adhoc

completed
2026-09-22T20:00:23.927686+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 embedded)
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.anthropic.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
16000
max_speed_frac
0.25
model
claude-opus-5-5
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
messages
wire_capture
true
seed
0
max steps
900
duration
255.5 s
total steps
244
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

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

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteScene: white bowl far left, dark fruit left-centre, lemon and blue bowl centre-right, pear right. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward and down over it.
move_to
right_x0.3300right_y0.0150right_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]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0238, 0.9985, -0.0227, 0.8005, 0.6193, -0.387, -0.0227, -0.0334, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2961 right_y=0.0009 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.5128, -1.7983, 9.5795, 1.7753, -0.149, 0.1001, -0.1636, -0.3761, -1.6479, 9.306, 1.8291, -0.0269, 0.1734, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": 0.015, "right_z": 0.12}, "note": "Scene: white bowl far left, dark fruit left-centre, lemon and blue bowl centre-right, pear right. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward and down over it."})
tool
executing move_to over 5 steps (0.5s)
step 5
top_cam
camera top_cam step 5
left_cam
camera left_cam step 5
right_cam
camera right_cam step 5
assistant
agent notePear is centred on the jaw column just ahead of the fingertips. Advancing 2.5 cm and descending to grasp it.
move_to
right_x0.3500right_y0.0150right_z0.0200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.3866, -0.0139, -0.0246, 0.9984, 0.0582, 1.0451, 0.445, -0.0105, 0.0303, -0.0071, 0.9994] state[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=-0.0014 left_pitch=-0.005 left_roll=-0.0007 left_gripper=0.9984 right_x=0.3254 right_y=0.0172 right_z=0.1103 right_yaw=0.022 right_pitch=-0.0422 right_roll=-0.0079 right_gripper=0.9994 state[joint_eff]: [-0.1436, -1.1966, 7.0906, 1.79, -0.0415, -0.0317, -0.022, -0.0752, -3.3983, 6.8171, 2.0342, 0.1783, 0.1001, -0.0171] 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": 0.35, "right_y": 0.015, "right_z": 0.02}, "note": "Pear is centred on the jaw column just ahead of the fingertips. Advancing 2.5 cm and descending to grasp it."})
tool
executing move_to over 6 steps (0.6s)
step 11
top_cam
camera top_cam step 11
left_cam
camera left_cam step 11
right_cam
camera right_cam step 11
assistant
agent notePear fills the view between the jaws at table level; closing the gripper.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4023, -0.0139, -0.025, 0.9984, 0.0433, 1.5566, 0.2958, 0.6189, 0.0139, -0.0185, 0.9994] state[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1763 left_yaw=-0.0012 left_pitch=-0.0259 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3455 right_y=0.0161 right_z=0.0134 right_yaw=0.0271 right_pitch=-0.0737 right_roll=-0.0084 right_gripper=0.9994 state[joint_eff]: [-0.1573, -1.6342, 7.1726, 1.8486, -0.0659, -0.0317, -0.0122, -0.4991, -5.0256, 4.4923, 1.9316, -0.0171, -0.0171, -0.0171] camera 'top_cam' (step 11): [image omitted: streamed camera frame] camera 'left_cam' (step 11): [image omitted: streamed camera frame] camera 'right_cam' (step 11): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the view between the jaws at table level; closing the gripper."})
tool
executing move_to over 10 steps (1.0s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteGripper settled at 0.73 (~7 cm), so the pear is held. Lifting to carry height.
move_to
right_z0.1700
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, -0.4088, -0.0139, -0.0269, 0.9984, 0.0429, 1.557, 0.2958, 0.6239, 0.0105, -0.0185, 0.7254] state[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0002 left_pitch=-0.0324 left_roll=-0.0021 left_gripper=0.9984 right_x=0.3462 right_y=0.0166 right_z=0.0143 right_yaw=0.0296 right_pitch=-0.0692 right_roll=-0.0062 right_gripper=0.7254 state[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.1436, -4.9709, 4.4376, 1.6825, -0.022, -0.0415, 1.0281] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Gripper settled at 0.73 (~7 cm), so the pear is held. Lifting to carry height."})
tool
executing move_to over 11 steps (1.1s)
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 notePear lifted off the table. The blue bowl is ahead-left in the right wrist view, so I'm carrying the pear over it.
move_to
right_x0.4300right_y0.1000right_z0.1700
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, -0.4202, -0.0139, -0.0269, 0.9984, 0.0437, 1.1091, 0.7025, -0.2901, 0.0036, -0.0265, 0.7296] state[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0002 left_pitch=-0.0443 left_roll=-0.0018 left_gripper=0.9984 right_x=0.34 right_y=0.0178 right_z=0.1484 right_yaw=0.0405 right_pitch=-0.1287 right_roll=-0.0088 right_gripper=0.7296 state[joint_eff]: [-0.1299, -1.3197, 7.2, 1.8144, -0.0415, -0.0171, -0.0122, -0.4034, -4.9299, 9.3197, 1.8291, 0.0464, 0.022, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). 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": 0.43, "right_y": 0.1, "right_z": 0.17}, "note": "Pear lifted off the table. The blue bowl is ahead-left in the right wrist view, so I'm carrying the pear over it."})
tool
executing move_to over 7 steps (0.7s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe pear is now roughly over the blue bowl, a bit to its right. Shifting slightly left and lowering before release.
move_to
right_y0.1200right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4248, -0.0135, -0.0273, 0.9984, 0.3019, 1.5345, 1.0706, -0.3267, 0.1795, 0.1165, 0.7297] state[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=-0.0021 left_gripper=0.9984 right_x=0.4169 right_y=0.1006 right_z=0.1467 right_yaw=0.0688 right_pitch=-0.2067 right_roll=-0.0323 right_gripper=0.7297 state[joint_eff]: [-0.0615, -1.7846, 6.9949, 1.7118, -0.0024, -0.0122, -0.0122, -0.2256, -7.7333, 9.1692, 1.9365, 0.2076, 0.1978, 1.0281] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.12, "right_z": 0.1}, "note": "The pear is now roughly over the blue bowl, a bit to its right. Shifting slightly left and lowering before release."})
tool
executing move_to over 4 steps (0.4s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe bowl appears just beyond the pear in the wrist view, so the pear is over its near rim. Advancing 3 cm to centre it over the bowl.
move_to
right_x0.4400right_z0.0900
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297 state[joint_eff]: [-0.3624, -1.4154, 6.9949, 1.7021, -0.0464, -0.0659, -0.0122, -0.1436, -7.7197, 5.9556, 1.8828, 0.2271, 0.1294, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.09}, "note": "The bowl appears just beyond the pear in the wrist view, so the pear is over its near rim. Advancing 3 cm to centre it over the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe arm didn't advance, probably because the pear is resting on the bowl rim. Raising while moving forward.
move_to
right_x0.4400right_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297 state[joint_eff]: [-0.335, -1.2239, 7.1316, 1.6581, -0.0513, -0.0317, -0.0122, 0.0889, -7.5966, 6.0923, 1.8632, 0.2222, 0.105, 1.033] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.13}, "note": "The arm didn't advance, probably because the pear is resting on the bowl rim. Raising while moving forward."})
tool
executing move_to over 3 steps (0.3s)
step 49
top_cam
camera top_cam step 49
left_cam
camera left_cam step 49
right_cam
camera right_cam step 49
assistant
agent noteThe right arm has stopped responding to small moves; trying a pure lift to free it.
move_to
right_x0.4100right_y0.1200right_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, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1425, 0.7297] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0866 right_pitch=-0.2476 right_roll=-0.0449 right_gripper=0.7297 state[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.663, -0.0464, -0.0415, -0.0122, -0.0205, -7.8154, 6.147, 1.9072, 0.1978, 0.1001, 1.033] camera 'top_cam' (step 49): [image omitted: streamed camera frame] camera 'left_cam' (step 49): [image omitted: streamed camera frame] camera 'right_cam' (step 49): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.41, "right_y": 0.12, "right_z": 0.16}, "note": "The right arm has stopped responding to small moves; trying a pure lift to free it."})
tool
executing move_to over 5 steps (0.5s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe right arm appears stuck, but the pear is above the blue bowl (top and wrist views agree), so I'm releasing it here.
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, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1429, 0.7297] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0864 right_pitch=-0.2476 right_roll=-0.0447 right_gripper=0.7297 state[joint_eff]: [-0.212, -1.3333, 7.1453, 1.6923, -0.0708, -0.0171, -0.0122, 0.1436, -7.6103, 6.2017, 1.8681, 0.1783, 0.1636, 1.033] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The right arm appears stuck, but the pear is above the blue bowl (top and wrist views agree), so I'm releasing it here."})
tool
executing move_to over 3 steps (0.3s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent notePear released into the blue bowl. Lifting clear before going for the lemon to the left of the bowl.
move_to
right_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, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.6215, 0.9699, -0.2031, 0.2058, 0.139, 0.9959] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4086 right_y=0.1182 right_z=0.0916 right_yaw=0.0862 right_pitch=-0.2635 right_roll=-0.0519 right_gripper=0.9959 state[joint_eff]: [-0.1846, -1.2786, 6.9949, 1.6777, -0.0269, -0.0757, -0.0122, -0.0752, -7.5556, 6.147, 1.6239, 0.0122, -0.0171, -0.1343] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.16}, "note": "Pear released into the blue bowl. Lifting clear before going for the lemon to the left of the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 62
top_cam
camera top_cam step 62
left_cam
camera left_cam step 62
right_cam
camera right_cam step 62
assistant
agent notePear is in the blue bowl. The lemon is ~10 cm left of the bowl at about the same depth; moving the right arm over it.
move_to
right_x0.4300right_y0.2200right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.5829, 1.1423, -0.4397, 0.2047, 0.1307, 0.9966] state[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4096 right_y=0.1187 right_z=0.1385 right_yaw=0.09 right_pitch=-0.2886 right_roll=-0.0639 right_gripper=0.9966 state[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.7265, -0.0269, -0.0806, -0.0122, -0.3624, -9.4427, 8.2803, 1.4872, 0.0904, 0.0171, 0.0562] camera 'top_cam' (step 62): [image omitted: streamed camera frame] camera 'left_cam' (step 62): [image omitted: streamed camera frame] camera 'right_cam' (step 62): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.22, "right_z": 0.1}, "note": "Pear is in the blue bowl. The lemon is ~10 cm left of the bowl at about the same depth; moving the right arm over it."})
tool
executing move_to over 9 steps (0.9s)
step 71
top_cam
camera top_cam step 71
left_cam
camera left_cam step 71
right_cam
camera right_cam step 71
assistant
agent noteLemon is centred between the jaws just ahead of the fingertips; advancing slightly and descending to table level.
move_to
right_x0.4400right_y0.2200right_z0.0100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4263, -0.0139, -0.0273, 0.9984, 0.5835, 1.8595, 1.2999, -0.4149, 0.3187, 0.2794, 0.9966] state[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1694 left_yaw=0.0 left_pitch=-0.0576 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4193 right_y=0.2147 right_z=0.0892 right_yaw=0.1242 right_pitch=-0.3386 right_roll=-0.0893 right_gripper=0.9966 state[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0415, -0.0611, -0.0122, 0.1162, -9.7846, 8.2667, 1.4921, 0.3541, 0.1636, -0.0073] camera 'top_cam' (step 71): [image omitted: streamed camera frame] camera 'left_cam' (step 71): [image omitted: streamed camera frame] camera 'right_cam' (step 71): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_y": 0.22, "right_z": 0.01}, "note": "Lemon is centred between the jaws just ahead of the fingertips; advancing slightly and descending to table level."})
tool
executing move_to over 6 steps (0.6s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteLemon sits between the jaws at table level; closing.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4274, -0.0135, -0.0273, 0.9984, 0.5678, 2.0453, 1.2453, -0.2123, 0.3058, 0.2687, 0.9966] state[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1692 left_yaw=-0.0003 left_pitch=-0.0588 left_roll=-0.002 left_gripper=0.9984 right_x=0.432 right_y=0.2167 right_z=0.0107 right_yaw=0.1192 right_pitch=-0.3779 right_roll=-0.1035 right_gripper=0.9966 state[joint_eff]: [-0.3077, -1.2923, 7.2137, 1.6923, -0.0269, -0.0073, -0.0171, -0.5128, -10.4137, 5.1487, 1.453, 0.1685, -0.0952, -0.0073] camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon sits between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 87
top_cam
camera top_cam step 87
left_cam
camera left_cam step 87
right_cam
camera right_cam step 87
assistant
agent noteGripper settled at 0.51 (~5 cm), lemon held. Lifting before carrying to the blue bowl.
move_to
right_z0.1700
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, -0.0273, 0.9984, 0.5667, 2.0563, 1.2438, -0.21, 0.2985, 0.2619, 0.5137] state[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=0.0 left_pitch=-0.0591 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4307 right_y=0.2167 right_z=0.0051 right_yaw=0.1263 right_pitch=-0.3902 right_roll=-0.1065 right_gripper=0.5137 state[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.663, -0.0513, -0.0415, -0.0122, -0.1573, -11.7265, 5.8872, 1.2088, 0.1783, 0.0513, 1.0281] camera 'top_cam' (step 87): [image omitted: streamed camera frame] camera 'left_cam' (step 87): [image omitted: streamed camera frame] camera 'right_cam' (step 87): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_z": 0.17}, "note": "Gripper settled at 0.51 (~5 cm), lemon held. Lifting before carrying to the blue bowl."})
tool
executing move_to over 11 steps (1.1s)
step 98
top_cam
camera top_cam step 98
left_cam
camera left_cam step 98
right_cam
camera right_cam step 98
assistant
agent noteLemon lifted; blue bowl (with pear) visible to the right. Carrying the lemon over the bowl.
move_to
right_x0.4200right_y0.1300right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4278, -0.0135, -0.0273, 0.9984, 0.5674, 1.9312, 1.6508, -0.7818, 0.2913, 0.2504, 0.5136] state[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1691 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9984 right_x=0.4315 right_y=0.2191 right_z=0.14 right_yaw=0.1325 right_pitch=-0.4294 right_roll=-0.1257 right_gripper=0.5136 state[joint_eff]: [-0.335, -1.347, 7.0632, 1.6679, -0.0415, -0.0415, -0.0171, -0.294, -13.4496, 8.3761, 1.3846, 0.2515, 0.0806, 0.6618] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 98): [image omitted: streamed camera frame] camera 'left_cam' (step 98): [image omitted: streamed camera frame] camera 'right_cam' (step 98): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.13, "right_z": 0.15}, "note": "Lemon lifted; blue bowl (with pear) visible to the right. Carrying the lemon over the bowl."})
tool
executing move_to over 8 steps (0.8s)
step 106
top_cam
camera top_cam step 106
left_cam
camera left_cam step 106
right_cam
camera right_cam step 106
assistant
agent noteThe lemon is directly above the blue bowl (top view and wrist view agree). Releasing it.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8185, 0.6132, -0.4412, -0.0139, -0.0273, 0.9984, 0.3809, 1.75, 1.4281, -0.7486, 0.2035, 0.0925, 0.5136] state[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1651 left_yaw=0.0001 left_pitch=-0.0774 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4158 right_y=0.1319 right_z=0.138 right_yaw=0.1158 right_pitch=-0.4745 right_roll=-0.1408 right_gripper=0.5136 state[joint_eff]: [-0.1846, -1.4701, 7.1316, 1.8193, -0.0464, -0.0611, -0.0122, -0.2256, -10.5504, 6.5573, 1.4481, -0.0415, -0.0171, 0.8181] camera 'top_cam' (step 106): [image omitted: streamed camera frame] camera 'left_cam' (step 106): [image omitted: streamed camera frame] camera 'right_cam' (step 106): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0}, "note": "The lemon is directly above the blue bowl (top view and wrist view agree). Releasing it."})
tool
executing move_to over 5 steps (0.5s)
step 111
top_cam
camera top_cam step 111
left_cam
camera left_cam step 111
right_cam
camera right_cam step 111
assistant
agent noteLemon and pear are both in the blue bowl. The plum is out of the right arm's reach from the bowl, so I'll use the right arm to slide the bowl toward the table centre, grabbing its left rim first.
move_to
right_x0.4300right_y0.1700right_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4435, -0.0139, -0.0273, 0.9984, 0.3794, 1.7435, 1.4185, -0.754, 0.1936, 0.0784, 0.9956] state[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1645 left_yaw=0.0001 left_pitch=-0.0805 left_roll=-0.0013 left_gripper=0.9984 right_x=0.4122 right_y=0.1316 right_z=0.1363 right_yaw=0.1308 right_pitch=-0.4858 right_roll=-0.1417 right_gripper=0.9956 state[joint_eff]: [-0.335, -1.4154, 6.9949, 1.6679, -0.0611, -0.0464, -0.0122, -0.1709, -8.3214, 7.3231, 1.1502, 0.1099, 0.0904, -0.105] camera 'top_cam' (step 111): [image omitted: streamed camera frame] camera 'left_cam' (step 111): [image omitted: streamed camera frame] camera 'right_cam' (step 111): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.17, "right_z": 0.1}, "note": "Lemon and pear are both in the blue bowl. The plum is out of the right arm's reach from the bowl, so I'll use the right arm to slide the bowl toward the table centre, grabbing its left rim first."})
tool
executing move_to over 4 steps (0.4s)
step 115
top_cam
camera top_cam step 115
left_cam
camera left_cam step 115
right_cam
camera right_cam step 115
assistant
agent noteThe bowl's left rim is just right of the jaw column in the wrist view. Nudging right slightly and descending so the jaws straddle the rim wall.
move_to
right_y0.1500right_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, 0.8192, 0.6132, -0.45, -0.0135, -0.0273, 0.9984, 0.4496, 1.8767, 1.4239, -0.696, 0.2096, 0.1165, 0.9965] state[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1632 left_yaw=-0.0002 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4156 right_y=0.1637 right_z=0.0891 right_yaw=0.152 right_pitch=-0.5463 right_roll=-0.1586 right_gripper=0.9965 state[joint_eff]: [-0.253, -1.265, 6.9949, 1.6923, -0.0073, -0.0464, -0.0122, -0.1162, -10.5094, 9.4291, 1.1258, 0.2759, 0.232, 0.0904] camera 'top_cam' (step 115): [image omitted: streamed camera frame] camera 'left_cam' (step 115): [image omitted: streamed camera frame] camera 'right_cam' (step 115): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_y": 0.15, "right_z": 0.03}, "note": "The bowl's left rim is just right of the jaw column in the wrist view. Nudging right slightly and descending so the jaws straddle the rim wall."})
tool
executing move_to over 4 steps (0.4s)
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 noteThe bowl's left wall is between the jaws at rim height. Closing to pinch the rim.
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, 0.6132, -0.4534, -0.0139, -0.0273, 0.9984, 0.4179, 1.9079, 1.256, -0.5339, 0.2039, 0.0921, 0.9966] state[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1625 left_yaw=0.0001 left_pitch=-0.0904 left_roll=-0.0011 left_gripper=0.9984 right_x=0.4058 right_y=0.145 right_z=0.035 right_yaw=0.1344 right_pitch=-0.5853 right_roll=-0.1776 right_gripper=0.9966 state[joint_eff]: [-0.0889, -1.0325, 7.1863, 1.7314, -0.0317, -0.0611, -0.0122, -0.0889, -8.294, 5.9829, 1.1746, -0.0073, -0.0904, -0.0024] approver: 1 step(s) modified (delta_clamped). 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": 0.0}, "note": "The bowl's left wall is between the jaws at rim height. Closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 129
top_cam
camera top_cam step 129
left_cam
camera left_cam step 129
right_cam
camera right_cam step 129
assistant
agent noteSettled at 0.50, so I pinched the lemon, not the thin rim. Opening and lifting; I'll push the bowl toward the centre from its right side instead.
move_to
right_gripper1.0000right_z0.1200
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4683, -0.0139, -0.0273, 0.9984, 0.416, 1.9224, 1.2449, -0.5278, 0.2043, 0.0856, 0.5037] state[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1594 left_yaw=0.0001 left_pitch=-0.106 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4029 right_y=0.1427 right_z=0.0262 right_yaw=0.1326 right_pitch=-0.6045 right_roll=-0.1877 right_gripper=0.5037 state[joint_eff]: [-0.335, -1.2239, 7.0769, 1.8339, -0.0171, -0.0317, -0.0122, 0.1436, -10.947, 7.0496, 0.8474, 0.0952, 0.0073, 1.0281] camera 'top_cam' (step 129): [image omitted: streamed camera frame] camera 'left_cam' (step 129): [image omitted: streamed camera frame] camera 'right_cam' (step 129): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.12}, "note": "Settled at 0.50, so I pinched the lemon, not the thin rim. Opening and lifting; I'll push the bowl toward the centre from its right side instead."})
tool
executing move_to over 7 steps (0.7s)
step 136
top_cam
camera top_cam step 136
left_cam
camera left_cam step 136
right_cam
camera right_cam step 136
assistant
agent noteThe lemon seems to still be wedged between the jaws above the bowl (gripper reads 0.70). Re-opening fully and straightening the wrist pitch so it drops back in.
move_to
right_gripper1.0000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4706, -0.0139, -0.0273, 0.9984, 0.416, 1.8652, 1.4651, -0.8303, 0.2012, 0.0776, 0.6953] state[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1587 left_yaw=0.0001 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4031 right_y=0.1434 right_z=0.0954 right_yaw=0.1358 right_pitch=-0.6303 right_roll=-0.1967 right_gripper=0.6953 state[joint_eff]: [-0.335, -1.2513, 7.241, 1.6532, -0.0708, -0.0415, -0.0171, -0.2803, -12.0, 7.8154, 0.8425, 0.0611, 0.0757, 0.0513] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 136): [image omitted: streamed camera frame] camera 'left_cam' (step 136): [image omitted: streamed camera frame] camera 'right_cam' (step 136): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_pitch": 0.0}, "note": "The lemon seems to still be wedged between the jaws above the bowl (gripper reads 0.70). Re-opening fully and straightening the wrist pitch so it drops back in."})
tool
executing move_to over 22 steps (2.2s)
step 158
top_cam
camera top_cam step 158
left_cam
camera left_cam step 158
right_cam
camera right_cam step 158
assistant
agent noteLemon dropped back into the bowl. New plan: the right arm grips the bowl's empty right-side rim so it can later carry the bowl toward the centre and tip it into the white bowl. Moving above that rim.
move_to
right_x0.4200right_y0.0500right_z0.1000right_pitch0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4755, -0.0135, -0.0273, 0.9984, 0.4904, 1.6264, 0.7502, 0.1619, 0.382, 0.025, 0.9986] state[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9984 right_x=0.395 right_y=0.1403 right_z=0.0726 right_yaw=0.1416 right_pitch=-0.0998 right_roll=-0.214 right_gripper=0.9986 state[joint_eff]: [0.0615, -1.2923, 6.9675, 1.6923, -0.0415, -0.0464, -0.0122, 0.6222, -9.306, 5.8188, 1.9072, 0.2564, 0.0317, -0.0855] camera 'top_cam' (step 158): [image omitted: streamed camera frame] camera 'left_cam' (step 158): [image omitted: streamed camera frame] camera 'right_cam' (step 158): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.05, "right_z": 0.1, "right_pitch": 0.0}, "note": "Lemon dropped back into the bowl. New plan: the right arm grips the bowl's empty right-side rim so it can later carry the bowl toward the centre and tip it into the white bowl. Moving above that rim."})
tool
executing move_to over 8 steps (0.8s)
step 166
top_cam
camera top_cam step 166
left_cam
camera left_cam step 166
right_cam
camera right_cam step 166
assistant
agent noteThe top view shows the lemon fell back onto the table, in front of the right base, when it was released from the jaws. Moving the right arm above it to pick it again.
move_to
right_x0.2700right_y0.0200right_z0.0800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4759, -0.0139, -0.0273, 0.9984, 0.1825, 1.5536, 0.6765, 0.252, 0.1627, -0.1638, 0.9986] state[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1577 left_yaw=0.0001 left_pitch=-0.1148 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4142 right_y=0.051 right_z=0.0831 right_yaw=0.1184 right_pitch=-0.0615 right_roll=-0.2132 right_gripper=0.9986 state[joint_eff]: [-0.3077, -1.3607, 7.2137, 1.6484, -0.0659, -0.0708, -0.0171, -0.2667, -8.5812, 5.7504, 2.1172, 0.0317, -0.0513, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 166): [image omitted: streamed camera frame] camera 'left_cam' (step 166): [image omitted: streamed camera frame] camera 'right_cam' (step 166): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.27, "right_y": 0.02, "right_z": 0.08}, "note": "The top view shows the lemon fell back onto the table, in front of the right base, when it was released from the jaws. Moving the right arm above it to pick it again."})
tool
executing move_to over 12 steps (1.2s)
step 178
top_cam
camera top_cam step 178
left_cam
camera left_cam step 178
right_cam
camera right_cam step 178
assistant
agent noteThe lemon has rolled close to the right arm's base (bottom of the top view, left of the base). Moving the right gripper down toward it.
move_to
right_x0.1500right_y0.0800right_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, 0.8257, 0.6132, -0.4847, -0.0135, -0.0273, 0.9984, 0.1528, 0.791, 0.244, -0.0315, 0.1398, -0.1844, 0.9986] state[eef_state]: left_x=0.2825 left_y=-0.0002 left_z=0.1548 left_yaw=-0.0001 left_pitch=-0.1282 left_roll=-0.0005 left_gripper=0.9984 right_x=0.28 right_y=0.0218 right_z=0.0897 right_yaw=0.119 right_pitch=-0.018 right_roll=-0.2149 right_gripper=0.9986 state[joint_eff]: [-0.1436, -1.1966, 7.1043, 1.7851, -0.022, -0.0366, -0.0122, -0.6632, -0.0342, 7.0632, 1.8486, -0.0513, -0.022, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 178): [image omitted: streamed camera frame] camera 'left_cam' (step 178): [image omitted: streamed camera frame] camera 'right_cam' (step 178): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.15, "right_y": 0.08, "right_z": 0.03}, "note": "The lemon has rolled close to the right arm's base (bottom of the top view, left of the base). Moving the right gripper down toward it."})
tool
executing move_to over 11 steps (1.1s)
step 189
top_cam
camera top_cam step 189
left_cam
camera left_cam step 189
assistant
agent noteThe gripper is at table level where the lemon was last seen near the base (the arm hides it in the top view). Closing to try to catch 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, 0.8314, 0.6132, -0.4934, -0.0139, -0.0269, 0.9984, 1.449, 0.8364, 0.1577, -0.5659, 0.9127, 0.8108, 0.9986] state[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1516 left_yaw=0.0 left_pitch=-0.1427 left_roll=0.0003 left_gripper=0.9984 right_x=0.1508 right_y=0.111 right_z=0.0323 right_yaw=0.2964 right_pitch=-0.0735 right_roll=-0.2739 right_gripper=0.9986 state[joint_eff]: [-0.1709, -1.812, 6.9675, 1.6484, -0.0269, -0.0366, -0.0122, -1.0051, -2.2632, 5.559, -0.0073, 0.6862, 0.232, -0.0122] camera 'top_cam' (step 189): [image omitted: streamed camera frame] camera 'left_cam' (step 189): [image omitted: streamed camera frame] camera 'right_cam' (step 189): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The gripper is at table level where the lemon was last seen near the base (the arm hides it in the top view). Closing to try to catch it."})
tool
executing move_to over 10 steps (1.0s)
step 199
assistant
agent noteEmpty close; the top view now shows no lemon on the table and yellow fruit in the blue bowl, so the lemon seems to be in the bowl after all. Going back above the bowl's right rim to grip it.
move_to
right_x0.4200right_y0.0450right_z0.0800right_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, 0.6132, -0.4942, -0.0135, -0.0273, 0.9984, 1.4395, 0.7685, 0.1642, -0.5884, 0.9001, 0.8524, 0.012] state[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0001 left_pitch=-0.1442 left_roll=-0.0002 left_gripper=0.9984 right_x=0.1509 right_y=0.1134 right_z=0.0386 right_yaw=0.2728 right_pitch=-0.0586 right_roll=-0.1879 right_gripper=0.012 state[joint_eff]: [0.0068, -1.2923, 6.9402, 1.5849, -0.0317, -0.0659, -0.0171, -0.1162, -0.1026, 4.3966, 0.6569, 0.5104, 0.0122, 0.9988] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 199): [image omitted: streamed camera frame] camera 'left_cam' (step 199): [image omitted: streamed camera frame] camera 'right_cam' (step 199): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.42, "right_y": 0.045, "right_z": 0.08, "right_gripper": 1.0}, "note": "Empty close; the top view now shows no lemon on the table and yellow fruit in the blue bowl, so the lemon seems to be in the bowl after all. Going back above the bowl's right rim to grip it."})
tool
executing move_to over 21 steps (2.1s)
step 220
assistant
agent noteThe top view shows the lemon actually lying at the very front of the table next to the right base, while the pear is in the bowl. Reaching the right gripper down to the lemon near the fold limit.
move_to
right_x0.1100right_y0.0500right_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, 0.8383, 0.6132, -0.5037, -0.0139, -0.0273, 0.9984, 0.0803, 1.5646, 0.6456, 0.2592, -0.062, -0.297, 0.9974] state[eef_state]: left_x=0.2799 left_y=-0.0001 left_z=0.1479 left_yaw=0.0003 left_pitch=-0.1598 left_roll=0.0004 left_gripper=0.9984 right_x=0.407 right_y=0.0473 right_z=0.0668 right_yaw=0.2781 right_pitch=-0.1007 right_roll=-0.1828 right_gripper=0.9974 state[joint_eff]: [-0.212, -1.8803, 7.0496, 1.6874, -0.0366, -0.0415, -0.0122, -0.6359, -6.8444, 7.159, 1.8339, -0.0464, 0.0904, -0.1538] camera 'top_cam' (step 220): [image omitted: streamed camera frame] camera 'left_cam' (step 220): [image omitted: streamed camera frame] camera 'right_cam' (step 220): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.11, "right_y": 0.05, "right_z": 0.03}, "note": "The top view shows the lemon actually lying at the very front of the table next to the right base, while the pear is in the bowl. Reaching the right gripper down to the lemon near the fold limit."})
tool
executing move_to over 23 steps (2.3s)
step 243
assistant
agent noteThe pear is in the blue bowl. The lemon rolled out after I released it clumsily and ended up at the very front edge of the table, against the right arm's base. That's inside the arm's fold limit (x ≈ 0.11–0.13): the arm stalled at x = 0.13, y = 0.10 and couldn't get over it. The left arm's y bound doesn't reach it either. The plum is also out of the right arm's reach from where the bowl is, and I only have a few calls left, not enough to pick the plum and do the two-arm pour.
give_up
hindsight- Blue bowl centre is at about right x=0.42, y=0.05. It's closer to the right arm's y=0 than the top view suggests: in the top cam the right gripper at y≈0 sits at image x≈180–190, not at the frame edge. - In the top cam, the dark shapes at the left and right image edges (x≈20 and x≈210, y≈130) are arm hardware, not the grippers' positions. Don't use them as reference points. - Releasing a fruit while the arm is stuck or pressed on the rim and wrist-pitched about −0.5 can wedge it between the jaws. Reopening then flung the lemon out onto the table near the right base, where it can't be reached. Always release at z ≥ 0.12 directly over the bowl centre, with pitch commanded to 0 (pitch drifts to −0.6 if you don't command it). - The right arm once froze and wouldn't respond to any target at x≈0.41, y≈0.12, z≈0.09. Commanding pitch 0 along with a larger move freed it. - The bowl rim is too thin to grip reliably next to fruit; my rim grasp caught the lemon instead (settled 0.50). Grip the rim on a side with no fruit, and descend right on the wall. - Layout this trial: white bowl far-left (left arm, about x 0.45, y −0.1), plum at left about x 0.33, y −0.12, blue bowl on the right side. The pour needs the blue bowl brought to the centre line (left y≈−0.33 / right y≈0.33) so the left arm can drop fruit in and one arm can reach the white bowl. Plan that bowl move first, and budget about 12 calls for it plus the pour. - Grasp readings: pear 0.73, lemon 0.51.
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, 0.8452, 0.6128, -0.5159, -0.0139, -0.0269, 0.9984, 1.4437, 0.4652, 0.2081, -0.8879, 0.7444, 0.6445, 0.9974] state[eef_state]: left_x=0.278 left_y=-0.0001 left_z=0.1438 left_yaw=0.0002 left_pitch=-0.1793 left_roll=0.0012 left_gripper=0.9984 right_x=0.1302 right_y=0.1031 right_z=0.0442 right_yaw=0.462 right_pitch=-0.1852 right_roll=-0.2389 right_gripper=0.9974 state[joint_eff]: [-0.2256, -1.9761, 7.2547, 1.7411, -0.0659, -0.0269, -0.0122, -1.6342, -0.3761, 2.5094, -2.1661, 0.4518, -0.1245, -0.0317] 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
give_up({"reason": "The pear is in the blue bowl. The lemon rolled out after I released it clumsily and ended up at the very front edge of the table, against the right arm's base. That's inside the arm's fold limit (x \u2248 0.11\u20130.13): the arm stalled at x = 0.13, y = 0.10 and couldn't get over it. The left arm's y bound doesn't reach it either. The plum is also out of the right arm's reach from where the bowl is, and I only have a few calls left, not enough to pick the plum and do the two-arm pour.", "hindsight": "- Blue bowl centre is at about right x=0.42, y=0.05. It's closer to the right arm's y=0 than the top view suggests: in the top cam the right gripper at y\u22480 sits at image x\u2248180\u2013190, not at the frame edge.\n- In the top cam, the dark shapes at the left and right image edges (x\u224820 and x\u2248210, y\u2248130) are arm hardware, not the grippers' positions. Don't use them as reference points.\n- Releasing a fruit while the arm is stuck or pressed on the rim and wrist-pitched about \u22120.5 can wedge it between the jaws. Reopening then flung the lemon out onto the table near the right base, where it can't be reached. Always release at z \u2265 0.12 directly over the bowl centre, with pitch commanded to 0 (pitch drifts to \u22120.6 if you don't command it).\n- The right arm once froze and wouldn't respond to any target at x\u22480.41, y\u22480.12, z\u22480.09. Commanding pitch 0 along with a larger move freed it.\n- The bowl rim is too thin to grip reliably next to fruit; my rim grasp caught the lemon instead (settled 0.50). Grip the rim on a side with no fruit, and descend right on the wall.\n- Layout this trial: white bowl far-left (left arm, about x 0.45, y \u22120.1), plum at left about x 0.33, y \u22120.12, blue bowl on the right side. The pour needs the blue bowl brought to the centre line (left y\u2248\u22120.33 / right y\u22480.33) so the left arm can drop fruit in and one arm can reach the white bowl. Plan that bowl move first, and budget about 12 calls for it plus the pour.\n- Grasp readings: pear 0.73, lemon 0.51."})
tool
give_up: The pear is in the blue bowl. The lemon rolled out after I released it clumsily and ended up at the very front edge of the table, against the right arm's base. That's inside the arm's fold limit (x ≈ 0.11–0.13): the arm stalled at x = 0.13, y = 0.10 and couldn't get over it. The left arm's y bound doesn't reach it either. The plum is also out of the right arm's reach from where the bowl is, and I only have a few calls left, not enough to pick the plum and do the two-arm pour.
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 · 27.11 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3
{
  "content": "Goal: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0238, 0.9985, -0.0227, 0.8005, 0.6193, -0.387, -0.0227, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2961 right_y=0.0009 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7983, 9.5795, 1.7753, -0.149, 0.1001, -0.1636, -0.3761, -1.6479, 9.306, 1.8291, -0.0269, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1a9153808d077c23d0a1c53e57ff5412384c27d5144825c43bf62624a6fb2ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d90a93780e7a44f74156271dbf65f82f776f40101f4cad8e36800effccfb6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4bf134d1f8ed2024c819c2a390d894ccbac7c4f0fe46b3a323666699e0f2915",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /messages · status 200 · 3.937 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0238, 0.9985, -0.0227, 0.8005, 0.6193, -0.387, -0.0227, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2961 right_y=0.0009 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7983, 9.5795, 1.7753, -0.149, 0.1001, -0.1636, -0.3761, -1.6479, 9.306, 1.8291, -0.0269, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c1a9153808d077c23d0a1c53e57ff5412384c27d5144825c43bf62624a6fb2ed",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4d90a93780e7a44f74156271dbf65f82f776f40101f4cad8e36800effccfb6ba",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4bf134d1f8ed2024c819c2a390d894ccbac7c4f0fe46b3a323666699e0f2915",
        "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_01TGrLa5NVUcWNiKNRHmQ3Vh",
      "input": {
        "note": "Scene: white bowl far left, dark fruit left-centre, lemon and blue bowl centre-right, pear right. The right wrist cam shows the pear just ahead of the jaws, so I'm moving the right arm forward and down over it.",
        "targets": {
          "right_x": 0.33,
          "right_y": 0.015,
          "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_01TGrLa5NVUcWNiKNRHmQ3Vh",
      "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, 0.8005, 0.6132, -0.3866, -0.0139, -0.0246, 0.9984, 0.0582, 1.0451, 0.445, -0.0105, 0.0303, -0.0071, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=-0.0014 left_pitch=-0.005 left_roll=-0.0007 left_gripper=0.9984 right_x=0.3254 right_y=0.0172 right_z=0.1103 right_yaw=0.022 right_pitch=-0.0422 right_roll=-0.0079 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.1966, 7.0906, 1.79, -0.0415, -0.0317, -0.022, -0.0752, -3.3983, 6.8171, 2.0342, 0.1783, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd5ff1bf5ea7e9139668e87ff65f8f0f89aaef87cc5a87bab837976c159e376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd0e1546d7e5132e50f7d5505e4c39d4734cc00c6e0ed437f5e27fe814fd9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:74e70123b054c8e81e6a139c2372cd9289c32c083410eec2e2ed42fb2dd26459",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /messages · status 200 · 2.913 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0238, 0.9985, -0.0227, 0.8005, 0.6193, -0.387, -0.0227, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2961 right_y=0.0009 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7983, 9.5795, 1.7753, -0.149, 0.1001, -0.1636, -0.3761, -1.6479, 9.306, 1.8291, -0.0269, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.3866, -0.0139, -0.0246, 0.9984, 0.0582, 1.0451, 0.445, -0.0105, 0.0303, -0.0071, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=-0.0014 left_pitch=-0.005 left_roll=-0.0007 left_gripper=0.9984 right_x=0.3254 right_y=0.0172 right_z=0.1103 right_yaw=0.022 right_pitch=-0.0422 right_roll=-0.0079 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.1966, 7.0906, 1.79, -0.0415, -0.0317, -0.022, -0.0752, -3.3983, 6.8171, 2.0342, 0.1783, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7bd5ff1bf5ea7e9139668e87ff65f8f0f89aaef87cc5a87bab837976c159e376",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2cd0e1546d7e5132e50f7d5505e4c39d4734cc00c6e0ed437f5e27fe814fd9ea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74e70123b054c8e81e6a139c2372cd9289c32c083410eec2e2ed42fb2dd26459",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSowcKEAgSGAI4AUIIdGhpbmtpbmcSDKbwO0SWWr58+pocGxoMmxCwV2Ck2levDCyJIjDK7KKL748/XkXgJ9PRVT6TO2V1wOg7noV5FbefC5z6BlgMjMhoM8/wRiImhK/lwbYqwAYloTTAk1nj3UiT74Dr11Vdal6u53SDwVHlptxRWzgeha/1fgfR4r1nAR6y2CyCRrlei1lWUKhxQrYBReOqZFTb91MiOv5wHOeRfa6kNj/vEK1sBtmXiRKsQf0zQhyS/RVDPbDVtUyPAoixgf4L3ccgrWLc24QU2Figs1IcySt6WakvzinTFTkPs8LAma+kGV75EmQuhylELa8AmOEIzdtZBZoBE1JBjr65guXLE3ti6rWj2mZ/SXUn5ojEParXr+9CYx/SEwk+zTdiMcEKcDx0qBFbgbTpOfzZNQLnlKbzvzo/DhZKwZ8AZMXv2XF0WZb+78RnmscJJ7woDW/U9h26y/krSrFN/jC90fmmJVSy8dMB3TYaWVEs4nI6LMzs9OFlN0Aox+ZqocjI86WbiXEExHy49WIk2CRBiqZw1wNlxuVl1GarJDJECjDy6OKRfD5exAJMnBzay9kwBUWKlovwNFFZm+9aDIu1l2YrfJOSVbAp+dlteyJn7Z2spm1tuc/qDX9OwCTm73/EjHH2KrIspKwBVzrNcJWso5B93GvUDWkaolsnmIbkAFRLeRzUsvGNyPEQcj9s1vNo98D8PPy+eDUjPt5J2FohYF3V8B54dGq1EKqJ9sgnGMqtSVLEaqlB1mYsjBNCZwdVr4tTdylOeZzru+W3ZZHxi9ylYqrxfK8CwU8rLKSszRFCqKEPOqWiGXRpse0jqbiaeS67oSTlIO2OEJJ/C9hHJEVQcZ5wele5jYmVDKspE/pt39uZzNEKcbXC9dDrzyGtT30/riaMstfhRA6qzhVknpTodb16HcmZ8/43o+G3CHJPKM5kAGy9Js7PdEiQkcF+dukLrB1a8WNv6ff+vlPZKh06u4j56+ZwimJ0GbTboasE/EAEdnLsLrDicibnDiJVEyhsyT6218F7Sf3Mc0p5F9t9HCnlQWjUwRRsXaJBHn7Cq+huYqhN2s0oZjs8I8icxDoFIHrHct1sBGfZRWXo5vi2DfO14TJO8DG6ZCSYr43M2zaltdMv+6bGtjGgsnCJLqhAT/mfgmnQW2kgIpfTtN8ja7yOXDn4EFODfiDgVTwsKLXr5LV4mA2CthLKBa7Ry5fh1nDiGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01N1QgWBpqo4Z1ZHgYG1kMcG",
      "input": {
        "note": "Pear is centred on the jaw column just ahead of the fingertips. Advancing 2.5 cm and descending to grasp it.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.015,
          "right_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01N1QgWBpqo4Z1ZHgYG1kMcG",
      "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, -0.4023, -0.0139, -0.025, 0.9984, 0.0433, 1.5566, 0.2958, 0.6189, 0.0139, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1763 left_yaw=-0.0012 left_pitch=-0.0259 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3455 right_y=0.0161 right_z=0.0134 right_yaw=0.0271 right_pitch=-0.0737 right_roll=-0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.6342, 7.1726, 1.8486, -0.0659, -0.0317, -0.0122, -0.4991, -5.0256, 4.4923, 1.9316, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b5e2e0c72f4d65561c6d1be1ddd1ec8070459afcdd1d19dd50638642158684f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb80beb4da626c0a615a4391ff840b6c7ee117209e200edd52f9c84e26ee9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5c4827bf807b9b53b4474083f65de5ec9f79abb69a2da60d7fd0737bc9a9fa7f",
        "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 · 4.291 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 1 changed as sent

