d1fb5467655eba3a46ba1d0bc8e7d002168e594652f5ad334392e359b56",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISjAMKjgEIEhgCKkAN1A13VK5zCUHywShcokyCH98UmMmxgqbCQvyOVlAIyNAQi8JM7B26meDWvUR2akv0XC0maLBN3Dwu8MhXCAmdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAbmrzNUGEgwjlFVY+/rOjCNAlvQaDGDGV7+l+wALnKreyCIwTo4jF415oxgwV+MMEwXC8jIeYlS7prR9RGp5PjoxC5U3e5S0dDEDNIXt08IlV5sjKqoB+bhoF0p87q5YAwOhjMh/bCWTLrva8DAUo+Y9B2lPxhDsS/4HgaOcbif3JlWsFcklbNmTlVUdUtHme1GPrECut+ynCo0lnzuGKe/SMGz+hTa3WjRrEMs7isq2jQYOuX1iNbqz3s0deDaCGtwFs7IkLjn6MnyJJFEfgxDyMoifmRyKGLKOb/1UAs6V5iFoX2etyx56VUwxkwI0U+yfKYWkyt5MNpBRrIPgTkkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BH9Bn7aVzXaZpKQhcx89bR",
      "input": {
        "note": "The open jaws now flank the pear in the wrist view; closing on it.",
        "targets": {
          "right_gripper": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01BH9Bn7aVzXaZpKQhcx89bR",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0467, 2.0911, 1.0218, 0.7395, -0.1562, -0.1402, 0.3366]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1496 left_yaw=-0.001 left_pitch=-0.1495 left_roll=0.002 left_gripper=0.9932 right_x=0.5512 right_y=0.0569 right_z=0.0761 right_yaw=0.2584 right_pitch=0.2421 right_roll=-0.0853 right_gripper=0.3366\nstate[joint_eff]: [-0.1436, -1.4154, 6.9265, 1.5849, -0.0708, -0.0708, -0.0122, -0.3624, -10.9333, 5.4496, 2.0293, 0.0073, 0.0513, 0.779]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ae6253ee76492fabbd2df2897460eaba4994a20585ae1da07092657c73e43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90888d95f3d0c442ef70998475883ba73805d3197a62ef23e89d8b4dc887ccac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:608704a3ec2d61b42d965f39e8d66cdb53becf63a0d239caa44ed79a7df4872a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 8.737 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, 0.8368, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0113, 2.035, 0.8711, 0.8631, -0.1555, -0.1249, 0.0104]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1497 left_yaw=-0.0011 left_pitch=-0.1491 left_roll=0.0014 left_gripper=0.9932 right_x=0.5237 right_y=0.0368 right_z=0.0746 right_yaw=0.2154 right_pitch=0.2711 right_roll=-0.0767 right_gripper=0.0104\nstate[joint_eff]: [-0.1299, -1.4564, 6.9402, 1.6044, -0.0317, -0.0757, -0.0073, 0.0615, -9.1829, 4.7795, 2.1074, -0.0317, -0.0513, 0.8425]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0463, 2.0895, 1.0195, 0.7567, -0.1505, -0.1318, 0.9958]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0011 left_pitch=-0.1495 left_roll=0.0014 left_gripper=0.9932 right_x=0.5522 right_y=0.0557 right_z=0.0799 right_yaw=0.2493 right_pitch=0.2582 right_roll=-0.0824 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.2239, 6.9538, 1.6239, -0.0562, -0.0757, -0.0122, -0.212, -9.6479, 7.8291, 1.7851, 0.1636, 0.0855, -0.1148]\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 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0467, 2.0911, 1.0218, 0.7395, -0.1562, -0.1402, 0.3366]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1496 left_yaw=-0.001 left_pitch=-0.1495 left_roll=0.002 left_gripper=0.9932 right_x=0.5512 right_y=0.0569 right_z=0.0761 right_yaw=0.2584 right_pitch=0.2421 right_roll=-0.0853 right_gripper=0.3366\nstate[joint_eff]: [-0.1436, -1.4154, 6.9265, 1.5849, -0.0708, -0.0708, -0.0122, -0.3624, -10.9333, 5.4496, 2.0293, 0.0073, 0.0513, 0.779]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ae6253ee76492fabbd2df2897460eaba4994a20585ae1da07092657c73e43f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:90888d95f3d0c442ef70998475883ba73805d3197a62ef23e89d8b4dc887ccac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 224):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:608704a3ec2d61b42d965f39e8d66cdb53becf63a0d239caa44ed79a7df4872a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS5QYKjgEIEhgCKkDwbl0l5CKIiPGW3MxAcKpN5/AN/ef7qE8R5Jntbb7BV98vagGXMf8qTUPYs9CpOc189Pejr/3LSV2KtUS8mcdLMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcCrzNUGEgxBR0YmSoiC28Eq8y4aDE9poV9zpRb794VahCIwIGUvpfnoe5W48CLu80M9uDfQvFKbumyBRIO0Lm+kNNm4novCFFwuAUTiU4Ho/HqSKoMFAXN9Cnh/nmDyYztZuiiZawBdjj3Dhpu5E2g+K0uJYtFZApt3/ZzY2KIqrPx0STsW6C7W9g6dhGM5lTSm6uaZEE5ux06O1E5ybdb7u1X0Jlw4bDaUGx6cU8OixmP/wcj+lJcgIw+4AdG1jt1krf+MZeYiIIkdeY6tE9/xTKkXhYbMzGnSyVrR9I6oFE/B3I6vnxVgShNE+wAhPjmwPgRSQ7exrN1wW6iSvokSHS8hvDfsZ4TlEMmAQ8vYRFvQ1aM3eBIMUD3h2e2733JJxmBb/PVWNYdo6unmEf3Hl6wmA7vS6xQog9Jh8BWAM3M3Y4VYDc24DzK5kXyTuhT5ZR2Qip0dao01BSOPKYrvO9GRHIcnkvbkOKh76S5TYsbSaI+3EmwRCI+YYRcJsbyaUcKn+zUY0Wb69VpxSktmDj/ZQlWNLN5AnWdpYohslVE0MDjmZrt4vKJI0aTAOk920AKFtMBaqs7FQ+ozZ/8S7FR+c2F6DXye/oVnFnug7aImZ4bgGOYICPaeJgNAymQbPy7DDavB6UH+4u7UNsjqt4iO12UKnl8L114goQgAu8WPpDkaIt2VhjH6uz5rZVxbGJXEYkKeBjpQFlqbUlb6URX332WTgXe3hEQPuzl/EMY8uPiGsKD+76y/xSX4/hubAaZCaEBRRgipAKyYeTLMhF2XmeUf4DJy+fuNh3leBRv5Xv/92TvkCnh1ehO1VrhzZtdQADkts81Fl2mA7z3EAq7/LCGDtRIIF5MbW6xQ+rkAxVB30p9T8TiTsLoN0c9A623IC1zbgymphJSlK/GyNCBVQ1wSVaBa42HJe+aMpA3G6l0xoGc1HhqugT492wF/piR/RA/J8xgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01WXBGgszucA3CdRkqsY1wnK",
      "input": {
        "note": "Gripper settled at 0.34 (≈3 cm of pear neck) — the pear is grasped. Lifting it clear of the table.",
        "targets": {
          "right_x": 0.5,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01WXBGgszucA3CdRkqsY1wnK",
      "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, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0505, 1.6238, 1.1084, 0.1272, -0.1585, -0.1436, 0.3377]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.501 right_y=0.0569 right_z=0.2147 right_yaw=0.2634 right_pitch=0.1851 right_roll=-0.0752 right_gripper=0.3377\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.5849, -0.0757, -0.0708, -0.0122, -0.0889, -10.3316, 10.0308, 2.0244, 0.0611, 0.0073, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c79005395c94bdd1654c2ca434065f2dd920d28f8addfa6d2aa6420b93f23ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d78ae369b322621e37f03a8dd1c5e2534a6fde547879c457c3cccc645c6df5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dfa3a5cc281ff478c366b3f9fe48421271c21028aa3e8f99cc95a1b1ad5c7c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 3.625 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, 0.8371, 0.6125, -0.4946, -0.0135, -0.0311, 0.9932, 0.0463, 2.0895, 1.0195, 0.7567, -0.1505, -0.1318, 0.9958]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1496 left_yaw=-0.0011 left_pitch=-0.1495 left_roll=0.0014 left_gripper=0.9932 right_x=0.5522 right_y=0.0557 right_z=0.0799 right_yaw=0.2493 right_pitch=0.2582 right_roll=-0.0824 right_gripper=0.9958\nstate[joint_eff]: [-0.1846, -1.2239, 6.9538, 1.6239, -0.0562, -0.0757, -0.0122, -0.212, -9.6479, 7.8291, 1.7851, 0.1636, 0.0855, -0.1148]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8371, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0467, 2.0911, 1.0218, 0.7395, -0.1562, -0.1402, 0.3366]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1496 left_yaw=-0.001 left_pitch=-0.1495 left_roll=0.002 left_gripper=0.9932 right_x=0.5512 right_y=0.0569 right_z=0.0761 right_yaw=0.2584 right_pitch=0.2421 right_roll=-0.0853 right_gripper=0.3366\nstate[joint_eff]: [-0.1436, -1.4154, 6.9265, 1.5849, -0.0708, -0.0708, -0.0122, -0.3624, -10.9333, 5.4496, 2.0293, 0.0073, 0.0513, 0.779]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0505, 1.6238, 1.1084, 0.1272, -0.1585, -0.1436, 0.3377]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.501 right_y=0.0569 right_z=0.2147 right_yaw=0.2634 right_pitch=0.1851 right_roll=-0.0752 right_gripper=0.3377\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.5849, -0.0757, -0.0708, -0.0122, -0.0889, -10.3316, 10.0308, 2.0244, 0.0611, 0.0073, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c79005395c94bdd1654c2ca434065f2dd920d28f8addfa6d2aa6420b93f23ca3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:56d78ae369b322621e37f03a8dd1c5e2534a6fde547879c457c3cccc645c6df5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 236):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dfa3a5cc281ff478c366b3f9fe48421271c21028aa3e8f99cc95a1b1ad5c7c5d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISkQkKjgEIEhgCKkCzvflw/WtbXKod2upy049DivXwnQbfxfn6JDqZzMr8vwWClRheKUZGIBXEPSwrhn6EAmPxRkvmFQh+xwjiTtwYMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAcqrzNUGEgyfrPdim87FIAQ8NW0aDLZXw3uHp3MtJZn1RCIw7oWIOu7GiQFvD3euuXYTplB317iduCje3R6x8va41VGrAo8QMsXUmOTY01sZ0tDBKq8HAevJGiCim1Dh26jGuPX5RVbF8Jy2I8b81GCkHQXZDpE63TN9dJsTiN3OFOpb3IaFVU7JSvwHoR+ieY5a0PaSvfVkNnCU4ndrUpzMJObjuhx2XNZRHvHUPaDJsSvWOjgLyTzN4+/irGA5jM/7Rx7lrN+QQFtrZbRGw9ORDAsxkNcjDOcY2sNRItBeW5MOv7WCmGc8yskhd6Y9hpvlNu8k2jkfrX3lo+DFOsxsdQvsQ724DJ3rpmabHL2mfNxh8ULRlNsRMzvFA2HkuE+jAL0rDWCE+1t5BIVGuLBme1dJPacZrF3exBNYcdTrPAUaMVohmsGpGnD9MRMLgBNL0w5xKSa1O5+bPf6WdD9Ub8S92cvjujBSd5rkPRN7u4zbb8JqPF8oPBX49G9gQ04Q943FBQQj5+MPqfULVx6F+bWWxTYc59A9ZuHVzEnF1xxsStAj+YCZps7aEioQ7QfKG+phvLRpVYBSPc1IqIKHLC/+Qx5Z6O2F1JxxIrcnqpXFsFJ8aC5zrEdarXMgnytaviwpeVA4H7mKFV+JK6ZBU7WIHo1dIH98Af45ATipWICWJupNRIVG0IEtu4P8nTiD/96K4QRzgjVHszOONjBGhF5alWGFCKuWaj9LBuog+6Aomb3Rr6d/U3BcxA3G5tUxdyO78WMx1hqltkM/9PUX/p6EcqDhA1a5mR3b+PVVvqlLHxbDe2A9s4rgvjn/cCmAU4A0updq+Guef6Gpp2zgujqojZcbCAjPpGawhBoaTVdKVIHQVvVSD7V1mD+9f9+DMbXjqGJHpCsvssZ8NYg61gbcg1lSf8kDk7d3HezmY+BOKTWP9RIxygsM3uET69H/tOLtPbJqiifOx76dNKe1E5R4HTzRlpBMGfKWuN7WhPUvFvrK78NrFogv0Z3Y0EWjs/cLG0XGBQt03wZVc7Q17367oz3NPwkBry5BlBR5UzNBwKJRiGSHymV/D9qc30ObzQriLPMT2Gb2VyBqvsHfus3rFZUmkexgFWtOrJ682XlTSegM3gjNaEE9m97yVGx+MJ8OajuDR72GiPwwwp6KxBtnkTG7RrygEwJ9e1ug44eDL8ijQzB/zCGfZ/zTsPRB5TL6iutbx1ZxzJtRF9zrq0cQHSmwnJnPNlUWJ4dMWQBiKLmO/GyDQjCMS0ep6ktA1P75on202mFPdyfIrgFDRpcxBxDyhNc+26rTs7hM1i2AvPNkGXYTSgZzhk57iU63t/q7+BzBVcBCroOVUHLiWVrakBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0199YZGxjRfSdJvBoeiKoKao",
      "input": {
