adhoc

completed
2026-09-22T19:11:46.503272+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
306.1 s
total steps
288
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

overheat

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: large white bowl (left), blue bowl (center-right), lemon, pear right in front of the right gripper, and a dark round fruit near the left arm. Advancing the right arm slightly over the pear.
move_to
right_x0.3300right_y0.0000right_z0.1200right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.02, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7998, 0.6189, -0.3866, -0.0174, -0.0124, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9987 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [-0.3214, -1.6205, 9.5658, 1.8193, -0.1197, 0.1441, -0.1392, -0.4444, -1.5111, 9.1282, 1.8535, -0.105, -0.0464, -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": 0.0, "right_z": 0.12, "right_gripper": 1.0}, "note": "Scene: large white bowl (left), blue bowl (center-right), lemon, pear right in front of the right gripper, and a dark round fruit near the left arm. Advancing the right arm slightly over the pear."})
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 cm and descending to grasp height.
move_to
right_x0.3500right_y0.0000right_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, 0.8055, 0.6132, -0.4, -0.0139, -0.0307, 0.9987, -0.0208, 1.0397, 0.4435, -0.0071, -0.0208, -0.0124, 0.9994] state[eef_state]: left_x=0.294 left_y=-0.0004 left_z=0.1769 left_yaw=-0.0016 left_pitch=-0.0233 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3261 right_y=0.0005 right_z=0.1119 right_yaw=0.0048 right_pitch=-0.0354 right_roll=0.0028 right_gripper=0.9994 state[joint_eff]: [-0.0205, -1.7299, 7.2137, 1.8974, -0.0317, -0.0317, -0.0171, -0.1436, -3.3709, 6.9128, 1.9707, 0.0024, -0.0513, -0.0708] camera 'top_cam' (step 5): [image omitted: streamed camera frame] camera 'left_cam' (step 5): [image omitted: streamed camera frame] camera 'right_cam' (step 5): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.0, "right_z": 0.03}, "note": "Pear is centred on the jaw column just ahead of the fingertips. Advancing 2 cm and descending to grasp height."})
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
Pear is between the jaws. Closing.
agent notePear fills the view between the jaws at grasp height; 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, 0.8085, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5571, -0.0242, -0.0124, 0.9994] state[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0215 right_yaw=0.0085 right_pitch=-0.0735 right_roll=0.0058 right_gripper=0.9994 state[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7949, -0.0366, -0.0415, -0.0122, -0.294, -5.2581, 4.7932, 1.9805, -0.0366, -0.0513, -0.0122] 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
Pear is between the jaws. Closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Pear fills the view between the jaws at grasp height; 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 notePear grasped (gripper settled at 0.74 ≈ 7 cm). Lifting and carrying toward the blue bowl, which sits ahead and slightly left of the right arm.
move_to
right_x0.4500right_y0.0800right_z0.2000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4202, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5568, -0.0242, -0.0162, 0.7389] state[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0016 left_pitch=-0.0504 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0214 right_yaw=0.0106 right_pitch=-0.0739 right_roll=0.0027 right_gripper=0.7389 state[joint_eff]: [-0.3214, -1.4701, 7.0085, 1.7998, -0.0464, -0.0415, -0.0122, -0.1983, -4.7932, 4.7111, 1.663, -0.0366, -0.0317, 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_x": 0.45, "right_y": 0.08, "right_z": 0.2}, "note": "Pear grasped (gripper settled at 0.74 \u2248 7 cm). Lifting and carrying toward the blue bowl, which sits ahead and slightly left of the right arm."})
tool
executing move_to over 12 steps (1.2s)
step 33
top_cam
camera top_cam step 33
left_cam
camera left_cam step 33
right_cam
camera right_cam step 33
assistant
agent noteIn the overhead view the carried pear sits slightly right of the blue bowl; shifting left ~5 cm and lowering to get over the bowl.
move_to
right_x0.4300right_y0.1300right_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, 0.8143, 0.6132, -0.424, -0.0139, -0.0311, 0.9987, 0.239, 1.5459, 1.1603, -0.3229, 0.1635, 0.1139, 0.7431] state[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4419 right_y=0.0818 right_z=0.1805 right_yaw=0.0399 right_pitch=-0.1296 right_roll=-0.0178 right_gripper=0.7431 state[joint_eff]: [-0.3077, -1.5111, 7.0359, 1.7216, -0.0562, -0.0757, -0.0122, -0.1573, -7.665, 9.1966, 1.8388, 0.2271, 0.2369, 1.0281] approver: 7 step(s) modified (delta_clamped ×7). camera 'top_cam' (step 33): [image omitted: streamed camera frame] camera 'left_cam' (step 33): [image omitted: streamed camera frame] camera 'right_cam' (step 33): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.13, "right_z": 0.13}, "note": "In the overhead view the carried pear sits slightly right of the blue bowl; shifting left ~5 cm and lowering to get over the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 38
top_cam
camera top_cam step 38
left_cam
camera left_cam step 38
right_cam
camera right_cam step 38
assistant
agent noteWrist view shows the blue bowl directly behind/under the pear and the overhead view shows the pear over the bowl; lowering close to the rim before releasing.
move_to
right_x0.4400right_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, 0.8143, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.1997, 0.7466] state[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0016 left_pitch=-0.0568 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.069 right_pitch=-0.1721 right_roll=-0.0312 right_gripper=0.7466 state[joint_eff]: [-0.294, -1.3607, 7.1863, 1.6728, -0.0708, -0.022, -0.0122, -0.4581, -7.788, 6.7487, 1.9072, 0.2906, 0.1392, 1.0281] camera 'top_cam' (step 38): [image omitted: streamed camera frame] camera 'left_cam' (step 38): [image omitted: streamed camera frame] camera 'right_cam' (step 38): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.44, "right_z": 0.08}, "note": "Wrist view shows the blue bowl directly behind/under the pear and the overhead view shows the pear over the bowl; lowering close to the rim before releasing."})
tool
executing move_to over 3 steps (0.3s)
step 41
top_cam
camera top_cam step 41
left_cam
camera left_cam step 41
right_cam
camera right_cam step 41
assistant
agent noteThe arm didn't descend (readback stuck at z 0.12), likely the pear resting on the near rim of the bowl. Raising slightly and moving forward to get over the bowl's centre.
move_to
right_x0.4700right_y0.1300right_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473 state[joint_eff]: [-0.0889, -1.2103, 7.3231, 1.6923, -0.0366, -0.0611, -0.0122, -0.1436, -7.747, 7.0632, 1.9316, 0.3297, 0.105, 1.0281] camera 'top_cam' (step 41): [image omitted: streamed camera frame] camera 'left_cam' (step 41): [image omitted: streamed camera frame] camera 'right_cam' (step 41): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.13, "right_z": 0.14}, "note": "The arm didn't descend (readback stuck at z 0.12), likely the pear resting on the near rim of the bowl. Raising slightly and moving forward to get over the bowl's centre."})
tool
executing move_to over 4 steps (0.4s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe right arm is frozen at the same joint positions for two moves; trying a different, easier target (back and up) to unstick the IK.
move_to
right_x0.4000right_y0.1200right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473 state[joint_eff]: [-0.1709, -1.1556, 7.0222, 1.6874, -0.0464, -0.0513, -0.0171, -0.3487, -7.7744, 6.5573, 1.8877, 0.3248, 0.0952, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.4, "right_y": 0.12, "right_z": 0.18}, "note": "The right arm is frozen at the same joint positions for two moves; trying a different, easier target (back and up) to unstick the IK."})
tool
executing move_to over 4 steps (0.4s)
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 isn't tracking position targets; the pear hangs over the near part of the blue bowl, so I'm releasing it here and will check whether it lands in the bowl.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.2024, 0.7473] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0675 right_pitch=-0.1721 right_roll=-0.0292 right_gripper=0.7473 state[joint_eff]: [-0.0479, -1.1556, 6.9949, 1.6679, -0.0513, -0.0513, -0.0122, -0.3487, -7.6239, 6.5709, 1.8974, 0.2613, 0.0904, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). 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_gripper": 1.0}, "note": "The right arm isn't tracking position targets; the pear hangs over the near part of the blue bowl, so I'm releasing it here and will check whether it lands in the bowl."})
tool
executing move_to over 3 steps (0.3s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent notePear dropped into the blue bowl (visible inside it in the wrist cam). Lifting the right arm away to go for the lemon.
move_to
right_x0.3800right_y0.1300right_z0.1800
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0286, -0.1989, 0.2543, 0.1986, 0.9959] state[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4211 right_y=0.1321 right_z=0.1202 right_yaw=0.072 right_pitch=-0.1857 right_roll=-0.0338 right_gripper=0.9959 state[joint_eff]: [-0.1983, -1.3333, 6.9949, 1.7021, -0.0366, -0.0366, -0.0122, -0.2256, -7.7197, 6.4479, 1.6484, 0.0757, -0.0317, -0.149] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.38, "right_y": 0.13, "right_z": 0.18}, "note": "Pear dropped into the blue bowl (visible inside it in the wrist cam). Lifting the right arm away to go for the lemon."})
tool
executing move_to over 4 steps (0.4s)
step 56
top_cam
camera top_cam step 56
left_cam
camera left_cam step 56
right_cam
camera right_cam step 56
assistant
agent notePear is now sitting in the blue bowl. The lemon is left of the bowl and nearer the base; moving the right arm above it.
move_to
right_x0.3600right_y0.2100right_z0.1000right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8146, 0.6132, -0.4301, -0.0139, -0.0307, 0.9987, 0.4419, 1.4494, 1.0496, -0.4011, 0.2691, 0.21, 0.9965] state[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1683 left_yaw=-0.0016 left_pitch=-0.0626 left_roll=0.0001 left_gripper=0.9987 right_x=0.3841 right_y=0.1338 right_z=0.1615 right_yaw=0.0977 right_pitch=-0.1974 right_roll=-0.041 right_gripper=0.9965 state[joint_eff]: [-0.1573, -1.1966, 7.2274, 1.7558, -0.0708, -0.0366, -0.0122, 0.0479, -6.8171, 9.347, 1.5995, 0.3248, 0.1685, 0.0513] camera 'top_cam' (step 56): [image omitted: streamed camera frame] camera 'left_cam' (step 56): [image omitted: streamed camera frame] camera 'right_cam' (step 56): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.36, "right_y": 0.21, "right_z": 0.1, "right_yaw": 0.0}, "note": "Pear is now sitting in the blue bowl. The lemon is left of the bowl and nearer the base; moving the right arm above it."})
tool
executing move_to over 7 steps (0.7s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteLemon is just ahead and slightly left of the jaw column, long axis radial so the jaws will close across it; advancing a bit and descending to grasp.
move_to
right_x0.3750right_y0.2150right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.432, -0.0139, -0.0307, 0.9987, 0.7162, 1.6314, 1.0065, -0.318, 0.4721, 0.4641, 0.9966] state[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0016 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9987 right_x=0.3547 right_y=0.207 right_z=0.097 right_yaw=0.055 right_pitch=-0.2389 right_roll=-0.0666 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.4017, 7.0222, 1.6728, -0.0415, -0.0464, -0.0122, 0.1983, -7.1726, 7.2547, 1.3407, 0.4127, 0.1245, -0.0073] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.375, "right_y": 0.215, "right_z": 0.015}, "note": "Lemon is just ahead and slightly left of the jaw column, long axis radial so the jaws will close across it; advancing a bit and descending to grasp."})
tool
executing move_to over 6 steps (0.6s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
Lemon between jaws, closing.
agent noteLemon is centred 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, 0.8154, 0.6132, -0.4355, -0.0139, -0.0307, 0.9987, 0.6971, 1.861, 0.9356, -0.0612, 0.4553, 0.4519, 0.9966] state[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0016 left_pitch=-0.0687 left_roll=0.0002 left_gripper=0.9987 right_x=0.3673 right_y=0.2109 right_z=0.0146 right_yaw=0.048 right_pitch=-0.2827 right_roll=-0.0915 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122, -0.335, -8.7316, 4.3419, 1.4188, 0.2173, -0.0659, -0.0171] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
Lemon between jaws, closing.
move_to({"targets": {"right_gripper": 0.0}, "note": "Lemon is centred between the jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 79
top_cam
camera top_cam step 79
left_cam
camera left_cam step 79
right_cam
camera right_cam step 79
assistant
agent noteLemon grasped (0.50 ≈ 4.7 cm). Carrying it over the blue bowl, to the same spot where the pear dropped in.
move_to
right_x0.4300right_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, 0.8154, 0.6132, -0.4419, -0.0139, -0.0307, 0.9987, 0.6971, 1.8797, 0.9241, -0.0566, 0.448, 0.445, 0.4957] state[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0016 left_pitch=-0.0751 left_roll=0.0004 left_gripper=0.9987 right_x=0.3628 right_y=0.2087 right_z=0.0037 right_yaw=0.0526 right_pitch=-0.3071 right_roll=-0.1072 right_gripper=0.4957 state[joint_eff]: [-0.0479, -1.3333, 7.0496, 1.7509, -0.0317, -0.0464, -0.0122, -0.0479, -10.2222, 6.2017, 1.2039, 0.2369, 0.0024, 0.9695] camera 'top_cam' (step 79): [image omitted: streamed camera frame] camera 'left_cam' (step 79): [image omitted: streamed camera frame] camera 'right_cam' (step 79): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.43, "right_y": 0.13, "right_z": 0.15}, "note": "Lemon grasped (0.50 \u2248 4.7 cm). Carrying it over the blue bowl, to the same spot where the pear dropped in."})
tool
executing move_to over 10 steps (1.0s)
step 89
top_cam
camera top_cam step 89
left_cam
camera left_cam step 89
right_cam
camera right_cam step 89
assistant
Lemon over the bowl; releasing.
agent noteWrist view shows the lemon hanging directly over the blue bowl next to the pear; releasing.