message 4 changed as sent

message 7 changed as sent

message 1 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.02, 0.8005, 0.6136, -0.382, -0.0143, -0.0238, 0.9985, -0.0227, 0.8005, 0.6193, -0.387, -0.0227, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1822 left_yaw=0.0004 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9985 right_x=0.2961 right_y=0.0009 right_z=0.1838 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.5128, -1.7983, 9.5795, 1.7753, -0.149, 0.1001, -0.1636, -0.3761, -1.6479, 9.306, 1.8291, -0.0269, 0.1734, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.3866, -0.0139, -0.0246, 0.9984, 0.0582, 1.0451, 0.445, -0.0105, 0.0303, -0.0071, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=-0.0014 left_pitch=-0.005 left_roll=-0.0007 left_gripper=0.9984 right_x=0.3254 right_y=0.0172 right_z=0.1103 right_yaw=0.022 right_pitch=-0.0422 right_roll=-0.0079 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.1966, 7.0906, 1.79, -0.0415, -0.0317, -0.022, -0.0752, -3.3983, 6.8171, 2.0342, 0.1783, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4023, -0.0139, -0.025, 0.9984, 0.0433, 1.5566, 0.2958, 0.6189, 0.0139, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1763 left_yaw=-0.0012 left_pitch=-0.0259 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3455 right_y=0.0161 right_z=0.0134 right_yaw=0.0271 right_pitch=-0.0737 right_roll=-0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.6342, 7.1726, 1.8486, -0.0659, -0.0317, -0.0122, -0.4991, -5.0256, 4.4923, 1.9316, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b5e2e0c72f4d65561c6d1be1ddd1ec8070459afcdd1d19dd50638642158684f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:feb80beb4da626c0a615a4391ff840b6c7ee117209e200edd52f9c84e26ee9fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5c4827bf807b9b53b4474083f65de5ec9f79abb69a2da60d7fd0737bc9a9fa7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KRZqAJHBwnBpM626Wcffnb",
      "input": {
        "note": "Pear fills the view between the jaws at table level; closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01KRZqAJHBwnBpM626Wcffnb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0269, 0.9984, 0.0429, 1.557, 0.2958, 0.6239, 0.0105, -0.0185, 0.7254]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0002 left_pitch=-0.0324 left_roll=-0.0021 left_gripper=0.9984 right_x=0.3462 right_y=0.0166 right_z=0.0143 right_yaw=0.0296 right_pitch=-0.0692 right_roll=-0.0062 right_gripper=0.7254\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.1436, -4.9709, 4.4376, 1.6825, -0.022, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c06fb0b3f7cc0b537c3c9e34cfc4f2ec38eca2e854193907099ec1fb82669d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d668f1ab0407a07930b412157e9e5bf579eccf0b2b4dc41f66a259bf1870441c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c7424b53fc4ac161c12f761c978be8cb47ba5a53faaedd06e9928f837139d40d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /messages · status 200 · 5.979 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 4 changed as sent