        "note": "Pear is in the gripper; moving it over the blue bowl (left of the pear's old spot) before releasing.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.135,
          "right_z": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_0199YZGxjRfSdJvBoeiKoKao",
      "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, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.2825, 1.5726, 1.1225, -0.0208, 0.0277, -0.0799, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.4682 right_y=0.1345 right_z=0.2117 right_yaw=0.3008 right_pitch=0.0969 right_roll=-0.0848 right_gripper=0.3384\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.58, -0.0464, -0.0513, -0.0122, 0.2256, -10.4547, 10.2496, 2.1856, 0.1294, 0.105, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a9cd32032ac93fbe53477ed352353c93d55eb6c55f04fc271ada1fd6f945d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a5b2991d420bd5f01ddf885bb6fc75baabf69818105e165ff9f51735857ce34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b7d5c771d9ce70dec94b3c323adac9bff99e9bf7c93d8d92641c6ff69175fcf",
        "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 · 6.329 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, 0.8371, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0467, 2.0911, 1.0218, 0.7395, -0.1562, -0.1402, 0.3366]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1496 left_yaw=-0.001 left_pitch=-0.1495 left_roll=0.002 left_gripper=0.9932 right_x=0.5512 right_y=0.0569 right_z=0.0761 right_yaw=0.2584 right_pitch=0.2421 right_roll=-0.0853 right_gripper=0.3366\nstate[joint_eff]: [-0.1436, -1.4154, 6.9265, 1.5849, -0.0708, -0.0708, -0.0122, -0.3624, -10.9333, 5.4496, 2.0293, 0.0073, 0.0513, 0.779]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0505, 1.6238, 1.1084, 0.1272, -0.1585, -0.1436, 0.3377]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.501 right_y=0.0569 right_z=0.2147 right_yaw=0.2634 right_pitch=0.1851 right_roll=-0.0752 right_gripper=0.3377\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.5849, -0.0757, -0.0708, -0.0122, -0.0889, -10.3316, 10.0308, 2.0244, 0.0611, 0.0073, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.2825, 1.5726, 1.1225, -0.0208, 0.0277, -0.0799, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.4682 right_y=0.1345 right_z=0.2117 right_yaw=0.3008 right_pitch=0.0969 right_roll=-0.0848 right_gripper=0.3384\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.58, -0.0464, -0.0513, -0.0122, 0.2256, -10.4547, 10.2496, 2.1856, 0.1294, 0.105, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7a9cd32032ac93fbe53477ed352353c93d55eb6c55f04fc271ada1fd6f945d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1a5b2991d420bd5f01ddf885bb6fc75baabf69818105e165ff9f51735857ce34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b7d5c771d9ce70dec94b3c323adac9bff99e9bf7c93d8d92641c6ff69175fcf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISyQMKjgEIEhgCKkDVtUzm6+ccA8pGoCJ4pCjgMhcA07e1d1agYzwIbsGckigNDfMOkc0xaOOKzKFLEhqlUKzOxqUxJM3ubQaxGqHsMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAc+rzNUGEgwctQt9N6KuJqwwD1saDIMdE295af/h5MOMzyIwZG8f5zuv7F4xJeG5fiBVtI0rlToqmHKi9g/NhKT9hu3n8FYP+PoWKnoV8My/UzNRKucBsdqVVkfrESCTtAQi4Q3EYLBZLGtoh4WBkh4Cnfz7Cm6OfQxT5JL7QskkiiTxKCYq2D/DP9olfWf/m6MR8Di/KKhLju67rpMCAx0oElQ46SzjPPdYv6wkFeO3KOLd0BHrvvHpSqMez0XeLfVcPE0jrVWgyNAl5JaCtr77TtkHdwoqHTkd1rUjJLKSJwfnj8glHfB/GbwopiKlN/fkWnN5UjHJM6x8A1czAu7FScUsnvPB8ubvlC52J55GpQGS6kveCSdMz/nugbGowNgVyRKD65DlpwL9FtxAi8rJk8s/sE289C7AT7ddGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LCw5jMNR9obp6FQrNAYFEt",
      "input": {
        "note": "The blue bowl's interior is directly under the held pear; lowering to just above the rim before releasing.",
        "targets": {
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LCw5jMNR9obp6FQrNAYFEt",
      "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, 0.8391, 0.6125, -0.4946, -0.0135, -0.0307, 0.9932, 0.2802, 1.6752, 0.9287, 0.1562, 0.0311, -0.0731, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1491 left_yaw=-0.0013 left_pitch=-0.1514 left_roll=0.0017 left_gripper=0.9932 right_x=0.4552 right_y=0.129 right_z=0.1151 right_yaw=0.2919 right_pitch=-0.0223 right_roll=-0.0788 right_gripper=0.3384\nstate[joint_eff]: [-0.1162, -1.4291, 7.2274, 1.6093, -0.0464, -0.0317, -0.0122, 0.0342, -8.7316, 7.3641, 2.4737, -0.0122, -0.1001, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d2b6f1b4044e09f93663b46accc6ba4534a1eace076068473c773e1acb1f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2f748a49ae1ec857f89036214e10182c1e9c16aa998d328c8beb0e775bdc1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0f293bad6486ef74f7d53c8b22a753e49fce4e13c3981ab370c589b5545386ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 2.387 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.0505, 1.6238, 1.1084, 0.1272, -0.1585, -0.1436, 0.3377]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.501 right_y=0.0569 right_z=0.2147 right_yaw=0.2634 right_pitch=0.1851 right_roll=-0.0752 right_gripper=0.3377\nstate[joint_eff]: [-0.0068, -1.347, 6.9538, 1.5849, -0.0757, -0.0708, -0.0122, -0.0889, -10.3316, 10.0308, 2.0244, 0.0611, 0.0073, 0.1001]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.2825, 1.5726, 1.1225, -0.0208, 0.0277, -0.0799, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.4682 right_y=0.1345 right_z=0.2117 right_yaw=0.3008 right_pitch=0.0969 right_roll=-0.0848 right_gripper=0.3384\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.58, -0.0464, -0.0513, -0.0122, 0.2256, -10.4547, 10.2496, 2.1856, 0.1294, 0.105, 0.0562]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0135, -0.0307, 0.9932, 0.2802, 1.6752, 0.9287, 0.1562, 0.0311, -0.0731, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1491 left_yaw=-0.0013 left_pitch=-0.1514 left_roll=0.0017 left_gripper=0.9932 right_x=0.4552 right_y=0.129 right_z=0.1151 right_yaw=0.2919 right_pitch=-0.0223 right_roll=-0.0788 right_gripper=0.3384\nstate[joint_eff]: [-0.1162, -1.4291, 7.2274, 1.6093, -0.0464, -0.0317, -0.0122, 0.0342, -8.7316, 7.3641, 2.4737, -0.0122, -0.1001, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:70d2b6f1b4044e09f93663b46accc6ba4534a1eace076068473c773e1acb1f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f2f748a49ae1ec857f89036214e10182c1e9c16aa998d328c8beb0e775bdc1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 248):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f293bad6486ef74f7d53c8b22a753e49fce4e13c3981ab370c589b5545386ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISowYKjgEIEhgCKkBKZHoywIM43bUX6jNj75U56hQ+eF8QaGE0tMd61PKh8Cpoiwu4aPcDiU6f9d+Gss+OQIpwjKnU9N57P5D/vHcSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdWrzNUGEgyVGJPsxgjbOjaaRPoaDNAYzmgsidU52AO5KiIwHSzVk6lE3S0FiDDalAj5f6z0agJGsmPOfALT2TgcJo0vAkZacdC0cLxfyk2SXCcbKsEEOBD49bbn0PZLQ02H554bee6PPt18DMdTme5D/4ZbL9FUOmEFMub2uxiDUIo1sBxvPU12idFT1isfjYuLQjhWvjXE5CLGTXAllqhoCNwjFQCPY1+822NEQabAN69OtJUSiiPk4Umcq0U5tfQ0VeK+OtGWWXHH8gtv1nWc8+rGxoT34TjkQ1pWDQarfCQ5JnAPYtgQCzVS+1MhDMSLbV8GW/tInwhAHQvuKA1bE1OvGjVtau9F27YiW6Kbzb2ZKlmrwuJ4eSZPq1NS0wifOHtGu1X8vWnhcopR/zO7Ui7cGved3JUB7iyl2+2eHOWsrGHW127qv8gooVEa7Qh0s3vI68GwaAop1G6aBwTPWuE6ZzFb3xIjyyba6N8+yfQeNA28QTNV1ySzr4OG59iKISgp6zrF94o6iDwSdE4Ytv+RJfY5CpoaVI2+a4bPUVqFIwMHtMcRCFXaFpWcgaldMQbDppO6fTP7znobf5G0KO0aP9ySbuAO+VXCH9YZTpuKmhzsYkK66uUkWCu6R101jfjXDGH2MzHOuZ4AO6d19n3icWgS8akTnl9gXZHNviudTGH9r6Mn5/ubU/uAT2HfU2SX+V/AkfT4UXZBcpS5UAsJbQfw8wU+ZQ6sMnA0ZKaWq9TzdkKMv0NDrghJucPlMCwxpBUVra/SGh3fuWIoKI9WAu5vFTeZBq7dk9aVriQzDGEuPFWWimQd0+a0cTokXohpTgkGADTZpIVzMCfOdutHBAbW4mO7rD8y+c4U/1lJ+FgdhxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UgPhfjEcozKiQz9ZfdkDYS",
      "input": {
        "note": "The blue bowl sits just beyond the hanging pear in the wrist view; nudging 3 cm forward to centre the pear over the bowl.",
        "targets": {
          "right_x": 0.485,
          "right_y": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01UgPhfjEcozKiQz9ZfdkDYS",
      "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, 0.841, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.2825, 1.7767, 1.0203, 0.1562, 0.0261, -0.0788, 0.3384]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4776 right_y=0.1376 right_z=0.1067 right_yaw=0.3014 right_pitch=-0.0324 right_roll=-0.0806 right_gripper=0.3384\nstate[joint_eff]: [-0.1573, -1.4974, 6.9265, 1.6288, -0.0269, -0.0415, -0.0171, 0.0068, -9.7026, 8.4991, 1.7265, 0.0806, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbdddb8ff9c2cec87762beca2714ebdad00ae82e49f2f15905cdeaf4829a84ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b09f70a780acb3850b35ecf42aeca8c65b61b2ea71cdc4f2d3614e9fc9ee85af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:58f4435a7a6f58ee45eff381a623482d133c6a4349fc890c372edebe20d312b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 9.099 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.2825, 1.5726, 1.1225, -0.0208, 0.0277, -0.0799, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1491 left_yaw=-0.001 left_pitch=-0.1514 left_roll=0.002 left_gripper=0.9932 right_x=0.4682 right_y=0.1345 right_z=0.2117 right_yaw=0.3008 right_pitch=0.0969 right_roll=-0.0848 right_gripper=0.3384\nstate[joint_eff]: [-0.1983, -1.4291, 6.9265, 1.58, -0.0464, -0.0513, -0.0122, 0.2256, -10.4547, 10.2496, 2.1856, 0.1294, 0.105, 0.0562]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0135, -0.0307, 0.9932, 0.2802, 1.6752, 0.9287, 0.1562, 0.0311, -0.0731, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1491 left_yaw=-0.0013 left_pitch=-0.1514 left_roll=0.0017 left_gripper=0.9932 right_x=0.4552 right_y=0.129 right_z=0.1151 right_yaw=0.2919 right_pitch=-0.0223 right_roll=-0.0788 right_gripper=0.3384\nstate[joint_eff]: [-0.1162, -1.4291, 7.2274, 1.6093, -0.0464, -0.0317, -0.0122, 0.0342, -8.7316, 7.3641, 2.4737, -0.0122, -0.1001, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.2825, 1.7767, 1.0203, 0.1562, 0.0261, -0.0788, 0.3384]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4776 right_y=0.1376 right_z=0.1067 right_yaw=0.3014 right_pitch=-0.0324 right_roll=-0.0806 right_gripper=0.3384\nstate[joint_eff]: [-0.1573, -1.4974, 6.9265, 1.6288, -0.0269, -0.0415, -0.0171, 0.0068, -9.7026, 8.4991, 1.7265, 0.0806, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbdddb8ff9c2cec87762beca2714ebdad00ae82e49f2f15905cdeaf4829a84ad",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b09f70a780acb3850b35ecf42aeca8c65b61b2ea71cdc4f2d3614e9fc9ee85af",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 251):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:58f4435a7a6f58ee45eff381a623482d133c6a4349fc890c372edebe20d312b5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISrAIKjgEIEhgCKkBrWQbzreZkFAUUMBm86Dz2RXGL6WlnkJBA1NJcLgGqSkuTqeb0gg8/hGcZDo26k1CxeDCyUhxYDjbCmiAnrpNiMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAdirzNUGEgxD7EVTROKQOKjIkvwaDAUzaFf6u8FDq9kaySIw7bIaEhV9+Q8A++9PRVy4VYcxfFq8c7l6SWXGu5wFchNiAWDqKGven/JEpWpGK/NiKkvrPYhLrw0pjaKkHLS3hIq2xmHmRrT32Hr15NvJcPpbnfeEYZhurWk7cNOV+o7k3w46fp0irMRgA4E8EdEGk/Jv3+DG9zRusjGJ6VAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BTyQXVUGJmsFeYDeGaU4LS",