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, 0.8204, 0.6132, -0.4507, -0.0135, -0.0307, 0.9987, 0.4042, 1.7191, 1.2701, -0.4995, 0.2855, 0.1978, 0.4981] state[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1627 left_yaw=-0.0019 left_pitch=-0.0889 left_roll=0.0004 left_gripper=0.9987 right_x=0.4277 right_y=0.1327 right_z=0.1263 right_yaw=0.039 right_pitch=-0.3321 right_roll=-0.1149 right_gripper=0.4981 state[joint_eff]: [-0.1983, -1.1692, 6.9812, 1.7949, -0.0171, -0.0317, -0.0122, -0.3077, -10.9197, 8.4855, 1.3797, 0.1001, 0.0611, 0.5446] approver: 4 step(s) modified (delta_clamped ×4). camera 'top_cam' (step 89): [image omitted: streamed camera frame] camera 'left_cam' (step 89): [image omitted: streamed camera frame] camera 'right_cam' (step 89): [image omitted: streamed camera frame]
assistant
Lemon over the bowl; releasing.
move_to({"targets": {"right_gripper": 1.0}, "note": "Wrist view shows the lemon hanging directly over the blue bowl next to the pear; releasing."})
tool
executing move_to over 6 steps (0.6s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteOnly the pear is in the blue bowl; the lemon appears to have bounced out and sits near-right of the bowl (yellow at the wrist image corner). Backing up to see it.
move_to
right_x0.3500right_y0.1000right_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, -0.4507, -0.0139, -0.0307, 0.9987, 0.4038, 1.7149, 1.2739, -0.5236, 0.2756, 0.1829, 0.9959] state[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1628 left_yaw=-0.0015 left_pitch=-0.0885 left_roll=0.0006 left_gripper=0.9987 right_x=0.4238 right_y=0.1327 right_z=0.1258 right_yaw=0.0535 right_pitch=-0.3509 right_roll=-0.1225 right_gripper=0.9959 state[joint_eff]: [-0.1162, -1.1692, 6.9812, 1.6923, -0.0269, -0.0269, -0.0122, -0.0752, -8.2667, 6.2974, 1.5263, 0.1441, 0.1099, -0.0317] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.35, "right_y": 0.1, "right_z": 0.12}, "note": "Only the pear is in the blue bowl; the lemon appears to have bounced out and sits near-right of the bowl (yellow at the wrist image corner). Backing up to see it."})
tool
executing move_to over 6 steps (0.6s)
step 101
top_cam
camera top_cam step 101
left_cam
camera left_cam step 101
right_cam
camera right_cam step 101
assistant
agent noteOverhead shows both pear and lemon in the blue bowl. The dark fruit is only reachable by the left arm and the blue bowl only by the right, so I'll slide the blue bowl toward the table centre first: moving over its left rim.
move_to
right_x0.4600right_y0.2100right_z0.1200right_yaw0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8253, 0.6132, -0.4606, -0.0139, -0.0307, 0.9987, 0.403, 1.4422, 0.9661, -0.5076, 0.2718, 0.1818, 0.9965] state[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0015 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.9987 right_x=0.3525 right_y=0.1026 right_z=0.115 right_yaw=0.0542 right_pitch=-0.37 right_roll=-0.127 right_gripper=0.9965 state[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.8046, -0.0415, -0.0513, -0.0122, -0.3897, -6.3111, 7.0632, 1.4042, 0.1148, -0.0757, 0.0562] camera 'top_cam' (step 101): [image omitted: streamed camera frame] camera 'left_cam' (step 101): [image omitted: streamed camera frame] camera 'right_cam' (step 101): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.46, "right_y": 0.21, "right_z": 0.12, "right_yaw": 0.0}, "note": "Overhead shows both pear and lemon in the blue bowl. The dark fruit is only reachable by the left arm and the blue bowl only by the right, so I'll slide the blue bowl toward the table centre first: moving over its left rim."})
tool
executing move_to over 9 steps (0.9s)
step 110
top_cam
camera top_cam step 110
left_cam
camera left_cam step 110
right_cam
camera right_cam step 110
assistant
agent noteBlue bowl's left rim sits just ahead of the jaw column; descending to straddle the rim wall for a grasp.
move_to
right_x0.4700right_y0.2000right_z0.0300right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.469, -0.0139, -0.0307, 0.9987, 0.5507, 1.9945, 1.6085, -0.6739, 0.3504, 0.3195, 0.9966] state[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0015 left_pitch=-0.1171 left_roll=0.0012 left_gripper=0.9987 right_x=0.4504 right_y=0.2096 right_z=0.1103 right_yaw=0.0439 right_pitch=-0.4015 right_roll=-0.1408 right_gripper=0.9966 state[joint_eff]: [-0.1436, -1.5795, 6.9538, 1.7021, -0.0513, -0.0269, -0.0122, -0.253, -11.3846, 7.8154, 0.9841, 0.3248, 0.2808, -0.0073] camera 'top_cam' (step 110): [image omitted: streamed camera frame] camera 'left_cam' (step 110): [image omitted: streamed camera frame] camera 'right_cam' (step 110): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.47, "right_y": 0.2, "right_z": 0.03, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Blue bowl's left rim sits just ahead of the jaw column; descending to straddle the rim wall for a grasp."})
tool
executing move_to over 14 steps (1.4s)
step 124
top_cam
camera top_cam step 124
left_cam
camera left_cam step 124
right_cam
camera right_cam step 124
assistant
agent noteThe bowl's rim wall lies between the jaws (left jaw outside, right jaw inside the bowl); 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, 0.8314, 0.6132, -0.4755, -0.0139, -0.0311, 0.9987, 0.5377, 2.0144, 1.037, 0.3229, 0.4072, 0.2771, 0.9966] state[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0012 left_pitch=-0.1247 left_roll=0.0011 left_gripper=0.9987 right_x=0.4673 right_y=0.2014 right_z=0.0397 right_yaw=0.0507 right_pitch=-0.0254 right_roll=-0.0137 right_gripper=0.9966 state[joint_eff]: [-0.1709, -1.347, 6.9812, 1.7265, -0.0562, -0.0366, -0.0122, -0.253, -7.8427, 4.6427, 1.4579, 0.105, 0.0757, -0.0122] camera 'top_cam' (step 124): [image omitted: streamed camera frame] camera 'left_cam' (step 124): [image omitted: streamed camera frame] camera 'right_cam' (step 124): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 0.0}, "note": "The bowl's rim wall lies between the jaws (left jaw outside, right jaw inside the bowl); closing to pinch the rim."})
tool
executing move_to over 10 steps (1.0s)
step 134
top_cam
camera top_cam step 134
left_cam
camera left_cam step 134
right_cam
camera right_cam step 134
assistant
agent noteGripper closed to 0.016, consistent with pinching a thin rim. Carrying the bowl toward the table centre (left) at low height; will confirm in the overhead view.
move_to
right_x0.4500right_y0.3600right_z0.0600
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8314, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.5346, 2.0296, 1.0256, 0.3401, 0.4267, 0.2604, 0.0157] state[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1549 left_yaw=-0.0015 left_pitch=-0.1255 left_roll=0.0014 left_gripper=0.9987 right_x=0.4665 right_y=0.1955 right_z=0.0321 right_yaw=0.0409 right_pitch=-0.0285 right_roll=-0.0426 right_gripper=0.0157 state[joint_eff]: [-0.0479, -1.4291, 6.9402, 1.6093, -0.0806, -0.0415, -0.0122, 0.1983, -10.5641, 6.5299, 1.3553, -0.3785, 0.1832, 1.1502] camera 'top_cam' (step 134): [image omitted: streamed camera frame] camera 'left_cam' (step 134): [image omitted: streamed camera frame] camera 'right_cam' (step 134): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.45, "right_y": 0.36, "right_z": 0.06}, "note": "Gripper closed to 0.016, consistent with pinching a thin rim. Carrying the bowl toward the table centre (left) at low height; will confirm in the overhead view."})
tool
executing move_to over 14 steps (1.4s)
step 148
top_cam
camera top_cam step 148
left_cam
camera left_cam step 148
right_cam
camera right_cam step 148
assistant
agent noteBlue bowl (with pear) has slid to near the table centre, beside the white bowl. Setting it down and releasing. The lemon is lying on the table at the far right near the fence; I'll fetch it next.
move_to
right_gripper1.0000right_z0.0350
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, 0.8536, 2.2669, 1.57, -0.1062, 0.6327, 0.4808, 0.0159] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0011 left_gripper=0.9987 right_x=0.4463 right_y=0.3582 right_z=0.0505 right_yaw=0.0794 right_pitch=-0.0525 right_roll=-0.055 right_gripper=0.0159 state[joint_eff]: [-0.1573, -1.4564, 6.9812, 1.5995, -0.0659, -0.0757, -0.0122, 0.212, -12.8752, 8.1983, 1.4188, 0.4615, 0.1001, 0.8718] camera 'top_cam' (step 148): [image omitted: streamed camera frame] camera 'left_cam' (step 148): [image omitted: streamed camera frame] camera 'right_cam' (step 148): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_gripper": 1.0, "right_z": 0.035}, "note": "Blue bowl (with pear) has slid to near the table centre, beside the white bowl. Setting it down and releasing. The lemon is lying on the table at the far right near the fence; I'll fetch it next."})
tool
executing move_to over 10 steps (1.0s)
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 noteBowl released near centre. Heading the right arm to the lemon, which lies at the far right of the table near the fence.
move_to
right_x0.3400right_y-0.0800right_z0.1000right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8322, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.8555, 2.2734, 1.5581, -0.0788, 0.6239, 0.4774, 0.9955] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0014 left_pitch=-0.1262 left_roll=0.0014 left_gripper=0.9987 right_x=0.4455 right_y=0.3609 right_z=0.046 right_yaw=0.0899 right_pitch=-0.0504 right_roll=-0.0469 right_gripper=0.9955 state[joint_eff]: [-0.1299, -1.2786, 6.9402, 1.5897, -0.0757, -0.0415, -0.0122, 0.0205, -10.7282, 5.5726, 1.58, 0.2906, 0.0611, -0.0171] 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": 0.34, "right_y": -0.08, "right_z": 0.1, "right_yaw": 0.0, "right_pitch": 0.0, "right_roll": 0.0}, "note": "Bowl released near centre. Heading the right arm to the lemon, which lies at the far right of the table near the fence."})
tool
executing move_to over 37 steps (3.7s)
step 195
top_cam
camera top_cam step 195
left_cam
camera left_cam step 195
right_cam
camera right_cam step 195
assistant
agent noteLemon lies against the right fence, just inside the right jaw's span at the y-bound limit. Descending so the jaws straddle it; closing should sweep it toward the gripper centre.
move_to
right_x0.3300right_y-0.0800right_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, -0.3923, 1.2392, 0.4438, 0.1638, -0.2886, -0.1974, 0.9964] state[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0012 left_gripper=0.9987 right_x=0.3364 right_y=-0.0809 right_z=0.0875 right_yaw=-0.0427 right_pitch=-0.0339 right_roll=0.0076 right_gripper=0.9964 state[joint_eff]: [-0.0479, -1.5795, 6.9812, 1.6532, -0.0415, -0.0757, -0.0122, -0.1709, -5.0393, 7.8564, 1.7802, -0.1245, -0.0952, 0.0904] camera 'top_cam' (step 195): [image omitted: streamed camera frame] camera 'left_cam' (step 195): [image omitted: streamed camera frame] camera 'right_cam' (step 195): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.33, "right_y": -0.08, "right_z": 0.015}, "note": "Lemon lies against the right fence, just inside the right jaw's span at the y-bound limit. Descending so the jaws straddle it; closing should sweep it toward the gripper centre."})
tool
executing move_to over 5 steps (0.5s)
step 200
top_cam
camera top_cam step 200
left_cam
camera left_cam step 200
right_cam
camera right_cam step 200
assistant
agent noteThe lemon sits against the right fence beyond the right arm's y-limit, outside the jaws, so I can't grasp it; moving on. Parking the right arm and bringing the left arm over the dark fruit near the white bowl.
move_to
right_x0.3000right_y0.0000right_z0.1800left_x0.3300left_y-0.0900left_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, 0.8379, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, -0.3977, 1.5398, 0.276, 0.5171, -0.2932, -0.2214, 0.9965] state[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0014 left_pitch=-0.1472 left_roll=0.0018 left_gripper=0.9987 right_x=0.315 right_y=-0.0731 right_z=-0.0019 right_yaw=-0.0277 right_pitch=-0.1405 right_roll=0.0319 right_gripper=0.9965 state[joint_eff]: [-0.212, -1.6479, 6.9265, 1.7363, -0.0366, -0.0269, -0.0171, -0.5128, -5.6137, 4.6838, 1.4872, -0.2125, 0.442, 0.0024] camera 'top_cam' (step 200): [image omitted: streamed camera frame] camera 'left_cam' (step 200): [image omitted: streamed camera frame] camera 'right_cam' (step 200): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"right_x": 0.3, "right_y": 0.0, "right_z": 0.18, "left_x": 0.33, "left_y": -0.09, "left_z": 0.08}, "note": "The lemon sits against the right fence beyond the right arm's y-limit, outside the jaws, so I can't grasp it; moving on. Parking the right arm and bringing the left arm over the dark fruit near the white bowl."})
tool
executing move_to over 12 steps (1.2s)
step 212
top_cam
camera top_cam step 212
left_cam
camera left_cam step 212
right_cam
camera right_cam step 212
assistant
agent noteThe dark fruit (plum) is just ahead and to the right of the left jaws; shifting right ~5 cm, a little forward, and descending to grasp.
move_to
left_x0.3400left_y-0.1350left_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]: [-0.4301, 1.2598, 0.5346, -0.0967, -0.2981, -0.2977, 0.9987, -0.028, 0.9356, 0.7086, -0.4698, -0.0437, -0.0093, 0.9965] state[eef_state]: left_x=0.3186 left_y=-0.0851 left_z=0.0709 left_yaw=-0.0189 left_pitch=-0.2068 left_roll=0.0216 left_gripper=0.9987 right_x=0.305 right_y=0.0028 right_z=0.1698 right_yaw=0.0156 right_pitch=-0.1284 right_roll=0.0223 right_gripper=0.9965 state[joint_eff]: [-0.4444, -3.9179, 7.1179, 1.7216, -0.2955, -0.1245, -0.0122, 0.1846, -2.7829, 8.9641, 1.5897, 0.0904, 0.1294, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 212): [image omitted: streamed camera frame] camera 'left_cam' (step 212): [image omitted: streamed camera frame] camera 'right_cam' (step 212): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.34, "left_y": -0.135, "left_z": 0.02}, "note": "The dark fruit (plum) is just ahead and to the right of the left jaws; shifting right ~5 cm, a little forward, and descending to grasp."})
tool
executing move_to over 5 steps (0.5s)
step 217
top_cam
camera top_cam step 217
left_cam
camera left_cam step 217
assistant
agent notePlum is between the left jaws at table level; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5613, 1.5845, 0.5446, 0.0917, -0.3672, -0.3882, 0.9987, -0.0284, 0.9382, 0.717, -0.4969, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.3205 left_y=-0.1224 left_z=0.0043 left_yaw=-0.0291 left_pitch=-0.2931 left_roll=0.0662 left_gripper=0.9987 right_x=0.3021 right_y=0.0017 right_z=0.1676 right_yaw=0.0096 right_pitch=-0.1499 right_roll=0.0206 right_gripper=0.9965 state[joint_eff]: [-0.3624, -6.6803, 7.3504, 1.6288, -0.3541, -0.0171, -0.0171, -0.3214, -2.3726, 6.3795, 1.873, -0.1197, -0.0464, -0.0073] camera 'top_cam' (step 217): [image omitted: streamed camera frame] camera 'left_cam' (step 217): [image omitted: streamed camera frame] camera 'right_cam' (step 217): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum is between the left jaws at table level; closing."})
tool
executing move_to over 10 steps (1.0s)
step 227
assistant
agent noteEmpty close (0.009): the plum sits a few cm ahead of the fingertips. Opening and lifting slightly before advancing.