message 7 changed as sent

message 10 changed as sent

message 4 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8005, 0.6132, -0.3866, -0.0139, -0.0246, 0.9984, 0.0582, 1.0451, 0.445, -0.0105, 0.0303, -0.0071, 0.9994]\nstate[eef_state]: left_x=0.2954 left_y=-0.0004 left_z=0.181 left_yaw=-0.0014 left_pitch=-0.005 left_roll=-0.0007 left_gripper=0.9984 right_x=0.3254 right_y=0.0172 right_z=0.1103 right_yaw=0.022 right_pitch=-0.0422 right_roll=-0.0079 right_gripper=0.9994\nstate[joint_eff]: [-0.1436, -1.1966, 7.0906, 1.79, -0.0415, -0.0317, -0.022, -0.0752, -3.3983, 6.8171, 2.0342, 0.1783, 0.1001, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4023, -0.0139, -0.025, 0.9984, 0.0433, 1.5566, 0.2958, 0.6189, 0.0139, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1763 left_yaw=-0.0012 left_pitch=-0.0259 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3455 right_y=0.0161 right_z=0.0134 right_yaw=0.0271 right_pitch=-0.0737 right_roll=-0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.6342, 7.1726, 1.8486, -0.0659, -0.0317, -0.0122, -0.4991, -5.0256, 4.4923, 1.9316, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0269, 0.9984, 0.0429, 1.557, 0.2958, 0.6239, 0.0105, -0.0185, 0.7254]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0002 left_pitch=-0.0324 left_roll=-0.0021 left_gripper=0.9984 right_x=0.3462 right_y=0.0166 right_z=0.0143 right_yaw=0.0296 right_pitch=-0.0692 right_roll=-0.0062 right_gripper=0.7254\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.1436, -4.9709, 4.4376, 1.6825, -0.022, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c06fb0b3f7cc0b537c3c9e34cfc4f2ec38eca2e854193907099ec1fb82669d4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d668f1ab0407a07930b412157e9e5bf579eccf0b2b4dc41f66a259bf1870441c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c7424b53fc4ac161c12f761c978be8cb47ba5a53faaedd06e9928f837139d40d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSywgKEAgSGAI4AUIIdGhpbmtpbmcSDF3iuOEvbwHuzldxnhoMhckHgzKshOHwYFsaIjDm7bF7SElNHjtbXuYyOKIhtB9wrkx2Kv7DjpTloIjV2/JQsFxQW1xhlGabL1D0ngAq6AfjmMzmr3osOHjvVZp2/Y1/jmo6bQJbY3QRJWM0oVvE2suyOAcdb5ZcgDroa1ffEXsb1hwhi038tv8y49XyWapZOBrVmtimhEZa26bEIxyt15ytbvy2i0/l4spnRnEVC2FZxmEpHjJTG3Zgpd5kCrKwKohFTPYRcCuV/GWp9QuLCMWY2WUJgPFFhwjRDRnu+l6hdl40Bg9VD5sA3d9n/SY+x9XlUKd01wgH6duZU5s6r531Iiefo8GAuBbVn94qnKljBw4zfFVyQ/hjmzsaXrKzfk0kWGVGKd9RibDtgcZ7jEeIGZEDiBcb39xy8yhz8UfnpOwKhMV7ptvMPqDaf5H8p4NysHx1p2L3inu+9QHEzPbdFbM3Zyv84cJzyAllQKMkStr6EEzZSi6OUxRFgWTIluT1kH99mdFfyNLdFo5iYr7TNtwagSAXfZM3IFid74tzdjKOKFp+1xdrf8RJeauwNRp0jL4IcCXySf6TBEZmvvAsT016pahOfrj1vX0ImhxnVL5cgygvIPyeMrm4qUHzV/BsD84zolj5kEoImly6nYy4iWKaFtS0rLHeawB2xLGi0Moz7hZWTGSQPmYCxvNMbDABpUOAU32exa5Jxu8J/g50DwiTPHxo7obNWlmFM1kk6WbohqotPVH+wuppFqa23hM/I79Im2HEN6Wqipgmvfy5qol3kH/NhxSuirIUI+vq1Xx1wqGz9FFiqFns4TghcL9ZJZLEed48mCtCIsLKnXbyRgdw5GTHYt3W9ecjJ25G2Iv5Ld1eXDsNKUpHqk2dIbcTGKK3DEzS4hGGiSxEJMYX9j5KIZ+raYIknGGx1aztXJvurNRcfvglvEycUbtqK+ODxjfsaJpJ/uJceWpRf04SHIDzt8clsoqkOH6c1DrX/5+klHSXfkx8cxxuXI3ee7pOxvERYY0rlXNIrFuj+XoYhlhbHWG/XIq51z8ZqCvYIsfCaszzzZEnoSC9ddLqXUSqgbhJYZ6e/bYK08gzhrReLumwNlSJyF7SIxOFV8uXKYvrze14n1a3vTondejIA010x2cGkfEF1PJr2C06lUPq6pani18wOjtkphGTbKKc9YqnDjD+btz5swMIR3czSsKPeLHz/jJtW30vL8NQac2o+d15rEb8V8dPXemOb0THD31ttFBxWSAG8JDb0mB9/6qOqs+0tl0abnOXEslrV5RB5ppfg5+aCYpAuxrtcu1cBK7mZkhRWdRSpLTdOpihyyoVICsqNCco0zRtFX/7+usCuxP+pHLlj3jhycT6shzgvCEsXLH3bDT+GXitlZ4VYnWK9apNSd6SiGHGx9yv2h/zgEGorV2lGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019sExCV784f5irgqZAwvrxQ",
      "input": {
        "note": "Gripper settled at 0.73 (~7 cm), so the pear is held. Lifting to carry height.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_019sExCV784f5irgqZAwvrxQ",
      "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, -0.4202, -0.0139, -0.0269, 0.9984, 0.0437, 1.1091, 0.7025, -0.2901, 0.0036, -0.0265, 0.7296]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0002 left_pitch=-0.0443 left_roll=-0.0018 left_gripper=0.9984 right_x=0.34 right_y=0.0178 right_z=0.1484 right_yaw=0.0405 right_pitch=-0.1287 right_roll=-0.0088 right_gripper=0.7296\nstate[joint_eff]: [-0.1299, -1.3197, 7.2, 1.8144, -0.0415, -0.0171, -0.0122, -0.4034, -4.9299, 9.3197, 1.8291, 0.0464, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93de7f4cf2905e6a8634dcc013d6e9aa702cf5ee37a345837730f3a5f789ef7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e698b79408e6389baf4302e89b939d5e10d04cb72735f803fefd80ceab06fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6c0922f7b6ecad3f1046ba68e9c13445dfa62c24026515cb288c07044f0a43f2",
        "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 · 3.8 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 7 changed as sent

message 10 changed as sent

message 13 changed as sent

message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4023, -0.0139, -0.025, 0.9984, 0.0433, 1.5566, 0.2958, 0.6189, 0.0139, -0.0185, 0.9994]\nstate[eef_state]: left_x=0.2937 left_y=-0.0004 left_z=0.1763 left_yaw=-0.0012 left_pitch=-0.0259 left_roll=-0.0006 left_gripper=0.9984 right_x=0.3455 right_y=0.0161 right_z=0.0134 right_yaw=0.0271 right_pitch=-0.0737 right_roll=-0.0084 right_gripper=0.9994\nstate[joint_eff]: [-0.1573, -1.6342, 7.1726, 1.8486, -0.0659, -0.0317, -0.0122, -0.4991, -5.0256, 4.4923, 1.9316, -0.0171, -0.0171, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0269, 0.9984, 0.0429, 1.557, 0.2958, 0.6239, 0.0105, -0.0185, 0.7254]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0002 left_pitch=-0.0324 left_roll=-0.0021 left_gripper=0.9984 right_x=0.3462 right_y=0.0166 right_z=0.0143 right_yaw=0.0296 right_pitch=-0.0692 right_roll=-0.0062 right_gripper=0.7254\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.1436, -4.9709, 4.4376, 1.6825, -0.022, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0269, 0.9984, 0.0437, 1.1091, 0.7025, -0.2901, 0.0036, -0.0265, 0.7296]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0002 left_pitch=-0.0443 left_roll=-0.0018 left_gripper=0.9984 right_x=0.34 right_y=0.0178 right_z=0.1484 right_yaw=0.0405 right_pitch=-0.1287 right_roll=-0.0088 right_gripper=0.7296\nstate[joint_eff]: [-0.1299, -1.3197, 7.2, 1.8144, -0.0415, -0.0171, -0.0122, -0.4034, -4.9299, 9.3197, 1.8291, 0.0464, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:93de7f4cf2905e6a8634dcc013d6e9aa702cf5ee37a345837730f3a5f789ef7b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9e698b79408e6389baf4302e89b939d5e10d04cb72735f803fefd80ceab06fc6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6c0922f7b6ecad3f1046ba68e9c13445dfa62c24026515cb288c07044f0a43f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSoQsKEAgSGAI4AUIIdGhpbmtpbmcSDCnsX9/VDHT1Zl6MDBoMiETKC4Ft9BAEYYwAIjDWJ1YiqfL1Ka1v9Cv0CgD2y8n9ey9uKWeKZl0BamyI8GkLwG0xyb3kmv0oCKFPH9AqvgpVGsZljXyfwzmaiFd8rrsM+h00n0s6TZboA/1Zi5cUbpEvTFPhhtkxFfKj8hePkyessMPrrdEI6QEZpYFNpt0W08wMp0icINfHYTJJb7m7a82gpybmPk/BxHDyIA8uMcssTcLE/UZu7kqGu58ZDziGwhlcUILogWdL16suBrwNC2mB/QSIB9gNovmoF4DcCdNLqNXOfqqZbTFb+QcfPB3ZCQNPdtlrMARHpgrOAKyBix2mXo3UrYj2Hyi/OWAR62N3qo9pGDR5wfa73GBzehl0lQZJyemXEU3sLjITD9lFJMTWzfEDhe6FnC+uM9nIWmB1ypHqIe0OmOAcW4LnuRfQNTsXxV1fPxG6feOXTaid7F13D7Gw4gJ3nfZCAcJmPiBqfUmJa/JJqKzuQlr7NSTJaJkFkdeN5IOEAAZPLi1o+eOsr24mhfwzsinidM0VSgCyOXa1uNW/j5TUTj2tBjgmFsvBQoS9kCncQ+y0EOboM52AcF7mZXByVPyf5tWJdUuz0+/eNE88aOVOj5h9tMXhW6i6zowjNuSMaRxTfF6DVvGOwtG+0kyGPa8z3r/2ELA26Fy2Rzhhw53MT0mTsbXpPpLlyt0GBk29fWHgLP0l97ySlD92eMqw+i+uqupdYm8zX8ti23hQEDZCcl2/rdXSvT8kjxvtmo+HvHgD+e+wLeaYJndA3xWsMdyWLiGtwLJlWwdVksS3xdJzLiB3k6n5uAREePBVeYB5vQVEOBktqmnLoNIMmtpKJC+MPjVjWcPtOzP0QlguNkAYTlzmwMTJtL5YLzeTtyxthjCR0zIpFdzN7zIrjEOmbrRTi8PRnumOvVMfgxYEyYCFoF9D+CbaXoFdzQqC8Kl67z7N22BSqX7LWiZsL+ZmfutFJWjMgoM888A6dQZBhggi7O7jz3gapQxQV2iDhnv9rs9a/QUvT5BwDF/NkCIuEgLT2i23ZdYXwI1MC+3/Z1OfB5TgE/SBFkmSTvf8Qz6VasJeC3n+340IJbwzF0a6Nb7Ul9riLAC/I47fRWYPOmgxH1ZOjgSDHaEo7COWK/zKLTpTybLnU4oZ+/Rh1Vu7tGywRgGt7KqDfFwZ53DH56ftWl0RonfIWY1xKukHBWyhjOK94RccUy8T+RO8Lea1JyHKskAT2qVayeOw5ImGPpfh1SY3tdoFZHVZ2Ofb1ZeIdYiXEu6+Ls22Ir5BiYgoi+Ilp5quN+bvKwufsArLTEnt7WtXF6TWsgj3AuyK0+nCDAUKNbWoE93abp+JVBNxnrWd9FEyI7Cd82Fs1Hkm7YqqbveLT0p7PkLz0TK1/zVnguQD+6kP7aSPhm0MfOmxzJ644Lylu/WunDwBEc5SFKbk3wSz/tbEcU7uWIB8Nr/QVYkRH56LtxKauAdxxQOjOuYqUYygr6ujQuAecJhQrKvII1oPiulvADMMkau8M+nziR3CbRJovmjZeet+Rrn439N8P4iWfjjHzl8mJGKQnIeFlO8Y4LPf3bXwaOl9W/3GmD5N46aqcj1Lv1RByhdYGwTG61LTLEipSIkQXSTepPC1ul34Ds9XsxA/RqqlJSnr3I9JuIi0hyY1KQYZDzdxAMyo0vW23Z05of2HMUN9jiY31Hinvrl0d1pC/V6JumqDsjCLkNoEPLXUOyfl5MYfVeqjq7w/8AdEiW44nHfiPqQdVEYu6Hle2qpNfVk4VoYqCylmm4lwxUR5S2JbHbwOdLexQZs477iWH5ToG1f6WNyHm1yN9Vjk7h0j/a+OA5oMgy1ZivlKTd71udgQOd8KxRhTH0gMGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01YBQQ4zvd2bkKciEfFRZSnN",
      "input": {
        "note": "Pear lifted off the table. The blue bowl is ahead-left in the right wrist view, so I'm carrying the pear over it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.1,
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01YBQQ4zvd2bkKciEfFRZSnN",
      "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, 0.8116, 0.6132, -0.4248, -0.0135, -0.0273, 0.9984, 0.3019, 1.5345, 1.0706, -0.3267, 0.1795, 0.1165, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=-0.0021 left_gripper=0.9984 right_x=0.4169 right_y=0.1006 right_z=0.1467 right_yaw=0.0688 right_pitch=-0.2067 right_roll=-0.0323 right_gripper=0.7297\nstate[joint_eff]: [-0.0615, -1.7846, 6.9949, 1.7118, -0.0024, -0.0122, -0.0122, -0.2256, -7.7333, 9.1692, 1.9365, 0.2076, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9c1828b1d984f8ff5622c8b10d05786d18b3592cf8f07a3665c572fed6bab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69924147685cb87f1b22d7cb66798ca1dcbeffe1952158885ba1b6daa587c515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:167cb2e82277a3e199a4bb14acf16e26911b3fee7f8fefb7565e909390499699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 6 attempt 0 · /messages · status 200 · 4.816 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 13 changed as sent

message 16 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8059, 0.6132, -0.4088, -0.0139, -0.0269, 0.9984, 0.0429, 1.557, 0.2958, 0.6239, 0.0105, -0.0185, 0.7254]\nstate[eef_state]: left_x=0.2928 left_y=-0.0004 left_z=0.175 left_yaw=-0.0002 left_pitch=-0.0324 left_roll=-0.0021 left_gripper=0.9984 right_x=0.3462 right_y=0.0166 right_z=0.0143 right_yaw=0.0296 right_pitch=-0.0692 right_roll=-0.0062 right_gripper=0.7254\nstate[joint_eff]: [-0.0068, -1.3197, 7.0085, 1.8046, -0.0659, -0.0317, -0.0122, -0.1436, -4.9709, 4.4376, 1.6825, -0.022, -0.0415, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0269, 0.9984, 0.0437, 1.1091, 0.7025, -0.2901, 0.0036, -0.0265, 0.7296]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0002 left_pitch=-0.0443 left_roll=-0.0018 left_gripper=0.9984 right_x=0.34 right_y=0.0178 right_z=0.1484 right_yaw=0.0405 right_pitch=-0.1287 right_roll=-0.0088 right_gripper=0.7296\nstate[joint_eff]: [-0.1299, -1.3197, 7.2, 1.8144, -0.0415, -0.0171, -0.0122, -0.4034, -4.9299, 9.3197, 1.8291, 0.0464, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8116, 0.6132, -0.4248, -0.0135, -0.0273, 0.9984, 0.3019, 1.5345, 1.0706, -0.3267, 0.1795, 0.1165, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=-0.0021 left_gripper=0.9984 right_x=0.4169 right_y=0.1006 right_z=0.1467 right_yaw=0.0688 right_pitch=-0.2067 right_roll=-0.0323 right_gripper=0.7297\nstate[joint_eff]: [-0.0615, -1.7846, 6.9949, 1.7118, -0.0024, -0.0122, -0.0122, -0.2256, -7.7333, 9.1692, 1.9365, 0.2076, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bc9c1828b1d984f8ff5622c8b10d05786d18b3592cf8f07a3665c572fed6bab5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:69924147685cb87f1b22d7cb66798ca1dcbeffe1952158885ba1b6daa587c515",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:167cb2e82277a3e199a4bb14acf16e26911b3fee7f8fefb7565e909390499699",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS9gcKEAgSGAI4AUIIdGhpbmtpbmcSDIQWTYUMoyNQ8nyK4RoMkQqttbCuZPpMNbhpIjC50qY8auZmljO3wU5BHCI3KhDZPMcmKiVaA4EtD9vXofBZBjSfkg/6+1kYOK+OubYqkwcnj4nmMJ1K4s6Mj3ELOIEA/dB+gHE7DgByYnJcYc+HWe8/wBPCaxTUZk5To7Q0Ct0/OL0inseTH5qJXHtS4MOx/Ly25yvXWtcHA5kA7Tx8ijWtSQlXfHzjxbKRzWMnjQPUGrxbrEd5VmECDiOz4SxtcHHaDAmVsMvmP3fg6ViIHD4WluPdj9UX0Dx0CBPwKvlDRhRN8Mp3FoLoWRiPZz+B45MT6mNA8kt4CGBubaIQnrlOVxcVDLWxxamAzkq7/CHaG8YsgxfHZ31PHEGPGHbsaKS/edMwoSeZdputGpMdzZpPYsqu5fs1mgu5gl8hhXJ4rT8phWAc2LjTQiqXhRiYsGTRmSQEupKPiAaELx3f2OEov/fWpAG9TIZLj4vs8s1ORxV7thDuWax3lsVD5Nw1lqxFkZ0htPED0UgnNdxEnOK8n/fthrs5aV/Pd3Id1tjxz5iPSI343swjlScr8Hum8YPqSpFFQoabjC5Kmt1eQjsudusa+vCvaXUSG9YL5X5QfZyeSo4s+b4y9iWRl3YrJhEviKH9EfgSuH5xoAcgkMh9uzojOTgwh+CMVPELEPz3Klw2tLPdglm06gWiHp1Bm3PGZU3lGma0yZC9/6rxbWcznMprcf68B7h2Nx+VZWwIY+kwcGy38BVJeAhbNJrRCpYalJQ1Wb3Z4g8mt2GtUKWFpQgMVMUFmciAWumEGsFc74d/gwlkwx+FH/KkX7kqXXxtTsIThZHBrXmJ9Dyr70wL1uE5RybhoHHJVX9Ywbfj8mKHLSX3YYCBRqCsdfSiam9oc2H1YXqt6AWALZktjt8COVD74WBmADYUcH+7w9RBpu6hWR3gU6gdcBfo6gFqEdAXJHpX+6ur993DMCSZSadHRErgk1RsLbrL0sRqp+pf5Ki2scvQcjrSU/i2xj/TT5ULotUodWv8uFwyTH+CKYLfEjNt7+Y1E5trZxlIR3bBVGHXdwCWwlSdNcx073CFYmxWwNMvc355MS3BTAXq8y2iY1bWtMV45ycBJExE1tFd0crLETzstnqcrJh57cPIjRl707IUE4ZHPw9N5sjlKuRKurqi8Iy2GH9hxVu0+lGT3iz9VCKR6/ZKcSCxKK9mv6G5RO7SzMY/uqC30EarErB8VNkAmOjyFLRpfHVafR+lStVyYPF85vYcDjnjuGjjBxXQg6Tt5FtUaye5MGUlbCRr5pRY5h5fYGKv79j+nVGWdiwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014tBCkZmnDGRN9C8CLVJPsR",
      "input": {
        "note": "The pear is now roughly over the blue bowl, a bit to its right. Shifting slightly left and lowering before release.",
        "targets": {
          "right_y": 0.12,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_014tBCkZmnDGRN9C8CLVJPsR",
      "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, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.3624, -1.4154, 6.9949, 1.7021, -0.0464, -0.0659, -0.0122, -0.1436, -7.7197, 5.9556, 1.8828, 0.2271, 0.1294, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32ae77f2c712244c14e0b12680eb15bb5348605fcaaa26d41fec3f276c42f830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e591ddd6ecd2794b427ae2baf70bfc857649bf2c94cd06d0b3d82203e482de47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4dcaa13e9b50f17461ee2b697561e95bb63d9ce4c6ad0734c15ff708c26715fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 7 attempt 0 · /messages · status 200 · 2.927 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 13 changed as sent

message 16 changed as sent

message 19 changed as sent

message 13 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8062, 0.6132, -0.4202, -0.0139, -0.0269, 0.9984, 0.0437, 1.1091, 0.7025, -0.2901, 0.0036, -0.0265, 0.7296]\nstate[eef_state]: left_x=0.2912 left_y=-0.0003 left_z=0.1726 left_yaw=-0.0002 left_pitch=-0.0443 left_roll=-0.0018 left_gripper=0.9984 right_x=0.34 right_y=0.0178 right_z=0.1484 right_yaw=0.0405 right_pitch=-0.1287 right_roll=-0.0088 right_gripper=0.7296\nstate[joint_eff]: [-0.1299, -1.3197, 7.2, 1.8144, -0.0415, -0.0171, -0.0122, -0.4034, -4.9299, 9.3197, 1.8291, 0.0464, 0.022, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "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, 0.8116, 0.6132, -0.4248, -0.0135, -0.0273, 0.9984, 0.3019, 1.5345, 1.0706, -0.3267, 0.1795, 0.1165, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=-0.0021 left_gripper=0.9984 right_x=0.4169 right_y=0.1006 right_z=0.1467 right_yaw=0.0688 right_pitch=-0.2067 right_roll=-0.0323 right_gripper=0.7297\nstate[joint_eff]: [-0.0615, -1.7846, 6.9949, 1.7118, -0.0024, -0.0122, -0.0122, -0.2256, -7.7333, 9.1692, 1.9365, 0.2076, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.3624, -1.4154, 6.9949, 1.7021, -0.0464, -0.0659, -0.0122, -0.1436, -7.7197, 5.9556, 1.8828, 0.2271, 0.1294, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:32ae77f2c712244c14e0b12680eb15bb5348605fcaaa26d41fec3f276c42f830",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e591ddd6ecd2794b427ae2baf70bfc857649bf2c94cd06d0b3d82203e482de47",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4dcaa13e9b50f17461ee2b697561e95bb63d9ce4c6ad0734c15ff708c26715fa",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkggKEAgSGAI4AUIIdGhpbmtpbmcSDBJiTjjRhi5JGvMZ+hoMPZdNQQx6f3dkV8WgIjBUgbVFck2g2BYlv/xPjmKyVBwY5zIhj7vq+be9wrSaW/+yq6C00Ql8Kiu9DQXtQXYqrwcAZ/CL6HOh3968crIHySRuAMTlmC7qonwphA9osMpKGnXURq8le7iweB6EM1TM+2J5uj2VBbASoMv6kGHfgmIzD1Nr31+0945SEI89w2h6At8G/UWwNyU+43N9AdLKk3CnK3B69ZPlFHft74x1qv1ZPqbRoJF+iirjYE9nS3ajt6FiUOfLpzO0SVO+mk5oJUW5IXR1ujRqwdFz2FUVnA9+yr8g3o2blPH0MkE4/FyCSFjiSlkTw11GyyVzMKZLelDC8fhHY6mpuoOEiWq9kW5g5V38nwR1nk+nMw+hv+XmjFY2W1IaPVMnCdhvhEfzXfnGuYAkpnDAn6rrB74B/5dj9MiiPveU6rdMFDtoVN68CxY1ognZgKh/WVjykkK3TubRim3VUnebtvB54fCI7y69cObjWPmFVzECtEKufAte3P+Bhzgxzg2TtZTA6CscrmytoyAR4o1m7KRwquTn4InSdO/SIqgELFb4pMX+thXuqymRPOOQj+WjGu9Rgt/7b49LfDr0V+9szJ/5t+AlHy+KmmJgWcv1XtKmWcSENbpv8I1w9Oy2Xqxa4QrqgI4o/LctBBp96hTpe8bOxPCsP+731UhgK6qf2DxV39I8DidwKNvFabV/nXbsigJ2AdND8mcaomLJBp8LwQxuNBNdQnmnDHDylC/mePW/FxXfw7Fhn5mJ7n+pbkTBxbTUcvprSVnRMSj7IR5DKR51T4+eUBTCb0cwi4VV/MevlyQJL6FZgHbXYG1ePQ53zfVD8DrIGh5e/6zV6Mkh2JIP3BzYCCfgRX5v1HhQdME6RpVNUMGLp2jMf0uBiaAReLYLI8XsazgWzMovw4xeJ+ysNFEuHQNSETs/ir4MUxdp4JF7D6MTz32ocHHvoS2TqHEZerYzSDbGEoiYO1OH5vG4OFfk3axxfdQXdTHk73+dt15KabJUpX50FklBf0cQLOLxd+iOtHlU4m+ySUqx8HJowr/aAGPgnWp6BPfIdtBuUEDJl1iiTpKEywGV6BOueRnoK5k1BC2oOk2+nGEugCqF7PHoTtMeArZDkEVfKILevQ6xPo6HV0R6Yza0js7dtktrN8k7/SdV+r34B45dhI/LGVzT6dMT5gGXcZ5qrx90BkIt9d2awaK9ueijIeWmeAXfTsWpBgFt8sDYyr78zhoBQ+us04l7Hn7n8MDSa6WxgMmXCEhYzKXwi+aqRzSZIchfwuDdSLezPBSsXVizqGJ35r9m4MTtOrfGqkd7/h+PZ2J8bq2sGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_013iZCqvCzFn27bs2V7K3pSH",
      "input": {
        "note": "The bowl appears just beyond the pear in the wrist view, so the pear is over its near rim. Advancing 3 cm to centre it over the bowl.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.09
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_013iZCqvCzFn27bs2V7K3pSH",
      "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, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.335, -1.2239, 7.1316, 1.6581, -0.0513, -0.0317, -0.0122, 0.0889, -7.5966, 6.0923, 1.8632, 0.2222, 0.105, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a8388e3a4dbc8d210968e16c3273a870087414a3289d7d5d10005a7ad44297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539ceec015c67043b8af742a35e3c2b1216f7843699b43cafeeeb269419144b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1438021218c2c71f2fb9b53bfcbdab9c3a2e3b3c30a949d7d1a76ca4992b96c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 8 attempt 0 · /messages · status 200 · 3.831 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 16 changed as sent