      "input": {
        "note": "Pear hangs over the blue bowl's opening; opening the gripper to drop it in.",
        "targets": {
          "right_gripper": 1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01BTyQXVUGJmsFeYDeGaU4LS",
      "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, 0.841, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.2821, 1.7954, 1.0271, 0.1307, 0.025, -0.0872, 0.9959]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1537 left_roll=0.002 left_gripper=0.9932 right_x=0.4757 right_y=0.137 right_z=0.0956 right_yaw=0.3066 right_pitch=-0.0701 right_roll=-0.086 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.4564, 6.9265, 1.5653, -0.0806, -0.0317, -0.0122, -0.2667, -10.5231, 5.9145, 1.9023, -0.0415, 0.0269, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907cbceb05e02df1285ba35f11db390a2adf88c0f9f385c73c5557d510f7a5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac3baef11b2cfbef3fed9a158cbe02e57a42a2afd5ead120b3c5bda5cbfe7439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:53724ff0c53b4b8eb605fb4a22788eb1aa6aa5fe3188bd039e3939483150e92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 30 attempt 0 · /messages · status 200 · 6.427 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8391, 0.6125, -0.4946, -0.0135, -0.0307, 0.9932, 0.2802, 1.6752, 0.9287, 0.1562, 0.0311, -0.0731, 0.3384]\nstate[eef_state]: left_x=0.2813 left_y=-0.0002 left_z=0.1491 left_yaw=-0.0013 left_pitch=-0.1514 left_roll=0.0017 left_gripper=0.9932 right_x=0.4552 right_y=0.129 right_z=0.1151 right_yaw=0.2919 right_pitch=-0.0223 right_roll=-0.0788 right_gripper=0.3384\nstate[joint_eff]: [-0.1162, -1.4291, 7.2274, 1.6093, -0.0464, -0.0317, -0.0122, 0.0342, -8.7316, 7.3641, 2.4737, -0.0122, -0.1001, -0.0024]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.2825, 1.7767, 1.0203, 0.1562, 0.0261, -0.0788, 0.3384]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4776 right_y=0.1376 right_z=0.1067 right_yaw=0.3014 right_pitch=-0.0324 right_roll=-0.0806 right_gripper=0.3384\nstate[joint_eff]: [-0.1573, -1.4974, 6.9265, 1.6288, -0.0269, -0.0415, -0.0171, 0.0068, -9.7026, 8.4991, 1.7265, 0.0806, 0.1001, -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 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.2821, 1.7954, 1.0271, 0.1307, 0.025, -0.0872, 0.9959]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1537 left_roll=0.002 left_gripper=0.9932 right_x=0.4757 right_y=0.137 right_z=0.0956 right_yaw=0.3066 right_pitch=-0.0701 right_roll=-0.086 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.4564, 6.9265, 1.5653, -0.0806, -0.0317, -0.0122, -0.2667, -10.5231, 5.9145, 1.9023, -0.0415, 0.0269, -0.1832]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:907cbceb05e02df1285ba35f11db390a2adf88c0f9f385c73c5557d510f7a5d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ac3baef11b2cfbef3fed9a158cbe02e57a42a2afd5ead120b3c5bda5cbfe7439",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 258):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53724ff0c53b4b8eb605fb4a22788eb1aa6aa5fe3188bd039e3939483150e92e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS3QkKjgEIEhgCKkDi5lhiD50QapaK/jdWwkkNwRlV9DeZ5Dw3aqvS7UUUs0WPe4iGUDkRiYk79j8WaA5gq+xyrc5ZrZrN3tEvIm3tMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeGrzNUGEgx2L4vCdwAGapxewMEaDFebsiq/z+aMlgKyrCIwuhorvw82lFqr/dcolcG48EbmSd2xQcCvhpOYCjSfcuTsdtPGSuaUUzgz0m/fqo9OKvsHxwGv6BdkhCjq9SB4qRwEtJluMDg43XErMn4hCORfcOR+8qBrzY/F5K5izNyNHZK/kAfUJ3TKha+o217F08bCgyrlg5BPYGZu8lWkg5QpQHKWbVvhyyYbckeYBSnwhR198Ba+Y2Pt7zTRYm7gqbsi6DtTNfzgKhpD8BYO8Um48JVI/SsfeIhL6SMwRppI7PKzvHj7hB/cbffXX4QV7OhY1phNguAvxuGNA0QJI5GL+nSUfYYLLEF9QWABL+gIZYIn9NbQ7iDgFSlfUnkWdDxD6VTzXPN+i8G/d5aex7Vy/UfHsvA6Gb0GDjslptLhe6De12gwGR9vJQPpL1oRzruvAJqaBtR4GvSX0IBzux041WTOe3c3zr0Kd+CKWbdO/7WEGDkOFoMRxxlUyZxVQ/5BhjxMvwUS3NTPdzJaS0bAZnAIroVK8I76d+ddF+P34YmkVhveTrEg/Ppx4Kr4zfMK44R0JIvf736wuEMLGRrc9gcmlYHbZUihVX7db1dPAnbzoJL2r1RWJptJRASJVeO9FLmEeDeBOlxWcQbyJGewkZzOyuU4LetGnDLyO3ixIujcFgz48ZSsc0JoISqehQZ4p84ruNTxxSmyp7ViP95rLkYo2aJkzCLd8caBKoPgdnNb2S6Wa2b162lPPbEIo4g9VZN6GgGF1pc8dq3Pst8IjBay3bi5c56JvK9l/hMx5UelG8TuODJDxjUE7GeK7fe2vzjHHadHCwPYX4ATs44Io64oXmTMaT0G0D9O4lSI9NODwNbHWVn+t+bEJrgWq8cYSrxeJsVoc9wyhYA4IsLRw6E38HqaJ6ihgAqMlGuON2UI2qgSjqG3uQByEne/G6cvqccei8p1sFzBQ7EctyT5Q7P3y7xdulBvB+YcyMQ1+gBmL5KRKAfDJSpEM2tq7CHGYrDOu+KLM2ftPXlSscRgoiCKiiWDXm9JInE1YAkf20TwoH67K3tjpw5io0YH520Z+sczzfUVXrIM+wcAkSbkYDQPCKghS2y8QZuMmrMMJnvIfMSi6HTEs7zv2V02AtOpRs565qQU43oDCfy644WOrEJ0bZxZxWK0vGEuMC0UFTE3hJ1bBTxC8yL5MqsEwNx+fE0xO9NGLyirYY7tgom218Hy3eNx5+U71XA9HYFk+1BnmWA/1QlConJVysk7VJZ7Gy4LYWbfTl+AkXjpiSv065lSjBqkzRadQ7/P5nnmAJVt+i8fu6I+DXH+Y7Cm1gngOwvBwwQhcS4eK+gxWM39WyBvY8ZmW2+wvexSLJuMi+fhZP2RI23qXc7x4ysDRVDyEzCUmGVmBRpWQA4LmvTyOpitrh2wNRdd9tTqVt3EfKTYtPuNnpO37we2edEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01ERdgAgCjwVMe6788zZob5s",
      "input": {
        "note": "The pear is in the blue bowl. Now moving over the yellow lemon, which lies to the left and nearer than the bowl.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.21,
          "right_z": 0.16
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01ERdgAgCjwVMe6788zZob5s",
      "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, 0.8417, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.5133, 1.689, 1.1114, -0.104, 0.1806, 0.02, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1484 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4308 right_y=0.2105 right_z=0.1372 right_yaw=0.3483 right_pitch=-0.1019 right_roll=-0.0992 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 7.2, 1.6337, -0.0464, -0.0562, -0.0122, 0.2256, -10.865, 8.9778, 1.619, 0.1685, 0.2515, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f53701f54d5ff8927858575b69254f34f9ff254fa48573c7efecaf7cd851483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:690958dd9eda49e2cb70d21a6f5484638cd8f4928769c4ad3c74296b954dab2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c6882bb27d50ea4eddccd5aa07ad69f377481fee41c2f64d1a162c454b32d585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 31 attempt 0 · /messages · status 200 · 5.68 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.2825, 1.7767, 1.0203, 0.1562, 0.0261, -0.0788, 0.3384]\nstate[eef_state]: left_x=0.2812 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4776 right_y=0.1376 right_z=0.1067 right_yaw=0.3014 right_pitch=-0.0324 right_roll=-0.0806 right_gripper=0.3384\nstate[joint_eff]: [-0.1573, -1.4974, 6.9265, 1.6288, -0.0269, -0.0415, -0.0171, 0.0068, -9.7026, 8.4991, 1.7265, 0.0806, 0.1001, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.2821, 1.7954, 1.0271, 0.1307, 0.025, -0.0872, 0.9959]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1537 left_roll=0.002 left_gripper=0.9932 right_x=0.4757 right_y=0.137 right_z=0.0956 right_yaw=0.3066 right_pitch=-0.0701 right_roll=-0.086 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.4564, 6.9265, 1.5653, -0.0806, -0.0317, -0.0122, -0.2667, -10.5231, 5.9145, 1.9023, -0.0415, 0.0269, -0.1832]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8417, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.5133, 1.689, 1.1114, -0.104, 0.1806, 0.02, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1484 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4308 right_y=0.2105 right_z=0.1372 right_yaw=0.3483 right_pitch=-0.1019 right_roll=-0.0992 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 7.2, 1.6337, -0.0464, -0.0562, -0.0122, 0.2256, -10.865, 8.9778, 1.619, 0.1685, 0.2515, 0.0464]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f53701f54d5ff8927858575b69254f34f9ff254fa48573c7efecaf7cd851483",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:690958dd9eda49e2cb70d21a6f5484638cd8f4928769c4ad3c74296b954dab2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 265):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c6882bb27d50ea4eddccd5aa07ad69f377481fee41c2f64d1a162c454b32d585",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAISyQYKjgEIEhgCKkCihh/5FuGXb6gCEgN2TTQGX3xAkloxKxzyqvHjWimjyvwsUSqrNV/Y9LifCnYPQehdCZkG2BOPF3UX4iAXzMSVMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAeirzNUGEgwSoLNKxFtI8OZHDjEaDC3cNVUTiCK9AqO+oiIwQCFuBt5EGaq/EgRqu3ZfGE14WbJvet/lrC6JovEJpwGPWpWcrTAs5FHAK3Z8JJajKucE/Sy/EjVVZcn5xnBwLBPvGPKPzyWaRPfK1ZIcIcOnx/VcE56tsqq8QYJAPy9Wiu9Uay3M23cb8HGmPX3hQTfATWYKeJ1YvmHaT1OorpZDeYezuck6ctgRGU7vdkcR7ulDT7hSnSDx4tZOMdTpZTz1/WvKLsBfuJE+/njfTnuQDleFqTj9xf5KkAwPOYy9/r25LNb21w29vviMWtDetwlYVB22Pjrc5XqG9z3ySW61ZkeT/M3QPo+xORJ+KIVZlPUQOgmeCimhw5bg9hSKxi41JR4pwfOO4db1zKDBcueAUK4rQPyCrl/ZlneMiKHZrnyiPt3VDoyAIwHeMEx11h7n4710IlxawWpWLUa3XrvSHzFIjosUfQiK9TGmEnH0H/ZkDVqGwZEkVGtMpaDqdU52DwK6CBshN7cucdjEhSJjJHaa8rKUtQzutYP69L4MGcUIG7QmEBq2IB20LavAPRt1jNJwJgGDHH71BTi+RwXezp9Ng7wlxeN1s/GZLXVRlmVxCBM2kQqFGp4otf36hIJlnSahsPy2TbRhbBsuZe0yxTBNtVweERivSmBpk8FilFNfuUCOiJSdy9YRg7yMNMrkEyDey5XzRj4H2VXyDmgNEDKs1OjkNZ8nuzSKUBiVsalxnPmm0FkweSRLQ2jLsa5MyUMVbBTnT7r0zgcLoc6sY9sDJ7SKvqsxxlnZDew36jSS1TRssGh0yB0YNv2pi8vyOeza/ylqcrJoSEok0kg+m48s99k4rUKaR5XkpMJiBLf0V/jvGAD+lEcOsl5bgkOvj78uBaUlw9BlPU9D8MT0rzDRU2AeuKhzGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Te5kQ2LRvwhxzu61FGeh97",