move_to
left_gripper1.0000left_z0.0500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.572, 1.6073, 0.5568, 0.1467, -0.3824, -0.4191, 0.0088, -0.028, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.3304 left_y=-0.1301 left_z=0.0094 left_yaw=-0.0168 left_pitch=-0.2482 left_roll=0.0319 left_gripper=0.0088 right_x=0.3013 right_y=0.0018 right_z=0.1658 right_yaw=0.01 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965 state[joint_eff]: [-0.3897, -6.2701, 6.5983, 1.5604, -0.2857, 0.0513, 0.6911, -0.0752, -2.0171, 7.3915, 1.5946, -0.0611, -0.0611, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0, "left_z": 0.05}, "note": "Empty close (0.009): the plum sits a few cm ahead of the fingertips. Opening and lifting slightly before advancing."})
tool
executing move_to over 10 steps (1.0s)
step 237
assistant
agent notePlum is centred on the jaw column but well ahead; advancing ~5.5 cm and descending to put it between the jaws.
move_to
left_x0.3800left_y-0.1280left_z0.0150
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.572, 1.499, 0.6102, -0.0505, -0.3817, -0.4252, 0.9947, -0.0284, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.3236 left_y=-0.1258 left_z=0.0342 left_yaw=-0.0089 left_pitch=-0.2785 left_roll=0.0466 left_gripper=0.9947 right_x=0.3013 right_y=0.0017 right_z=0.1658 right_yaw=0.0096 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965 state[joint_eff]: [-0.0889, -7.241, 8.0205, 1.2821, -0.2662, 0.0415, -0.0513, -0.1573, -2.1402, 7.0769, 1.5751, -0.0806, -0.0464, -0.0073] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 237): [image omitted: streamed camera frame] camera 'left_cam' (step 237): [image omitted: streamed camera frame] camera 'right_cam' (step 237): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.38, "left_y": -0.128, "left_z": 0.015}, "note": "Plum is centred on the jaw column but well ahead; advancing ~5.5 cm and descending to put it between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 242
assistant
Plum now between jaws. Closing.
agent notePlum fills the space between the left jaws; closing.
move_to
left_gripper0.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4839, 1.7218, 0.7315, 0.0254, -0.3416, -0.3763, 0.9957, -0.0284, 0.9413, 0.7139, -0.4992, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.3646 left_y=-0.1207 left_z=0.0067 left_yaw=0.0239 left_pitch=-0.3185 left_roll=0.0639 left_gripper=0.9957 right_x=0.3014 right_y=0.0017 right_z=0.165 right_yaw=0.0097 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965 state[joint_eff]: [0.4855, -7.1316, 6.612, 1.3553, -0.0366, 0.1294, 0.0904, -0.3487, -2.3863, 6.9128, 1.5995, -0.0366, -0.0122, -0.0122] camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
Plum now between jaws. Closing.
move_to({"targets": {"left_gripper": 0.0}, "note": "Plum fills the space between the left jaws; closing."})
tool
executing move_to over 10 steps (1.0s)
step 252
assistant
agent notePlum grasped (0.53). Carrying it over the blue bowl, which now sits near the table centre (≈ left-frame x 0.44, y −0.37).
move_to
left_x0.4400left_y-0.3700left_z0.1400
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4828, 1.7374, 0.7368, 0.0303, -0.3367, -0.3752, 0.5281, -0.028, 0.9417, 0.7139, -0.4988, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.3657 left_y=-0.1217 left_z=0.0032 left_yaw=0.0212 left_pitch=-0.3251 left_roll=0.0636 left_gripper=0.5281 right_x=0.3015 right_y=0.0018 right_z=0.1649 right_yaw=0.01 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965 state[joint_eff]: [-0.4444, -8.7179, 4.8342, 1.2137, -0.2906, -0.0611, 1.0281, -0.0889, -2.2085, 7.1863, 1.6239, -0.0611, -0.0806, -0.0073] camera 'top_cam' (step 252): [image omitted: streamed camera frame] camera 'left_cam' (step 252): [image omitted: streamed camera frame] camera 'right_cam' (step 252): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.44, "left_y": -0.37, "left_z": 0.14}, "note": "Plum grasped (0.53). Carrying it over the blue bowl, which now sits near the table centre (\u2248 left-frame x 0.44, y \u22120.37)."})
tool
executing move_to over 23 steps (2.3s)
step 275
assistant
agent noteThe blue bowl appears right of the jaws in the left wrist view; shifting as far right as the left arm allows and lowering before release.
move_to
left_x0.4600left_y-0.4000left_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]: [-0.8501, 2.4546, 2.4107, -1.0397, -0.5053, -0.7345, 0.5322, -0.028, 0.9443, 0.7139, -0.4995, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.4475 left_y=-0.3745 left_z=0.1303 left_yaw=0.0067 left_pitch=-0.3151 left_roll=0.0184 left_gripper=0.5322 right_x=0.3015 right_y=0.0018 right_z=0.164 right_yaw=0.0101 right_pitch=-0.1617 right_roll=0.0211 right_gripper=0.9965 state[joint_eff]: [-0.9094, -14.7487, 7.6786, 0.1929, -0.5201, -0.0464, 1.033, -0.1983, -2.359, 6.9402, 1.5946, -0.0659, -0.0317, -0.0122] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 275): [image omitted: streamed camera frame] camera 'left_cam' (step 275): [image omitted: streamed camera frame] camera 'right_cam' (step 275): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.4, "left_z": 0.1}, "note": "The blue bowl appears right of the jaws in the left wrist view; shifting as far right as the left arm allows and lowering before release."})
tool
executing move_to over 3 steps (0.3s)
step 278
assistant
agent notePlum is hanging over the left part of the blue bowl (bowl visible just under/behind it); releasing.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8581, 2.6396, 2.6709, -1.116, -0.5079, -0.7498, 0.5342, -0.028, 0.9463, 0.7139, -0.4995, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.4595 left_y=-0.3949 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.3139 left_roll=0.0108 left_gripper=0.5342 right_x=0.3016 right_y=0.0018 right_z=0.1635 right_yaw=0.0101 right_pitch=-0.1636 right_roll=0.0212 right_gripper=0.9965 state[joint_eff]: [-0.8137, -15.2, 7.6786, 0.6276, -0.2759, -0.0024, 0.989, -0.0615, -2.3316, 6.9128, 1.5458, -0.0366, -0.0171, -0.0122] camera 'top_cam' (step 278): [image omitted: streamed camera frame] camera 'left_cam' (step 278): [image omitted: streamed camera frame] camera 'right_cam' (step 278): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_gripper": 1.0}, "note": "Plum is hanging over the left part of the blue bowl (bowl visible just under/behind it); releasing."})
tool
executing move_to over 5 steps (0.5s)
step 283
assistant
agent notePlum and pear are now in the blue bowl (lemon is stuck at the right fence). Shifting the left arm so the bowl's left rim wall sits between the jaws, and descending to pinch it for the pour.
move_to
left_x0.4600left_y-0.3600left_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]: [-0.86, 2.7098, 2.6949, -1.1313, -0.5045, -0.757, 0.9954, -0.028, 0.9463, 0.7139, -0.4992, -0.038, -0.0082, 0.9965] state[eef_state]: left_x=0.4577 left_y=-0.3953 left_z=0.0742 left_yaw=0.0258 left_pitch=-0.3555 left_roll=0.0539 left_gripper=0.9954 right_x=0.3016 right_y=0.0018 right_z=0.1636 right_yaw=0.0103 right_pitch=-0.1632 right_roll=0.0209 right_gripper=0.9965 state[joint_eff]: [-0.6906, -17.0735, 8.8957, 0.9695, -0.4029, 0.0464, -0.1343, -0.0752, -2.2085, 7.1726, 1.5751, -0.0904, -0.0708, -0.0122] camera 'top_cam' (step 283): [image omitted: streamed camera frame] camera 'left_cam' (step 283): [image omitted: streamed camera frame] camera 'right_cam' (step 283): [image omitted: streamed camera frame]
assistant
move_to({"targets": {"left_x": 0.46, "left_y": -0.36, "left_z": 0.03}, "note": "Plum and pear are now in the blue bowl (lemon is stuck at the right fence). Shifting the left arm so the bowl's left rim wall sits between the jaws, and descending to pinch it for the pour."})
tool
executing move_to over 4 steps (0.4s)
step 287
assistant
agent noteI only got partway and I'm nearly out of calls. The pear and the plum are in the blue bowl. The lemon bounced out of the bowl while I was moving the bowl. It is now against the right fence, beyond the right arm's y-limit of −0.08, so neither arm can grasp it. The left arm is also frozen in an awkward high-elbow pose over the blue bowl (joint_pos 2.7/2.69), and it stopped responding to position targets. With 3 calls left I can't grasp the bowl and pour it into the white bowl.
give_up
hindsight- **Bowl positions and reach:** The blue bowl starts in the right arm's area (right frame ≈ x 0.47, y 0.13). The large white bowl is in the left arm's area (left frame ≈ x 0.45, y −0.14). Neither arm can reach both bowls, so the pour needs planning. Either move the blue bowl to the centre line early, or pour with the left arm without stretching it to its y=−0.4 limit. - **Frozen arms:** Arms can freeze near the edge of their reach. The right arm froze at (0.42, 0.13, 0.12) and the left at (0.46, −0.40, 0.07), and in both cases joint_pos stopped changing while position targets were ignored. The right arm started moving again after a gripper command followed by a new target. Avoid working at the y bounds and at x > 0.44 with low z. - **Keep the bowl steady:** Don't drag a bowl sideways with fruit in it. The lemon rolled out and ended up against the fence, out of reach. Load the bowl after moving it, or lift it gently. - **Dropping fruit:** Releasing from about 10 cm over the near part of the bowl works (the pear went in on the first try). Fingertips over the rim can bounce fruit out. - **Grasp depth:** A fruit that is fully visible and centred in the wrist view at z ≈ 0.03 is about 5 cm ahead of the fingertips. Advance about 5 cm before closing. - **Watch pitch:** The right arm's pitch drifted to about −0.4 without being commanded. Explicitly command pitch=0 and roll=0. - **Save calls:** 40 calls is tight for a multi-object pick plus a pour. Don't spend calls on separate view/approach moves.
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]: [-0.86, 2.7098, 2.6949, -1.1309, -0.5045, -0.757, 0.9963, -0.028, 0.9463, 0.7139, -0.4988, -0.038, -0.0078, 0.9965] state[eef_state]: left_x=0.4577 left_y=-0.3953 left_z=0.0742 left_yaw=0.0257 left_pitch=-0.3553 left_roll=0.0536 left_gripper=0.9963 right_x=0.3017 right_y=0.0018 right_z=0.1636 right_yaw=0.0101 right_pitch=-0.1628 right_roll=0.0211 right_gripper=0.9965 state[joint_eff]: [-0.3897, -17.2513, 9.0325, 0.9646, -0.4078, 0.0073, 0.0904, 0.0068, -2.1949, 7.1316, 1.6044, -0.0415, -0.0171, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 287): [image omitted: streamed camera frame] camera 'left_cam' (step 287): [image omitted: streamed camera frame] camera 'right_cam' (step 287): [image omitted: streamed camera frame]
assistant
give_up({"reason": "I only got partway and I'm nearly out of calls. The pear and the plum are in the blue bowl. The lemon bounced out of the bowl while I was moving the bowl. It is now against the right fence, beyond the right arm's y-limit of \u22120.08, so neither arm can grasp it. The left arm is also frozen in an awkward high-elbow pose over the blue bowl (joint_pos 2.7/2.69), and it stopped responding to position targets. With 3 calls left I can't grasp the bowl and pour it into the white bowl.", "hindsight": "- **Bowl positions and reach:** The blue bowl starts in the right arm's area (right frame \u2248 x 0.47, y 0.13). The large white bowl is in the left arm's area (left frame \u2248 x 0.45, y \u22120.14). Neither arm can reach both bowls, so the pour needs planning. Either move the blue bowl to the centre line early, or pour with the left arm without stretching it to its y=\u22120.4 limit.\n- **Frozen arms:** Arms can freeze near the edge of their reach. The right arm froze at (0.42, 0.13, 0.12) and the left at (0.46, \u22120.40, 0.07), and in both cases joint_pos stopped changing while position targets were ignored. The right arm started moving again after a gripper command followed by a new target. Avoid working at the y bounds and at x > 0.44 with low z.\n- **Keep the bowl steady:** Don't drag a bowl sideways with fruit in it. The lemon rolled out and ended up against the fence, out of reach. Load the bowl after moving it, or lift it gently.\n- **Dropping fruit:** Releasing from about 10 cm over the near part of the bowl works (the pear went in on the first try). Fingertips over the rim can bounce fruit out.\n- **Grasp depth:** A fruit that is fully visible and centred in the wrist view at z \u2248 0.03 is about 5 cm ahead of the fingertips. Advance about 5 cm before closing.\n- **Watch pitch:** The right arm's pitch drifted to about \u22120.4 without being commanded. Explicitly command pitch=0 and roll=0.\n- **Save calls:** 40 calls is tight for a multi-object pick plus a pour. Don't spend calls on separate view/approach moves."})
tool
give_up: I only got partway and I'm nearly out of calls. The pear and the plum are in the blue bowl. The lemon bounced out of the bowl while I was moving the bowl. It is now against the right fence, beyond the right arm's y-limit of −0.08, so neither arm can grasp it. The left arm is also frozen in an awkward high-elbow pose over the blue bowl (joint_pos 2.7/2.69), and it stopped responding to position targets. With 3 calls left I can't grasp the bowl and pour it into the white bowl.