message 19 changed as sent

message 22 changed as sent

message 16 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8116, 0.6132, -0.4248, -0.0135, -0.0273, 0.9984, 0.3019, 1.5345, 1.0706, -0.3267, 0.1795, 0.1165, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0004 left_z=0.1702 left_yaw=-0.0003 left_pitch=-0.0542 left_roll=-0.0021 left_gripper=0.9984 right_x=0.4169 right_y=0.1006 right_z=0.1467 right_yaw=0.0688 right_pitch=-0.2067 right_roll=-0.0323 right_gripper=0.7297\nstate[joint_eff]: [-0.0615, -1.7846, 6.9949, 1.7118, -0.0024, -0.0122, -0.0122, -0.2256, -7.7333, 9.1692, 1.9365, 0.2076, 0.1978, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.3624, -1.4154, 6.9949, 1.7021, -0.0464, -0.0659, -0.0122, -0.1436, -7.7197, 5.9556, 1.8828, 0.2271, 0.1294, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.335, -1.2239, 7.1316, 1.6581, -0.0513, -0.0317, -0.0122, 0.0889, -7.5966, 6.0923, 1.8632, 0.2222, 0.105, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:04a8388e3a4dbc8d210968e16c3273a870087414a3289d7d5d10005a7ad44297",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:539ceec015c67043b8af742a35e3c2b1216f7843699b43cafeeeb269419144b4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1438021218c2c71f2fb9b53bfcbdab9c3a2e3b3c30a949d7d1a76ca4992b96c8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSiAcKEAgSGAI4AUIIdGhpbmtpbmcSDCF9CP7aDzWJFQ6TfxoMxBpcA9fBqmzuccM+IjC8SgztJe3Y9D158LsVDp9whsyny17E88NnpOq/OSiJGmiWSsJjFZn03MFpaZyHKh8qpQYSsRHKwnRUG9nXup+JrTybuJxa/e5Ch2cAWRBMijtSL2RF22xF1FN/t/KljZPBBCcQ6yxSYmrbRX099mmzFbYiBLZsavSRdOjEavqIzG0BzC8Y41wgiPL2eYqllCiQM8A7eajpbM4pbpjdroP3mRdJ+8VLT7FrPSOcuH6XUFWPvZr2Istx8jc2BuTx+idhHKAz2JZ5bOceMOxhVjP+H4E5b1FAco/cKfm4pTNpsUoxkDILUVTIOWIzxTqELxlmM9rdCqteL2KiuYGbOCCseFDn2zvNVrIBI1jJa129ktbOpUS/m0ETvMMZgctStb5xs+sd8Ye8s+ZPpgRngwIPEHymx8/LnVGtHSROuplEXfiABEkPrp/8W61M0Z/KI4dT62Kfwan0Z2/pu8Pi5+PPwyUzDSEhoeqfXMm6h+q2UiwBXnk3JNQl6kXsyYTf30KzkH/aYDE87zjxQSUgSayDWanJpHpEL7FWa+wrMewNyI6TwdEx1JohjjbsuyCl+f2n9xS5VnKrANHpsxE/dBXAQU3Do1EHpOC1KSM4wzldjJTzeiHSO1VGjXIqf5JqyPpU76DsI2evmLScmC6spMgMySX0Y380AV7voPbCzBXsPBWqDRsswveq8KJLw6ROrs3XrHXx/pImCSffFN7VRlbDOkoiHTsHRjfOrcogVnMfq+O303E7Kf6rUBcYDb48WlfgRQwA/pNJqNBVMgXontF22sTu4I7mTtKBIOV2L4dJaFwyTnN0bbO/hVkOUGw//6xIBt040iF1PKQVMVXT86iBdAvqmdnaD0154PyCFn92P+WygdkLffnRvHBZGdUAV3Af58PO3DBNF2AnmmAIDMEVKZ5l1tZawubQlMs2XCAPq1YizQktztfixK4bV76POkRUcMjYkDH+z1EL43+z26iWd2FMdPuizwR3rC2dkNIAYfGKQ23RLdZ+mLgWp56djqCIC73oJvIQfTgyVamqcKlo9PCwjS14Noj/CYPbyRLT2n9h2IHZbPbK+VVMflo7hsPMRQg4YQGTDjPBacrDc1WbxBfUtA/5WU9YANZckyD2RkKAg5Vk5q+CGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01VGdFcxju9BZa3Kpahyhn7U",
      "input": {
        "note": "The arm didn't advance, probably because the pear is resting on the bowl rim. Raising while moving forward.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01VGdFcxju9BZa3Kpahyhn7U",
      "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, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0866 right_pitch=-0.2476 right_roll=-0.0449 right_gripper=0.7297\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.663, -0.0464, -0.0415, -0.0122, -0.0205, -7.8154, 6.147, 1.9072, 0.1978, 0.1001, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce6279bd0b571553bb9f9dc4acade8404119b1b2460211236206b73fdde80921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c2379e6e1163b35cb437a8565ad98be0ac16673cb97f0fb60f183c546e9812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb864e208822e501b9b52c0a6c34200f64c476f12fcf85f9aceec43063b23572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 9 attempt 0 · /messages · status 200 · 4.237 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 19 changed as sent

message 22 changed as sent

message 25 changed as sent

message 19 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.3624, -1.4154, 6.9949, 1.7021, -0.0464, -0.0659, -0.0122, -0.1436, -7.7197, 5.9556, 1.8828, 0.2271, 0.1294, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.335, -1.2239, 7.1316, 1.6581, -0.0513, -0.0317, -0.0122, 0.0889, -7.5966, 6.0923, 1.8632, 0.2222, 0.105, 1.033]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0866 right_pitch=-0.2476 right_roll=-0.0449 right_gripper=0.7297\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.663, -0.0464, -0.0415, -0.0122, -0.0205, -7.8154, 6.147, 1.9072, 0.1978, 0.1001, 1.033]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ce6279bd0b571553bb9f9dc4acade8404119b1b2460211236206b73fdde80921",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b7c2379e6e1163b35cb437a8565ad98be0ac16673cb97f0fb60f183c546e9812",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb864e208822e501b9b52c0a6c34200f64c476f12fcf85f9aceec43063b23572",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSgQcKEAgSGAI4AUIIdGhpbmtpbmcSDGP5f3dHoV8pq+/8qBoM7LeHdC9tj7Vsw4oJIjAcTHQb+CLGKapbKzrWMcaMiDqb4pV+BNMpVjrZiN0lfNmtZqVafmNoib9NHadcIskqngaLHn5S0woKBqvblffj/gwfwzm6BatTMUjTsAPz8HO2lWoP9/tvmxS9/Rm6GVg8+hD9otqwM5HpyEv5I5yvpIUo2Tx6vBq+biMiIVqnOy7shrHVhQ9j8sCKd79vNoFRnMlebz089HfY3v8h9CpJ6vR5+eqnvxrFYUUAoVPdhuIe9C4G1JYw1NgMkHEXwVBBvyz/IwQ6RRvOlPPIFwSfhU5WOq7+V61N3o6QVTkG2+nN2uoV0DVfih4aMrcIuUdlI/BzFToOtqcAE5uUwa7gRjmF4fVBBlsHheI1ARWfTXr1YX2l9rQmg428AibmSS3fQM3A4gsEzjzSuzEB0G/Eaxd1oVqm6puboig8N7JWLw9fm5P4V5kXHq1g2eQIz1DlhMzCw3w9kp52EoRJY9i+WBw4hdB8K2qBBEW7TRtzPQuByS4hf7guGWsG/0+w2J5t5gNchE/f9u19JbHnCamEkQlSQhGMiwo7Pm74QLEn7arZOw3vfNeYatkBFc+oCiAjviNjgZTfcFW9azbmytPYFsx9vL4CdlmUHCQ/IWKsnrLQ+0KPwSxYVzC73g8wKBastlmHFjcI9gEV6ZgfuPrn34KI30G/z420WuusQbOMDcH4qTzgQvM2VpW0FnVShFD4zfaYg4PKHwhdWqNjZLUHL4M9KaOFBPvv+NC5uHpOSrlaJ2hpEywg+SlFs/4RkrCIOdapTLFJWhgZSoiWDqW5+qZjJG9ZhBehWDlFjFbSCQ4DHLZqg5xdZ6OkHbvw6rKNSuRU26AzswJyBfUyIKRdiahN8bkQfEjK5fcasH8YNpFTtnoc+jq7XG0pqWGBH/DzykWqyWQoeWei5eM3pGS/8wNrO5rycRXGFlriMIP/4oJBd0dZhrAg5VgpQZrwRi56IUpLgq2Rsx1M4JJm0wEd0l31TqENh8Nd0oQhv9o8kyKigNBzUCB+2ZBx3ivy0ir4vqn+0/Jj/z/rZkGoaCfir0ooz9WC7N4kcMxaCfGg6mlfJHkaMFOy3u8ipScq7wx9Hio72tKoidMR55Vumd0G4hXsbjFJJlLSOe/1ESMcsXAYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BTh9HNo3WmzLVCkjG3Dcqw",
      "input": {
        "note": "The right arm has stopped responding to small moves; trying a pure lift to free it.",
        "targets": {
          "right_x": 0.41,
          "right_y": 0.12,
          "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_01BTh9HNo3WmzLVCkjG3Dcqw",
      "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, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1429, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0864 right_pitch=-0.2476 right_roll=-0.0447 right_gripper=0.7297\nstate[joint_eff]: [-0.212, -1.3333, 7.1453, 1.6923, -0.0708, -0.0171, -0.0122, 0.1436, -7.6103, 6.2017, 1.8681, 0.1783, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfd421c52eb9d8d3bec1ccf972c398fc61f87919e07ddab380c70ade2bf4c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc52c25e0cfd780b9a932ed6c0dace51b763951f53801d7ba7e8905934ef66bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:77b2a6fe13805559962885b4faaaaa83f7ec2f2bc3beb580efa9afcac883f28f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 10 attempt 0 · /messages · status 200 · 4.618 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 25 changed as sent

message 28 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.968, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4114 right_y=0.1197 right_z=0.0939 right_yaw=0.0867 right_pitch=-0.2465 right_roll=-0.0446 right_gripper=0.7297\nstate[joint_eff]: [-0.335, -1.2239, 7.1316, 1.6581, -0.0513, -0.0317, -0.0122, 0.0889, -7.5966, 6.0923, 1.8632, 0.2222, 0.105, 1.033]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0866 right_pitch=-0.2476 right_roll=-0.0449 right_gripper=0.7297\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.663, -0.0464, -0.0415, -0.0122, -0.0205, -7.8154, 6.147, 1.9072, 0.1978, 0.1001, 1.033]",
      "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, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1429, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0864 right_pitch=-0.2476 right_roll=-0.0447 right_gripper=0.7297\nstate[joint_eff]: [-0.212, -1.3333, 7.1453, 1.6923, -0.0708, -0.0171, -0.0122, 0.1436, -7.6103, 6.2017, 1.8681, 0.1783, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ecfd421c52eb9d8d3bec1ccf972c398fc61f87919e07ddab380c70ade2bf4c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cc52c25e0cfd780b9a932ed6c0dace51b763951f53801d7ba7e8905934ef66bc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:77b2a6fe13805559962885b4faaaaa83f7ec2f2bc3beb580efa9afcac883f28f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgQgKEAgSGAI4AUIIdGhpbmtpbmcSDM30mf5bTrJ3yxzDHhoMSLhQ/UFv8qyHdiahIjAmPYwvfuWGpqRDDfHCY9D4FT35a4MIikyq4EY7XmHrUo6S1nZAICQ7cepiv1DEkMAqngcGVGPYgaWseVf41Kw1elVVDIL4WjgCDriOlInC3v8Abkq9dQIycZEwk0rfXU9uXKrTuqY79rm1+SG+aJp20palauGiWZVoyjZeTZ5su97G9KSvnpLdqTYUhvu/s4GxALwJ2Q5d6IkzS1xVqcnChHYF+4QhxoyaFIRTk/r7JooRJEjCINMUvIPuDjacGWVNC0b+pZ0nV9Eyh0ocAKsoiwfq6QYZIrM+a6s7ZipKuhEJCKn2AVW9QXuoDyjSd/pyOLQyoB3Ab4fgZ81JqjXGn3vvusQ1du64VfOuzE8aQAZPup4idFdd8m/vszginUdJzMdNVLXf1sfjhFbV3p2E0Eoib5tLp3f+gmcnF89hdHS+yfb4WSUIn+EwavhzFADGq9HFfKOCRJ5GyPu3G/nikhsQVYJqLHiDwQ+zwhG7YRKXzjQ5hDkMAXpLIE+++DYo0NCCKiNBF8QaQqUM17ZEg7/ZDaeQwNgiOTn3V0LMWXS8ZgwnirFmi6dNgJTxeEWMTJaFDBATTXcc2pd6KBC2zxg4lUrN9a5h2kbu8l/oIANvRXiwph3X+WEjkDEWqnx1EgzOHRS96lTQeKrW3XWIorXYtFjnnvp+Aas8IJ1q9D40G9ZU/bItPi72E2Ar587iHJiSp2CFjHd/PB1BWewUv8SE3XMQAAXLZFSWfRRX/3ARHDW5fEMlbiFkEqgrReX6DNqUGp/IDyANtF+VfaORFJ7mO+I5xhJ2VwvlvWjooR2fhm231K6USaRxvhWwgxGSilJrbnEz2WfxWL9AyxIbHVmZANlYEkTFoKj/61M8p/SaksVv9gv0UzGG+dP9YLrv9299v7SlGLlkuDr+O9xZwqnTd3GP5ixNauMTuBKm0DXlEe1s21qrcRm3cIlYtoov3laibHsYU18wk3iv5HA0CTudjTu0qGlJ2wz9ZTgfopi1hLGJd5GgGOX2R2U3p8nngpZ6k/rUaSwyEz2hinMYSgH2kYBCsMWLbR7mmLeB2u1rYMPgF8jUKg3pflvVfELFCIOQBxB7aGhqB9yXRFfnFk8k3r7ClRF65hiEEQEY+TQBR8jqEIVd1donvq62j7VSWetXaHXQU3VIjmhNTgsfkfToDXcbNFwDxgXYbbaPHx8H4yPxf2LYIiuSXaiYNfYG6tnGXenWb9RwvwhjFEh6ncS5TPNsCEaeuK3w8+jD5h8+tB5mB022dawFdpcloJ+zzwbDi8Ky21SKAD0+lHJNfRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01KCaefRrhQeNCUyugcvniAm",
      "input": {
        "note": "The right arm appears stuck, but the pear is above the blue bowl (top and wrist views agree), so I'm releasing it here.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01KCaefRrhQeNCUyugcvniAm",
      "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, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.6215, 0.9699, -0.2031, 0.2058, 0.139, 0.9959]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4086 right_y=0.1182 right_z=0.0916 right_yaw=0.0862 right_pitch=-0.2635 right_roll=-0.0519 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.2786, 6.9949, 1.6777, -0.0269, -0.0757, -0.0122, -0.0752, -7.5556, 6.147, 1.6239, 0.0122, -0.0171, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e445c1239d742c9598a7aac3ee7b40801cb491f5b312b0e112dac47850c1adbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cff63960d0f30ea1837f987c85c06cf1e8ef3a0283e26031f79f6df5170c37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fb65ac68c360cfba8767459f38f60b2f7c5b2e702610c774e4b0ec1566083926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 11 attempt 0 · /messages · status 200 · 5.207 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 28 changed as sent