      "input": {
        "note": "The lemon is on the jaw column but a few cm beyond the fingertips; advancing 3 cm and descending to its mid-height.",
        "targets": {
          "right_pitch": 0.2,
          "right_x": 0.46,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01Te5kQ2LRvwhxzu61FGeh97",
      "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, 0.8448, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.4873, 2.0552, 0.82, 0.7956, 0.1787, -0.0341, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=-0.001 left_pitch=-0.1575 left_roll=0.0021 left_gripper=0.9932 right_x=0.4559 right_y=0.2101 right_z=0.0304 right_yaw=0.3527 right_pitch=0.1342 right_roll=-0.1083 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6205, 7.1043, 1.5702, -0.022, -0.0073, -0.0122, -0.5675, -8.6906, 3.7675, 1.7949, -0.0464, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8867fe219105b1220906034f10c374a07dad8e9e253697ae50cec13960c7c120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5794b15250844bf7ce7a5450c06fb0da72748d893d6915d5c10d14f213dde4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1936faa9a13aa891c50c0ad45118981a3bd8d4b5a2a774cd0f493df3bde555f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 2.662 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.841, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.2821, 1.7954, 1.0271, 0.1307, 0.025, -0.0872, 0.9959]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1485 left_yaw=-0.001 left_pitch=-0.1537 left_roll=0.002 left_gripper=0.9932 right_x=0.4757 right_y=0.137 right_z=0.0956 right_yaw=0.3066 right_pitch=-0.0701 right_roll=-0.086 right_gripper=0.9959\nstate[joint_eff]: [-0.212, -1.4564, 6.9265, 1.5653, -0.0806, -0.0317, -0.0122, -0.2667, -10.5231, 5.9145, 1.9023, -0.0415, 0.0269, -0.1832]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8417, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.5133, 1.689, 1.1114, -0.104, 0.1806, 0.02, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1484 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4308 right_y=0.2105 right_z=0.1372 right_yaw=0.3483 right_pitch=-0.1019 right_roll=-0.0992 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 7.2, 1.6337, -0.0464, -0.0562, -0.0122, 0.2256, -10.865, 8.9778, 1.619, 0.1685, 0.2515, 0.0464]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8448, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.4873, 2.0552, 0.82, 0.7956, 0.1787, -0.0341, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=-0.001 left_pitch=-0.1575 left_roll=0.0021 left_gripper=0.9932 right_x=0.4559 right_y=0.2101 right_z=0.0304 right_yaw=0.3527 right_pitch=0.1342 right_roll=-0.1083 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6205, 7.1043, 1.5702, -0.022, -0.0073, -0.0122, -0.5675, -8.6906, 3.7675, 1.7949, -0.0464, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8867fe219105b1220906034f10c374a07dad8e9e253697ae50cec13960c7c120",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c5794b15250844bf7ce7a5450c06fb0da72748d893d6915d5c10d14f213dde4e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 276):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1936faa9a13aa891c50c0ad45118981a3bd8d4b5a2a774cd0f493df3bde555f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISgQYKjgEIEhgCKkDPCzjBWizuBVMyTm6+nGtuqxW+FxUGrkErzbbO/y9f7PvGu7w4Z9kP3ey8E7IcLPwEMyXKZRo1pGymuHq6XcTOMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAe+rzNUGEgzJh+ca2eg9iro8Yp0aDPR2cni01Eln2y+XLCIwlg5fuydjF9OWA348x+FbfK39seC9tXXZ4a5MxXXQx8xBw53yyzVZA1XFXWY9bjorKp8EKVrgquL9NIzlJNuqF1O73yzjZtMB5br6zm60AW5hV35iK1qLR3UK1T5n8ANSPLlLEyLCEg1aBkrGWPQEhMfQv+DALiYloZD/slsWZ6QQyFZNoL04okxWoXi3SB9s6q3848CS5XyGdBHqbdsLewtPOz3FUDhSKKSMaGZZgu1XdROHYiZyQEUNit0o2hhUgmWouq8jphqjX4m8ynHrW5+fxUpFjISoT8kicGySEE7X0jMpS3OLE5OB21Cap7Yq/6c6ZQOu2o2+02CIIOH3aNuKQ2MZxfPoIoGugR4MUUKgONjduWOzZSuq2sFpl/RQL0dJiiZTU5P9ajJvOv+GwXDnjbUfGYGPEJmOA2X9IsaRNEIbutHU9XZBjggP0oZFlK2wOuoOP4/QvM/hbppypxIHy60sp5TQCYidgbw/+VkQXK1MnW++87EGJKRCLUdfjYloxVEilwNojheWQg7f1kiwymfFvocP5jcf+8xCnX1ypTLPGJkPdK9nrfx3zNkbyV7kp1VfyO+TtOXeoUWANbjsF4tLjYodVXuNTHwZ6ZHrw9QGOqlQIwMmyW6qSNbwCcGXkuVh+yuVpkFTPf9NEco6JUAOMQil3OUncum/WE7jsoeR0q7BesdvnxtWA5fkRYIfcLPIXcR5Yo9yvaH9Lno/p+REyt7UrjsBWsRXKrVzF+XYQA9rv92oGfxdpnpSOKYCoglv7und+RovK/wlp1vqGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Xx5b8oUF8k4u5rJfNFFsr6",
      "input": {
        "note": "Lemon fills the bottom of the wrist view just short of the jaws; advancing 2 cm so the fingers straddle it.",
        "targets": {
          "right_x": 0.478
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 2 steps (0.2s)",
      "tool_use_id": "toolu_01Xx5b8oUF8k4u5rJfNFFsr6",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6125, -0.495, -0.0139, -0.0311, 0.9932, 0.4759, 2.0914, 0.8627, 0.8253, 0.1627, -0.046, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0008 left_pitch=-0.1583 left_roll=0.0018 left_gripper=0.9932 right_x=0.4692 right_y=0.2137 right_z=0.0346 right_yaw=0.3606 right_pitch=0.1686 right_roll=-0.108 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.5248, 7.0769, 1.58, -0.0562, -0.0562, -0.0122, -0.9778, -8.9915, 6.0923, 1.7998, 0.0513, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b1d97eef2c7a1b9da7a1d1ff5d18856a71be0c6b1e5bba24af52c742b1f620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33ee792fed21b16041a03bf5e46922d7ac9c1ed56f948dc693f6f616a5ab0bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e09b5fe9641a338a2db787b0aa2a74a7d6b34453e188b0f51dac57a8dc54c8c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 9.215 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8417, 0.6125, -0.4946, -0.0139, -0.0307, 0.9932, 0.5133, 1.689, 1.1114, -0.104, 0.1806, 0.02, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1484 left_yaw=-0.001 left_pitch=-0.1541 left_roll=0.002 left_gripper=0.9932 right_x=0.4308 right_y=0.2105 right_z=0.1372 right_yaw=0.3483 right_pitch=-0.1019 right_roll=-0.0992 right_gripper=0.9965\nstate[joint_eff]: [-0.3487, -1.3333, 7.2, 1.6337, -0.0464, -0.0562, -0.0122, 0.2256, -10.865, 8.9778, 1.619, 0.1685, 0.2515, 0.0464]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8448, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.4873, 2.0552, 0.82, 0.7956, 0.1787, -0.0341, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=-0.001 left_pitch=-0.1575 left_roll=0.0021 left_gripper=0.9932 right_x=0.4559 right_y=0.2101 right_z=0.0304 right_yaw=0.3527 right_pitch=0.1342 right_roll=-0.1083 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6205, 7.1043, 1.5702, -0.022, -0.0073, -0.0122, -0.5675, -8.6906, 3.7675, 1.7949, -0.0464, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6125, -0.495, -0.0139, -0.0311, 0.9932, 0.4759, 2.0914, 0.8627, 0.8253, 0.1627, -0.046, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0008 left_pitch=-0.1583 left_roll=0.0018 left_gripper=0.9932 right_x=0.4692 right_y=0.2137 right_z=0.0346 right_yaw=0.3606 right_pitch=0.1686 right_roll=-0.108 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.5248, 7.0769, 1.58, -0.0562, -0.0562, -0.0122, -0.9778, -8.9915, 6.0923, 1.7998, 0.0513, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:47b1d97eef2c7a1b9da7a1d1ff5d18856a71be0c6b1e5bba24af52c742b1f620",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33ee792fed21b16041a03bf5e46922d7ac9c1ed56f948dc693f6f616a5ab0bab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e09b5fe9641a338a2db787b0aa2a74a7d6b34453e188b0f51dac57a8dc54c8c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISoAIKjgEIEhgCKkDUqHYFOwRKvCFAHI0n4R47VTgyEIk6vP5AaC2ukiyMtZjC+C+gP1tcGCRZVyiXtV8O43MkpKCTqkMrJmfBQ43KMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfOrzNUGEgwRxZAsll61z1NS4NoaDFw9Tu7SJ6EhkQz+fyIwntOJhzUd9663XxZPpVyCXnJHFE2vCKatOUrVPDDwhwlwr8xzl43s1eJsdTouCE3zKj8LOCrzyY8o1iiSJ8QH7SC4ZwJvJA0oQMrmW0xHu+imbAvBTITxOWRcjSfN8oiSn6We5kMlPu1X2BNh1au+z8sYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YEgpwHPsYUm1BoyMTVGYdD",
      "input": {
        "note": "Lemon centred at the jaws; closing to grasp it.",
        "targets": {
          "right_gripper": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01YEgpwHPsYUm1BoyMTVGYdD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8474, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.4606, 2.0926, 0.9127, 0.8101, 0.152, -0.0525, 0.1048]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1468 left_yaw=-0.001 left_pitch=-0.1606 left_roll=0.0022 left_gripper=0.9932 right_x=0.484 right_y=0.2143 right_z=0.049 right_yaw=0.3573 right_pitch=0.2012 right_roll=-0.1063 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.0479, -9.5385, 5.2444, 1.3455, 0.0366, 0.0366, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a4bb4974fd0845c8333c9395b35e39d46d628d106df40855930d21ea9e67a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa3afaabf9f124510826cf2e10a669db68b81aea537a91823276d081b7edc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f92d9b03ad963f8e4ae962a2cc73994be5eb2ec13605e79991e14a5878d02c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 34 attempt 0 · /messages · status 200 · 6.992 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 97 changed as sent