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 · 11.41 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, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7998, 0.6189, -0.3866, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9987 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.6205, 9.5658, 1.8193, -0.1197, 0.1441, -0.1392, -0.4444, -1.5111, 9.1282, 1.8535, -0.105, -0.0464, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fda178090248685d4ae86c504ff7b5704ef9563ddd0008e835437bd4c4bcb395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6b2d56a69333cd2fd29a76548f5499bd6d5a072397ea3c1dab02c45a9a3d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6712238d62cf41fe4f8b0c1a70ff92808d9ea808b649876720244ed68391b522",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 1 attempt 0 · /messages · status 200 · 3.575 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, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7998, 0.6189, -0.3866, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9987 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.6205, 9.5658, 1.8193, -0.1197, 0.1441, -0.1392, -0.4444, -1.5111, 9.1282, 1.8535, -0.105, -0.0464, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:fda178090248685d4ae86c504ff7b5704ef9563ddd0008e835437bd4c4bcb395",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a6b2d56a69333cd2fd29a76548f5499bd6d5a072397ea3c1dab02c45a9a3d63",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6712238d62cf41fe4f8b0c1a70ff92808d9ea808b649876720244ed68391b522",
        "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_018X17eaSS1SsMGoC1gsLvK8",
      "input": {
        "note": "Scene: large white bowl (left), blue bowl (center-right), lemon, pear right in front of the right gripper, and a dark round fruit near the left arm. Advancing the right arm slightly over the pear.",
        "targets": {
          "right_gripper": 1.0,
          "right_x": 0.33,
          "right_y": 0.0,
          "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_018X17eaSS1SsMGoC1gsLvK8",
      "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, 0.8055, 0.6132, -0.4, -0.0139, -0.0307, 0.9987, -0.0208, 1.0397, 0.4435, -0.0071, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0004 left_z=0.1769 left_yaw=-0.0016 left_pitch=-0.0233 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3261 right_y=0.0005 right_z=0.1119 right_yaw=0.0048 right_pitch=-0.0354 right_roll=0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.2137, 1.8974, -0.0317, -0.0317, -0.0171, -0.1436, -3.3709, 6.9128, 1.9707, 0.0024, -0.0513, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af82aecb1a96bfd230fd6cbd4c66dd6c00de979ba361f440926406c682d63686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c67f3287ca1dc55b0d6020de988339c8bce8179493450e3fc47dcf28645ebf41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a10ad810f8811d108a462db3c04b02f06ea0e0dd7d010aaa7f6b64943692146a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 2 attempt 0 · /messages · status 200 · 3.383 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, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7998, 0.6189, -0.3866, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9987 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.6205, 9.5658, 1.8193, -0.1197, 0.1441, -0.1392, -0.4444, -1.5111, 9.1282, 1.8535, -0.105, -0.0464, -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, 0.8055, 0.6132, -0.4, -0.0139, -0.0307, 0.9987, -0.0208, 1.0397, 0.4435, -0.0071, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0004 left_z=0.1769 left_yaw=-0.0016 left_pitch=-0.0233 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3261 right_y=0.0005 right_z=0.1119 right_yaw=0.0048 right_pitch=-0.0354 right_roll=0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.2137, 1.8974, -0.0317, -0.0317, -0.0171, -0.1436, -3.3709, 6.9128, 1.9707, 0.0024, -0.0513, -0.0708]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:af82aecb1a96bfd230fd6cbd4c66dd6c00de979ba361f440926406c682d63686",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c67f3287ca1dc55b0d6020de988339c8bce8179493450e3fc47dcf28645ebf41",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 5):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a10ad810f8811d108a462db3c04b02f06ea0e0dd7d010aaa7f6b64943692146a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSnQYKEAgSGAI4AUIIdGhpbmtpbmcSDAThjPFJcAnfbwsbBBoM68mHfNHj/kdJ2BTdIjAHt7Ax8J5YRln/GiJTaW2SgQOcHl4MRUAmOX3Tiyz4jt2DAfmCIncMOql0pgJ08kIqugUYf+z72b1CS4XO++uJcditLP1KDn76r6fU5L2My/iC4uH1ieF4fTecUa3nBb0GGXONRQB55FITWwSY0E70eTM/cfL38xrrM0JA1R5YYiUv1nHsTlrp2oEzsSMhBibS4gIHOaE1k/z8gkPrKuYMktkVm+DYGFlyByuvnQXqyE8NVDdMyIGT4zXKkRKau2pI4xK9bGjAHEA3y7KJBGKkNtCd4qME1cnuKd0xqj04X5KCsdid38uJlqCg8lelaw02irO2ez1y/Q/usdw2hp4lgbRcX4+54PDovRQMmgJ11ZXuvWhSXvshPaAI1qdOVw2a163QXgVE99ZCIgFFF6JR/Z3oq+T4ddRswE5Rn9r+hrz9WeWONwBtSD1eowKT+mHdIMh2bLZAitgWyP26X0euwQ0DEWyOACibc39dlOuOCoJHt+wHoy8ZNot+ZWqo951WtRfoibotcGCwkNEXBfqP0VAYB+tuutzHj/H48C3rZJww0yPvVo3LxOG1EianU7LTRb6Seu0GFzt+HLVRqdcFmab6RY5rkNizA1iEZ2H320Ca9EXBza2uuI8arKDbnrj+VuMfgu08/asf4p0Qr0Qk9RS7lNCxrignZH4yvlSQxmLnsE/GsuNduQ3hpZXsDBbglPdTa2fwnssr+xzrFkiV0c75gD5Q/teTtBH1hI7xCrVfUdEQ8kefYb9c9Gk+s+5i2lYaGM8pcXQTBhbqxI28KOMw9yxcabf5xWf/tGlQ7UIyKKaVxQ28Ci3DwwoB+pNTQWQxDHeJmJvKapN3rlMPpgDQcGBYCVuMvwVrZoCX5r+T22VP0IZQKIBKu1CrfB7tAJyXJotAQyQvvxG03oS1WhKTI5KdagTDO0MlN3C9cDFnglpoHfOZJ9e43xv7w8ItSjnNTiWceYV8UAmynhlACzreQYDSmgOECY53PxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TjcsMHunchbuzsUKhudf7U",
      "input": {
        "note": "Pear is centred on the jaw column just ahead of the fingertips. Advancing 2 cm and descending to grasp height.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.0,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TjcsMHunchbuzsUKhudf7U",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5571, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0215 right_yaw=0.0085 right_pitch=-0.0735 right_roll=0.0058 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7949, -0.0366, -0.0415, -0.0122, -0.294, -5.2581, 4.7932, 1.9805, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f1a8835fb3d1bf55197682f8af1abd23a7648f6e322fef475f8800305e6460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5c675de00df44acd92b9c358ffbd8ecbcb17bfc146482877a13a9ed897abf4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:9a7ea6093458cbce949416c813851ddee34abde28a2b3f09e83d65920a99e79e",
        "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 · 8.829 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, 0.8001, 0.6136, -0.382, -0.0143, -0.0296, 0.9987, -0.0227, 0.7998, 0.6189, -0.3866, -0.0174, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0002 left_z=0.1823 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9987 right_x=0.2961 right_y=-0.0001 right_z=0.1839 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3214, -1.6205, 9.5658, 1.8193, -0.1197, 0.1441, -0.1392, -0.4444, -1.5111, 9.1282, 1.8535, -0.105, -0.0464, -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, 0.8055, 0.6132, -0.4, -0.0139, -0.0307, 0.9987, -0.0208, 1.0397, 0.4435, -0.0071, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0004 left_z=0.1769 left_yaw=-0.0016 left_pitch=-0.0233 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3261 right_y=0.0005 right_z=0.1119 right_yaw=0.0048 right_pitch=-0.0354 right_roll=0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.2137, 1.8974, -0.0317, -0.0317, -0.0171, -0.1436, -3.3709, 6.9128, 1.9707, 0.0024, -0.0513, -0.0708]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5571, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0215 right_yaw=0.0085 right_pitch=-0.0735 right_roll=0.0058 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7949, -0.0366, -0.0415, -0.0122, -0.294, -5.2581, 4.7932, 1.9805, -0.0366, -0.0513, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:30f1a8835fb3d1bf55197682f8af1abd23a7648f6e322fef475f8800305e6460",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f5c675de00df44acd92b9c358ffbd8ecbcb17bfc146482877a13a9ed897abf4f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 11):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:9a7ea6093458cbce949416c813851ddee34abde28a2b3f09e83d65920a99e79e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Pear is between the jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_018ir2RddF7rCE1VHuWQzQtr",
      "input": {
        "note": "Pear fills the view between the jaws at grasp height; closing the gripper.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_018ir2RddF7rCE1VHuWQzQtr",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8124, 0.6132, -0.4202, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5568, -0.0242, -0.0162, 0.7389]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0016 left_pitch=-0.0504 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0214 right_yaw=0.0106 right_pitch=-0.0739 right_roll=0.0027 right_gripper=0.7389\nstate[joint_eff]: [-0.3214, -1.4701, 7.0085, 1.7998, -0.0464, -0.0415, -0.0122, -0.1983, -4.7932, 4.7111, 1.663, -0.0366, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d037b0c56ca70208f17d6028f6dffc8f5d917c7ff97b6d509eca9d72b15d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9c9f05849eb5c9cfd446304cd9270b787afb0e7ebfa4250591593199b891d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6b14e5550dd8dae01d080a85633ba187d557dcee03b3f3e6660560664c24508b",
        "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 · 6.119 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, 0.8055, 0.6132, -0.4, -0.0139, -0.0307, 0.9987, -0.0208, 1.0397, 0.4435, -0.0071, -0.0208, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.294 left_y=-0.0004 left_z=0.1769 left_yaw=-0.0016 left_pitch=-0.0233 left_roll=-0.0007 left_gripper=0.9987 right_x=0.3261 right_y=0.0005 right_z=0.1119 right_yaw=0.0048 right_pitch=-0.0354 right_roll=0.0028 right_gripper=0.9994\nstate[joint_eff]: [-0.0205, -1.7299, 7.2137, 1.8974, -0.0317, -0.0317, -0.0171, -0.1436, -3.3709, 6.9128, 1.9707, 0.0024, -0.0513, -0.0708]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 7 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8085, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5571, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0215 right_yaw=0.0085 right_pitch=-0.0735 right_roll=0.0058 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7949, -0.0366, -0.0415, -0.0122, -0.294, -5.2581, 4.7932, 1.9805, -0.0366, -0.0513, -0.0122]",