message 31 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1425, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0866 right_pitch=-0.2476 right_roll=-0.0449 right_gripper=0.7297\nstate[joint_eff]: [-0.0752, -1.2376, 7.1316, 1.663, -0.0464, -0.0415, -0.0122, -0.0205, -7.8154, 6.147, 1.9072, 0.1978, 0.1001, 1.033]",
      "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, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1429, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0864 right_pitch=-0.2476 right_roll=-0.0447 right_gripper=0.7297\nstate[joint_eff]: [-0.212, -1.3333, 7.1453, 1.6923, -0.0708, -0.0171, -0.0122, 0.1436, -7.6103, 6.2017, 1.8681, 0.1783, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.6215, 0.9699, -0.2031, 0.2058, 0.139, 0.9959]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4086 right_y=0.1182 right_z=0.0916 right_yaw=0.0862 right_pitch=-0.2635 right_roll=-0.0519 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.2786, 6.9949, 1.6777, -0.0269, -0.0757, -0.0122, -0.0752, -7.5556, 6.147, 1.6239, 0.0122, -0.0171, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e445c1239d742c9598a7aac3ee7b40801cb491f5b312b0e112dac47850c1adbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9cff63960d0f30ea1837f987c85c06cf1e8ef3a0283e26031f79f6df5170c37",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fb65ac68c360cfba8767459f38f60b2f7c5b2e702610c774e4b0ec1566083926",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoQkKEAgSGAI4AUIIdGhpbmtpbmcSDIplkIIxckIAI7GXyBoM9Pnt5lkSzcrcp9meIjDfn1k979l8WscLZhmOiEsBA8fLSVAKjxiH2HWxjnfO0f/HprmG7a+SQBtQNNV2BdEqvghYtO1p8X+K3FHbxS7oxpnl0q+PC6OqmJTc8aMj3PKvCZruo5XTy5P3KPWqD88VlisD736m8lofSbV9NoY7cQc5Jdvozpa6gIXxxSxrR4uYwtgoUFw9rmEoK7AJXFJRmFieyMlxZAYaxdrN+JMjibBUvOaYKz8JlGTIMwo1I/bnEWkODmEMeGKRU4/IA413VlZ4RQsPZjLJbOsA4ux+XJtNM2p+HChMScNpwVRKXU0NfFvPULy1VyIrKi1t9bhoLIX86Yvm29vqmd/zpEhnddrchj9hY6dU6EHQYHHmXP18RNhS+WKOmMNAPt0G3PyhG7Cm5Ub18oK1JE95IKbfkl3//nyrPhN5WwbQU/dYsmGqXwQNf7EbH/+5qpKYZsontRvjoP5LhP572bZge+lHet1jMzPOyup3RElTBCLXyWdmhtrzlq5f02aCSR5rlA67nmZJ9wDmpzgd5Rd/c3GIZyav0gP1ij8t+azI3fBsAhxw81fXcOtqjwvkMexU+/SPa99PhIg+COnpe8NuFbuFA3G2W+HhynQlJGv7cqsiz1+qj9tVzJJi7N4BVUW2Sz4mtUBfLYfugG++nrk87ODpssNQue4vP1Jy5RXR9Os5zcJ86yRKlZdohd/j9awkALbXFkU1Tu06Oif9WZFrPeWvZe7zcaIZ0LNT1g/wSucfDdlm3YagJicwnDnz4fv6a4oxaVqfWtFtfrN+TQJ9kkV0zPQP0CS1pOHtcpheJcxYjqphYB8r0c2NgSGB76zs1ncAZuA3pjNx8MxIjmGkSrZB5Ht0kYzNN55fM2a+Mw9bLUjX/RyCoWuKJsqi4yupvlayW9GOctjymFGeL5Zsiinf7zs5J3oiGDBS7UGLFg6WRY4cZniZF7iQYCgm7ndu9tB671zd/uvM08MM1tX70Zoq3rjMvdBZlCaZHNW4FvdqbN5BXF/xQhnvO8Dh9jI0WyMSsVr4/ln31+dGGvdtmL0QYjdumNeozB19f8auE8ncdRD7YUJ/cjeQJNbQCJ+p8j1FlTDr/gkDlVlv94IVMssWes/uXx24pk1n4hA689xJZBZLnQUoYXrDDydM8v5VkqK6YfYPmKZO6Z2uPrVKBTSq7GBb7E3jlj4dcXoROndEee/qNU6xuck+rZIGxSuO9hmadXj55Y1HSennFPKjNiy7vC16AW9uc06kUjzxV35lojm+smutNMsLo/csNRLC4hEEnEVvpV8Q4Zu0T1abRwPJ4RpxyGwHe8t/GN35bh830HKq7P1N4cJodu9jsfYy4CEDhjOqkV+SJBzAZXSrsKI68ILvBUp3fVXT5lEFlkCVg6EIgnmcq3EyQvVASMfSDlW8ytX6Uca7bO1z1CdrqwOM4HSPiOs1Kv+6+OGrwIsrqzrlHX7Pxzd1sDxPrIY8lTyTQTmH3F4VV6OZxouq4OWAqYJzpwTPgX0DGxP1IEqfBgQYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_019JDhtLbFSbkhF1VNRwYHxS",
      "input": {
        "note": "Pear released into the blue bowl. Lifting clear before going for the lemon to the left of the bowl.",
        "targets": {
          "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_019JDhtLbFSbkhF1VNRwYHxS",
      "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, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.5829, 1.1423, -0.4397, 0.2047, 0.1307, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4096 right_y=0.1187 right_z=0.1385 right_yaw=0.09 right_pitch=-0.2886 right_roll=-0.0639 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.7265, -0.0269, -0.0806, -0.0122, -0.3624, -9.4427, 8.2803, 1.4872, 0.0904, 0.0171, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbbc5c5d9f4fca79cee5c8427e84f0db1c1a6bbc8b3f86005aa4d800a72639b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cbc61d550ff26c4e2f72e7ce40e78ec9860e8a2bc7fb3538a8a8ac026b9cc5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:07a77ffb40a68cd9954d1c61f724c3cc92a9833182b4498e03a81e549766186c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /messages · status 200 · 3.227 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.3592, 1.6218, 0.9668, -0.1833, 0.2058, 0.1429, 0.7297]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4111 right_y=0.1196 right_z=0.0935 right_yaw=0.0864 right_pitch=-0.2476 right_roll=-0.0447 right_gripper=0.7297\nstate[joint_eff]: [-0.212, -1.3333, 7.1453, 1.6923, -0.0708, -0.0171, -0.0122, 0.1436, -7.6103, 6.2017, 1.8681, 0.1783, 0.1636, 1.033]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.6215, 0.9699, -0.2031, 0.2058, 0.139, 0.9959]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4086 right_y=0.1182 right_z=0.0916 right_yaw=0.0862 right_pitch=-0.2635 right_roll=-0.0519 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.2786, 6.9949, 1.6777, -0.0269, -0.0757, -0.0122, -0.0752, -7.5556, 6.147, 1.6239, 0.0122, -0.0171, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.5829, 1.1423, -0.4397, 0.2047, 0.1307, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4096 right_y=0.1187 right_z=0.1385 right_yaw=0.09 right_pitch=-0.2886 right_roll=-0.0639 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.7265, -0.0269, -0.0806, -0.0122, -0.3624, -9.4427, 8.2803, 1.4872, 0.0904, 0.0171, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bbbc5c5d9f4fca79cee5c8427e84f0db1c1a6bbc8b3f86005aa4d800a72639b3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3cbc61d550ff26c4e2f72e7ce40e78ec9860e8a2bc7fb3538a8a8ac026b9cc5b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 62):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a77ffb40a68cd9954d1c61f724c3cc92a9833182b4498e03a81e549766186c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSoQoKEAgSGAI4AUIIdGhpbmtpbmcSDEGvlBZvl/gd7PBUIxoMZ88vOfKb+vNVXP/kIjCrkm8WWx6CtKMsuUQDAH1XqMK4QDmgsvF4tvkDwP4eu0Z0nBB5BKNESJiLbHUDJEsqvgmPVwh3BHed/BzccCwJgVEYgM1Whd7qNbfcpiqK+1th1excGYWgKDzt8UiqcHISUzQIABW6yC5bdK9Zla8xs3PhQVixViPWa3LpIpa+Y+S8LqWZCpRnqtJHBxM0+4cZL0cmF61kZ5tB1ZdkvglBHr98XTCdcXMG+Jy/AMeEf6It71UfbbmhSHE5sLY0wC7iI5olp8Nziu74h6VgvLOLnpqcnByQmSWyhvdTtL6G1qgTIMkmno6uFQLNQCBXTq6Wcqvb7uW9IqjLg7nMand2Q2ge4DzNg3VtXHb+442zzL4/VCAJs7GY8Vqws+akb2lu4kuNWmc4g8fi79UTXMKk268q6Z6FNyZIVZiPh5jqHr5zsqiAzu0MUH8gNGGJfhhahggdmHJlu0OZtEYVkx9xaskAMgt8jqBFlF7i2ZEAo9G9QH1pzwjjeMI1eGhsCLcwMog9GrU+Yo7l8wAwixRMswfDTJow9Q+y0SrOvbVTwSA90M3XJZD+gWJdU9/zuUcHgPWz0qmcMbvHWQxOo3nUe7vrMY0Zpwpb9KaUpcB3dMFUC6MUYy4LaDoKAd/2xYvzTYkl25kNTrcrYvCJFl3M48nVCuAJoXx7qzZP8W/tgb1qn5+uPkuryD06DU4Uc5Tjqax6nHXjJfVPGlBwCaH9iz071gMtqBmtepMKCZAuWYFR0tjBLd/hpo3Krs4dj0eQETqZ1ZjhmcGaPDcIRM59WdR9NCCjYpnfYudE1kaoXomK8mKiosfv3qSmEPMIwrVGzZUsAP1Tru0iWdkRtCW7YFRvLH8av1zL+8MT/QyQ4e/vj8vFnRQcnh98q3kFAUFkR6wrgNGvf5WAznp+9VboDuaex3aqsOpJS+Jj07FR2mwyZ8zOHXDtEVF2ea5wqN2uDihmVdkm++1sr2vqjK7j4yDGY09nh8ofSUcSXcKEFs+RHdJuXRjJKWhOZ272h4vDKYM1+KI74oiMLwEEE+SeE7qYqIcYQC3VABZXCm2G3Nv5+LUg1Og3o0ab0kcQyWuzKMD6/30v1eBdQ6b1J/f4hgOdOGIjENABuL44zSOs2Xziy63iB4bF03LdoLCKkomlpkRy0YQABeeOkwimf7pNp3RxFMrnFBFRMq07znUWouilD1YB+kqtkJnGtWxXwY+7isyzKJ9qLuJIHFGo65OOubO+LpmwjurjELb9AuCfpUpGGWbZmeZO2qnPh6dJ70PP/tlfT/H1V0Oe/wkVwirYJgXJ0QelzprdsjqXFd3mwqjzaD+zCDRmuKEQlh4Kkb9OPf7QsyYLcwdTdT2durYSgY8nl4Ia8kRGa3PHyLDmRuA2urx/iUOqC9Eu2fjToaiukE2aa11ci94L8lt8iT2Sv4r4C7+4VCMGmIzEIQ2O3hQRqwvGnMrEYjivzlgcyrEJl3nLn9gdiW33q62rnx2YgWgm4XLFVfdxaK5S5+mlWVV5aQL9FfhDAb2wtfTbyNGCbm8IaRk47YTkpCiEMSsgeuOCwR2V3rrjrK8qZ2XGUNMPzKQFZMmSWiSYNOQWImWty55R2eQYsxHb3M7arhKpdvu9e0HtcYf6BqwZvrBMDMNeckTfMAI59PZztO/XEvWzRvn29kRT5VS9xC+wRw81xBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015LLNCZ1PsVLv5RbBswzyE5",
      "input": {
        "note": "Pear is in the blue bowl. The lemon is ~10 cm left of the bowl at about the same depth; moving the right arm over it.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.22,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_015LLNCZ1PsVLv5RbBswzyE5",
      "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, -0.4263, -0.0139, -0.0273, 0.9984, 0.5835, 1.8595, 1.2999, -0.4149, 0.3187, 0.2794, 0.9966]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1694 left_yaw=0.0 left_pitch=-0.0576 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4193 right_y=0.2147 right_z=0.0892 right_yaw=0.1242 right_pitch=-0.3386 right_roll=-0.0893 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0415, -0.0611, -0.0122, 0.1162, -9.7846, 8.2667, 1.4921, 0.3541, 0.1636, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2930749615e0ddd56aa340f4d904c8762196e3225401c1fd9c84c078c2bbd702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab10d86252ba956ae6891d15dd259bfa2b331f5a29e99edcdfcfc057369542a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:bae5e73f0f7904d487ffdcb916a47004e76208d89aeb7f358f0123a5deea5b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 13 attempt 0 · /messages · status 200 · 2.444 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 31 changed as sent

message 34 changed as sent

message 37 changed as sent

message 31 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.6215, 0.9699, -0.2031, 0.2058, 0.139, 0.9959]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4086 right_y=0.1182 right_z=0.0916 right_yaw=0.0862 right_pitch=-0.2635 right_roll=-0.0519 right_gripper=0.9959\nstate[joint_eff]: [-0.1846, -1.2786, 6.9949, 1.6777, -0.0269, -0.0757, -0.0122, -0.0752, -7.5556, 6.147, 1.6239, 0.0122, -0.0171, -0.1343]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.5829, 1.1423, -0.4397, 0.2047, 0.1307, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4096 right_y=0.1187 right_z=0.1385 right_yaw=0.09 right_pitch=-0.2886 right_roll=-0.0639 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.7265, -0.0269, -0.0806, -0.0122, -0.3624, -9.4427, 8.2803, 1.4872, 0.0904, 0.0171, 0.0562]",
      "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, 0.8135, 0.6132, -0.4263, -0.0139, -0.0273, 0.9984, 0.5835, 1.8595, 1.2999, -0.4149, 0.3187, 0.2794, 0.9966]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1694 left_yaw=0.0 left_pitch=-0.0576 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4193 right_y=0.2147 right_z=0.0892 right_yaw=0.1242 right_pitch=-0.3386 right_roll=-0.0893 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0415, -0.0611, -0.0122, 0.1162, -9.7846, 8.2667, 1.4921, 0.3541, 0.1636, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2930749615e0ddd56aa340f4d904c8762196e3225401c1fd9c84c078c2bbd702",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1ab10d86252ba956ae6891d15dd259bfa2b331f5a29e99edcdfcfc057369542a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 71):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bae5e73f0f7904d487ffdcb916a47004e76208d89aeb7f358f0123a5deea5b58",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSpgcKEAgSGAI4AUIIdGhpbmtpbmcSDErlaRgNZRCvScxA6RoMruCWDYh/3aQwJGCaIjBWlAmDaMlmfyze52UdnGE8JQxdYvquSmfOetSO7r88z33oXrsR7kA4DDqr0lKBLbYqwwYxdFCLhXpyCV8IdLseJ88Tgy1NaorXnk/+vfdwkMiJLC9q4rRvcbEMf2zL180zst5gmgnGQhYXZLc5g5RuclC4KVk/88KsoxdHn0b1Y/OOH3pgeqISmuPl9QWVqzKcY1f5rRHmY5fbVP+jmOeViwdR/gAkTbzs8mzYmvgPF/C5qmxfg7b4aou6C21oePOAyfkbGIkM0MclOo0do2FHpA/E0WXZml8xqKOgfEs+Lk9L/j9sVh7uW2MXDa6tV0iaMni8TkdcOWOIif78Uxa7DdhUiaaOjjwa0ppBFAjr47tapvPNb7artzVYLd5uFyulvd3RVJQbfS0NdKOX0pJdhrlHf6YSCnCZ/ioXmy52rYmHOUuiukZBDYFJg6p1KGJyL38DsRDU531jBfsXx2rFre/OUjBBsHKOZuFJwOC5nCbWdvrn3iUpW9k6E7scuOLy85JFGbAR2AnGnkHgSnPjaG8eHCUrIrEtjXaYYgJJqOgqmb5nDopeCH/+IX+SRnb/Q24fStyy6CcmNWFOJA420DUM8msW5Pu92aNfFqhId+PBn8ocgayBfZeHe+FsiW/l8acd1kbXNzT8MJe4BFJZb472cRDhJDxUxc4ShMnGIy9d2YVsJUYdJwbG4gzGUifd4DjDjZE0W1wc2idWBqKTNE8aKUlBeWwniay/hQ5PbrfXX6zVzTxIuhD2XvvSXX7pt7xPLIOzFI/ojuT8XB5TI3YVtATukYZzbFlZeM03VCZ6rZLM0bf4dOdqVNTH37yinXkgfqgSVShckWR2gj6xu6meIGaPy8zCRbaFefvtSH8OFjIoaIaAa9wEY1+mc4a5f7prHNs9dPJW1dVbUNM5lNeIaIoCCb4MvI/G4aa0Mn/h4fweoGm23wc+fCYDZKcIyR+zk2igZRmGLusJULW8K9HaIXv/5noJSwP5ilqkLi7CvoE8GAI0BlRMkc3fZPherTrTlvgETIiAtXpClhygN4+zw3XIbnqKFR6KFtJePPigP9kyh1OA4nDsGgpUkZpZrV5vQcVQTO6GGiauYwuESdHWepYz/jASabeX5ydlNOhv9LAkG30r5yOFnvywV6/uyM0Jordg0wI2YDej7hzbwimAyr4xGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012LPVEG7zeucAmNPmkA1sZu",
      "input": {
        "note": "Lemon is centred between the jaws just ahead of the fingertips; advancing slightly and descending to table level.",
        "targets": {
          "right_x": 0.44,
          "right_y": 0.22,
          "right_z": 0.01
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_012LPVEG7zeucAmNPmkA1sZu",
      "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, -0.4274, -0.0135, -0.0273, 0.9984, 0.5678, 2.0453, 1.2453, -0.2123, 0.3058, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1692 left_yaw=-0.0003 left_pitch=-0.0588 left_roll=-0.002 left_gripper=0.9984 right_x=0.432 right_y=0.2167 right_z=0.0107 right_yaw=0.1192 right_pitch=-0.3779 right_roll=-0.1035 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -1.2923, 7.2137, 1.6923, -0.0269, -0.0073, -0.0171, -0.5128, -10.4137, 5.1487, 1.453, 0.1685, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8947cc462d299a58064fa9b3d70de35137ef8853f80a0b6db6b2be0e408d4f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27dc6df3f22f36f19fd3ef1b98149df1a2f645182b8880075d21eff0eb74f09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a7a4898a04f819da1b2a9dc6ffd64c2f5044d99dba17ed2a370a0d38bb649dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 4.26 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 37 changed as sent

message 40 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4252, -0.0139, -0.0273, 0.9984, 0.358, 1.5829, 1.1423, -0.4397, 0.2047, 0.1307, 0.9966]\nstate[eef_state]: left_x=0.2908 left_y=-0.0003 left_z=0.1699 left_yaw=0.0 left_pitch=-0.0553 left_roll=-0.0019 left_gripper=0.9984 right_x=0.4096 right_y=0.1187 right_z=0.1385 right_yaw=0.09 right_pitch=-0.2886 right_roll=-0.0639 right_gripper=0.9966\nstate[joint_eff]: [-0.0342, -1.3607, 7.0222, 1.7265, -0.0269, -0.0806, -0.0122, -0.3624, -9.4427, 8.2803, 1.4872, 0.0904, 0.0171, 0.0562]",
      "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, 0.8135, 0.6132, -0.4263, -0.0139, -0.0273, 0.9984, 0.5835, 1.8595, 1.2999, -0.4149, 0.3187, 0.2794, 0.9966]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1694 left_yaw=0.0 left_pitch=-0.0576 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4193 right_y=0.2147 right_z=0.0892 right_yaw=0.1242 right_pitch=-0.3386 right_roll=-0.0893 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0415, -0.0611, -0.0122, 0.1162, -9.7846, 8.2667, 1.4921, 0.3541, 0.1636, -0.0073]",
      "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, 0.8135, 0.6132, -0.4274, -0.0135, -0.0273, 0.9984, 0.5678, 2.0453, 1.2453, -0.2123, 0.3058, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1692 left_yaw=-0.0003 left_pitch=-0.0588 left_roll=-0.002 left_gripper=0.9984 right_x=0.432 right_y=0.2167 right_z=0.0107 right_yaw=0.1192 right_pitch=-0.3779 right_roll=-0.1035 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -1.2923, 7.2137, 1.6923, -0.0269, -0.0073, -0.0171, -0.5128, -10.4137, 5.1487, 1.453, 0.1685, -0.0952, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8947cc462d299a58064fa9b3d70de35137ef8853f80a0b6db6b2be0e408d4f5f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:27dc6df3f22f36f19fd3ef1b98149df1a2f645182b8880075d21eff0eb74f09c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a7a4898a04f819da1b2a9dc6ffd64c2f5044d99dba17ed2a370a0d38bb649dff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XV3Q21cdqUX3YuYc4VVArz",
      "input": {
        "note": "Lemon sits between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XV3Q21cdqUX3YuYc4VVArz",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4278, -0.0139, -0.0273, 0.9984, 0.5667, 2.0563, 1.2438, -0.21, 0.2985, 0.2619, 0.5137]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=0.0 left_pitch=-0.0591 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4307 right_y=0.2167 right_z=0.0051 right_yaw=0.1263 right_pitch=-0.3902 right_roll=-0.1065 right_gripper=0.5137\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.663, -0.0513, -0.0415, -0.0122, -0.1573, -11.7265, 5.8872, 1.2088, 0.1783, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d4605619756eb64ee2c5e6ae330d06c023aa272893896c2a8a68c86467c95e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eec64ac10767c14a6ab86ffb3c446ca6163a2157b0938e2d8f1929d64ef0ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a286284179bbabc0f6b4344537fd4d8063ea8cf824b728842f0fc133e088d8a9",
        "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 · 3.244 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 37 changed as sent

message 40 changed as sent

message 43 changed as sent

message 37 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4263, -0.0139, -0.0273, 0.9984, 0.5835, 1.8595, 1.2999, -0.4149, 0.3187, 0.2794, 0.9966]\nstate[eef_state]: left_x=0.2907 left_y=-0.0003 left_z=0.1694 left_yaw=0.0 left_pitch=-0.0576 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4193 right_y=0.2147 right_z=0.0892 right_yaw=0.1242 right_pitch=-0.3386 right_roll=-0.0893 right_gripper=0.9966\nstate[joint_eff]: [-0.1983, -1.2239, 6.9949, 1.7167, -0.0415, -0.0611, -0.0122, 0.1162, -9.7846, 8.2667, 1.4921, 0.3541, 0.1636, -0.0073]",
      "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, 0.8135, 0.6132, -0.4274, -0.0135, -0.0273, 0.9984, 0.5678, 2.0453, 1.2453, -0.2123, 0.3058, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1692 left_yaw=-0.0003 left_pitch=-0.0588 left_roll=-0.002 left_gripper=0.9984 right_x=0.432 right_y=0.2167 right_z=0.0107 right_yaw=0.1192 right_pitch=-0.3779 right_roll=-0.1035 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -1.2923, 7.2137, 1.6923, -0.0269, -0.0073, -0.0171, -0.5128, -10.4137, 5.1487, 1.453, 0.1685, -0.0952, -0.0073]",
      "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, 0.8135, 0.6132, -0.4278, -0.0139, -0.0273, 0.9984, 0.5667, 2.0563, 1.2438, -0.21, 0.2985, 0.2619, 0.5137]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=0.0 left_pitch=-0.0591 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4307 right_y=0.2167 right_z=0.0051 right_yaw=0.1263 right_pitch=-0.3902 right_roll=-0.1065 right_gripper=0.5137\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.663, -0.0513, -0.0415, -0.0122, -0.1573, -11.7265, 5.8872, 1.2088, 0.1783, 0.0513, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d4605619756eb64ee2c5e6ae330d06c023aa272893896c2a8a68c86467c95e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9eec64ac10767c14a6ab86ffb3c446ca6163a2157b0938e2d8f1929d64ef0ad2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 87):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a286284179bbabc0f6b4344537fd4d8063ea8cf824b728842f0fc133e088d8a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSxAgKEAgSGAI4AUIIdGhpbmtpbmcSDPIjAimRnfd6EQY6BhoMloLwp/ILZMFIT7z2IjA+PkQGJ6TJPU29bGu98L0BUXyGtzJKkg2CHdx+atB3cBxImGHy+UiClzMSJti0EPIq4QffYnNPybhngNclB+Ogpq5OtuEkbNggdfHxT/kuMk1oZJ7voE36PjLtrCYVDl4cQgK+udsS3WRtI9S3Q/o+Yiez6srFWwTehdgkbVFWIh16szzFA0kvAAeBRduZAOKsThOOBIrQy/r9r/9GP0EQD+HvDK38Z3SwNNxeYwYODPqmhwqVEjKE8mEn5n0vA6ZeMngxmWpWjMEwXZsFqJjzZs3z9CLWzZOv8FFPC6Vz673kW9+ilaLDG3CxzxYZAIp8WLh+379HHzDGS5n4jbQ1DRGawkKYg0VRtv4VEs1tP9utYGhfSYR7C0b4YXfByGVLTp6hpk7sRSl50znupQls83ceQFVDPHO8xZB2lc/I7wMZYfKGAi8dhtHbNIt3WAHE7/E23EIQr8zDEmgHydHt3BNUk3gtp7W2nMhRRargekM+VfKmq3d7r+OTTLE6u26M7G7YlntDYlMaai6GQG1br0SjHaCpD64Bikw468w7eZtMl6A63g6mBqJ90F4rbvoUx60Ts+Sp0eyIKHZ1s9nTRSTtzEzajQeA3Vn8snqRV1VjMmRjZpR0wuFyc9mj4zz8P3iNaYJxzcljj0+MS5odqxiLqc0ND+3idlSVATyyIH5gzu7/S+nMfhtDYfcw7N3yMzwpCpVj4Gqjh6qH+c1BO8kIWVeCyfncYpJxqTnf/oA3E51+xol4OZE8oMG/NvFu6NT5LJlf1+ECRM0pnu2HxWYkioFjk1/WIsylXFOsodY9xcKA7TXjeiIE8PZeauRivQ/IUqS5V6Ynh5BoQambBzSYHf7lo5rd8295Ei1C+d/bQqzhtTR09k7gS5XcE3S9ru74IG6xoQgzfG1cQsGKRVs/t1GQjSVDhfe89bFqTZP7QQEMx9limgU5rmR1im/TX5pD6eAUg+GxqX1hG6T/al22zFcg7P5m2wNj4lIGUDlaKg+JcBA4vsju8mBGcI0AdFyZDxgptjjZF5jdYUbAa3XOa5SaMJ2navbbtKy9KzCyfk3UQ6fxAg4tedzAfnvNarAib2GN1GslWylns+cO5lMr9D5DhpsU0eIl1HMfpMyGuEivzKDCcYsaE9+oq8uWjUNjxFhwj5Wj/ucwb7yo0lZF4smyNjTAiSJLhVU3yBapBAQrXDe5YtpbveRLZQ90Dsu1UQISMPGxaZ2WIgAnef+r2qajcUExbh4WFHKZNdW2XB2yS9bNaUhp5oBNHluISejfF8Gl4OZUhv1g3we97x+sXLu5MDD3oO2Tm3ZDthgdwuqHFHeZH40a/mUKO847+b9yHQpxA9LEs621CjIRhUAxgEqazAzg7hbO9i8ADeNLBRwYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_012feNxVdHoju95K9zE6WpCE",
      "input": {
        "note": "Gripper settled at 0.51 (~5 cm), lemon held. Lifting before carrying to the blue bowl.",
        "targets": {
          "right_z": 0.17
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_012feNxVdHoju95K9zE6WpCE",
      "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, -0.0135, -0.0273, 0.9984, 0.5674, 1.9312, 1.6508, -0.7818, 0.2913, 0.2504, 0.5136]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1691 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9984 right_x=0.4315 right_y=0.2191 right_z=0.14 right_yaw=0.1325 right_pitch=-0.4294 right_roll=-0.1257 right_gripper=0.5136\nstate[joint_eff]: [-0.335, -1.347, 7.0632, 1.6679, -0.0415, -0.0415, -0.0171, -0.294, -13.4496, 8.3761, 1.3846, 0.2515, 0.0806, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de55cb2ebd8fb4dc1cb61e49debb05ad100dabc28dec1f1e15d08753a51a51a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87cc9a0098881f69ca3afce5a143b7c25b9136a61d230a274c51b6ce9bcea351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4e8bee444b908f2042000503f27d781723336f038ed90c5d484e10a6e15c2bea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 2.78 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 43 changed as sent