message 100 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8448, 0.6125, -0.495, -0.0139, -0.0307, 0.9932, 0.4873, 2.0552, 0.82, 0.7956, 0.1787, -0.0341, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1475 left_yaw=-0.001 left_pitch=-0.1575 left_roll=0.0021 left_gripper=0.9932 right_x=0.4559 right_y=0.2101 right_z=0.0304 right_yaw=0.3527 right_pitch=0.1342 right_roll=-0.1083 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -1.6205, 7.1043, 1.5702, -0.022, -0.0073, -0.0122, -0.5675, -8.6906, 3.7675, 1.7949, -0.0464, 0.1001, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6125, -0.495, -0.0139, -0.0311, 0.9932, 0.4759, 2.0914, 0.8627, 0.8253, 0.1627, -0.046, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0008 left_pitch=-0.1583 left_roll=0.0018 left_gripper=0.9932 right_x=0.4692 right_y=0.2137 right_z=0.0346 right_yaw=0.3606 right_pitch=0.1686 right_roll=-0.108 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.5248, 7.0769, 1.58, -0.0562, -0.0562, -0.0122, -0.9778, -8.9915, 6.0923, 1.7998, 0.0513, -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 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8474, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.4606, 2.0926, 0.9127, 0.8101, 0.152, -0.0525, 0.1048]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1468 left_yaw=-0.001 left_pitch=-0.1606 left_roll=0.0022 left_gripper=0.9932 right_x=0.484 right_y=0.2143 right_z=0.049 right_yaw=0.3573 right_pitch=0.2012 right_roll=-0.1063 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.0479, -9.5385, 5.2444, 1.3455, 0.0366, 0.0366, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a4bb4974fd0845c8333c9395b35e39d46d628d106df40855930d21ea9e67a28",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bfa3afaabf9f124510826cf2e10a669db68b81aea537a91823276d081b7edc4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f92d9b03ad963f8e4ae962a2cc73994be5eb2ec13605e79991e14a5878d02c34",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAIS7AcKjgEIEhgCKkCWlsX4lQj9yKVotyBjg2EE3Tyn3lp7eOrRxKDC7lwZ3JPOESqOGEOOh3VlynYNOxtAjwrwPricIU4eOcZ8+dOJMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAfyrzNUGEgyZ/XYTu9PsmTcnaLQaDEsEvzCijGTNcHMAGyIwneitlBpxbJsuW0LBeGhrwV3lP4fZvL3S1a8lxjGACXdcSM8ub2encN5cPmWPd35sKooGiPTIOmfbFfinOnTrDHhRl8BelzhGSbc/SC7u0fudflyLRuTNWf9kUziw6PCJwLkON2Fe4knR3K46FWIa9RRrvdEcsjBSZdpytJpQZlpWHACh9p00RGOBWcZlGn/Kr1EG6HmXKngpi03fEMCc55/ox5K9zSmnKuf0fKD0ewjyQwrbN9gxL2VXp1YUOUkFp7xeCM4H8Q90rdRtreElU7XI6GZxfg8HUmDlhbtOw7l655ipk5x8xPxGb+zWlXw4U2/ZUecMNZOXBqRalgarqTvNkxPZe4yicTAvbS58DMJIt8s2uuVUDSTX8Lb0rG13owsXlp/v4vJcP5NK/3kxfcHQovaTJf1tg16pzjQhfgjyAWB599bGhFvEuLwsm8lsAyIcMJFUTuY7VaPZietdoFuKXxhLUgsTCgKpHgUt1/yfXCBOXzq3Ouan4mAXCMe9lzbJ/okKK4IRxbTKPYAO7gZ9oiWkmfll+Wcp9O6ju9ommymLdmpdCSZew+c2zTi+ITcdT3l9bmUr94E9KgKY4Tg4XOXLOIy2QmsmrcmH70GSETcnT+F8pF3Jn+niCNYHxP+BDHI27nhWdlRN3FzIFL6DMbpntyx+yX9thloMvfJfguOzC/vczBh36ODhZDi1MX4rT91YIuSJpFxcVbj1LJyAa44opqxjy7HSoSdDNblj6xdk7EromYhl/cxpb2YyIPu9s8NJmKXeBz/x/B5Cb/y5wq64pYl7GV+Sr6HLWwLqkl6XJ7Q9mnNkywj68AE3DfFCk//McVscSFfS78x8CnZ8t+PRgwRu3JLn8OIt2A8oFNo2ttr8RLzjrZhSqwxml0zzNNwxGlSJtQ+ZaSnO4hIFioL3VnE5rcppAaAC23fRSX25gTm0lbR8xJ1eHc4mYqS1Y4171d9m5aMZyqVte9m4LIaXZuv4lxpKJfAcC2WQ373DL54ogpe0AXdFySr57melZHMHBR19eRWsVWISi7rF6YYeBgdm+oVGV1JgigVVgd5sI5w8S4QNQ6xcQ0h1pqC1hD++CaXADkIk5BgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_0147ttYojStTaMZ95AXNTAWj",
      "input": {
        "note": "The close reached its commanded 0.10 (likely empty) and the lemon has shifted; lifting and retracting to get a clear view of where the lemon now is.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.42,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_0147ttYojStTaMZ95AXNTAWj",
      "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, 0.8513, 0.6125, -0.498, -0.0139, -0.0307, 0.9932, 0.5472, 1.5658, 0.8917, 0.2794, 0.215, -0.0341, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1453 left_yaw=-0.0009 left_pitch=-0.1671 left_roll=0.0023 left_gripper=0.9932 right_x=0.4206 right_y=0.2163 right_z=0.1769 right_yaw=0.3806 right_pitch=0.1809 right_roll=-0.1161 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.6615, 6.9265, 1.6337, -0.0562, -0.0415, -0.0122, 0.1983, -8.8684, 9.6342, 1.873, 0.2759, 0.0904, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa72d9eaaf65ab89a812ae9a9f700c1eefcbce85da07aa56414ca8ea198ba4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4fe44be04ff1c9d96fc3985ad1702eeffb4a936b5ca87ba59d1c19776c69b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a610aad880633840f5258a3456ea56735b9a974c7e1a925b91a1aa726a52516c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 35 attempt 0 · /messages · status 200 · 3.777 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 97 changed as sent