      "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, 0.8124, 0.6132, -0.4202, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5568, -0.0242, -0.0162, 0.7389]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0016 left_pitch=-0.0504 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0214 right_yaw=0.0106 right_pitch=-0.0739 right_roll=0.0027 right_gripper=0.7389\nstate[joint_eff]: [-0.3214, -1.4701, 7.0085, 1.7998, -0.0464, -0.0415, -0.0122, -0.1983, -4.7932, 4.7111, 1.663, -0.0366, -0.0317, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:62d037b0c56ca70208f17d6028f6dffc8f5d917c7ff97b6d509eca9d72b15d94",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4c9c9f05849eb5c9cfd446304cd9270b787afb0e7ebfa4250591593199b891d4",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6b14e5550dd8dae01d080a85633ba187d557dcee03b3f3e6660560664c24508b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS6AwKEAgSGAI4AUIIdGhpbmtpbmcSDFDezN7ennsJ00vOrhoMvcn7jAmI3M+z1AqKIjCWjbKQwXqS0IYjqqSSEiWe/LleAJmhIU0hijVhxgnmOzrEFuLy+O+sFXiQxsVLq7oqhQxTRhB9qos/wvORs6BLrkSLvfPj8evbSsG19aJaMluoZeH1Ogfsky57tpH9mOU8+hq9sTQ67+OD9REKSuHaoTupcQJyMMwneAWmzF9ld28/aWhXfpbWwK32U89e4dCqecMH9SwkYFMoFVvny61S4hsQtOoUYknlGPTMYsqD8IukT5wduOCHUi/blbge1qL5tTG1iaiQdUwei4uHfAfxnPmECuA6cVtdol7jPBoj4mWyuq6OLmjHiMRxsGw7KR4ybmjztZ3+ra/+qqGjZoAhKaTuK8MFCM+4U17kAvzeqQ4Cida5rZ5GCX2KYZv2y+2HKnXh9LKI8IAnbxPjZwWgWODD897wdoPUN7rWKFp3C5ljfLxfGymOeT8hYHVouAt0V1tyIVA575TQruhQEVit2EY2kAC7Egq7/GIyl0P+yFHLY1qxOnDoJkqc7bYBkTcToOz+CVJ7vejYQ5Rl0yHAcbGVdAc/XrAaIOAuxVDEbEZvVTK/IoFHNDS5qmDP3WXGTLSyIRYRrBjwUf5ksx4BX+Lkug0buT5sDf3TGb5xuznoW7o7gymWiwrvvuM+y5Pjq2G5mfKgnxqzP/vvphTadGklndFZOzcBOVeBD12UPh71pL3usYVhWuLGIQfzag7QTBeMQtNj/wvS0dB9FWmHF/IA+ue0BF00LoNVx5lS3FJONR7pH5N1KuF0z+j9kQtkEFsmMzUG6VFbqTmrSL4cBBfV5ayx7NyscUmcc0GD7KsBTlZEkxBLB1r6MHUpsb/S8P0gg4TCWrlL0qXqt33Eqfp3IPWUtvCqpcAeJxP+/DuyueiAUOxzLioFgRpVpgNdEmJzjKpbf6EpTwEBFSKy8HaTwRH0jqmNzIVtbOujs7BBktt5xVFmrWs0MVtfAJ1soCHUiqZG6zisiTYfJCYm/PjLvJhHhHd5EQmjv3q5GDStuN6XBb2VgZ0uhGHbr57KJVJW9/FMHBCmv9WQarmmaeXa3fHRAI7hobW5gvd/cniwJx1/e7dCCgEaMEeEMkUw2IxirYfRYOO2oJ0FqQSIm8+L9xPWArAoFO3Vi1/yl8U3m9leDWlq3EFvp+7ZWl4jML2dRniLV003MWmMiBWHnxTmCaam/FP/gBY5m9RkFYUSzr/Py1cOHPc9HkifhkltmJ68pdgl2JfRyB5CJ+k5A+zgLdPdhwYdZbDK4wFh1bamlSYqdRdRkN499qAek2nEsw7gQwab7+CARd37K5qrNz46+bu5yPHTiVmbMXFOjafz3A6ZY3L7saTHGrldZ1JU4GQWyigD3cGFG+UrFpV7y0uPkxyFObHzb48r7JyZ1xAvkCmQflULvSpKYqcacs88rbDR7VTYm/Tyjv5sXjZBWLMVdG8zl/mF3o1qpHYbR4mpQDafHmRbhq0hx8U0FGvdjER1kabVwbJJTm8cpZHjLq7uii8a8mE9GCHRqHMU5SNiD1BPYCdBzaqgpV72+eFJ3nX55cLt+2wesa6PvDz6h2oqopjbJYZe6ejSmSW9pc/lB+VFmae6h3H/wiD1I37XePCC2JNBE/PStIda/5IgLb4RQOAq96BVuJsdbZiD0UbitHRcvn2pOZ+y0Do3MOtvzwu5rzD4aGEaBY0TVciR9AMVSWbitmuacgT10WVZLom4C+VeuDzO7rwOTiW0qoVk6rrJZNzfw3VHJy0jQtcQPl9Qnh82/yKuUbX1oTe+bZtLoYtnUR1cx/pW2zksqZg02ZjkXUI+DWn1+Iv9TrGgg1Y5yMxLvynihCyBYzkDA2ZNjsZvsLijKtPMNHH2hFhCRfcQEIuDNjFgRvmGoOyfSrdIpRP0CjJplLdJovgwi0AeNJoS3zP3UwT3h7mKm7UrYp0R9HUPH9CgnYDIhZa+JrtVedRQrfQAH5RCylClgtOSTgioT4nvYXza35hEwYhYufqTioiED8olP2x0Co/S89H2djFBCneFwNdhtUD8gMMAp1sHXdBLhM5Cz0RHRoyqijYxqT+ShgN74bx3CdRLdq8/1CDv4TOZj3vTr21oTGV5waEuXY3qEhRRmjolLMOdeIFvxb3DBBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01G9KPaNaJK3segrHec8EuYS",
      "input": {
        "note": "Pear grasped (gripper settled at 0.74 ≈ 7 cm). Lifting and carrying toward the blue bowl, which sits ahead and slightly left of the right arm.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.08,
          "right_z": 0.2
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01G9KPaNaJK3segrHec8EuYS",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.424, -0.0139, -0.0311, 0.9987, 0.239, 1.5459, 1.1603, -0.3229, 0.1635, 0.1139, 0.7431]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4419 right_y=0.0818 right_z=0.1805 right_yaw=0.0399 right_pitch=-0.1296 right_roll=-0.0178 right_gripper=0.7431\nstate[joint_eff]: [-0.3077, -1.5111, 7.0359, 1.7216, -0.0562, -0.0757, -0.0122, -0.1573, -7.665, 9.1966, 1.8388, 0.2271, 0.2369, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d31ac9aca2aa413e6f37c0330160738e837b02e7faf15a79314aa42d45502b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dac281c0f028fa4ec6b70c419862044cf410245d94cad91de73acc42382daf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:34056c3b3fa2b288d731f08eac55ad782431707bfcc069225d0d0b3659f89224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /messages · status 200 · 5.301 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, 0.8085, 0.6132, -0.4084, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5571, -0.0242, -0.0124, 0.9994]\nstate[eef_state]: left_x=0.293 left_y=-0.0004 left_z=0.1744 left_yaw=-0.0016 left_pitch=-0.0347 left_roll=-0.0005 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0215 right_yaw=0.0085 right_pitch=-0.0735 right_roll=0.0058 right_gripper=0.9994\nstate[joint_eff]: [-0.0479, -1.5795, 7.0496, 1.7949, -0.0366, -0.0415, -0.0122, -0.294, -5.2581, 4.7932, 1.9805, -0.0366, -0.0513, -0.0122]",
      "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, 0.8124, 0.6132, -0.4202, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5568, -0.0242, -0.0162, 0.7389]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0016 left_pitch=-0.0504 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0214 right_yaw=0.0106 right_pitch=-0.0739 right_roll=0.0027 right_gripper=0.7389\nstate[joint_eff]: [-0.3214, -1.4701, 7.0085, 1.7998, -0.0464, -0.0415, -0.0122, -0.1983, -4.7932, 4.7111, 1.663, -0.0366, -0.0317, 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, 0.8143, 0.6132, -0.424, -0.0139, -0.0311, 0.9987, 0.239, 1.5459, 1.1603, -0.3229, 0.1635, 0.1139, 0.7431]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4419 right_y=0.0818 right_z=0.1805 right_yaw=0.0399 right_pitch=-0.1296 right_roll=-0.0178 right_gripper=0.7431\nstate[joint_eff]: [-0.3077, -1.5111, 7.0359, 1.7216, -0.0562, -0.0757, -0.0122, -0.1573, -7.665, 9.1966, 1.8388, 0.2271, 0.2369, 1.0281]\napprover: 7 step(s) modified (delta_clamped ×7).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19d31ac9aca2aa413e6f37c0330160738e837b02e7faf15a79314aa42d45502b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1dac281c0f028fa4ec6b70c419862044cf410245d94cad91de73acc42382daf8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 33):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:34056c3b3fa2b288d731f08eac55ad782431707bfcc069225d0d0b3659f89224",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqQoKEAgSGAI4AUIIdGhpbmtpbmcSDI4EbAPu+AFi9JR6mxoM+N98ylOo099hwM2GIjAgQf+rsSRFgER3CI5qZBhyKRCpFB7g2oauui8ki+7zjPQ6TxW/dELpAsGQnZYwhBwqxgnDguQ4SK9w7HmLuCrbSP7+spLCnt84d5uVoum0lhJxsblERFOPUcn1tIzSsWc/nrqFvuI9QBi35Wwmj5UK6AFTlFUn0076Decijff3mqYNBh/r4g2RQlaGuddOJFnKsqMOZZIYGtTljvbgfa9eas/8TuQA01JUfCf854E1DRq9U6wThsHam0zmQar8Zj41gSEenac+0XuPej6jpFaV6aze17VlRuxydy3V6lIl06PCzD4ttFfcKxP7DflMp2eyfj9xwCrj2yEYOocGuWBJqRtc26pmmuyngF+wCoh1R8niifg1bQ45i8MhqpUCRqA4oGiHVLwCPV3STDvS0xRZZmyJUHFMA9AdweCfNGNPRDgssNdG0+3F0GQbNyeE2Uxd30/3fwH54+Wo0bm8H3ZC56przOsk69/ggGZR5GmWtXsSRN+gNj18Zf5pag4fwtWcQq8hEXWkUrxhmkoxtS1W6yzqOTgNbDFUEigh6hz9koSHueQAawKDmx+WS8oFV8RxSksK6beGpDLwx/dP8MHhK53Dq9hNemsr0Wvd3fuwa2jxEGHqP8iGHkN+QVF5iU/fFBs6DubYofay0FXhXiKe0UCSQb0Cpb52Aj3EuI3HsX/iLZNzs0GhdTT3eF6puNb7D4qdqqfDbTKwtbD2wReT96ggHTp+/roGdIaUtvHxJmlOL2x00iZ65LGtS6vfxbP3UiqyrW9XBIbRITqNplnBPRxJQf6YFiJgaVx8UZqXvKHv0IzOafDFKQCXohy7+ACnKv/xjuxwjlJfaAwt1KDAO2Dt64xg7qcCz9XSU3eOZbzLJbhGwRH45uAnF5TpK1NnzrRPrXzD/iOVMFbrtGrm0Yj6RjFZoxkQbU13+zEavuyVLU4LmZyw6yMswpy6erTc1OwFP/Fn/Ix5Ick6OyT7b9a72ztwnTHecL6IA3o8FjYvV8ziYIAFPJ6yE9CNEPNscIKEG0P4SnA1bfFDxB1CR48/0F1IY+8QlgiPZDfE849yE4n6wRtovNQFgBknTWX9OsdcHdhPVgrZg7j5MNKd/vGV9Dui7vwDr+F/7FP1GUzTi2TI8aiBnbLR+Frx3MspQi/I6tjnwH704qG5IVJqst2jd1GRstdzXCWw0kj/Srdt9TDyfG0G/MDH1Q7BewNnyog2j4xHsh/IvXIfdXaM2wMoPzwh1N3dsRSeggCQMvlUuSygV1hVSzTLrlDyCnP6Fb2Ubp0bV3y/CBG32cpCbNV8Dxt/YBOK9CSZF1I2tceHd9mxuptEReqTrCstt2Iekk3VeiInsGrS3BbkJZGCZfnHt29Qf8wQxPJbklRUOiL5XhvSkh5CXQGPzH0GXRamy64X5sl1eoQ1m1fLziNybhmjF5GfTEj68t3m8qP+Tjz47PlVBfw/jsHr0cnkXse4gq4D69VTaLFaQ5Sn057RQ8hu4AqGnQxbKQpR33aiWlqoPYZ8lsgG7cFaD6X98U4FXoZqkZI66ER7Ze/2/0Qpn2KgYjHC0+avho+cbQHe9Ze981jJtz/qaq4CmCLjRfzNzCyyH6Eqb8LHvBbl7ZAUkF/s5NsKQfVCkzytxQ6eRQ25ztwkvfKuiuVHDMpvufcj9WtP/0u4GSkenZRy1StboZg40KhCltxTGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_014YrThpQs4r9CwdWm3aH7vc",
      "input": {
        "note": "In the overhead view the carried pear sits slightly right of the blue bowl; shifting left ~5 cm and lowering to get over the bowl.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.13,
          "right_z": 0.13
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_014YrThpQs4r9CwdWm3aH7vc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.1997, 0.7466]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0016 left_pitch=-0.0568 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.069 right_pitch=-0.1721 right_roll=-0.0312 right_gripper=0.7466\nstate[joint_eff]: [-0.294, -1.3607, 7.1863, 1.6728, -0.0708, -0.022, -0.0122, -0.4581, -7.788, 6.7487, 1.9072, 0.2906, 0.1392, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c0f61a4f628aa65b87d20cf570e7563fbec11c1b52988377c233485e8642ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f78c454216bf5c17efeefa20bf021d035c6c4f2712e8845bc2df9b6a668c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cd5e4f1b3abdfeb7d7f70e9e036b0d0f9a1ea6558f9ee603c4a53cbbef79fa3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /messages · status 200 · 6.238 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, 0.8124, 0.6132, -0.4202, -0.0139, -0.0307, 0.9987, -0.02, 1.5017, 0.3031, 0.5568, -0.0242, -0.0162, 0.7389]\nstate[eef_state]: left_x=0.2915 left_y=-0.0003 left_z=0.1709 left_yaw=-0.0016 left_pitch=-0.0504 left_roll=-0.0001 left_gripper=0.9987 right_x=0.3446 right_y=0.001 right_z=0.0214 right_yaw=0.0106 right_pitch=-0.0739 right_roll=0.0027 right_gripper=0.7389\nstate[joint_eff]: [-0.3214, -1.4701, 7.0085, 1.7998, -0.0464, -0.0415, -0.0122, -0.1983, -4.7932, 4.7111, 1.663, -0.0366, -0.0317, 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, 0.8143, 0.6132, -0.424, -0.0139, -0.0311, 0.9987, 0.239, 1.5459, 1.1603, -0.3229, 0.1635, 0.1139, 0.7431]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4419 right_y=0.0818 right_z=0.1805 right_yaw=0.0399 right_pitch=-0.1296 right_roll=-0.0178 right_gripper=0.7431\nstate[joint_eff]: [-0.3077, -1.5111, 7.0359, 1.7216, -0.0562, -0.0757, -0.0122, -0.1573, -7.665, 9.1966, 1.8388, 0.2271, 0.2369, 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, 0.8143, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.1997, 0.7466]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0016 left_pitch=-0.0568 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.069 right_pitch=-0.1721 right_roll=-0.0312 right_gripper=0.7466\nstate[joint_eff]: [-0.294, -1.3607, 7.1863, 1.6728, -0.0708, -0.022, -0.0122, -0.4581, -7.788, 6.7487, 1.9072, 0.2906, 0.1392, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c0f61a4f628aa65b87d20cf570e7563fbec11c1b52988377c233485e8642ba2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d0f78c454216bf5c17efeefa20bf021d035c6c4f2712e8845bc2df9b6a668c1a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 38):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cd5e4f1b3abdfeb7d7f70e9e036b0d0f9a1ea6558f9ee603c4a53cbbef79fa3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSogkKEAgSGAI4AUIIdGhpbmtpbmcSDDVlUdXLW7IxmN1/MBoMfNB7Gp/rK0ersuQGIjD68YLlLTS6UmSNkQ6eMowJEyJEXmpWyr14AA+3YIna+QOosqjD/wj60KDgNoa1//EqvwgIobKC05dOvpNOM51Z9P0UC/ygwHUGmGkXSGOrj6tsLXGbi+jlwgIF18NShd3g7oEswB12MWd60dMhT8JedTqk3tjn4apmLwhMuGLo5X7zVauIZa7MHVcq2rinHdwOFQiIvl4gsLeQg3mWABRvWxPG9CQhIxpxBXfyvMWU5q98ah7Cyz43LoDME0Kt0wI2ZCYea29Bows5eDYD//XAThkHaNIBH0thrNDlFOjAVga/VGX6uKsnYF/y+S1zEz9MaIHR7U26lwVQv6wpuOfyuyiv7E6oM6MdMZGsOaLeEGOQUdGjzliZVu0Lpgv/nX++vi8IfcxGb3IUkB70/ISMX3jCy0q/FGpiefsyP5heppgCt1KIx4+OdKxBLa7UNJMAc3yIf9AszyzGLuqcmpLdfXcYNtVnEtvCgIojFJ1hTow6INccBpjzkrcqQg+j+PXUh9EAs4BBY1hKp2Egm3wF1mcYboQTCMMdvsqdwbP8NJZ0uRh5tbX3wLK8/8A1JAfL4gwLChcxGoqbUZ5515EL1DZk5WQwW3xK19UCfwscJYlSrQrehtNqXmqjmLDTZFGYtNAo18P/6CoNgjEnujquIhmuuPfmrX411W4+RrDXTLTBCL/thyj+IDY8arLwpJ0gTi4N0BwqnQD7SxqhWT9mTF8KRGMY0YgbQnWIeccZV2AIxGsoFUtV804IW4pBc5JfmZK/w9hH2sBehUdap3C/tDJb7VZj94MpiNecgLoyxjU9cwtkQmUbyq273vOOQvtYBL8VYm/3i0OkgrU1B78B2fOVJlqaUh+KEZq6rV2uFv2Sbae1FIrBo5TGlZgS88IG++Ed0jIAw63nULi3rH2fRJ2qFxehsawNpeXvPwDkrAWlvefFtFM7HA/vw92PaRZpryKDuz5gOMjNZsL5RXa9eHPkPpo3dn0C4oVE9y/K1JQqO2Kih5O7t5N1umelW9Lle1BMKlUGBnJ4/cgPnvGssti2KT4tIChSrYxBQE1/4EWb7Oco/R1nl3I8PzDn/lAqqGUJpZCe06IF8z2Fu31r/OXE2OC7z8985Dh/Q5gMof4fsO55pf86n7Nm4LT6bHhm0UxARHWFY85nwgONOB2ewY5Ufy48KgAV91raRwMVhzgviLYHBx1wQIjUE+KE3QNxrKZM/jIJZLP+Xt8SzsF5bLHNwwOKctaEg2XYTRB6rtWiY+igqN5XtCLZUVm3BuntzTIBEnXjtms1zoEXd8w76KzQGcTgTZ0pxzio1/usk9p2c6mBzXrVzNsTLZCKKlRNueoO+HMjQU7grx9jSf0mz/UBoZ7/ZgXaVw+UEGlkDCKx4VGXvJeOD+GYpCcEYVLZxDMkYkWLWJRCw+IFEGzktEOE1EYPrgxbe4byEw72mO7CT9JfWWnmunYKe7DTrtImyYzlhLtOlsxv7ipkY7eFZ9xSnZZ4Xs4c1zX5Ol2cZwSVGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011nvFquooF6oTuPG7H7rFss",