message 46 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4274, -0.0135, -0.0273, 0.9984, 0.5678, 2.0453, 1.2453, -0.2123, 0.3058, 0.2687, 0.9966]\nstate[eef_state]: left_x=0.2906 left_y=-0.0004 left_z=0.1692 left_yaw=-0.0003 left_pitch=-0.0588 left_roll=-0.002 left_gripper=0.9984 right_x=0.432 right_y=0.2167 right_z=0.0107 right_yaw=0.1192 right_pitch=-0.3779 right_roll=-0.1035 right_gripper=0.9966\nstate[joint_eff]: [-0.3077, -1.2923, 7.2137, 1.6923, -0.0269, -0.0073, -0.0171, -0.5128, -10.4137, 5.1487, 1.453, 0.1685, -0.0952, -0.0073]",
      "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, 0.8135, 0.6132, -0.4278, -0.0139, -0.0273, 0.9984, 0.5667, 2.0563, 1.2438, -0.21, 0.2985, 0.2619, 0.5137]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=0.0 left_pitch=-0.0591 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4307 right_y=0.2167 right_z=0.0051 right_yaw=0.1263 right_pitch=-0.3902 right_roll=-0.1065 right_gripper=0.5137\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.663, -0.0513, -0.0415, -0.0122, -0.1573, -11.7265, 5.8872, 1.2088, 0.1783, 0.0513, 1.0281]",
      "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, 0.8135, 0.6132, -0.4278, -0.0135, -0.0273, 0.9984, 0.5674, 1.9312, 1.6508, -0.7818, 0.2913, 0.2504, 0.5136]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1691 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9984 right_x=0.4315 right_y=0.2191 right_z=0.14 right_yaw=0.1325 right_pitch=-0.4294 right_roll=-0.1257 right_gripper=0.5136\nstate[joint_eff]: [-0.335, -1.347, 7.0632, 1.6679, -0.0415, -0.0415, -0.0171, -0.294, -13.4496, 8.3761, 1.3846, 0.2515, 0.0806, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:de55cb2ebd8fb4dc1cb61e49debb05ad100dabc28dec1f1e15d08753a51a51a4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:87cc9a0098881f69ca3afce5a143b7c25b9136a61d230a274c51b6ce9bcea351",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 98):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4e8bee444b908f2042000503f27d781723336f038ed90c5d484e10a6e15c2bea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
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{
  "content": [
    {
      "signature": "CAQSiQcKEAgSGAI4AUIIdGhpbmtpbmcSDEUlqHXUAnAhHRIQ1xoMWD0KN5N6ad8TSPQiIjCKpfeV0gxWuPKObag1bC1Rj1gD3vulPJ1rS8s7WlYnxR/DcY4P2/rMA1HDn2h5Rc4qpgYvPWkh4R6fnClwHrUNRV1yK6faAvVmhvfaDqCWFSiCsqIW4FWNlfVQKhOYDVgVTRaQDE8SQJ/0rZ/7KU4KhjDrFAZ2l8ysS5FhwsDzTO4FgiHBmJLvCxC7QCwGByAaNcaVSTH9IQo1ab66NU0UJhiugpS1RwGldZrgg15Jq9TQudLpkUa8jOTQtlPSCGi9XF/+468o2tU0CJ2wVD3Z8eZDutz0jPxA0FkVlW9WVAOTK5A4VNnNj/yzLEvgOoGYWL/whR1Zlk37HzHFVD+zTGjH6UqustxEKoIxqM9KG2ixs0HaH1eZ07RKb4Hp213e42ZRsU/uBkHOGT6+8Mz7rPN9M0Y5eOwHK4mO9SOawvTKPKvNI2kIG/3Dswq9KE6HBt81T+bNGnSoRERnR/uJzVfcqR4Z+bxiuce8PLHIwpVLLjQqhJP8wVaA4PVPv4Pl/s7EYiRRoiEwv/E+NYFjf01ZGEd7RPwvlBbIAr7BHU+ov3m1FFIJyaBmdMtqiki3CxQ8opwZdwf7p7ZgX2IlOcfQ6SAjguoAPw20HH4FchoDbobEhIIVMTfICUjjP5J5LaImyYvM91lis7V0ybuYVWiYmF1bSdne/txb0dZJyWrpwMeohgGeqCw/8PXtoiIBXApHvy9u9iSFvUDMJgJpTKaMQrGIJ2UGREjHdOtAWEpY0A4ouNgwMxLkN2DSXzFwwgy6vhDaWiMuXBYF62q3Iqw842gXffzvIHpxCJpiYy5+p+DKjZmZJWy0ie10KIZJm77xKA6tbAHmbFfueaPGdiNVJE4AWlcx/XZmA4Ny5akD41yNmKOrqe9SMQ3T9hprd2TPPy2M5V4DeAGWpCCZmyl8iz0InlcMrFC4euzoKes+kgVdBrgePffxnAdLgQfLw4gCtrRDlSoyjhR6SVfQRRHhZKPIjaEy+c2JuIx0ntEmeEVaAvyAAg4DGHiZbyusu/5EknB8lGMTGDr8ZZO+wvm2d4dvgxFeSoTg4tEtocJvCurTaBltdn83v4ztVNhZd7rHNjL5Hmnxi93NR91I2MSvT7EUit0RQjIzbP+saZTjY8bd7KCDYRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01UWzydYo62hPAt5UStq2HJP",
      "input": {
        "note": "Lemon lifted; blue bowl (with pear) visible to the right. Carrying the lemon over the bowl.",
        "targets": {
          "right_x": 0.42,
          "right_y": 0.13,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01UWzydYo62hPAt5UStq2HJP",
      "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, 0.8185, 0.6132, -0.4412, -0.0139, -0.0273, 0.9984, 0.3809, 1.75, 1.4281, -0.7486, 0.2035, 0.0925, 0.5136]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1651 left_yaw=0.0001 left_pitch=-0.0774 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4158 right_y=0.1319 right_z=0.138 right_yaw=0.1158 right_pitch=-0.4745 right_roll=-0.1408 right_gripper=0.5136\nstate[joint_eff]: [-0.1846, -1.4701, 7.1316, 1.8193, -0.0464, -0.0611, -0.0122, -0.2256, -10.5504, 6.5573, 1.4481, -0.0415, -0.0171, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9f4de85a259934d1d37e904134d19f8d425580db454e69564952d236bc008d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23223a3909e592000b65805f61220c1c8c6f17d5bab5979c6a11dc22796b9ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:faf6517361d3366c69403f63731239af79b3c23375cf6a8adf2a4536f6de3259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 17 attempt 0 · /messages · status 200 · 16.74 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 43 changed as sent

message 46 changed as sent

message 49 changed as sent

message 43 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4278, -0.0139, -0.0273, 0.9984, 0.5667, 2.0563, 1.2438, -0.21, 0.2985, 0.2619, 0.5137]\nstate[eef_state]: left_x=0.2905 left_y=-0.0003 left_z=0.1691 left_yaw=0.0 left_pitch=-0.0591 left_roll=-0.0018 left_gripper=0.9984 right_x=0.4307 right_y=0.2167 right_z=0.0051 right_yaw=0.1263 right_pitch=-0.3902 right_roll=-0.1065 right_gripper=0.5137\nstate[joint_eff]: [-0.3487, -1.3333, 6.9949, 1.663, -0.0513, -0.0415, -0.0122, -0.1573, -11.7265, 5.8872, 1.2088, 0.1783, 0.0513, 1.0281]",
      "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, 0.8135, 0.6132, -0.4278, -0.0135, -0.0273, 0.9984, 0.5674, 1.9312, 1.6508, -0.7818, 0.2913, 0.2504, 0.5136]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1691 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9984 right_x=0.4315 right_y=0.2191 right_z=0.14 right_yaw=0.1325 right_pitch=-0.4294 right_roll=-0.1257 right_gripper=0.5136\nstate[joint_eff]: [-0.335, -1.347, 7.0632, 1.6679, -0.0415, -0.0415, -0.0171, -0.294, -13.4496, 8.3761, 1.3846, 0.2515, 0.0806, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8185, 0.6132, -0.4412, -0.0139, -0.0273, 0.9984, 0.3809, 1.75, 1.4281, -0.7486, 0.2035, 0.0925, 0.5136]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1651 left_yaw=0.0001 left_pitch=-0.0774 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4158 right_y=0.1319 right_z=0.138 right_yaw=0.1158 right_pitch=-0.4745 right_roll=-0.1408 right_gripper=0.5136\nstate[joint_eff]: [-0.1846, -1.4701, 7.1316, 1.8193, -0.0464, -0.0611, -0.0122, -0.2256, -10.5504, 6.5573, 1.4481, -0.0415, -0.0171, 0.8181]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9f4de85a259934d1d37e904134d19f8d425580db454e69564952d236bc008d3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:23223a3909e592000b65805f61220c1c8c6f17d5bab5979c6a11dc22796b9ace",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 106):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:faf6517361d3366c69403f63731239af79b3c23375cf6a8adf2a4536f6de3259",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSgQcKEAgSGAI4AUIIdGhpbmtpbmcSDGhp6rRYp00zuOFwExoMnkABJUqHtsO684kVIjDMtEuORQxiCR48lfg0eNkIdQEm/1JwwRNhfPRYHudxJJRqbZGm7mElC4xTYNY6+hEqngZtBapZw92fQR5qx1OcEkTIBLPy1PPfnrYFyaNT7ulQ3Zn2HZm0O2wUQFNB7vwm53LaVTyivVGGEWbxl7P4QVY1cNiW5ru4089b970W7U5e0RNcctP0RtacN+8yMxmnQxA+OBJphoNxfLbHVjK4H4wEhn7eS4jEf5EM4pGuTNknflbWs9eU7puatCMp33yeBXopkVP0E7wytitgTgLlNCueF0qTp3hn4IT2seo4AGJLAr9vB4eZsAobhTQnSytVFHjMpPji5KO2K/JZ95B4k/0ea/+eeuOkYC3qi4DMbuj3Eji3rno8+UNbEPUop4UkN31BPz77HGpplHiorwcm27130An/3TnvXr3/WfQavgjcsC0lEbmpGUBC7Ld0d0f3GSNhtEHJ/ckXU/afrQWAfDErEcTeGCtd3SvimsnRNhyjiJR/UX+pFcWJhKZpFTdOuX0I4gq4Z6Z71keXUD1FYdtN+UYrRiq95VpxSEhw/e2J30oLhV1k0Rltequ3CWOJ/dzVdS4zhklT6OkQdOHR2tRG1IAilwu+wEzA0BsgT7QT1CU6V9d2/GY/uJIAx22/F1LmipYlys677/P+WsLOOYMEjXfTB1KLWd0P5uy2cidBoXjHXAGT19rtyeSj++duZ1tOr8m9p4y4WBKQVAfhW1WEQjNPJ4cv6X8bYQTMGdbyF8706hjixDvq9x+AFtXY/aHVPtpab/yhmCGjdKnk6dlVsCkC2VyjLIOjuv38pqm9sNrBa5KKjzzVG1TvIm3fEvfxHzCjDJYzM/tjJF4wTHe/VDcdlbgEcTmDxKQz2FqHHpKaAZqBiSbM7SqE7jYKuE13Qnqz/y2cOzkpvyMESfYJeGxVIz1spdvjISvtxs3ZbofZoyGrpZc/4iYKbx94UwV0sC4vWv3R3q/O6IeyHcqSHQM6aWucnQ5ZAPn2DcjuySgd0aZS1wmOd4w4urBj4F3SxuPRGbcuNdQRoq6Rw8JkZR9l8Y663p4NWAUGCqBYfDqdRcuco7BhqnYLZwTGSCPksog/sPOmeH1CGg7VNvnq9N6DDSx3VmykJnqOC78YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01K6Jyej8efxwjREXrfgE893",
      "input": {
        "note": "The lemon is directly above the blue bowl (top view and wrist view agree). Releasing it.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01K6Jyej8efxwjREXrfgE893",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4435, -0.0139, -0.0273, 0.9984, 0.3794, 1.7435, 1.4185, -0.754, 0.1936, 0.0784, 0.9956]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1645 left_yaw=0.0001 left_pitch=-0.0805 left_roll=-0.0013 left_gripper=0.9984 right_x=0.4122 right_y=0.1316 right_z=0.1363 right_yaw=0.1308 right_pitch=-0.4858 right_roll=-0.1417 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.4154, 6.9949, 1.6679, -0.0611, -0.0464, -0.0122, -0.1709, -8.3214, 7.3231, 1.1502, 0.1099, 0.0904, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb9a3026cf7cbece50264be3e6678727912be3ae6e565de6a37ab23e439775a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e99332f8cb683a9b4c93042ece44c8a2e0d859a2f26994f95a37644b78dda612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:fa385f9b9b73b52a3d14c9665d57685aaa13c9baadc1c7f084a4caaf00e644c5",
        "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 · 4.775 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 49 changed as sent

message 52 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8135, 0.6132, -0.4278, -0.0135, -0.0273, 0.9984, 0.5674, 1.9312, 1.6508, -0.7818, 0.2913, 0.2504, 0.5136]\nstate[eef_state]: left_x=0.2905 left_y=-0.0004 left_z=0.1691 left_yaw=-0.0003 left_pitch=-0.0591 left_roll=-0.002 left_gripper=0.9984 right_x=0.4315 right_y=0.2191 right_z=0.14 right_yaw=0.1325 right_pitch=-0.4294 right_roll=-0.1257 right_gripper=0.5136\nstate[joint_eff]: [-0.335, -1.347, 7.0632, 1.6679, -0.0415, -0.0415, -0.0171, -0.294, -13.4496, 8.3761, 1.3846, 0.2515, 0.0806, 0.6618]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "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, 0.8185, 0.6132, -0.4412, -0.0139, -0.0273, 0.9984, 0.3809, 1.75, 1.4281, -0.7486, 0.2035, 0.0925, 0.5136]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1651 left_yaw=0.0001 left_pitch=-0.0774 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4158 right_y=0.1319 right_z=0.138 right_yaw=0.1158 right_pitch=-0.4745 right_roll=-0.1408 right_gripper=0.5136\nstate[joint_eff]: [-0.1846, -1.4701, 7.1316, 1.8193, -0.0464, -0.0611, -0.0122, -0.2256, -10.5504, 6.5573, 1.4481, -0.0415, -0.0171, 0.8181]",
      "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, 0.8192, 0.6132, -0.4435, -0.0139, -0.0273, 0.9984, 0.3794, 1.7435, 1.4185, -0.754, 0.1936, 0.0784, 0.9956]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1645 left_yaw=0.0001 left_pitch=-0.0805 left_roll=-0.0013 left_gripper=0.9984 right_x=0.4122 right_y=0.1316 right_z=0.1363 right_yaw=0.1308 right_pitch=-0.4858 right_roll=-0.1417 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.4154, 6.9949, 1.6679, -0.0611, -0.0464, -0.0122, -0.1709, -8.3214, 7.3231, 1.1502, 0.1099, 0.0904, -0.105]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cbb9a3026cf7cbece50264be3e6678727912be3ae6e565de6a37ab23e439775a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e99332f8cb683a9b4c93042ece44c8a2e0d859a2f26994f95a37644b78dda612",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 111):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fa385f9b9b73b52a3d14c9665d57685aaa13c9baadc1c7f084a4caaf00e644c5",
        "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_01T5kVGhZfuimmnhY7zMzkD3",
      "input": {
        "note": "Lemon and pear are both in the blue bowl. The plum is out of the right arm's reach from the bowl, so I'll use the right arm to slide the bowl toward the table centre, grabbing its left rim first.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.17,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01T5kVGhZfuimmnhY7zMzkD3",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.45, -0.0135, -0.0273, 0.9984, 0.4496, 1.8767, 1.4239, -0.696, 0.2096, 0.1165, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1632 left_yaw=-0.0002 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4156 right_y=0.1637 right_z=0.0891 right_yaw=0.152 right_pitch=-0.5463 right_roll=-0.1586 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.6923, -0.0073, -0.0464, -0.0122, -0.1162, -10.5094, 9.4291, 1.1258, 0.2759, 0.232, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e3631bcd6f13e9c39f372e2f19d0e6d05eb88dbf4f3cea5cf768532f047bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a92263c8b4c94f6e4b5d64be87328eda13131a71fa9d3b9c6f194c362121529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e80e5918fe42db93bf97f8a081d4a08f8fd2f8b59f45f8059db21a7f7c291b95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 19 attempt 0 · /messages · status 200 · 4.049 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 49 changed as sent

message 52 changed as sent

message 55 changed as sent

message 49 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8185, 0.6132, -0.4412, -0.0139, -0.0273, 0.9984, 0.3809, 1.75, 1.4281, -0.7486, 0.2035, 0.0925, 0.5136]\nstate[eef_state]: left_x=0.2888 left_y=-0.0003 left_z=0.1651 left_yaw=0.0001 left_pitch=-0.0774 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4158 right_y=0.1319 right_z=0.138 right_yaw=0.1158 right_pitch=-0.4745 right_roll=-0.1408 right_gripper=0.5136\nstate[joint_eff]: [-0.1846, -1.4701, 7.1316, 1.8193, -0.0464, -0.0611, -0.0122, -0.2256, -10.5504, 6.5573, 1.4481, -0.0415, -0.0171, 0.8181]",
      "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, 0.8192, 0.6132, -0.4435, -0.0139, -0.0273, 0.9984, 0.3794, 1.7435, 1.4185, -0.754, 0.1936, 0.0784, 0.9956]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1645 left_yaw=0.0001 left_pitch=-0.0805 left_roll=-0.0013 left_gripper=0.9984 right_x=0.4122 right_y=0.1316 right_z=0.1363 right_yaw=0.1308 right_pitch=-0.4858 right_roll=-0.1417 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.4154, 6.9949, 1.6679, -0.0611, -0.0464, -0.0122, -0.1709, -8.3214, 7.3231, 1.1502, 0.1099, 0.0904, -0.105]",
      "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, 0.8192, 0.6132, -0.45, -0.0135, -0.0273, 0.9984, 0.4496, 1.8767, 1.4239, -0.696, 0.2096, 0.1165, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1632 left_yaw=-0.0002 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4156 right_y=0.1637 right_z=0.0891 right_yaw=0.152 right_pitch=-0.5463 right_roll=-0.1586 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.6923, -0.0073, -0.0464, -0.0122, -0.1162, -10.5094, 9.4291, 1.1258, 0.2759, 0.232, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20e3631bcd6f13e9c39f372e2f19d0e6d05eb88dbf4f3cea5cf768532f047bf7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a92263c8b4c94f6e4b5d64be87328eda13131a71fa9d3b9c6f194c362121529",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 115):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e80e5918fe42db93bf97f8a081d4a08f8fd2f8b59f45f8059db21a7f7c291b95",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSowkKEAgSGAI4AUIIdGhpbmtpbmcSDFE4BBpuS+i9O//1OBoMh9ExD0ZrY3cedZCOIjASjc1o9RI6hm+js7JRQCKHJ1o3LCY3TnQQFjtcWnNGeM7v4zMLQvaWPh5QBFkJB20qwAhgVrozPNhk8eUjJ/bL33ByCTRceb4+mg/H04+fNkAav13YlHLxH3RV0dDcs9a6SGjxTvZZOEDcqjiCl3LXT3CiwvURyOScgJ0vBEcYbd0nmSUXZ2tjxBExUe6wKFldKtMRIreULJ86xEV6OXOF4Mgo2Iq3LpFCIBqZps8I1v9PB6184kpygjOd+k7dPSMD4Pi2LHPnKQq/1/d4ssfDyxRrPvbBN8IiWtI7TsFhY319CldSEu+3ivOdPUibvCtihUIJiziK7YmNzsKY18a37pg4XHbWuczd4Oy3CGXB4wajsVosrXimG67wkXVrqalRZNk6Ho14peEUNk4s1UvaDWH0o/+uDhoNOHZ3/9U1YLmZH73Uf/zlDd064c6i+nShmWi4/236zdK36Mhqs/jBbMi7/g1TqzK8EKGSbAlSLvr1oMlOKxRCfpSefeVt5tfELfFTFl72jxUSeqiGoePIEonlukjAZ4DBBP/paemoEH2zrkFKf6tnvKyLhflkzeoR4fueJVhPJG/RFQWEwjG+qH8pfZvfAVsfceC28q7jjdrh0g2SyDRLjRb1+3c/VGQeZ3IzG3jbWCfjNDsm9PJYLvVK0Wx3kD9ButyXLTxTYpTa/5AfxnQAEEVy/4mxACk318D1PYqD8CJLuAVvmFsaOJOiKdsP658GdiuDUD1GhIhUhH/wrNou67fpwx9v6xLqSNCf72stJyZSh9/sP9u1S83ASgy3fqNDpNFWFMxBUmbtSuTpdJ0Fl+4I4KkfNzurTH3/71FPba4FDCn8SQZR61Ok7GyebZgBdAWtdrhlGX7zI/0piIw+wkbjkGu8L4nh9nnaMRt9f61jKJNnQ6Ga7OMv1/Ge/mEhJHpTOQZJLq5ZPuGdINpSdvg38P+5n49rvR53Act1UiQfb33GS5g0vWdTC6hhb0pLlai67KSg+2wA66gTCVVCo8HY5ySPrK8620k2UWTNALERa+16yIAMp6cPHCUvMeuEcSKkHnpLxmuHTwCP7IGFzzqDGWcYBrT/TChczgLSUL3J/BvY5NQrn0FtQBpXnU6rrMEONVOj+h195IZEnPDfnpjI0vNQAd1YpOkJqMFlC3uwLxrnCkiNqc8n7Wpeb885G5quMbPkapnbH4d7kQc4fagNp0dBxsLOgkRkbEZ5HadT6oMR6u1tb5S840Tku9jB31Hd2w8CrMUtz/OHEisu0WN+Aw5qVa0kcMB9iv4FaobM90+WRc+74x1uay5RMt34UGsERcbs7fsP1cWX7I0m1XrZRehOFLZQywf1G8y+99OmR+Q4fgebLAritRjR4OCONaQr+UL18Gj4o/qctMzuuIYLtlWc5uiYWSMTfVQDmbynHzyrf+sP99WvUXsn9CkrwCrPda10jZB1IvKnMz1aV52xL8x+CkDaYXnHXYjYRYZDBNLpxNI5h5krC8BIPLy5qstXgwxkEn9ZvRgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01JwAUsKKe5EpGp35RUq8C4Q",
      "input": {
        "note": "The bowl's left rim is just right of the jaw column in the wrist view. Nudging right slightly and descending so the jaws straddle the rim wall.",
        "targets": {
          "right_y": 0.15,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01JwAUsKKe5EpGp35RUq8C4Q",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4534, -0.0139, -0.0273, 0.9984, 0.4179, 1.9079, 1.256, -0.5339, 0.2039, 0.0921, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1625 left_yaw=0.0001 left_pitch=-0.0904 left_roll=-0.0011 left_gripper=0.9984 right_x=0.4058 right_y=0.145 right_z=0.035 right_yaw=0.1344 right_pitch=-0.5853 right_roll=-0.1776 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.0325, 7.1863, 1.7314, -0.0317, -0.0611, -0.0122, -0.0889, -8.294, 5.9829, 1.1746, -0.0073, -0.0904, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e2c6ec966674aee7605f3c12d522a897ab9fd7059f932c24cfec90f24c6f950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9fb09b9f34dba6b8f7579ef1b2236d54f6b8ade376526a66325f6d975d50e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:82b19c3cf21e57596db907cfa9f1ed3aba9425e7811772e887d2ca97a48f78a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /messages · status 200 · 8.896 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 55 changed as sent