message 100 changed as sent

message 103 changed as sent

message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8455, 0.6125, -0.495, -0.0139, -0.0311, 0.9932, 0.4759, 2.0914, 0.8627, 0.8253, 0.1627, -0.046, 0.9965]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1473 left_yaw=-0.0008 left_pitch=-0.1583 left_roll=0.0018 left_gripper=0.9932 right_x=0.4692 right_y=0.2137 right_z=0.0346 right_yaw=0.3606 right_pitch=0.1686 right_roll=-0.108 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.5248, 7.0769, 1.58, -0.0562, -0.0562, -0.0122, -0.9778, -8.9915, 6.0923, 1.7998, 0.0513, -0.0122, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8474, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.4606, 2.0926, 0.9127, 0.8101, 0.152, -0.0525, 0.1048]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1468 left_yaw=-0.001 left_pitch=-0.1606 left_roll=0.0022 left_gripper=0.9932 right_x=0.484 right_y=0.2143 right_z=0.049 right_yaw=0.3573 right_pitch=0.2012 right_roll=-0.1063 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.0479, -9.5385, 5.2444, 1.3455, 0.0366, 0.0366, -0.0317]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8513, 0.6125, -0.498, -0.0139, -0.0307, 0.9932, 0.5472, 1.5658, 0.8917, 0.2794, 0.215, -0.0341, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1453 left_yaw=-0.0009 left_pitch=-0.1671 left_roll=0.0023 left_gripper=0.9932 right_x=0.4206 right_y=0.2163 right_z=0.1769 right_yaw=0.3806 right_pitch=0.1809 right_roll=-0.1161 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.6615, 6.9265, 1.6337, -0.0562, -0.0415, -0.0122, 0.1983, -8.8684, 9.6342, 1.873, 0.2759, 0.0904, -0.0269]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cfa72d9eaaf65ab89a812ae9a9f700c1eefcbce85da07aa56414ca8ea198ba4d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4fe44be04ff1c9d96fc3985ad1702eeffb4a936b5ca87ba59d1c19776c69b8f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 297):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a610aad880633840f5258a3456ea56735b9a974c7e1a925b91a1aa726a52516c",
        "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+gYKjgEIEhgCKkAk6ZbnQrEpQhaGDwdyDXFbc6ett4VSavJYnNOCbzl37JxhveM0igJ1H6H7HePKJAhPN0U/C7p9PvJsLoJl6FQuMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYSszNUGEgx/hhVe1Vt4R0qIkxYaDElIvfQrHCr4kb3HDCIwYr8R0IsueR9ua16IlluW8MOezwFD48cB9POnL0RYE+4Efepyi52wEy8aT4yO2zCQKpgFw4NerWUPiC9P3HCLtIOsw3qcpr3sNDkoWlue3Mmo8EFPQfBCAmE6GtvRCOOzLpC0f/v2zng8PPyJoVsg07iLg1frX6+Bw30U459Q+O8h8PNmt654psAhJ4Htiz+gTfhytT0PklX/RyjNpCMg0gCaN0Psjj07M5mKkyXbBkpWuIC+hf0xeYINtuYSlX1DW40S5PgQFOoX3qwm2Bg5+Qd2LHWheMixAPo6wea9Ni11i0wWlbiM5CPECpCWM+GVZo8ydtg5tXiMOs8ya6F0u4UMqGkFfXoduGiQkPAqZHqQTBpwFOR6/rKOCPQq5LuRsuNr9gFmpxV4hEPtgCMgkKBkBZZwmVt2zZuSzdojGKuvOfp7FcjD2Sy7VLizANd1qI0IdiyrqT54yuvDYqm1fn6EI/r2pMy9XuFUknedrchjQJoSr605MF3ItYgyuybn5/2TNptUK5imNUDqwMlGZXrL/l36hRToxcONuzVorihPRbtXIowkPhNUI8m1tu6nlQjYb/VjHB6m+JMeCwC1rF6rGMZRsbn1Vm+7ltYcbhpZbsKcT7V5QVb4fxX1brQUcbCfwIezSvrLDKJA4fv0cHHKG8dXBtqRTFMDFxMfGDHOegWloEsZSlEeEpcGOtjfPzemrcilMIp9IiylUSDLGKC2XtAqt0r1yddtiV1FtQgqQp3yxR3Z+k/K8BxL7OfJx5E6/CyJQfKxxNyuEZhP5NpB1b/Zbgklq+/ApRP4KI3m0Z4K2+CKqpiOpQoKIg+jEF1koIn9KdbUb4gQu5Q3RQdGhztQdwhe9jGb1pm2TKrsWUwc+pkag2ObEphIze1YBTZdNypVc9Wpkb+cW640+iI1gpvnZfGOOo+YlGJOIIhN/9hpjUHwYDcV1RgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01S3cBSsd2PhnB1bJ4e66Mf4",
      "input": {
        "note": "The lemon sits on the table just left of the bowl, right on the jaw column and very close; descending onto it at x=0.455.",
        "targets": {
          "right_x": 0.455,
          "right_y": 0.215,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01S3cBSsd2PhnB1bJ4e66Mf4",
      "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, 0.8558, 0.6125, -0.4992, -0.0135, -0.0311, 0.9932, 0.4942, 2.0655, 0.7929, 0.8104, 0.1673, -0.0452, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1439 left_yaw=-0.001 left_pitch=-0.1728 left_roll=0.0019 left_gripper=0.9932 right_x=0.4467 right_y=0.2113 right_z=0.0191 right_yaw=0.3755 right_pitch=0.1106 right_roll=-0.1162 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.8803, 6.9402, 1.5604, -0.0317, -0.0562, -0.0122, -0.3624, -9.5248, 5.4769, 2.1758, 0.0611, -0.1197, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d137fcb37fce975629f14605ebb706d7288beeef8490b426400032237a9ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285bb76cde503639a0a3d91ec10d3b0c45e773a7aec0b0ad93d47a9470b2099c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:851e344accafc83b9a7a42460a86076faefbfa445b53569a35ea41bf047a22dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 36 attempt 0 · /messages · status 200 · 7.405 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 100 changed as sent