      "input": {
        "note": "Wrist view shows the blue bowl directly behind/under the pear and the overhead view shows the pear over the bowl; lowering close to the rim before releasing.",
        "targets": {
          "right_x": 0.44,
          "right_z": 0.08
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_011nvFquooF6oTuPG7H7rFss",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.0889, -1.2103, 7.3231, 1.6923, -0.0366, -0.0611, -0.0122, -0.1436, -7.747, 7.0632, 1.9316, 0.3297, 0.105, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05fb6ef9d5de0d04ebc7969a1623c74d1faff5d070c770aa77a38266e6cbfd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37ebb3ac6d7afcb6c0b979dd75e1bfd02a0fc61eee7f4dca819104bb01fe40f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:4a99146b412314bba36f7ee9aa92d76492231b1f303dc0fa8397aab8b6b6a27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /messages · status 200 · 4.268 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, 0.8143, 0.6132, -0.424, -0.0139, -0.0311, 0.9987, 0.239, 1.5459, 1.1603, -0.3229, 0.1635, 0.1139, 0.7431]\nstate[eef_state]: left_x=0.2911 left_y=-0.0003 left_z=0.1697 left_yaw=-0.0014 left_pitch=-0.0561 left_roll=-0.0003 left_gripper=0.9987 right_x=0.4419 right_y=0.0818 right_z=0.1805 right_yaw=0.0399 right_pitch=-0.1296 right_roll=-0.0178 right_gripper=0.7431\nstate[joint_eff]: [-0.3077, -1.5111, 7.0359, 1.7216, -0.0562, -0.0757, -0.0122, -0.1573, -7.665, 9.1966, 1.8388, 0.2271, 0.2369, 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, 0.8143, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.1997, 0.7466]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0016 left_pitch=-0.0568 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.069 right_pitch=-0.1721 right_roll=-0.0312 right_gripper=0.7466\nstate[joint_eff]: [-0.294, -1.3607, 7.1863, 1.6728, -0.0708, -0.022, -0.0122, -0.4581, -7.788, 6.7487, 1.9072, 0.2906, 0.1392, 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, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.0889, -1.2103, 7.3231, 1.6923, -0.0366, -0.0611, -0.0122, -0.1436, -7.747, 7.0632, 1.9316, 0.3297, 0.105, 1.0281]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b05fb6ef9d5de0d04ebc7969a1623c74d1faff5d070c770aa77a38266e6cbfd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:37ebb3ac6d7afcb6c0b979dd75e1bfd02a0fc61eee7f4dca819104bb01fe40f3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 41):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4a99146b412314bba36f7ee9aa92d76492231b1f303dc0fa8397aab8b6b6a27d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlQkKEAgSGAI4AUIIdGhpbmtpbmcSDJZjCdl/nKqN72wHuRoMYXAfzpO7Az8OsK+DIjCaftHrsv+9NN++LDa7vDSjGfpDVA2nQ2cH/jsnZx7VHX5UNCEjAc7PqTLgRrk3CJ8qsgg9KdopMOh9Gf13S0kAhb+lKqDpLopvBlpuMWorO3Osr9EdYJQt+T5Uu85lq/UhLDZghNcBu9SZwbUH175//b2qNhdiEfWTNCFyttbH3hejvcSUeQvCjb9vyehBZ5N1PrZGvRu5QkHAZGDwVfMdKkhUNCgkg+/4TtMQPCUVrUZHg3p9ujvY3b+Q2N7hRaMG8jGXJRab60fT4QNaZJfJCX2I1LLEhbskWDgQNGTldJ78ojeJUIZRc0luA6NqpSmE6vplfvx4xTX729PAms3t3bfly3bKoDRCWmwEDhfSiPUYgR1RMRHBKSzUyQ4QZQUBj+qoInyTyhBdvUb4MgXC6fEmRxHfSxolzQOaokSbVmlxQBAtxXgl6bkJPCY3d6uOUv49HBMZV5McI8Ls+Iy9eeny3SHP+0orFYLh+HZgSeEdFB/U4vuV7CERnOHpUjBdzV4CX/r7fagVP7ZwC8Mf37SQtdolmNtAsxWqtEWVFkGROjN0zWPereATr7bVgXPnzD4J0uKJt8qj1cLCPylJJZ5B3m8nDIx7Xo4uZe0ZHb3gOX1vdhkOjhr031rEcgA0uv2u7NBmq4Bq+rrKW3k8UcHfPiIR0MuuaBGJCcF/MHmwXoNnX9bLl/CVqk1xC3B2CSVqRjRm9T754B4FG1sM9C5Q1V6S+KhvGZqdIQgWxbbxk1sNQitAp7LpsZokgQPmGcnjcla8tIFiYWsFdmCE0Y/95bN25P4CifmR8kLkgF2bEmlSYsK65eq/58A2GtSLd9b16PQqZpt+h2ii/bFDJqB7YLF3viy7H7yon0ByBJh+gMFwQ2C3xonTUCtaKvqpxr+PFBQOw8/8qplET8dYD0cAKHDx1SmfGYazYJZ7YXbRdC7hfioGJrvI7Yv7mFupZmTL0W49oIWxMSJH5XZwn/gi+3TCmFm3sTX+FZ2x/g/x8Zl7Jby+dL9HYVH+f4xYuUioN4erxYGQHbP+ri+PZy1RMHdzw7yRisHL/n04K3hCpPsHktQPnSROBpE8VB0dDUnUbYcKPbMrheYGoXnjTmiG8+/Jqb+Tac6xqHcQjsZXA2p0YX61XF+SklUAO24bS6fDoVKc25ZVHsjdkfDvd8eV6f+7FHNGobw5PFMgMBNSAELx1P+mU7TJbSwg+CPVjVOWQ5eB33anLlH5iKFu1XB9mJSdn/evlsz/s3JIzEOKIPCfoGGtoifN0O+bi+b5FeR3y9ggSjL0wDI7wViGrxVEcZD8J0lxWajw1eWieTshAmaFwbg6MPrnwl4N3iu0uR4rHhK2ppNdG8vGKN+BCoNOuW6doVwKKeSO2qtdN+Mdp0HYQX4d8R6HxexnqGwe6niQBbQINerd9jEsAibdN8DnJ46wxUSmGRdt5891mWv5fIGKyXk78g2c7rTpI3vcLuyELCQm73yTPHiJjScgr2PoogEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BV7T7X2xLb285iUMvkwVFK",
      "input": {
        "note": "The arm didn't descend (readback stuck at z 0.12), likely the pear resting on the near rim of the bowl. Raising slightly and moving forward to get over the bowl's centre.",
        "targets": {
          "right_x": 0.47,
          "right_y": 0.13,
          "right_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01BV7T7X2xLb285iUMvkwVFK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.1556, 7.0222, 1.6874, -0.0464, -0.0513, -0.0171, -0.3487, -7.7744, 6.5573, 1.8877, 0.3248, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:525c78412ca201e25bdf563fcf086ecf5113cbeb18d6fa1eed35da201d834228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6603dd765709f86271e3e090c4f0ea86dac302030a6559bba9c204cc019f2eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:836404df61bc6b01cde7e0062f1a5259e694ef083b361c9539cf2a73644550b6",
        "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 · 6.586 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, 0.8143, 0.6132, -0.4248, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.1997, 0.7466]\nstate[eef_state]: left_x=0.291 left_y=-0.0003 left_z=0.1695 left_yaw=-0.0016 left_pitch=-0.0568 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.069 right_pitch=-0.1721 right_roll=-0.0312 right_gripper=0.7466\nstate[joint_eff]: [-0.294, -1.3607, 7.1863, 1.6728, -0.0708, -0.022, -0.0122, -0.4581, -7.788, 6.7487, 1.9072, 0.2906, 0.1392, 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, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.0889, -1.2103, 7.3231, 1.6923, -0.0366, -0.0611, -0.0122, -0.1436, -7.747, 7.0632, 1.9316, 0.3297, 0.105, 1.0281]",
      "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, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.1556, 7.0222, 1.6874, -0.0464, -0.0513, -0.0171, -0.3487, -7.7744, 6.5573, 1.8877, 0.3248, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:525c78412ca201e25bdf563fcf086ecf5113cbeb18d6fa1eed35da201d834228",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6603dd765709f86271e3e090c4f0ea86dac302030a6559bba9c204cc019f2eb2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:836404df61bc6b01cde7e0062f1a5259e694ef083b361c9539cf2a73644550b6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSngcKEAgSGAI4AUIIdGhpbmtpbmcSDGos00JbC4e3LvfqXBoMc1CbFCOtmq7IjdBUIjCehc+cV0BxPtjKt9R4WWsrd+x0WZT6N2XJqzAMrjuSTL3K4vFPzgt91Kr5HffPhEAquwZESzhbcyCjjiJ9wlB/FFiHkmgPC/GaqiVOy5AotiX/aOvay+tYBsSR0sv2rwm2vxVNjbGdrTXwA3xGMzpJXz3sK8IZTxKIaw7owj45GZvvMOen7W1Mg8ME3vE0JJNvS0N8XwxrhSGHLABW5AsGMc6LchXb4FAk5tL63YKyRfNJExU6Ys2Efa7Ufdn89fu5wTwX81/b1c74HrjzvWgBDOsUFmL+kN0c3IUOJ0AZRj/PjAeOfYDc8/dwBobC5xaYOkqg3+uu+xeb2RSXGpg8u0QxfaKhsrosNExsNtjOk6+vcDCdaYLRxF0A+I0IF23uAMrI/d+eiH7VEvVlhQ+nLcOw3txS33Ub/S10al4rRIzrjsggHZPrAUUXDoeZMuMgSvBThd0Z0cSC16wSaEaqEtl4y6dWjzKL+0adsDQ46LfYraKxba2lgLfVzdqRQ22aDdPuqmX/asjGdpTHoTezrlVzz5piTmjc08UxP/8txpscUZSVJDEqnZKB3ndUFZA569UZ1ww9hUoY/pZpzrHRGXlEfu3sKqhqCzuTBlOUScoXutMy43xKW96NwcONu5OHEiD27j9xDerE6ZLZyQRtFmamOZ1RyvBCdK/z5gLhoOmdibC9BTNx4pu61l+Ne4ps1zIMN+5LSemqvqnbeHV+4dBcXsdm6mMcqeJ57vKgytDqEOyFpm2AnWkJr/Yanl761Cd5WfQqeW1wwbnTNl8biB7Tsv8Fr4T2xKeg2QR42PTf8XYXvL/LVeMdIGgPXYS0Efii4WcrpWE+R81AwZ9zGC9YBpvlnPDpRzel7DDJcpCOajJ2UJs2n0g4SJg6XDBAy5iOQvTRYBEJ2Qm8nstDDs9JYWec4rtf9gsc8RMlw7+jESM1FXt23boYf9KpI71ZnXL9DfbVpFkmuYecJDh4027hpMUBDhsanSsNU9Bq1JYLroN0+dGEmhm50gZYlmZVNq4nek4rmqUmPAZ2QbLz7X2OrcclqiArhBRjL1WSIYrW8igOmMnUKMitGstUD/KLwYMPlCqnHdyU60C3yfw2q8JHvFfv0qU/2M4vBV14lgJLnwn9YYxqi9y6u2wjctwduCTLHvi9r/Y+rIaKehgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GN52b4Jn3dvaEzv4LHjmEY",
      "input": {
        "note": "The right arm is frozen at the same joint positions for two moves; trying a different, easier target (back and up) to unstick the IK.",
        "targets": {
          "right_x": 0.4,
          "right_y": 0.12,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GN52b4Jn3dvaEzv4LHjmEY",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0675 right_pitch=-0.1721 right_roll=-0.0292 right_gripper=0.7473\nstate[joint_eff]: [-0.0479, -1.1556, 6.9949, 1.6679, -0.0513, -0.0513, -0.0122, -0.3487, -7.6239, 6.5709, 1.8974, 0.2613, 0.0904, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2165190344ea0dc29e0dd901eba8d61c3e0c2bc784727fe79b6fcf9cad908715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c98a866a6b3a6b9724f0b6f7f80035f7eb67a87efaa0510c836d039c52fb696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:380f45fabfae26af36da61e04c6bd68028b850b660ccaa146e0fc9d6d5386e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /messages · status 200 · 5.772 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, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.0889, -1.2103, 7.3231, 1.6923, -0.0366, -0.0611, -0.0122, -0.1436, -7.747, 7.0632, 1.9316, 0.3297, 0.105, 1.0281]",
      "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, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.1556, 7.0222, 1.6874, -0.0464, -0.0513, -0.0171, -0.3487, -7.7744, 6.5573, 1.8877, 0.3248, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 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, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0675 right_pitch=-0.1721 right_roll=-0.0292 right_gripper=0.7473\nstate[joint_eff]: [-0.0479, -1.1556, 6.9949, 1.6679, -0.0513, -0.0513, -0.0122, -0.3487, -7.6239, 6.5709, 1.8974, 0.2613, 0.0904, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2165190344ea0dc29e0dd901eba8d61c3e0c2bc784727fe79b6fcf9cad908715",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1c98a866a6b3a6b9724f0b6f7f80035f7eb67a87efaa0510c836d039c52fb696",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 49):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:380f45fabfae26af36da61e04c6bd68028b850b660ccaa146e0fc9d6d5386e13",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1QkKEAgSGAI4AUIIdGhpbmtpbmcSDLFIeqec5w4P8D2r7RoMcsv+cQdKNMhWPzzkIjD1x63Vw4UrFlj0Ehe0ppZmdKRTM7JJzFvss4Nt2ENcB87rFH6GBDTTorAag9kSvfsq8ggvysVU3xlyCtV7bYTaS1qMSo7kwoKpinyKB1XFL8bOUM6GHH6QWlvt1lCLtqYy+X6ZgpNJuje/OT8AexFYuRqPE30MessPlSm0O3SKIrW84TvXYhQuig4vzwUcQE1cvNW5r7OP1qdXc+gKwmD6RMSRs+m01FXst4BOP3Ez9Q86/FHp08QcDGQYWZPa8RxCItgn0VTHDE++6CZXufvhjQ3cJkwZEac9mHTdK3b9TrsKcYGiwCtNOj8l2O4V1VwKLjiagJ1QP4OhizjkHn+VszWy/wYiV2GlHNEX15eYNq5bjgTUEa0R6CsEBHMTkWK75s1/4cZWCMWOUwd5mO8lVshza/79txxDpnXo2QAKkUylqJHvPvhZ8kBjlEfu2EAia5jEWRNT66MTj517eShGTtUckctl1jgSlBNvus+XcL1mGp5e3MFVrOQelAFXt1IHqbOYTU7rfdvFDIO5a7xdZlKycIfwQt43Mb4EPhPvKG/Yr1WNc36+kh9Jk3XR7JZMjsUMnJnajlqwOKIszFS35m9xPTCC+WJEnxAA0GEtpXE3iXwjGWdBnAxCz4sgWvIbPNwi7cEKYu0PEVWdxUXQYYagyf8ol7Hhqpyvr0rR+UTx5UcP8YLt0cKlouieyql0ccoRIZvGb4p5H7Sjr6M9HgMK0G2NtzhEF+FNeHUMkp0B7VgZnnAlcEXKcWEVTuiNnxnLzUSuczDp72Y0LMWgim478bMKQt8yiTNsYF5owJ56atbUnKxn7CGbu5D8IXyT03qn2Pjm5wkJ+/lZctrmePJsPsKpuuU7zLGQn/xvbjwUun00PrJuoXuZm4bZfNmXJ74gabXohbmIhntd+WTxf8dtq7ukTNnFpYl3+70axFkPZSwfG3ZgdE1eDWty3llqKDyUj/3nzwPlh9S4f8CGF4gC56pKHnnG2VYQKcDrH1hfLGSAByJ7i3e3XyZdTw8/EKHiQrJLekPaBxdqHkozompPdLOmYqX7ltvgA68xYQcmrz7o3gzHPBCWd+5It3pwao7gxh1mYjGI3CZTDXs5DW751pLYfCZ1cLHE6/KUT1WxsWrlXwfrFrLlwbNET7BUvED/wbD+39fVK89DhNdcilMimLGKaf5CgU/CBavcqGNnod02d6wn43RL28lctohqwdrvYTxPTfbAs3xvH2PZ11AXzj6QngxhzOcoYV5kNedUnCHn1Ly2zFXpKN/e0Vwc5C6gLKOpVZv6eJcQCnD6+PQ8cUqeCRC+lzzwd7I8X5yeysxzxOLR1xuz1OhSRMiZipPcjLZdqU/I+1jWTVYhTdomoKSAb4brL9tBOvoH/tc2evYEHmGOpMRxsM8ibma67JcajKgPlNF4WssAjZROIhwJLLuBBgKCWH73MRVlDxhRBRhw+YhYdi+vdy3emnxlzyOEwZXlqKVWtO/C3vmuC553gsmKFdfmMStSD/MFC0AhwRuBLkJ8QxZvQKOAhRZ3fgapYfJhR1B9PlA67EDADmgWylm+j/4zaxDabZEGZ3WSzjzjGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01At8wzBkLkB7jYQTKK91MMc",