message 58 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4435, -0.0139, -0.0273, 0.9984, 0.3794, 1.7435, 1.4185, -0.754, 0.1936, 0.0784, 0.9956]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1645 left_yaw=0.0001 left_pitch=-0.0805 left_roll=-0.0013 left_gripper=0.9984 right_x=0.4122 right_y=0.1316 right_z=0.1363 right_yaw=0.1308 right_pitch=-0.4858 right_roll=-0.1417 right_gripper=0.9956\nstate[joint_eff]: [-0.335, -1.4154, 6.9949, 1.6679, -0.0611, -0.0464, -0.0122, -0.1709, -8.3214, 7.3231, 1.1502, 0.1099, 0.0904, -0.105]",
      "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, 0.8192, 0.6132, -0.45, -0.0135, -0.0273, 0.9984, 0.4496, 1.8767, 1.4239, -0.696, 0.2096, 0.1165, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1632 left_yaw=-0.0002 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4156 right_y=0.1637 right_z=0.0891 right_yaw=0.152 right_pitch=-0.5463 right_roll=-0.1586 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.6923, -0.0073, -0.0464, -0.0122, -0.1162, -10.5094, 9.4291, 1.1258, 0.2759, 0.232, 0.0904]",
      "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, 0.8192, 0.6132, -0.4534, -0.0139, -0.0273, 0.9984, 0.4179, 1.9079, 1.256, -0.5339, 0.2039, 0.0921, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1625 left_yaw=0.0001 left_pitch=-0.0904 left_roll=-0.0011 left_gripper=0.9984 right_x=0.4058 right_y=0.145 right_z=0.035 right_yaw=0.1344 right_pitch=-0.5853 right_roll=-0.1776 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.0325, 7.1863, 1.7314, -0.0317, -0.0611, -0.0122, -0.0889, -8.294, 5.9829, 1.1746, -0.0073, -0.0904, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1e2c6ec966674aee7605f3c12d522a897ab9fd7059f932c24cfec90f24c6f950",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c9fb09b9f34dba6b8f7579ef1b2236d54f6b8ade376526a66325f6d975d50e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 119):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:82b19c3cf21e57596db907cfa9f1ed3aba9425e7811772e887d2ca97a48f78a8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS8wcKEAgSGAI4AUIIdGhpbmtpbmcSDFf9oIm3I1HEdVPEThoM/xYBbJwa/oUdVUQzIjD4+4H7T14WRb0tT4WbgnjRBJrml6S1JikQkwu0iVUTVbJmfSbkQe+EKPbQMfxLfkoqkAeC/JBiZtorovSb9dZ/4EwM2fhDK710JAyNtloMv2ZgaIUhE6s9MQdfogoPKhaJ7g4sBdbq5AkxFTJ4UWV8+Pcc1fZ35E5CT44ah4amtF9W4xS8g1Wlk1FkbZkXmxqfOmXq+QjTcIjKAyBiW9dYWNgzKCmOl52La8PIh1IKM1Oj7tMeWzcgSJZ/DF9GqevYC4ELYdW89TZfBBR5s9OcSmEKUrSgNRMe1osY/1mlLtSRbmH67LW9pQ94dKvy4M8May0QApcj4gvos4QMKCDNOopmlC+uTiP4Oa94YX6+cmcCpAWBACbtmo3Om5MDc2ydewntYuSq0sKdSz2C+4iYa4n1AB7204CI3jBAkxYNo2U0/59EUjjXkWFoe8hw0R9PPLf1VhC54EJLHQDnssnsZ4UjxMbQSisOKuYr9GeowBWEK7d3WtiqcMWUeCKWv0ZtZZzvDI/RE0evu1CYBoZdw/GHnnyVdxpl7FAUhRRYYXLcWpz4UBygNMJ9oL8o/CVqAFadkMApC9kIKTQxtogwsJtGs9vgVuNxMwuBZCVeFiWjlsnH8B/05O8wc7Mzhu/RosoY3AHhoXvSuABLWU+X0ENTdopiibq9IwzahDsEKCVr6hgccsgHijqy34Xb/U0LhDYAR7JY3rq+YlmTNrFZX95tfu3DQ1B8XELMG4M8YBWkOuCHZerxhEqYAgl0Eovd7g/lcOK3aMAFRUMtORkjk8FdVBzht/bdeMCYCX5vf42/R1stxpBdGWuUeRGkFggesBBMtT0jmgNb/ZYQ/RqBH73IXMS7lMTl4Dhyy26foradB0EnRA34SjACJ2A0DlqUoS08Qytn2CqXzg/8qDxRxRmSGnZZ276DeKEflc2wYMSrMqxj/64oOL9jlq+FzlQ4lh/tnCaDcr5zojZR0tyrlTsLXzYywqK9TFRIiqcinFx3lnYF3C1JAOkF0bYsDT/mBYO9/vIApZLXZQLrB/PAjLmIyA/Igz24oKtpx879wUwcJhEn1TzhO6CAKCGyl76cxy8sRj7oIPz2id3bMzGL8P5b/2TlF4ed9Qb429oz43D+07P5kURDgUc76zF50iOwVByEwXQgFJsQoJISrnPI0c0h/aSnG7iVIgacbqKrcQmI5pH+8S9ruf+sf3RPAmPX7DwsbRGtruA5XTvNyYTAtP1IReaJK2AUpUGjTLYgVHyBTSlxnobXOzR6hBGunsi4RDkYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wjx6roL5KVEQYKdu5e8yj5",
      "input": {
        "note": "The bowl's left wall is between the jaws at rim height. Closing to pinch the rim.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01Wjx6roL5KVEQYKdu5e8yj5",
      "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, 0.82, 0.6132, -0.4683, -0.0139, -0.0273, 0.9984, 0.416, 1.9224, 1.2449, -0.5278, 0.2043, 0.0856, 0.5037]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1594 left_yaw=0.0001 left_pitch=-0.106 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4029 right_y=0.1427 right_z=0.0262 right_yaw=0.1326 right_pitch=-0.6045 right_roll=-0.1877 right_gripper=0.5037\nstate[joint_eff]: [-0.335, -1.2239, 7.0769, 1.8339, -0.0171, -0.0317, -0.0122, 0.1436, -10.947, 7.0496, 0.8474, 0.0952, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eca1e253c9443345d3a1d6d32743f886779820c88ce2ab65a07c8f86bbb4fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0ff5a20d0f85a4e62cb23f8d69fccc0c930de9738f4c69a14fafd4f016a561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:3a29067143032fddc3b071522b8450345bb8f4e457561cfe63cfdb397282259e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 21 attempt 0 · /messages · status 200 · 5.179 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 55 changed as sent

message 58 changed as sent

message 61 changed as sent

message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.45, -0.0135, -0.0273, 0.9984, 0.4496, 1.8767, 1.4239, -0.696, 0.2096, 0.1165, 0.9965]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1632 left_yaw=-0.0002 left_pitch=-0.087 left_roll=-0.0014 left_gripper=0.9984 right_x=0.4156 right_y=0.1637 right_z=0.0891 right_yaw=0.152 right_pitch=-0.5463 right_roll=-0.1586 right_gripper=0.9965\nstate[joint_eff]: [-0.253, -1.265, 6.9949, 1.6923, -0.0073, -0.0464, -0.0122, -0.1162, -10.5094, 9.4291, 1.1258, 0.2759, 0.232, 0.0904]",
      "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, 0.8192, 0.6132, -0.4534, -0.0139, -0.0273, 0.9984, 0.4179, 1.9079, 1.256, -0.5339, 0.2039, 0.0921, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1625 left_yaw=0.0001 left_pitch=-0.0904 left_roll=-0.0011 left_gripper=0.9984 right_x=0.4058 right_y=0.145 right_z=0.035 right_yaw=0.1344 right_pitch=-0.5853 right_roll=-0.1776 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.0325, 7.1863, 1.7314, -0.0317, -0.0611, -0.0122, -0.0889, -8.294, 5.9829, 1.1746, -0.0073, -0.0904, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.82, 0.6132, -0.4683, -0.0139, -0.0273, 0.9984, 0.416, 1.9224, 1.2449, -0.5278, 0.2043, 0.0856, 0.5037]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1594 left_yaw=0.0001 left_pitch=-0.106 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4029 right_y=0.1427 right_z=0.0262 right_yaw=0.1326 right_pitch=-0.6045 right_roll=-0.1877 right_gripper=0.5037\nstate[joint_eff]: [-0.335, -1.2239, 7.0769, 1.8339, -0.0171, -0.0317, -0.0122, 0.1436, -10.947, 7.0496, 0.8474, 0.0952, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5eca1e253c9443345d3a1d6d32743f886779820c88ce2ab65a07c8f86bbb4fd9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c0ff5a20d0f85a4e62cb23f8d69fccc0c930de9738f4c69a14fafd4f016a561",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 129):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:3a29067143032fddc3b071522b8450345bb8f4e457561cfe63cfdb397282259e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Ex59ryWKzSsAgj9JyJM1wb",
      "input": {
        "note": "Settled at 0.50, so I pinched the lemon, not the thin rim. Opening and lifting; I'll push the bowl toward the centre from its right side instead.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01Ex59ryWKzSsAgj9JyJM1wb",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4706, -0.0139, -0.0273, 0.9984, 0.416, 1.8652, 1.4651, -0.8303, 0.2012, 0.0776, 0.6953]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1587 left_yaw=0.0001 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4031 right_y=0.1434 right_z=0.0954 right_yaw=0.1358 right_pitch=-0.6303 right_roll=-0.1967 right_gripper=0.6953\nstate[joint_eff]: [-0.335, -1.2513, 7.241, 1.6532, -0.0708, -0.0415, -0.0171, -0.2803, -12.0, 7.8154, 0.8425, 0.0611, 0.0757, 0.0513]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ec1f8ff43f2b8326f85c5bc8b136c19276c147c1f802e7abc9ffa76614184ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7c95002e70947d49e32e4a797f698b077795c09705df73fe35e58bfb7f15f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:598a09e0e38ece99c8b1660768f344a9b96f1dbef6640b7c8144831da52a7f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /messages · status 200 · 16.05 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 61 changed as sent

message 64 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8192, 0.6132, -0.4534, -0.0139, -0.0273, 0.9984, 0.4179, 1.9079, 1.256, -0.5339, 0.2039, 0.0921, 0.9966]\nstate[eef_state]: left_x=0.287 left_y=-0.0002 left_z=0.1625 left_yaw=0.0001 left_pitch=-0.0904 left_roll=-0.0011 left_gripper=0.9984 right_x=0.4058 right_y=0.145 right_z=0.035 right_yaw=0.1344 right_pitch=-0.5853 right_roll=-0.1776 right_gripper=0.9966\nstate[joint_eff]: [-0.0889, -1.0325, 7.1863, 1.7314, -0.0317, -0.0611, -0.0122, -0.0889, -8.294, 5.9829, 1.1746, -0.0073, -0.0904, -0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "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, 0.82, 0.6132, -0.4683, -0.0139, -0.0273, 0.9984, 0.416, 1.9224, 1.2449, -0.5278, 0.2043, 0.0856, 0.5037]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1594 left_yaw=0.0001 left_pitch=-0.106 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4029 right_y=0.1427 right_z=0.0262 right_yaw=0.1326 right_pitch=-0.6045 right_roll=-0.1877 right_gripper=0.5037\nstate[joint_eff]: [-0.335, -1.2239, 7.0769, 1.8339, -0.0171, -0.0317, -0.0122, 0.1436, -10.947, 7.0496, 0.8474, 0.0952, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4706, -0.0139, -0.0273, 0.9984, 0.416, 1.8652, 1.4651, -0.8303, 0.2012, 0.0776, 0.6953]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1587 left_yaw=0.0001 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4031 right_y=0.1434 right_z=0.0954 right_yaw=0.1358 right_pitch=-0.6303 right_roll=-0.1967 right_gripper=0.6953\nstate[joint_eff]: [-0.335, -1.2513, 7.241, 1.6532, -0.0708, -0.0415, -0.0171, -0.2803, -12.0, 7.8154, 0.8425, 0.0611, 0.0757, 0.0513]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ec1f8ff43f2b8326f85c5bc8b136c19276c147c1f802e7abc9ffa76614184ff",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e7c95002e70947d49e32e4a797f698b077795c09705df73fe35e58bfb7f15f7f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 136):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:598a09e0e38ece99c8b1660768f344a9b96f1dbef6640b7c8144831da52a7f8b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQSnAkKEAgSGAI4AUIIdGhpbmtpbmcSDClPEJ5Yk0+9AURHwBoMR4jLK+hpb+vpy8m9IjD+oh2utULfwvb+y5ke/vwaJAMJU/QmL74LSHKkUFEFAqjqh3x18A52hwTOb44NjM8quQiANJrPHKEH/1mK/XSCchhz/EEZ/8+YkxAOy8754pCzGIna44JLLGUi3IvjQM8yGRrLTUbDWQWnXH3avxOrCACZ99lGdDBkJbRuEJJduuMqZbpqFjYFRUWL1vUj+p2sOoGbEamL9zOkiyPxXL6U7QPP59/w7M/fB9yuEE3V7vazRPdLjdJ2thqc4FxWMzv6HLT7qM8k9uCpfdxfKbNdoc8smeYqvPEZuq7pgxSWFZ0HSschqp+bTA6dM7MXMiSbefj3fvdXsXMJ56fwZvrpbzg9yrlKA6FjD0DshOxuOr2NSQjJjYr8qbEDSGLTGAnu/59jg3PLM+tVfLRIlHnA+ZUTS/rG5cuSaYB4de3xIszw5mwJLoP1dHOLPiyb1qy/UZfhQxPympcmHjllg6Cd18KTCuvYkVL71d50Merze2SRiPHLOYfyxJO97GFMYTda7rs2AZbGFV21VOJmrvD0TDycVGPZnjDC6PaW8Zm/QGkqq3ETwctcv4Wn23C5MXufiGcqO61k/GA/8pmsrfd1f+fx8sW4oEXstb0pF8gTGSvPb/avzWcLbPrVnfEQKnu2e/U26MsCi7Q8NLt3stxaEzEHEMSNIFmSuY6nBJgT9pDWu3QvYifs1OD0Icbpe95G+q5T+lU5k2GlVfNhNs/Vm2kQ0Vr79V02K7OVo8WWR1wc7YjqHJaheiHZvLvdOpYp3RCq/Y9I+te5U6183g1rWHCk3XZ0yuv2AVtNwLQ5f3PBoJOcU/+NZ7YvGcz5/R7R1rkcHdYXoNAlMDS6eP5vwXtnItnUdruKZr8g3dTFWbuF8VSURQedxa56yJ8eKH2somLkvffltePjWDW39GeNhpeDQa6rVMCL71BpAA84JwY7VOdq0LL19hb7Hlnv0pfM/5UeTQUQFqWdqh2KDU35lJQoR26Bu3InK4jLtXlbTNzXn8mQBb985FQ41nRfBfIIPtgyMh50ARBpc/3YXQUiSR+/og+l9YAwFcMI3I6Q9z4xqgWV4rBXkhnsZbwZohT7TbYrvzHg4YEQnU+PFoQlJystUyWPXsyQirRY8rFpieo73grsYwqNSxLRIPCsA6uZnLQ5mcAgEkQlMomzgC3O6sVYSr0PViKIluvELYuDIIlx0jY2ImIrz0YCvxKFKmgqwEJmZV5vXGUucEFn8iC5YCdZEgwtkAguo64BFRhvt9kKJThN0YQwtU+WPvZ3G/MMXFUs4j0cX37m+Z3N7SHfA5Ul/+MnxXKxot0wVBQ+sq4bcGRRL4gvSGti0n1vsXRMjbzxg84z8xiOiEyTF0oQn4uxrcO4nHwPrfE5nTunpBkw5VCjjRrl9K09+uebdBMPrVTrKJLbTDPBGyVpYS16Ca68htLGh8SWBBLbnP5ZQhKrycPdqSGvA8seujycKhRWrApY0wRbQwPId6iDp49ou5lJ2Xh67ZphvcpbGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01U8eTNgJZiLVgpabMSAn6Um",
      "input": {
        "note": "The lemon seems to still be wedged between the jaws above the bowl (gripper reads 0.70). Re-opening fully and straightening the wrist pitch so it drops back in.",
        "targets": {
          "right_gripper": 1.0,
          "right_pitch": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 22 steps (2.2s)",
      "tool_use_id": "toolu_01U8eTNgJZiLVgpabMSAn6Um",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4755, -0.0135, -0.0273, 0.9984, 0.4904, 1.6264, 0.7502, 0.1619, 0.382, 0.025, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9984 right_x=0.395 right_y=0.1403 right_z=0.0726 right_yaw=0.1416 right_pitch=-0.0998 right_roll=-0.214 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.2923, 6.9675, 1.6923, -0.0415, -0.0464, -0.0122, 0.6222, -9.306, 5.8188, 1.9072, 0.2564, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8beb7022f63e33556907ca5ae6743af02cc80240b8d9809b4e11f5a1afdd5c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876f554195663046e7a6ce2d0fabbe7aae0a597d0dc4b8c3cecfa75f279669a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:1332b8e41341dab3bbb59bb655353b1ef22cce283e96937def104685b599e96e",
        "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 · 10.25 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 61 changed as sent

message 64 changed as sent

message 67 changed as sent

message 61 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4683, -0.0139, -0.0273, 0.9984, 0.416, 1.9224, 1.2449, -0.5278, 0.2043, 0.0856, 0.5037]\nstate[eef_state]: left_x=0.2848 left_y=-0.0002 left_z=0.1594 left_yaw=0.0001 left_pitch=-0.106 left_roll=-0.0008 left_gripper=0.9984 right_x=0.4029 right_y=0.1427 right_z=0.0262 right_yaw=0.1326 right_pitch=-0.6045 right_roll=-0.1877 right_gripper=0.5037\nstate[joint_eff]: [-0.335, -1.2239, 7.0769, 1.8339, -0.0171, -0.0317, -0.0122, 0.1436, -10.947, 7.0496, 0.8474, 0.0952, 0.0073, 1.0281]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4706, -0.0139, -0.0273, 0.9984, 0.416, 1.8652, 1.4651, -0.8303, 0.2012, 0.0776, 0.6953]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1587 left_yaw=0.0001 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4031 right_y=0.1434 right_z=0.0954 right_yaw=0.1358 right_pitch=-0.6303 right_roll=-0.1967 right_gripper=0.6953\nstate[joint_eff]: [-0.335, -1.2513, 7.241, 1.6532, -0.0708, -0.0415, -0.0171, -0.2803, -12.0, 7.8154, 0.8425, 0.0611, 0.0757, 0.0513]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4755, -0.0135, -0.0273, 0.9984, 0.4904, 1.6264, 0.7502, 0.1619, 0.382, 0.025, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9984 right_x=0.395 right_y=0.1403 right_z=0.0726 right_yaw=0.1416 right_pitch=-0.0998 right_roll=-0.214 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.2923, 6.9675, 1.6923, -0.0415, -0.0464, -0.0122, 0.6222, -9.306, 5.8188, 1.9072, 0.2564, 0.0317, -0.0855]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:8beb7022f63e33556907ca5ae6743af02cc80240b8d9809b4e11f5a1afdd5c9c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:876f554195663046e7a6ce2d0fabbe7aae0a597d0dc4b8c3cecfa75f279669a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1332b8e41341dab3bbb59bb655353b1ef22cce283e96937def104685b599e96e",
        "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_01P5oUnN1j6y24PzNWAeNHnm",
      "input": {
        "note": "Lemon dropped back into the bowl. New plan: the right arm grips the bowl's empty right-side rim so it can later carry the bowl toward the centre and tip it into the white bowl. Moving above that rim.",
        "targets": {
          "right_pitch": 0.0,
          "right_x": 0.42,
          "right_y": 0.05,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 8 steps (0.8s)",
      "tool_use_id": "toolu_01P5oUnN1j6y24PzNWAeNHnm",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4759, -0.0139, -0.0273, 0.9984, 0.1825, 1.5536, 0.6765, 0.252, 0.1627, -0.1638, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1577 left_yaw=0.0001 left_pitch=-0.1148 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4142 right_y=0.051 right_z=0.0831 right_yaw=0.1184 right_pitch=-0.0615 right_roll=-0.2132 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3607, 7.2137, 1.6484, -0.0659, -0.0708, -0.0171, -0.2667, -8.5812, 5.7504, 2.1172, 0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:818d194cdc621f9897d53e15382efed58dd58cea3f7c882e1e077615ea5afec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a4dc21127c785e232a82fb48824b2b6242a8c90321c237aa5b41838b095da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:2b5b32c8879dd9e08d138e74b86f152400a0fbd59590b01fd6a3fe03b49508bf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 24 attempt 0 · /messages · status 200 · 6.172 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 64 changed as sent

message 67 changed as sent

message 70 changed as sent

message 64 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4706, -0.0139, -0.0273, 0.9984, 0.416, 1.8652, 1.4651, -0.8303, 0.2012, 0.0776, 0.6953]\nstate[eef_state]: left_x=0.2845 left_y=-0.0002 left_z=0.1587 left_yaw=0.0001 left_pitch=-0.1095 left_roll=-0.0007 left_gripper=0.9984 right_x=0.4031 right_y=0.1434 right_z=0.0954 right_yaw=0.1358 right_pitch=-0.6303 right_roll=-0.1967 right_gripper=0.6953\nstate[joint_eff]: [-0.335, -1.2513, 7.241, 1.6532, -0.0708, -0.0415, -0.0171, -0.2803, -12.0, 7.8154, 0.8425, 0.0611, 0.0757, 0.0513]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4755, -0.0135, -0.0273, 0.9984, 0.4904, 1.6264, 0.7502, 0.1619, 0.382, 0.025, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9984 right_x=0.395 right_y=0.1403 right_z=0.0726 right_yaw=0.1416 right_pitch=-0.0998 right_roll=-0.214 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.2923, 6.9675, 1.6923, -0.0415, -0.0464, -0.0122, 0.6222, -9.306, 5.8188, 1.9072, 0.2564, 0.0317, -0.0855]",
      "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, 0.8211, 0.6132, -0.4759, -0.0139, -0.0273, 0.9984, 0.1825, 1.5536, 0.6765, 0.252, 0.1627, -0.1638, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1577 left_yaw=0.0001 left_pitch=-0.1148 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4142 right_y=0.051 right_z=0.0831 right_yaw=0.1184 right_pitch=-0.0615 right_roll=-0.2132 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3607, 7.2137, 1.6484, -0.0659, -0.0708, -0.0171, -0.2667, -8.5812, 5.7504, 2.1172, 0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:818d194cdc621f9897d53e15382efed58dd58cea3f7c882e1e077615ea5afec5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:07a4dc21127c785e232a82fb48824b2b6242a8c90321c237aa5b41838b095da7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 166):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2b5b32c8879dd9e08d138e74b86f152400a0fbd59590b01fd6a3fe03b49508bf",
        "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_01G3Gd1CxYiRbqY5rNcpmHoC",
      "input": {
        "note": "The top view shows the lemon fell back onto the table, in front of the right base, when it was released from the jaws. Moving the right arm above it to pick it again.",
        "targets": {
          "right_x": 0.27,
          "right_y": 0.02,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01G3Gd1CxYiRbqY5rNcpmHoC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4847, -0.0135, -0.0273, 0.9984, 0.1528, 0.791, 0.244, -0.0315, 0.1398, -0.1844, 0.9986]\nstate[eef_state]: left_x=0.2825 left_y=-0.0002 left_z=0.1548 left_yaw=-0.0001 left_pitch=-0.1282 left_roll=-0.0005 left_gripper=0.9984 right_x=0.28 right_y=0.0218 right_z=0.0897 right_yaw=0.119 right_pitch=-0.018 right_roll=-0.2149 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.1966, 7.1043, 1.7851, -0.022, -0.0366, -0.0122, -0.6632, -0.0342, 7.0632, 1.8486, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f50e3cd1e20854ab459b58afa5b2b5b46c6b53a760bfb0d45f6ae77e74040755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b97f080ff64f98ead41040fdfddadc177b22168ced679e7c4f758c7aa83a45c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:dffb01694054fb7a6d1d4f6d3e8f205096c3279cc09a5551f6b2c42a564193ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 25 attempt 0 · /messages · status 200 · 4.17 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 67 changed as sent