message 103 changed as sent

message 106 changed as sent

message 100 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8474, 0.6125, -0.4953, -0.0139, -0.0307, 0.9932, 0.4606, 2.0926, 0.9127, 0.8101, 0.152, -0.0525, 0.1048]\nstate[eef_state]: left_x=0.2814 left_y=-0.0001 left_z=0.1468 left_yaw=-0.001 left_pitch=-0.1606 left_roll=0.0022 left_gripper=0.9932 right_x=0.484 right_y=0.2143 right_z=0.049 right_yaw=0.3573 right_pitch=0.2012 right_roll=-0.1063 right_gripper=0.1048\nstate[joint_eff]: [-0.1436, -1.2239, 6.9128, 1.5946, -0.0611, -0.0415, -0.0122, -0.0479, -9.5385, 5.2444, 1.3455, 0.0366, 0.0366, -0.0317]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8513, 0.6125, -0.498, -0.0139, -0.0307, 0.9932, 0.5472, 1.5658, 0.8917, 0.2794, 0.215, -0.0341, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1453 left_yaw=-0.0009 left_pitch=-0.1671 left_roll=0.0023 left_gripper=0.9932 right_x=0.4206 right_y=0.2163 right_z=0.1769 right_yaw=0.3806 right_pitch=0.1809 right_roll=-0.1161 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.6615, 6.9265, 1.6337, -0.0562, -0.0415, -0.0122, 0.1983, -8.8684, 9.6342, 1.873, 0.2759, 0.0904, -0.0269]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8558, 0.6125, -0.4992, -0.0135, -0.0311, 0.9932, 0.4942, 2.0655, 0.7929, 0.8104, 0.1673, -0.0452, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1439 left_yaw=-0.001 left_pitch=-0.1728 left_roll=0.0019 left_gripper=0.9932 right_x=0.4467 right_y=0.2113 right_z=0.0191 right_yaw=0.3755 right_pitch=0.1106 right_roll=-0.1162 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.8803, 6.9402, 1.5604, -0.0317, -0.0562, -0.0122, -0.3624, -9.5248, 5.4769, 2.1758, 0.0611, -0.1197, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d137fcb37fce975629f14605ebb706d7288beeef8490b426400032237a9ce7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:285bb76cde503639a0a3d91ec10d3b0c45e773a7aec0b0ad93d47a9470b2099c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 307):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:851e344accafc83b9a7a42460a86076faefbfa445b53569a35ea41bf047a22dd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqAMKjgEIEhgCKkBVdKnIpMR2ncl96r8h9F44jgUZtFPwppZ5G30lpOSYnX1DDx6mzr6V5Jx9w/7tycCELQJ//REug/Qd9+QeNEBEMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAYmszNUGEgy/ZaYPpmoRHvS2Yc8aDK/lTwItAu5FMzTtKSIwMbNF+jyXG6DlkK7nmwKzYHMJWk8VSllVh9RP61dYGTcWZMX0VjmlO4NbrnHZ0CIhKsYBgHO8Nv5dM9SyTYh42e+zbH9rHA9dlwwUG4LLcTlua4frivMptNmzDU2zExYoRb3XOsb7D/BYihunqqyqmeG1u4/93zWbVgUD2KtC2fMi08WpYD/y3IXo7yRY6P99XEq7RfG7ulitOP3FcNdbdFf2nS6ev9Uk2zqP3lphXLNrWnMXR8UIjfoqYIOLYXCexUfw0UAaOr6vUksZG/LI8MBdMbRmJPNH6PdxMWvLKIxOi4J636OsNFH4d6Ke/1/WHvdSggKVc7+zGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PAunkmuL2bq6oGXuQS1B2g",
      "input": {
        "note": "The lemon is between the open jaws at the bottom of the wrist view; closing onto it.",
        "targets": {
          "right_gripper": 0.25
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01PAunkmuL2bq6oGXuQS1B2g",
      "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, 0.8566, 0.6125, -0.4992, -0.0139, -0.0311, 0.9932, 0.4934, 2.0926, 0.7925, 0.8154, 0.16, -0.0525, 0.552]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1437 left_yaw=-0.0007 left_pitch=-0.1735 left_roll=0.0022 left_gripper=0.9932 right_x=0.4444 right_y=0.2111 right_z=0.0071 right_yaw=0.3851 right_pitch=0.0874 right_roll=-0.1219 right_gripper=0.552\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5556, -0.0611, -0.0611, -0.0073, 0.0205, -11.6718, 4.547, 1.7851, 0.1001, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d2bbdefb8b62a4d227b6ed1d1500ca9b813c23e3f774c6328149ddeb6c366e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a3c86133f46bafd1fe849b8d0a8d4dab73eb3f9c717ee8cdd6409dc35c0f0e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3f0a212a411084e3641296ef3434566ef46834d9810a418bdd452504038a710d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 37 attempt 0 · /messages · status 200 · 3.893 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 103 changed as sent

message 106 changed as sent

message 109 changed as sent

message 103 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8513, 0.6125, -0.498, -0.0139, -0.0307, 0.9932, 0.5472, 1.5658, 0.8917, 0.2794, 0.215, -0.0341, 0.9958]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1453 left_yaw=-0.0009 left_pitch=-0.1671 left_roll=0.0023 left_gripper=0.9932 right_x=0.4206 right_y=0.2163 right_z=0.1769 right_yaw=0.3806 right_pitch=0.1809 right_roll=-0.1161 right_gripper=0.9958\nstate[joint_eff]: [-0.3487, -1.6615, 6.9265, 1.6337, -0.0562, -0.0415, -0.0122, 0.1983, -8.8684, 9.6342, 1.873, 0.2759, 0.0904, -0.0269]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8558, 0.6125, -0.4992, -0.0135, -0.0311, 0.9932, 0.4942, 2.0655, 0.7929, 0.8104, 0.1673, -0.0452, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1439 left_yaw=-0.001 left_pitch=-0.1728 left_roll=0.0019 left_gripper=0.9932 right_x=0.4467 right_y=0.2113 right_z=0.0191 right_yaw=0.3755 right_pitch=0.1106 right_roll=-0.1162 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.8803, 6.9402, 1.5604, -0.0317, -0.0562, -0.0122, -0.3624, -9.5248, 5.4769, 2.1758, 0.0611, -0.1197, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8566, 0.6125, -0.4992, -0.0139, -0.0311, 0.9932, 0.4934, 2.0926, 0.7925, 0.8154, 0.16, -0.0525, 0.552]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1437 left_yaw=-0.0007 left_pitch=-0.1735 left_roll=0.0022 left_gripper=0.9932 right_x=0.4444 right_y=0.2111 right_z=0.0071 right_yaw=0.3851 right_pitch=0.0874 right_roll=-0.1219 right_gripper=0.552\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5556, -0.0611, -0.0611, -0.0073, 0.0205, -11.6718, 4.547, 1.7851, 0.1001, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:44d2bbdefb8b62a4d227b6ed1d1500ca9b813c23e3f774c6328149ddeb6c366e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a3c86133f46bafd1fe849b8d0a8d4dab73eb3f9c717ee8cdd6409dc35c0f0e7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 315):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3f0a212a411084e3641296ef3434566ef46834d9810a418bdd452504038a710d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISywcKjgEIEhgCKkD8Z52vST25YMeLogqGdqMi1t1KQMWdFxwTgw7CJGVvyk1c7YVi320NNeXuH0vxOsMBFaKh894t+AfTc+RtBakSMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZGszNUGEgz6DvNCMi/S02jtszcaDKKbMj3dTBZ7kj3AJSIwTQ7zPZGy5Cz9dymg0zcjYtoqHrru8Ye+KaVcLjd590QwAriyox1Go+VOAoxenISlKukFXUQBURdrKTMXuKXJPCEbPuaDKUbwDr15SxEwSzlvooaCg2NhqK/NryM0Wf5qpfuARzv9kzyaavataCODhRZZhoWGaqNsEnKVwGq4Lg0w+Y7Wqz5uuwkqvHvanVV7IoxIg9Zha1Ff9AK5ytXJlZtl3lfngjIbrc7gs2L6oIxE/wRJTXSZepTWOosePriRFBHr6SQuJp1oDXlExfB9iireMPMrJDsusEaBYLol78ZVmfArz1yji7cRxWWX9GndMoQd6ThyeVEEv+pbgCCbYgzfVvUkVr1Xm113J4/QcwnbYHyURZCdTEvfySN9Xq7GoztaAeyp95AKWKzPLOlGAiJge/Ab0PnP5Ixf/593Li7XcVeLF60fzx9QbqZjECCY1C5ACkCzbk8E33d1OClKvKGdHnEG9/lmmalTPEz+3/9EyTTgxL/pq94MlRtSQO+xQYu8asVosJdX5qos6nmRT9uw6YfjXbrUfyQNyBjf5SYroGL1CbcYQxl+hVIVV/NnFLdNao9e2cxbPt/fLJNs3citv4gcPWC/Fv/+7SYqO01Gd+LzCGjmymlipTtueTnR7YfKRV/X0PpGjXehO1sGRwHKsutbxwOFM4ptS738F5Jhw0a9dp4zmLJRzpqxFPUb99qmT1tZE9Jc0sEgN2/dQjaNVZiiIwVyo4ZftPrZLtEcKORLx2GQ2L95LN2AHXUt4gvRDqAKaU0AAjVKHzPFhITs5UpBrvAI9+iufItBKC8sDcS3lzjbC5+qxeceDWJIt4OiRcG2QgryOuy3b/winsP6BBWzbWyRFGj/7y/95mfaarLVetLrA1cBziz6BlT2AnmX6DruubFntoG0sgiDP+csQiaRE0vJZ/nHRV0SmdrFXUDhtT9jxKbsP14rWAkJpFY3EeqfvLRjK4UFT0x4uaoMVzHxQri/ihfeOeevWyXz01mFIdkl2NUGIoyeYjAFadBohTi/65Nj6p/t4LcZp6FQyqsxONtVV2EtshgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013nofJ4ArcB47mvEA8f5baE",
      "input": {
        "note": "Gripper settled at 0.55 — the lemon is grasped. Lifting it and carrying it over the blue bowl.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.14,
          "right_z": 0.22
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_013nofJ4ArcB47mvEA8f5baE",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8585, 0.6125, -0.5022, -0.0139, -0.0307, 0.9932, 0.2779, 1.6207, 1.1275, -0.0135, -0.0261, -0.1585, 0.5533]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1426 left_yaw=-0.0009 left_pitch=-0.1785 left_roll=0.0026 left_gripper=0.9932 right_x=0.472 right_y=0.1432 right_z=0.193 right_yaw=0.3839 right_pitch=0.0583 right_roll=-0.1267 right_gripper=0.5533\nstate[joint_eff]: [-0.0068, -1.7026, 6.8991, 1.6142, -0.0806, -0.0513, -0.0122, -0.6222, -11.0154, 9.0462, 1.8926, -0.1343, 0.1099, 0.8913]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b361f6e5b5051b551451a2913457d177b07b54f9c80589e80220cdefdbcc8c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36db5a7730b073cf70acddf29f5b62c669d3e7fcdc7aefe244284cdd84fdf89e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:06171f6a470812d837532200ae924f8e192e1bbc8072dfc0d2eead3f67947d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 38 attempt 0 · /messages · status 200 · 13.55 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 109 changed as sent