      "input": {
        "note": "The right arm isn't tracking position targets; the pear hangs over the near part of the blue bowl, so I'm releasing it here and will check whether it lands in the bowl.",
        "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_01At8wzBkLkB7jYQTKK91MMc",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0286, -0.1989, 0.2543, 0.1986, 0.9959]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4211 right_y=0.1321 right_z=0.1202 right_yaw=0.072 right_pitch=-0.1857 right_roll=-0.0338 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3333, 6.9949, 1.7021, -0.0366, -0.0366, -0.0122, -0.2256, -7.7197, 6.4479, 1.6484, 0.0757, -0.0317, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55826e70197f9c4732dbacb9fc9bba0bd3bbbfc5226baecdc4c35cb0be446418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53c07176f6d04870c00eced3df3ae88236b294d6a9ebf3a0c92c28bf17209cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:67c21fc60858d407aae4b11717ad219768e91176c7e887b7daca589e45aa7f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /messages · status 200 · 9.439 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, 0.8143, 0.6132, -0.4252, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2584, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1694 left_yaw=-0.0016 left_pitch=-0.0572 left_roll=-0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0672 right_pitch=-0.172 right_roll=-0.0295 right_gripper=0.7473\nstate[joint_eff]: [-0.1709, -1.1556, 7.0222, 1.6874, -0.0464, -0.0513, -0.0171, -0.3487, -7.7744, 6.5573, 1.8877, 0.3248, 0.0952, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0675 right_pitch=-0.1721 right_roll=-0.0292 right_gripper=0.7473\nstate[joint_eff]: [-0.0479, -1.1556, 6.9949, 1.6679, -0.0513, -0.0513, -0.0122, -0.3487, -7.6239, 6.5709, 1.8974, 0.2613, 0.0904, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0286, -0.1989, 0.2543, 0.1986, 0.9959]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4211 right_y=0.1321 right_z=0.1202 right_yaw=0.072 right_pitch=-0.1857 right_roll=-0.0338 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3333, 6.9949, 1.7021, -0.0366, -0.0366, -0.0122, -0.2256, -7.7197, 6.4479, 1.6484, 0.0757, -0.0317, -0.149]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:55826e70197f9c4732dbacb9fc9bba0bd3bbbfc5226baecdc4c35cb0be446418",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:53c07176f6d04870c00eced3df3ae88236b294d6a9ebf3a0c92c28bf17209cd5",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:67c21fc60858d407aae4b11717ad219768e91176c7e887b7daca589e45aa7f66",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDFSMxyeYEPcJswvW1hoMRacvCJSF2f5Dki6CIjC9v1Y99JR176ZwyJheZcLLtomsFNfkLTy0k1BYvH9TvXoMSEwPJk2niYWa4B/j49Eqswa0k8cCTMnqBjA+1VZEAUbf31UduOyn2GlTGBq3xdK2/Tnfqwm5V/nsd/EqiBY2v3amXvvBRv70ZBd+v9/PqCYU4KdFVJSpumpM2sRoPRM4QXILuTZhjo5PGMzMQ+FuQSB8rhCjHpgL9335k3Gdth0So3U1+txNxAEAPS6eiUw9X3W0R3aSIKkpd9T4eZ3IRBlOZ859a2fI/PF9xYn3a1g1GikIc37d/rmYVgIB2zJVrwDgy3i+hxzT7m9OFCqVRd60W2Om+ua3dFQkg1hKSQ2h8vI+V54ExIsjZbflsvZvy/TB7skIBOc5eSJqFRG728pPFaX29l9TW4xDqvisVsNXpR9GbNjI1xJOkgzYAyNSX6SJFfD/SHYLxREPkCJsY627XuWF0MeMDfrzBczRQKHdDShbSlNbtjsk23y7FftSnEIQGQ4nNNc/JFJHM/jpWj5WJrLrA+dxWQjR4rZ77GXFXJdD48P0xmzt2nSQYl5dEQWsXI3qyEStjQW8uVnmt/4O9tQ24lazNR0yQRH2aS79NUQePPUZtbwSLWNrcz6CBEMJKoXjJ3YSe+CQ6SqWYO7eQaxFEc4SlrZGKMWChanP+56WvyMhR8Jjn750NHoCQoHMZU7joczJShgxyh6wEWeWMVbzmRQv7TxxbeorM8q9OM8KehtqSM0DpjvNmeXVa9eX//XJNpUegohb5rilGUYmkv4nIwBX6jYC+jwig7+b30GhhRkfk0TGyhq2k4vInqQrmRTHq22fkDb+gHESRAZakUvffN95C73RTd5czoDwdrhiXFZ91YaSiaEe2qHAT1L5eneEeKKOqJ3318GbrGasfn9tVgsLimk5djM3W3beUZFmGvKJ1QpCJmSMI/juSKgC6+F8nEpwGEnf7XE7zHT/dBVwdmaPN0qT7BKLvFkILQ43RLDjGj7yb0IcCuyw8J/haaLxAiucyvyd8P6QBZajU4SX5RXdvxYmW9zNYD86UUgdm06R+B4xKOiBOUzsK56ui8g5PqnXICM6EC0JhF6oC2Tr6FHdAppoTzf9kkWZ5tJcq4pEtU2dOnsSunyCIImRlY/9rSjjzB4LpWToJ5EmFhEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GhM1mLPjaPrJc2LXkGiZMW",
      "input": {
        "note": "Pear dropped into the blue bowl (visible inside it in the wrist cam). Lifting the right arm away to go for the lemon.",
        "targets": {
          "right_x": 0.38,
          "right_y": 0.13,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 4 steps (0.4s)",
      "tool_use_id": "toolu_01GhM1mLPjaPrJc2LXkGiZMW",
      "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, 0.8146, 0.6132, -0.4301, -0.0139, -0.0307, 0.9987, 0.4419, 1.4494, 1.0496, -0.4011, 0.2691, 0.21, 0.9965]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1683 left_yaw=-0.0016 left_pitch=-0.0626 left_roll=0.0001 left_gripper=0.9987 right_x=0.3841 right_y=0.1338 right_z=0.1615 right_yaw=0.0977 right_pitch=-0.1974 right_roll=-0.041 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.1966, 7.2274, 1.7558, -0.0708, -0.0366, -0.0122, 0.0479, -6.8171, 9.347, 1.5995, 0.3248, 0.1685, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ba53cb85e64c0ff44b0463eb02dda35d916d6647bd63c193d7648e94f9e974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128d0d9466bfbe07c6206809ee91b1e3a7c16a7ea0b2a3c017377c273c10a6d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:84a3438dc09dfc8c645b7866d6c424ca615a0b8fec4db7ea36b34585cf67fcbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /messages · status 200 · 4.349 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, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0271, -0.1841, 0.2581, 0.2024, 0.7473]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4233 right_y=0.1322 right_z=0.1223 right_yaw=0.0675 right_pitch=-0.1721 right_roll=-0.0292 right_gripper=0.7473\nstate[joint_eff]: [-0.0479, -1.1556, 6.9949, 1.6679, -0.0513, -0.0513, -0.0122, -0.3487, -7.6239, 6.5709, 1.8974, 0.2613, 0.0904, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0286, -0.1989, 0.2543, 0.1986, 0.9959]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4211 right_y=0.1321 right_z=0.1202 right_yaw=0.072 right_pitch=-0.1857 right_roll=-0.0338 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3333, 6.9949, 1.7021, -0.0366, -0.0366, -0.0122, -0.2256, -7.7197, 6.4479, 1.6484, 0.0757, -0.0317, -0.149]\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, 0.8146, 0.6132, -0.4301, -0.0139, -0.0307, 0.9987, 0.4419, 1.4494, 1.0496, -0.4011, 0.2691, 0.21, 0.9965]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1683 left_yaw=-0.0016 left_pitch=-0.0626 left_roll=0.0001 left_gripper=0.9987 right_x=0.3841 right_y=0.1338 right_z=0.1615 right_yaw=0.0977 right_pitch=-0.1974 right_roll=-0.041 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.1966, 7.2274, 1.7558, -0.0708, -0.0366, -0.0122, 0.0479, -6.8171, 9.347, 1.5995, 0.3248, 0.1685, 0.0513]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:03ba53cb85e64c0ff44b0463eb02dda35d916d6647bd63c193d7648e94f9e974",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:128d0d9466bfbe07c6206809ee91b1e3a7c16a7ea0b2a3c017377c273c10a6d6",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 56):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:84a3438dc09dfc8c645b7866d6c424ca615a0b8fec4db7ea36b34585cf67fcbc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSqw0KEAgSGAI4AUIIdGhpbmtpbmcSDLMGrivro5AAJA91URoMuUmhwLCF6fPSbhTdIjAQz2YDYPSF2QDMy1ub+z0yGPK5fLdha4sUtIhghN3kDvujqeisN7GGYdNizQvPPAsqyAxBUYKBeJSFwYex01scGtPviWihByX7fpWsb7kTYNRulCoEn5s9culmAu1z60RQ2dT3vWucXwxpFCPzc+F6K3PsfoBBlL6DoWcZHSrZpEvg1VY8sh9mhNGOKCIysrIk13uBbasBGcA0lowUGrUtcKOT45XWAbJ0V3qEdLk80JUq0wCPaIzGYyo+P8nkvWBiQmWKdVF4csWte9xIzrpefDrhxWV9yrVpXf8bI0YjnH2AgxN2QrOxByautrZDQpfJITCq/mu/9Qk/Iu+H8nZdQMdwpURy3krBy/spnNZkwIknji6qh1fZKASJ4wl6zNM3noMdQztnlMMESiO311Dd7Gwou4/b9gZytx4K3i3lquncrHs1j41iB2+fOQ1TN/54TOGDTlhCYYPylHc53OMJo5cSXGqtjyNoC28YohowTSk3clSszHfg5njYK3euE50Fcg3ER1/i3+mRRVRQY+czxbncHlYFbKWFKcR2tWtWqrItoaivhP2/7nXAlVVLWRoKG3HukV+fz5JcSqfRfpv+t91CoQHmLGvmvJZpWq90t1/8xpGqmFeIjoi+J6ZEAZ8rshWSmcskseUqEREWLiJ+ObtcXxs9VwrrrxzuqMAPYOTmy7vFZ9alf0GF5OmSLKkzHWrnyPjUOlxcgUhwlt4r1+DoGK9W7SEY7ONmwieSMULCjjpgQMTuop6wAEI8yH60UlsbeLDIVHm9wkr+RJYt/7s8SzSvB94DU8DKnZJQkr4J1Z615OG2i0YNEaIhI3SXqYxpGLGah9kbfgMIoxGuRoIkn5jmlCmcxRYmS1/fA434t7zhv0s87FcpE06apAPXx5UBN5oOFrAUCa93uLZazKpiNUwG9iPxhWDaJHAZPSGW+B9SQqBJfA8ErAPkAbQ1dFLv7Ek9swDI7DXrto36Je2yV8XX13viVH9e/0f/0rR7hOTmzqm7TjVdYumia+85nai40PyFWdZqzFKN2MZMMrMb1LJGukz6Yas7wE0VdWaMQCz6+OLNX4Y6XpeLfHi4ijBqj8KnUuxcK9d382PLGInQDIdO+3It0Za/+EZC4BxJG9OzuUSY6R6SgjiRJ5VKVs1n8gU2i/c2Kah2MN0gTTkpuxGg7U7HxuYfNatX9a27Ug194Wqv5JQMcT9O/VCFe1XhwbMGnp2dUS9P2uX4hsPTLoIqV5dBmng54KwmHTCJcFUceR06vmcKC1kp3sjfW3jPRX+sJu55uXRMAVZFTJU1w5M3oUsPPJoD9U8Avc5cKVV6g/y56qVobvU/tJ2/IzDWN3ZIV56NejvvHvimO/U/EnXjE3G0KcUOHPj0CpUEb2oLm+SDNoDCCw+hsGdgoqr0qDQaYzDLxksQ3SL7xzvKWzrCIqJBy5FFM2QiC7Hj8+REW1c1PJbsu0N6mPqgKIt+BVuDKRhdRqpNe1xcyGiq5cEfa4TkDBZ1ay74D92gY9caGf15c6pzqNHHtGSOPXmDeuL6ip6WFe487P+/nI5kiI/9q2toHHvkwmtKUNrnhIWrQLGEqifGYlacwk9E1T7T5JDqlew7Dx8KdA2IamG9A+3aRRqv/lt3rsibhJ4lHp2+pNXp5GQu+WtzdFrXJ3YXe6RGTOOj+7FPfnmYWTG8kPs5ZTbm4c6YV0fJd5Alp29jTh6K59pW0VJJqUxCoWM6kNrOH33g8EED+kjTy7gtzWxDZZi6U/KqtaohICBTsveDhwe4b4FWP0SeiT/srN/6ZkIA/ps6PKYPEX6WGB4xwUlymtwBs7UqGUsrcBbWByaAaKiIGuoi13J4KNWmxDb0iiokaOeqYalY25kKa3PMMj6ZhsqBAzQZm1ngIAOUO7TVkdXS+lmtUZ2z7NgF/RNu0RnQKTnQbkuJPeaOvljrl+OEyiIQB/vl7eYrj/F4G+H2vU5KhkX2k+tiUIKS16arXkaGkziwY5B2R9pd7B+qWJkAdX/B5lhLqzuH1bRF9NrMg3HidPqKBtZM6VWgpIqUyPGDuvXcwXPRjUSrsPd9Nc69HeooBNPJpm7dur/jqWksrGQYuDFP7t7zqNXf+VfFyAFlqe7d19t9w88gGVHvirEApQwFrGUT2anlyP6/HQHy+JkxZ0fV08kUuCqypaz9gFdy1+GjF4FA5MXpPvx3z4sHNBaoYoEYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01GZpxtSZcAr6qc4aYyrrJiK",
      "input": {
        "note": "Pear is now sitting in the blue bowl. The lemon is left of the bowl and nearer the base; moving the right arm above it.",
        "targets": {
          "right_x": 0.36,
          "right_y": 0.21,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 7 steps (0.7s)",
      "tool_use_id": "toolu_01GZpxtSZcAr6qc4aYyrrJiK",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.432, -0.0139, -0.0307, 0.9987, 0.7162, 1.6314, 1.0065, -0.318, 0.4721, 0.4641, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0016 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9987 right_x=0.3547 right_y=0.207 right_z=0.097 right_yaw=0.055 right_pitch=-0.2389 right_roll=-0.0666 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4017, 7.0222, 1.6728, -0.0415, -0.0464, -0.0122, 0.1983, -7.1726, 7.2547, 1.3407, 0.4127, 0.1245, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528e4c7db6fcef8f2a0c97230572a6399d98e54805980bac4cc0a19c3f64c028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f29be14271c6776957b5220db6c5a2e2745e93c565d6f7ebe44dc5abc078ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:00d2ff116ad2c02041c3bf8331de578d3163b409d5244dc26709787f2a88ceb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /messages · status 200 · 3.315 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 28 changed as sent