message 70 changed as sent

message 73 changed as sent

message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4755, -0.0135, -0.0273, 0.9984, 0.4904, 1.6264, 0.7502, 0.1619, 0.382, 0.025, 0.9986]\nstate[eef_state]: left_x=0.2837 left_y=-0.0002 left_z=0.1577 left_yaw=-0.0002 left_pitch=-0.1144 left_roll=-0.0008 left_gripper=0.9984 right_x=0.395 right_y=0.1403 right_z=0.0726 right_yaw=0.1416 right_pitch=-0.0998 right_roll=-0.214 right_gripper=0.9986\nstate[joint_eff]: [0.0615, -1.2923, 6.9675, 1.6923, -0.0415, -0.0464, -0.0122, 0.6222, -9.306, 5.8188, 1.9072, 0.2564, 0.0317, -0.0855]",
      "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, 0.8211, 0.6132, -0.4759, -0.0139, -0.0273, 0.9984, 0.1825, 1.5536, 0.6765, 0.252, 0.1627, -0.1638, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1577 left_yaw=0.0001 left_pitch=-0.1148 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4142 right_y=0.051 right_z=0.0831 right_yaw=0.1184 right_pitch=-0.0615 right_roll=-0.2132 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3607, 7.2137, 1.6484, -0.0659, -0.0708, -0.0171, -0.2667, -8.5812, 5.7504, 2.1172, 0.0317, -0.0513, -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 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, 0.8257, 0.6132, -0.4847, -0.0135, -0.0273, 0.9984, 0.1528, 0.791, 0.244, -0.0315, 0.1398, -0.1844, 0.9986]\nstate[eef_state]: left_x=0.2825 left_y=-0.0002 left_z=0.1548 left_yaw=-0.0001 left_pitch=-0.1282 left_roll=-0.0005 left_gripper=0.9984 right_x=0.28 right_y=0.0218 right_z=0.0897 right_yaw=0.119 right_pitch=-0.018 right_roll=-0.2149 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.1966, 7.1043, 1.7851, -0.022, -0.0366, -0.0122, -0.6632, -0.0342, 7.0632, 1.8486, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f50e3cd1e20854ab459b58afa5b2b5b46c6b53a760bfb0d45f6ae77e74040755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b97f080ff64f98ead41040fdfddadc177b22168ced679e7c4f758c7aa83a45c7",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 178):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dffb01694054fb7a6d1d4f6d3e8f205096c3279cc09a5551f6b2c42a564193ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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{
  "content": [
    {
      "signature": "CAQS3AoKEAgSGAI4AUIIdGhpbmtpbmcSDNk6MPiP5Wbs2xGqWhoM2gNcLdNbEAx7QKGmIjDKXFPGcSJNkSd5LhRB1mKLSAvLT0qhfMrzmcpSMU9wBRxBq9aSNvTKiRZnTn0ZOKEq+QkSU050A+a3QLg4OypQsdti2eUi/eoXoc5rFiPEnKGsMjBFVi1NgkeK8TSLcyuq85etd07C8jEfxzORNZCZHuvSuxb4iMMx1JZ+QO6Vivii/wt1dKKC+tEWlN4dY1GW8WQ4SnRAgihZnAp0HsMlVsh0Q78Fc+IcPGahJycPxgXou5v7KaZpMT9cv0/sujAlC9RdUcEt12O2ghV1/e6DojRa2Vv3z9AXBdmMlbxknk8+gRxlqz3X3obUSXxWlh6zuzkv4JgR1EfQUDQR7EIvo9LQNH4N1kqdaNmMWDEWrU3y1tVnBaw+r3fxL1PNA5GPS/l5W/RCQeLBMBypVrxDyHBaV0NHytJr6Swy3pxwHDsF1O//yWlpRGpi5co360g5Xur/mvC4d5tc5nOu3mZqfeqBnyOgH8OYx2VF16GCwabkYxdydarv7hhhYpiJ/UU05EXhMHSk/1gG2lc7s4vlIguyxDSpBp/7ph/Lq7DW5oSN9J6lOvZ22it0OK0LR1yjK4+7x/VPTOaijXWvmnpwp9bmRT4bpqSgEh+cLajdIiSxBylTByBxdd+5m0hbUdrRVxzmAHfS3KIxenTwfV3z6rIxqrlM5nV4DgHbcvn1fjnB61TVLF6Y/g/VkpC4u+PZbXUEKxP5RDAjf0/v2fOKmr1hnlP3MwH1mTtQOKCGYV7MD2gn14aprl91G7huJdqSP0wtui+aV7QC42bG+K6YNL608eb57nFSnqzN7cIfRx4aAUz+MOOUT8TFK1EgVgRG98k5HxZbvdcMKuI1dg4sqrnhSSyLYmGx2XC8O0UhAZClrtamlUUBDiEw5JJMFUU4ktM9jpznAfCQSlEFwCpx7OigAKYJ9Ak/oiPlVm7Ced1eFcxPeuyGhOAEIhD61mtxS51rxKRIIskokIQmPYmLI5l2nZeaUoEYkqFtkoqFIjtr/PwSv9FUR5gWwiXbEYFKGSTo+PyCG36pCmRcPWkIn/UOF7xMQ0/tQuDjPPxKRhBCweeemO+Gnktq088OtCiZ8pqBx/M+wBWL64pGTJavHymCoEYx3GAOfR6Wwp+2ylRB0gSlsEXogjXLXrl17Orv0NpPJezekCoBBAZgrlNm5ksf0miKsbjBaiwnYxRoSvCBPH5f0hmC5qfleonvdMHIBsLKT1cvTwFoGn5lmxPrt1YaFh6negITvWkYNhVxC6xxJKhXwZn272i7AIHupqQH9iFWS3AbpTrKZKlHf3SLzSwcsdLdog93TUYANB3BZz5+FG92oG9IWZoaCi2yEN8IZRXuo0fLCJQ1JZ9cWEHJiaPAFkc4Rg/U13eIbbF4BEHyMJJ8EwiyzWzSZ/ksG/lNoTuwDymSu78HnJj04AYZTkodx6CUMMq0orruY5PLU7S0ouCmKhtaOluGjj/LIvjdIMhOxRbCIwoKUdYiY+eepjmMXZyorqPCcSMHS8ad6PrtWoHf+ECjWTbZfITkBuZtiw+g+1ROWoQFgWWtxjgXCIpSVCTyNvL5pKzyQJFyDtmTYq1D2zpG6owqBbUaakgRuyVCyA8L4W05OQLNM0Q5CyRp4guh1gv6R5jmganB0GSlkCP03Ojk8a/dp9wh+edsUsy+smmM4kMvCIJkftWEZJu+daQb4jrsEeMvtdsgWpyKtOv2ydJR4dTgo685Sv8uNCyZvg512fI29EIpzszUucNdjHZUmC8nGIRAGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G69o9Ev4vL8fryb27tUMvT",
      "input": {
        "note": "The lemon has rolled close to the right arm's base (bottom of the top view, left of the base). Moving the right gripper down toward it.",
        "targets": {
          "right_x": 0.15,
          "right_y": 0.08,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 11 steps (1.1s)",
      "tool_use_id": "toolu_01G69o9Ev4vL8fryb27tUMvT",
      "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, 0.8314, 0.6132, -0.4934, -0.0139, -0.0269, 0.9984, 1.449, 0.8364, 0.1577, -0.5659, 0.9127, 0.8108, 0.9986]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1516 left_yaw=0.0 left_pitch=-0.1427 left_roll=0.0003 left_gripper=0.9984 right_x=0.1508 right_y=0.111 right_z=0.0323 right_yaw=0.2964 right_pitch=-0.0735 right_roll=-0.2739 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.812, 6.9675, 1.6484, -0.0269, -0.0366, -0.0122, -1.0051, -2.2632, 5.559, -0.0073, 0.6862, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39a7f99c632e7d6ae063634d08593b4507e1ea48a41963e221a559e800b369e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee0709b21f4cf8308dd5e9676cd37304bda7f41a39af2f6b26e771ec3815eaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:10e8f4dcd9a4fe6758e6e42c71d45e4148f6dd3f0f5399d34881c12668615624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /messages · status 200 · 15.01 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 73 changed as sent

message 76 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8211, 0.6132, -0.4759, -0.0139, -0.0273, 0.9984, 0.1825, 1.5536, 0.6765, 0.252, 0.1627, -0.1638, 0.9986]\nstate[eef_state]: left_x=0.2836 left_y=-0.0002 left_z=0.1577 left_yaw=0.0001 left_pitch=-0.1148 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4142 right_y=0.051 right_z=0.0831 right_yaw=0.1184 right_pitch=-0.0615 right_roll=-0.2132 right_gripper=0.9986\nstate[joint_eff]: [-0.3077, -1.3607, 7.2137, 1.6484, -0.0659, -0.0708, -0.0171, -0.2667, -8.5812, 5.7504, 2.1172, 0.0317, -0.0513, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4847, -0.0135, -0.0273, 0.9984, 0.1528, 0.791, 0.244, -0.0315, 0.1398, -0.1844, 0.9986]\nstate[eef_state]: left_x=0.2825 left_y=-0.0002 left_z=0.1548 left_yaw=-0.0001 left_pitch=-0.1282 left_roll=-0.0005 left_gripper=0.9984 right_x=0.28 right_y=0.0218 right_z=0.0897 right_yaw=0.119 right_pitch=-0.018 right_roll=-0.2149 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.1966, 7.1043, 1.7851, -0.022, -0.0366, -0.0122, -0.6632, -0.0342, 7.0632, 1.8486, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8314, 0.6132, -0.4934, -0.0139, -0.0269, 0.9984, 1.449, 0.8364, 0.1577, -0.5659, 0.9127, 0.8108, 0.9986]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1516 left_yaw=0.0 left_pitch=-0.1427 left_roll=0.0003 left_gripper=0.9984 right_x=0.1508 right_y=0.111 right_z=0.0323 right_yaw=0.2964 right_pitch=-0.0735 right_roll=-0.2739 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.812, 6.9675, 1.6484, -0.0269, -0.0366, -0.0122, -1.0051, -2.2632, 5.559, -0.0073, 0.6862, 0.232, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d39a7f99c632e7d6ae063634d08593b4507e1ea48a41963e221a559e800b369e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ee0709b21f4cf8308dd5e9676cd37304bda7f41a39af2f6b26e771ec3815eaf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 189):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10e8f4dcd9a4fe6758e6e42c71d45e4148f6dd3f0f5399d34881c12668615624",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSmggKEAgSGAI4AUIIdGhpbmtpbmcSDMl81tlX75d6ER+CbRoMEXw29YP+jBtqsGcFIjChP5r4F1vBt0jBvIJgcN+gQUUG2fim2RWKhK6+yYocjkQdPE3MB/5rADTMeqYgFOkqtwdpB2IYxMuawzgyA9ppP3Y4yCFzosqhsRcdo2c738/o3wpMWUBOx4pSMF9OaZEmgFLHuhXcZfu4ye4Adby1A/au1BsqEunEYbyDi6HCI6/YkqRO6lSCMRtw8K/kHZeTdfsYij5FLByjmvHWXpAbMToReRrFcCoCB2oNVFR+XHKJ7Xk8SU5AYGiIQCU/67d02VnUzWWoRWr+AWkBIRWRI8bNnsR2hvr2Ps8ccqYOCsJE52jE/uHTloIHiCrDP14XDBm21md/nJ7l89Mc8pZ+P9fzuKNiJxbtVO+zgYHvqL8AoJ048k9UUyPt6WWJ/UfEMKxze/U0uKSfiSvpKBmFaRXeu8bprTPpc7OIcl8/7gbP8yMBvnIv5d4blZJajXp9xkPZe+9ca9j8DOyuixOxhSETY3gev1awvqA6PjVX/TJ5x6U6xnAsUNf74tVfa5pYSEH79VXDcqZ0PpdVE84o2VYcuceLVgYshcH079Uq99v3PNz52qjIUU39xmXQPVq1JgfA+ExNzU4OIBvLFPHBqOXVzR3MWxeAN+fvryqBwN1Z3V7JodOCZmf7H+uhiBnDd/xYlNTGPjxBPKRbPLNClwQwgr+sif30R7j5xf/aAg5YqaqTQqCc7tzYVOLHkQzMZNBfr7qXUroebz9VXzt8do6SHWwt/gE2R3XfBvjmi3712U0Ghjth6INitM/gUs2QbJaHqBFAFS0baG5rHEsNUD56a6yL8CQtW9R+2LrdQrShz0MyJSYAVq1u5+Si0WoqbRvOWItcEeTFZJjBP33acuKtBk4kRYeGANmQcRSEiHkoSl7Rd7md0bZPFWTxJPHVeShZJaQtXwYzmki2AKErFcrmz3LyOJoF8S71g4C6KjL03+XMJ+kqBHKnvzBN5mCx5+v59G12QeleOHTq4OPDQqlSoyQ7YP8skwDBtiH0kLqYAU14QW+O1uw/lYBnnLSqgy8STUWr1j0Kei1MwSsa/SsLlyusVzCWoy1XJKMHbHYekKVjFK5v6GJJeqqwq1Eh6J+q/4wRN39rWYFExbQad3fAejBQGrhg/OUPo2NwMb+dG1BUqIcJ7uC17QnALaGBXjsfTtXuDeMYsVTn1Bl9wqzNfNHvMgXbUYn8G88G6BZ/oDVZFFLOBJmqcjd+U5VuGcAmCLa/ieBGwsIa30oB/wlgEkcJ6hgFHidpVBUGSfNajC/4arMbP+I1+FeA/hYFYOmxc/jF3AuErE1Ta24wWS5oxAXvCBMvk2hMvjP1FASj5paZnns9EQcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018Bhze45HvLPg1vYcM2Qh4n",
      "input": {
        "note": "The gripper is at table level where the lemon was last seen near the base (the arm hides it in the top view). Closing to try to catch it.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018Bhze45HvLPg1vYcM2Qh4n",
      "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, 0.6132, -0.4942, -0.0135, -0.0273, 0.9984, 1.4395, 0.7685, 0.1642, -0.5884, 0.9001, 0.8524, 0.012]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0001 left_pitch=-0.1442 left_roll=-0.0002 left_gripper=0.9984 right_x=0.1509 right_y=0.1134 right_z=0.0386 right_yaw=0.2728 right_pitch=-0.0586 right_roll=-0.1879 right_gripper=0.012\nstate[joint_eff]: [0.0068, -1.2923, 6.9402, 1.5849, -0.0317, -0.0659, -0.0171, -0.1162, -0.1026, 4.3966, 0.6569, 0.5104, 0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8d144f51dabeca6b4f6e52c8fa11a32b2b3a275e90d03a7bbf87e8ff7345a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12a5996fbe900b1499ea783084528ad07bd390533cae8b072c6299d3235a1dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d9c6a07252fd8e7c87813279e0d8b8d9d68a3c921e8a419b24acf7d245d0dfe6",
        "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 · 8.295 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 73 changed as sent

message 76 changed as sent

message 79 changed as sent

message 73 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8257, 0.6132, -0.4847, -0.0135, -0.0273, 0.9984, 0.1528, 0.791, 0.244, -0.0315, 0.1398, -0.1844, 0.9986]\nstate[eef_state]: left_x=0.2825 left_y=-0.0002 left_z=0.1548 left_yaw=-0.0001 left_pitch=-0.1282 left_roll=-0.0005 left_gripper=0.9984 right_x=0.28 right_y=0.0218 right_z=0.0897 right_yaw=0.119 right_pitch=-0.018 right_roll=-0.2149 right_gripper=0.9986\nstate[joint_eff]: [-0.1436, -1.1966, 7.1043, 1.7851, -0.022, -0.0366, -0.0122, -0.6632, -0.0342, 7.0632, 1.8486, -0.0513, -0.022, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8314, 0.6132, -0.4934, -0.0139, -0.0269, 0.9984, 1.449, 0.8364, 0.1577, -0.5659, 0.9127, 0.8108, 0.9986]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1516 left_yaw=0.0 left_pitch=-0.1427 left_roll=0.0003 left_gripper=0.9984 right_x=0.1508 right_y=0.111 right_z=0.0323 right_yaw=0.2964 right_pitch=-0.0735 right_roll=-0.2739 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.812, 6.9675, 1.6484, -0.0269, -0.0366, -0.0122, -1.0051, -2.2632, 5.559, -0.0073, 0.6862, 0.232, -0.0122]",
      "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, 0.8322, 0.6132, -0.4942, -0.0135, -0.0273, 0.9984, 1.4395, 0.7685, 0.1642, -0.5884, 0.9001, 0.8524, 0.012]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0001 left_pitch=-0.1442 left_roll=-0.0002 left_gripper=0.9984 right_x=0.1509 right_y=0.1134 right_z=0.0386 right_yaw=0.2728 right_pitch=-0.0586 right_roll=-0.1879 right_gripper=0.012\nstate[joint_eff]: [0.0068, -1.2923, 6.9402, 1.5849, -0.0317, -0.0659, -0.0171, -0.1162, -0.1026, 4.3966, 0.6569, 0.5104, 0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5f8d144f51dabeca6b4f6e52c8fa11a32b2b3a275e90d03a7bbf87e8ff7345a5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e12a5996fbe900b1499ea783084528ad07bd390533cae8b072c6299d3235a1dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 199):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d9c6a07252fd8e7c87813279e0d8b8d9d68a3c921e8a419b24acf7d245d0dfe6",
        "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_01NELBVbPYGHGS8HjzHTcJYR",
      "input": {
        "note": "Empty close; the top view now shows no lemon on the table and yellow fruit in the blue bowl, so the lemon seems to be in the bowl after all. Going back above the bowl's right rim to grip it.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.42,
          "right_y": 0.045,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 21 steps (2.1s)",
      "tool_use_id": "toolu_01NELBVbPYGHGS8HjzHTcJYR",
      "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, 0.8383, 0.6132, -0.5037, -0.0139, -0.0273, 0.9984, 0.0803, 1.5646, 0.6456, 0.2592, -0.062, -0.297, 0.9974]\nstate[eef_state]: left_x=0.2799 left_y=-0.0001 left_z=0.1479 left_yaw=0.0003 left_pitch=-0.1598 left_roll=0.0004 left_gripper=0.9984 right_x=0.407 right_y=0.0473 right_z=0.0668 right_yaw=0.2781 right_pitch=-0.1007 right_roll=-0.1828 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -1.8803, 7.0496, 1.6874, -0.0366, -0.0415, -0.0122, -0.6359, -6.8444, 7.159, 1.8339, -0.0464, 0.0904, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a75ffacade60f9e835cfcb73b51e99f3a549819470206744cd48d9856811f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7604aa90d7a44f3599f8801f2a24c1d3de5c5dfb45292f8e70fa2793231980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84c7010fc3fa1eed75cc133c2cf0aca58173889a7933f2508ac74fd8d7e9edb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /messages · status 200 · 13.16 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 76 changed as sent

message 79 changed as sent

message 82 changed as sent

message 76 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8314, 0.6132, -0.4934, -0.0139, -0.0269, 0.9984, 1.449, 0.8364, 0.1577, -0.5659, 0.9127, 0.8108, 0.9986]\nstate[eef_state]: left_x=0.2813 left_y=-0.0001 left_z=0.1516 left_yaw=0.0 left_pitch=-0.1427 left_roll=0.0003 left_gripper=0.9984 right_x=0.1508 right_y=0.111 right_z=0.0323 right_yaw=0.2964 right_pitch=-0.0735 right_roll=-0.2739 right_gripper=0.9986\nstate[joint_eff]: [-0.1709, -1.812, 6.9675, 1.6484, -0.0269, -0.0366, -0.0122, -1.0051, -2.2632, 5.559, -0.0073, 0.6862, 0.232, -0.0122]",
      "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, 0.8322, 0.6132, -0.4942, -0.0135, -0.0273, 0.9984, 1.4395, 0.7685, 0.1642, -0.5884, 0.9001, 0.8524, 0.012]\nstate[eef_state]: left_x=0.2812 left_y=-0.0002 left_z=0.1513 left_yaw=-0.0001 left_pitch=-0.1442 left_roll=-0.0002 left_gripper=0.9984 right_x=0.1509 right_y=0.1134 right_z=0.0386 right_yaw=0.2728 right_pitch=-0.0586 right_roll=-0.1879 right_gripper=0.012\nstate[joint_eff]: [0.0068, -1.2923, 6.9402, 1.5849, -0.0317, -0.0659, -0.0171, -0.1162, -0.1026, 4.3966, 0.6569, 0.5104, 0.0122, 0.9988]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8383, 0.6132, -0.5037, -0.0139, -0.0273, 0.9984, 0.0803, 1.5646, 0.6456, 0.2592, -0.062, -0.297, 0.9974]\nstate[eef_state]: left_x=0.2799 left_y=-0.0001 left_z=0.1479 left_yaw=0.0003 left_pitch=-0.1598 left_roll=0.0004 left_gripper=0.9984 right_x=0.407 right_y=0.0473 right_z=0.0668 right_yaw=0.2781 right_pitch=-0.1007 right_roll=-0.1828 right_gripper=0.9974\nstate[joint_eff]: [-0.212, -1.8803, 7.0496, 1.6874, -0.0366, -0.0415, -0.0122, -0.6359, -6.8444, 7.159, 1.8339, -0.0464, 0.0904, -0.1538]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5a75ffacade60f9e835cfcb73b51e99f3a549819470206744cd48d9856811f69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0f7604aa90d7a44f3599f8801f2a24c1d3de5c5dfb45292f8e70fa2793231980",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 220):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84c7010fc3fa1eed75cc133c2cf0aca58173889a7933f2508ac74fd8d7e9edb4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LEenURAwQeTDinRG92A1ia",
      "input": {
        "note": "The top view shows the lemon actually lying at the very front of the table next to the right base, while the pear is in the bowl. Reaching the right gripper down to the lemon near the fold limit.",
        "targets": {
          "right_x": 0.11,
          "right_y": 0.05,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_01LEenURAwQeTDinRG92A1ia",
      "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, 0.8452, 0.6128, -0.5159, -0.0139, -0.0269, 0.9984, 1.4437, 0.4652, 0.2081, -0.8879, 0.7444, 0.6445, 0.9974]\nstate[eef_state]: left_x=0.278 left_y=-0.0001 left_z=0.1438 left_yaw=0.0002 left_pitch=-0.1793 left_roll=0.0012 left_gripper=0.9984 right_x=0.1302 right_y=0.1031 right_z=0.0442 right_yaw=0.462 right_pitch=-0.1852 right_roll=-0.2389 right_gripper=0.9974\nstate[joint_eff]: [-0.2256, -1.9761, 7.2547, 1.7411, -0.0659, -0.0269, -0.0122, -1.6342, -0.3761, 2.5094, -2.1661, 0.4518, -0.1245, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c781eda3e7ca30cb04e0bad1e30238a32db014a01b8b8c124aa4c8d31d4258fd",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 243):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37ced3c7ff804d4c8a61a44a97681e040a74c1932b7960f3f38aedd26b20199c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 243):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c472031d08ab9f77a22e49b0a83d625af5a59d0e681b11c6e47da73f62ff8116",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
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