message 112 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8558, 0.6125, -0.4992, -0.0135, -0.0311, 0.9932, 0.4942, 2.0655, 0.7929, 0.8104, 0.1673, -0.0452, 0.9965]\nstate[eef_state]: left_x=0.2811 left_y=-0.0002 left_z=0.1439 left_yaw=-0.001 left_pitch=-0.1728 left_roll=0.0019 left_gripper=0.9932 right_x=0.4467 right_y=0.2113 right_z=0.0191 right_yaw=0.3755 right_pitch=0.1106 right_roll=-0.1162 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -1.8803, 6.9402, 1.5604, -0.0317, -0.0562, -0.0122, -0.3624, -9.5248, 5.4769, 2.1758, 0.0611, -0.1197, 0.0562]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8566, 0.6125, -0.4992, -0.0139, -0.0311, 0.9932, 0.4934, 2.0926, 0.7925, 0.8154, 0.16, -0.0525, 0.552]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1437 left_yaw=-0.0007 left_pitch=-0.1735 left_roll=0.0022 left_gripper=0.9932 right_x=0.4444 right_y=0.2111 right_z=0.0071 right_yaw=0.3851 right_pitch=0.0874 right_roll=-0.1219 right_gripper=0.552\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5556, -0.0611, -0.0611, -0.0073, 0.0205, -11.6718, 4.547, 1.7851, 0.1001, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8585, 0.6125, -0.5022, -0.0139, -0.0307, 0.9932, 0.2779, 1.6207, 1.1275, -0.0135, -0.0261, -0.1585, 0.5533]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1426 left_yaw=-0.0009 left_pitch=-0.1785 left_roll=0.0026 left_gripper=0.9932 right_x=0.472 right_y=0.1432 right_z=0.193 right_yaw=0.3839 right_pitch=0.0583 right_roll=-0.1267 right_gripper=0.5533\nstate[joint_eff]: [-0.0068, -1.7026, 6.8991, 1.6142, -0.0806, -0.0513, -0.0122, -0.6222, -11.0154, 9.0462, 1.8926, -0.1343, 0.1099, 0.8913]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b361f6e5b5051b551451a2913457d177b07b54f9c80589e80220cdefdbcc8c25",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:36db5a7730b073cf70acddf29f5b62c669d3e7fcdc7aefe244284cdd84fdf89e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 329):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:06171f6a470812d837532200ae924f8e192e1bbc8072dfc0d2eead3f67947d24",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAISqwMKjgEIEhgCKkD/EIc8oFnbsxZENSpYJL02DZBzOOELYlagZZ5BfSs/pHuHc+GZkXEdXJ5NZjnsau8vfoyl56b2nP61su77iGHdMg1jbGF1ZGUtb3B1cy01OAFCCHRoaW5raW5nWiQ2N2E4NTg2OS00MjRlLTQwNDQtYWE1OC04Y2Q2NTY2MGVkN2aoAZaszNUGEgzwFn9+PR91rYl5X08aDJrkt2q4eN/kLFvHoSIwD81FL0rqBQv/g1ccLuT6t6tBKz5na0GLYrDBMKmLOad5L9pNI1mc+E+XJ78dWsivKskBSjrEs8qiuxIQwxQul5zSgsCxZvJa1D5KovoTxywGI9XoPaQhNS0RENFSWSJIq5p94IhBBGmpu71FGJgnOB8UaefbpmRoIJSY5Br3ADZwvpGo/zsju1qeC4zUhCz1QxiNk5hG12NLPXIagv3OTEXshCIbdFn5LdKKJ9buWCm+1W95u4GrYaiK2Goziq2iNfocRZO4hVywOuCJI4Sn1fv+QW3AutzH2noq+Kkz8rYcuasx31HdwjtCrouRA/jvM9K6cv+U+Gsfoud/GAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VSXTg5bynnqXVrnX8sYsMw",
      "input": {
        "note": "Holding the lemon at the same pose that worked for dropping the pear; lowering to the bowl rim and opening to release it into the blue bowl.",
        "targets": {
          "right_gripper": 1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01VSXTg5bynnqXVrnX8sYsMw",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8585, 0.6125, -0.5034, -0.0139, -0.0307, 0.9932, 0.2768, 1.7309, 0.947, 0.178, -0.0315, -0.1665, 0.9958]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1424 left_yaw=-0.0009 left_pitch=-0.1796 left_roll=0.0026 left_gripper=0.9932 right_x=0.46 right_y=0.1402 right_z=0.1018 right_yaw=0.3915 right_pitch=-0.0405 right_roll=-0.1198 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.5521, 7.0769, 1.6044, -0.0317, -0.0269, -0.0073, 0.0615, -8.5949, 6.5846, 2.3077, 0.0073, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7545792c3732d3d9d28b3c3348b0e83761e43873eba5990925bf7a763aeeb684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b4a0d5d7dddf2b5d46ddcc358efcd04f791fd81c7d6ff956e23a009b6523649",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a8f42503e8244401cdfbab27596ed830bfd45bf7254bb5c845167c2e59a4c1df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 39 attempt 0 · /messages · status 200 · 18.79 s
model
claude-opus-5
effort
medium
temperature
n/a
tool count
3

message 109 changed as sent

message 112 changed as sent

message 115 changed as sent

message 109 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8566, 0.6125, -0.4992, -0.0139, -0.0311, 0.9932, 0.4934, 2.0926, 0.7925, 0.8154, 0.16, -0.0525, 0.552]\nstate[eef_state]: left_x=0.2811 left_y=-0.0001 left_z=0.1437 left_yaw=-0.0007 left_pitch=-0.1735 left_roll=0.0022 left_gripper=0.9932 right_x=0.4444 right_y=0.2111 right_z=0.0071 right_yaw=0.3851 right_pitch=0.0874 right_roll=-0.1219 right_gripper=0.552\nstate[joint_eff]: [-0.0889, -1.6342, 6.9265, 1.5556, -0.0611, -0.0611, -0.0073, 0.0205, -11.6718, 4.547, 1.7851, 0.1001, 0.0562, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 112 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8585, 0.6125, -0.5022, -0.0139, -0.0307, 0.9932, 0.2779, 1.6207, 1.1275, -0.0135, -0.0261, -0.1585, 0.5533]\nstate[eef_state]: left_x=0.2807 left_y=-0.0001 left_z=0.1426 left_yaw=-0.0009 left_pitch=-0.1785 left_roll=0.0026 left_gripper=0.9932 right_x=0.472 right_y=0.1432 right_z=0.193 right_yaw=0.3839 right_pitch=0.0583 right_roll=-0.1267 right_gripper=0.5533\nstate[joint_eff]: [-0.0068, -1.7026, 6.8991, 1.6142, -0.0806, -0.0513, -0.0122, -0.6222, -11.0154, 9.0462, 1.8926, -0.1343, 0.1099, 0.8913]\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 115 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8585, 0.6125, -0.5034, -0.0139, -0.0307, 0.9932, 0.2768, 1.7309, 0.947, 0.178, -0.0315, -0.1665, 0.9958]\nstate[eef_state]: left_x=0.2805 left_y=-0.0001 left_z=0.1424 left_yaw=-0.0009 left_pitch=-0.1796 left_roll=0.0026 left_gripper=0.9932 right_x=0.46 right_y=0.1402 right_z=0.1018 right_yaw=0.3915 right_pitch=-0.0405 right_roll=-0.1198 right_gripper=0.9958\nstate[joint_eff]: [-0.1573, -1.5521, 7.0769, 1.6044, -0.0317, -0.0269, -0.0073, 0.0615, -8.5949, 6.5846, 2.3077, 0.0073, 0.0659, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7545792c3732d3d9d28b3c3348b0e83761e43873eba5990925bf7a763aeeb684",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b4a0d5d7dddf2b5d46ddcc358efcd04f791fd81c7d6ff956e23a009b6523649",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 334):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f42503e8244401cdfbab27596ed830bfd45bf7254bb5c845167c2e59a4c1df",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01CVQ81sKR63sFR7vc5tYJt5",
      "input": {
        "note": "The lemon dropped just short of the bowl onto the table; descending onto its new position to re-grasp it.",
        "targets": {
          "right_gripper": 1,
          "right_x": 0.445,
          "right_y": 0.115,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01CVQ81sKR63sFR7vc5tYJt5",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8604, 0.6125, -0.5133, -0.0139, -0.0307, 0.9932, 0.2165, 1.8557, 0.7528, 0.4114, -0.0658, -0.1925, 0.9986]\nstate[eef_state]: left_x=0.2788 left_y=-0.0001 left_z=0.1401 left_yaw=-0.0008 left_pitch=-0.1915 left_roll=0.0028 left_gripper=0.9932 right_x=0.4344 right_y=0.1111 right_z=0.0168 right_yaw=0.3752 right_pitch=-0.1239 right_roll=-0.1082 right_gripper=0.9986\nstate[joint_eff]: [-0.0205, -1.7162, 6.8991, 1.6337, -0.0757, -0.0366, -0.0122, -0.3761, -8.4444, 5.559, 2.2247, -0.2125, -0.0659, -0.1587]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0c9cf903b776767e38de3b4952cc6b6054c10bd81c3ba6e22c3dcb4ba359022f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 339):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a4b096c90638f6e568b39f3734abb992f4132adcc43d3b0a5156f2107dcd6c6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 339):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e2f4439a16ccfae20bc9cd04ec9fb067b3f523f6f62f0099d755318a4f11dcf0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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