message 31 changed as sent

message 34 changed as sent

message 28 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8143, 0.6132, -0.4255, -0.0139, -0.0307, 0.9987, 0.3965, 1.6142, 1.0286, -0.1989, 0.2543, 0.1986, 0.9959]\nstate[eef_state]: left_x=0.2909 left_y=-0.0003 left_z=0.1693 left_yaw=-0.0016 left_pitch=-0.0576 left_roll=0.0 left_gripper=0.9987 right_x=0.4211 right_y=0.1321 right_z=0.1202 right_yaw=0.072 right_pitch=-0.1857 right_roll=-0.0338 right_gripper=0.9959\nstate[joint_eff]: [-0.1983, -1.3333, 6.9949, 1.7021, -0.0366, -0.0366, -0.0122, -0.2256, -7.7197, 6.4479, 1.6484, 0.0757, -0.0317, -0.149]\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, 0.8146, 0.6132, -0.4301, -0.0139, -0.0307, 0.9987, 0.4419, 1.4494, 1.0496, -0.4011, 0.2691, 0.21, 0.9965]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1683 left_yaw=-0.0016 left_pitch=-0.0626 left_roll=0.0001 left_gripper=0.9987 right_x=0.3841 right_y=0.1338 right_z=0.1615 right_yaw=0.0977 right_pitch=-0.1974 right_roll=-0.041 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.1966, 7.2274, 1.7558, -0.0708, -0.0366, -0.0122, 0.0479, -6.8171, 9.347, 1.5995, 0.3248, 0.1685, 0.0513]",
      "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, 0.8154, 0.6132, -0.432, -0.0139, -0.0307, 0.9987, 0.7162, 1.6314, 1.0065, -0.318, 0.4721, 0.4641, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0016 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9987 right_x=0.3547 right_y=0.207 right_z=0.097 right_yaw=0.055 right_pitch=-0.2389 right_roll=-0.0666 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4017, 7.0222, 1.6728, -0.0415, -0.0464, -0.0122, 0.1983, -7.1726, 7.2547, 1.3407, 0.4127, 0.1245, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:528e4c7db6fcef8f2a0c97230572a6399d98e54805980bac4cc0a19c3f64c028",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a8f29be14271c6776957b5220db6c5a2e2745e93c565d6f7ebe44dc5abc078ac",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:00d2ff116ad2c02041c3bf8331de578d3163b409d5244dc26709787f2a88ceb8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSkQgKEAgSGAI4AUIIdGhpbmtpbmcSDCGvvcWRmrfHV5y0ehoMPGd69doXf3BFlDBQIjAPoCOeoY8lyWvODo3OeOkFPuQsWNCS7BKwFPa6/9tMbDTJqk8YBO8HNId6njq+aK8qrgcymDDzsLWl25FY4a+98TGxAOkvtJd8NGxWIOVXvnPt2bqHPHflIz6nZ4ZXXU/No8cjklg9gn93oKm2y3gxoAZ/1H/on9QNZ2Z4SACEjg6jdF4rvBDRaczVQFXY+RZbZw79v268kw0opZS5qeWAUJu/OlXIatD9toSBsVSGAKrLRPVuKcKJshSQlIJhOUfFZY3lFyak+GnqbebId3sgOGCA3WdMd2roEOwA1lQFPH2FYSZ++CPNN5q2KVVR2cBdD4g42+VyePeIs1zEUoLPcM2Mn4DkGoqwsX+r97U2yNw+N7HhUKi7w5lonPr0zhExOfgVapwC/kJhzW1QZfAmdbleNGxh8OB3gAiH8Udve6CpM6gYFUS2J7PyiuB9YJZOe5EEBt/1aesr8QnqcX+8dC9eYdxyuv/ULol1iqrAZXCjU534HmYzFCmk355OXhCc8GpfaAPvoFWzt7DTW8UeZqNmaXxGkeHsOXRwYCb+rURrLZ6LU16PkRIeKVbzXOGV+O9ODIU+j6/0W8q5TEhf7UDFa7yyligng9e8xdw/JgozHQRUUOMIDjyQO+wRMEhJC5f0l+9L496TDVLJfhNebaZLMmRk5JdVB7ea7U2wONfnK5iiXTNaVA1iKDUc+EetF6EY20H/nBHdLoTLYXPlKy1PeRBrqRlDW3gvlXLIQMvzdI7vd1J+ZxNNad9JIhS1ZWQ8LTP8le+cfP0vMdbMaN09AuLyWpWvJfs/gocrKq13ay4ioMlc2N0gBGhJPGCt5yBWlndXSN2xIe9hN9n4r8wW2bQmUXvEGMV6X2l/5ywGIGza0fiPrkgzjkqUkAcqED5kbAA7NxS+HOYWO+1r0tdXya3LmrErzj+S7GFEs4c6uy2OfDBU1wr3O+dY8CEz7uXpNR3s5dyIcfBGMcuBcDjWf6/WbkrfJTpyQxqYlPIrZViSUd1aZR0L3tVpvL8GeW+wqS9VXc7Hdda/HPuLXC6PAwKlVIDPfoXTHQA7xa8YqBhgmDzdM5ch38mfRUkibkuuWDUGb8E36PGV2N3txkwm5Ru3e6YymrYaf1N6BwUG4PfR596OSnsp39mmLU30eIZH4KRx871DccgaFw04m+WM+cNTr+HiCvLzu0tISayTM53unhRhmpJauvbDJhAV0I2DaO66Rv4uizi94Pl/Kg6BtMaxsUG++tCqb1emwVnCsDEPo82WIC4NxTVMD0S/BdXLf9sIEPTtNWGf20E1OT/BJHz8PR7qLoK/I/HViFcYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MWnYmvxHtp3uMsLiJmpbaJ",
      "input": {
        "note": "Lemon is just ahead and slightly left of the jaw column, long axis radial so the jaws will close across it; advancing a bit and descending to grasp.",
        "targets": {
          "right_x": 0.375,
          "right_y": 0.215,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01MWnYmvxHtp3uMsLiJmpbaJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4355, -0.0139, -0.0307, 0.9987, 0.6971, 1.861, 0.9356, -0.0612, 0.4553, 0.4519, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0016 left_pitch=-0.0687 left_roll=0.0002 left_gripper=0.9987 right_x=0.3673 right_y=0.2109 right_z=0.0146 right_yaw=0.048 right_pitch=-0.2827 right_roll=-0.0915 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122, -0.335, -8.7316, 4.3419, 1.4188, 0.2173, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e056d92e88c986b687e9fa449df7ec5bbc5d22212d862bdafa6fdc972106f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a58bb34dec6622a237960666522dc93f37d29b3ad780a3b01e2e9d76fe6193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:7a0fed2c30a58b7f6852f7ab7aaf8c833d8e56c9e3ab919fd366b560b0d11755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /messages · status 200 · 4.521 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, 0.8146, 0.6132, -0.4301, -0.0139, -0.0307, 0.9987, 0.4419, 1.4494, 1.0496, -0.4011, 0.2691, 0.21, 0.9965]\nstate[eef_state]: left_x=0.2902 left_y=-0.0003 left_z=0.1683 left_yaw=-0.0016 left_pitch=-0.0626 left_roll=0.0001 left_gripper=0.9987 right_x=0.3841 right_y=0.1338 right_z=0.1615 right_yaw=0.0977 right_pitch=-0.1974 right_roll=-0.041 right_gripper=0.9965\nstate[joint_eff]: [-0.1573, -1.1966, 7.2274, 1.7558, -0.0708, -0.0366, -0.0122, 0.0479, -6.8171, 9.347, 1.5995, 0.3248, 0.1685, 0.0513]",
      "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, 0.8154, 0.6132, -0.432, -0.0139, -0.0307, 0.9987, 0.7162, 1.6314, 1.0065, -0.318, 0.4721, 0.4641, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0016 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9987 right_x=0.3547 right_y=0.207 right_z=0.097 right_yaw=0.055 right_pitch=-0.2389 right_roll=-0.0666 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4017, 7.0222, 1.6728, -0.0415, -0.0464, -0.0122, 0.1983, -7.1726, 7.2547, 1.3407, 0.4127, 0.1245, -0.0073]",
      "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, 0.8154, 0.6132, -0.4355, -0.0139, -0.0307, 0.9987, 0.6971, 1.861, 0.9356, -0.0612, 0.4553, 0.4519, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0016 left_pitch=-0.0687 left_roll=0.0002 left_gripper=0.9987 right_x=0.3673 right_y=0.2109 right_z=0.0146 right_yaw=0.048 right_pitch=-0.2827 right_roll=-0.0915 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122, -0.335, -8.7316, 4.3419, 1.4188, 0.2173, -0.0659, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0e056d92e88c986b687e9fa449df7ec5bbc5d22212d862bdafa6fdc972106f0a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:35a58bb34dec6622a237960666522dc93f37d29b3ad780a3b01e2e9d76fe6193",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7a0fed2c30a58b7f6852f7ab7aaf8c833d8e56c9e3ab919fd366b560b0d11755",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon between jaws, closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BzMmtwaPeEKV5TDcuhcBsG",
      "input": {
        "note": "Lemon is centred between the jaws at table level; closing.",
        "targets": {
          "right_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01BzMmtwaPeEKV5TDcuhcBsG",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8154, 0.6132, -0.4419, -0.0139, -0.0307, 0.9987, 0.6971, 1.8797, 0.9241, -0.0566, 0.448, 0.445, 0.4957]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0016 left_pitch=-0.0751 left_roll=0.0004 left_gripper=0.9987 right_x=0.3628 right_y=0.2087 right_z=0.0037 right_yaw=0.0526 right_pitch=-0.3071 right_roll=-0.1072 right_gripper=0.4957\nstate[joint_eff]: [-0.0479, -1.3333, 7.0496, 1.7509, -0.0317, -0.0464, -0.0122, -0.0479, -10.2222, 6.2017, 1.2039, 0.2369, 0.0024, 0.9695]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11ccb3217d8d2092e464a2e7e3d38d2a5df0df795f1869f697c9fe8d6d037ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d920ce0319e398335043bb4668794ebbb5c666b261041042bd93f2cbe90c1d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:544b74479a83224f7c75acc0f6e0af5f9c63de20a4d0c61b8ca304de350fe947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /messages · status 200 · 3.325 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, 0.8154, 0.6132, -0.432, -0.0139, -0.0307, 0.9987, 0.7162, 1.6314, 1.0065, -0.318, 0.4721, 0.4641, 0.9966]\nstate[eef_state]: left_x=0.29 left_y=-0.0003 left_z=0.1677 left_yaw=-0.0016 left_pitch=-0.0652 left_roll=0.0002 left_gripper=0.9987 right_x=0.3547 right_y=0.207 right_z=0.097 right_yaw=0.055 right_pitch=-0.2389 right_roll=-0.0666 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.4017, 7.0222, 1.6728, -0.0415, -0.0464, -0.0122, 0.1983, -7.1726, 7.2547, 1.3407, 0.4127, 0.1245, -0.0073]",
      "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, 0.8154, 0.6132, -0.4355, -0.0139, -0.0307, 0.9987, 0.6971, 1.861, 0.9356, -0.0612, 0.4553, 0.4519, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0016 left_pitch=-0.0687 left_roll=0.0002 left_gripper=0.9987 right_x=0.3673 right_y=0.2109 right_z=0.0146 right_yaw=0.048 right_pitch=-0.2827 right_roll=-0.0915 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122, -0.335, -8.7316, 4.3419, 1.4188, 0.2173, -0.0659, -0.0171]",
      "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, 0.8154, 0.6132, -0.4419, -0.0139, -0.0307, 0.9987, 0.6971, 1.8797, 0.9241, -0.0566, 0.448, 0.445, 0.4957]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0016 left_pitch=-0.0751 left_roll=0.0004 left_gripper=0.9987 right_x=0.3628 right_y=0.2087 right_z=0.0037 right_yaw=0.0526 right_pitch=-0.3071 right_roll=-0.1072 right_gripper=0.4957\nstate[joint_eff]: [-0.0479, -1.3333, 7.0496, 1.7509, -0.0317, -0.0464, -0.0122, -0.0479, -10.2222, 6.2017, 1.2039, 0.2369, 0.0024, 0.9695]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:11ccb3217d8d2092e464a2e7e3d38d2a5df0df795f1869f697c9fe8d6d037ae9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d920ce0319e398335043bb4668794ebbb5c666b261041042bd93f2cbe90c1d09",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 79):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:544b74479a83224f7c75acc0f6e0af5f9c63de20a4d0c61b8ca304de350fe947",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS/wcKEAgSGAI4AUIIdGhpbmtpbmcSDJ7YM5Hq/+tNaXx/DhoMn34UH5IeEFT1srDJIjDFnk4MEVzKMFwCe8X/OoAIcZgFAJM4upM9Yj1A/80l4vuggMRssrfahkS4NTq7q0AqnAcmtlSgujwaup/UExDAZ1C7p4XxcdtOUGU/Dgk4gq6xrOxFMgp7RPJL8OddW4YFg1yHyu8ofXCDS0/TiVqs0SySH5BP83MtGgUpwEkr4aIIy+7cRVrPWCMetErpRSLfnQ6jzekkwVhXMAXYRbnQBLjgml6/aHGb4tG2Bq/NST3iwRsTeq8subSNJpsVCc7pESlMg1ulxuw1vrbs+NPjI3jogQmt49cYDXCf0nxCjs++hJ8k3UEB6AVyYYwj2HDV8FUz8tbG5TNcI24AqlZjPjSd95vK9hU0sbM67pklg7Avt8/Ac6xRgXqX+8Q7++WEW9qVcLQ5d9Jv2BSA5oD5kTT16UgW3Sc3K+aZ+aza50sY9L9nF6NH4sb69LTuIqjqBbsCycq9U9wTQ5RyXomY7x1x7gWbgt0kb98LwmAu3ZG2P1VraYvRIqbNs1utZvpsNqbjN9xyiWJBf4JPdirzkGpCy3AevMXEUztj8NqQTL7mdZ0oGh+naLDym7Q1gKwWBbr/uDAmbDPzpMXMoQWPHwmftyguxAZSDs4zgdKC9JOy4gAesz9pJDbyoyyXo9beFdA9tngi7kBj7jAr5NGpxYmlUizITyhczfPawAZf/OMtHqQ8Ph0OMtOqXVKSjBYlYWg7+wyVl2RJEmAJsFkrVOVClCXT5HnZLOotUkN+eGoI5+S1HRSeqg1bj+I9AV6MzVW9ixKF2+frttpA0XFj7F6aOE+6pDhvZbXGmYNPV8Tt9wraNXwhXcWvd26tUvHrMO51enkrNSnqatAW2QYaimJzt9pbTzRGFI4+U3Yc/OcsocDwZlD3gv+BSwgeQAf40IyIkVd85v03ptzVt6eJ4CjtJDP0SLVri++6ZXFsvdUjuR5lIIWm9+OPnJdhMHQwYJdyO+JxNX8eU56tQlM6I0k1nVAFk5XZF/2SaoTPkkj/b6rXsljZ1STgigKZ5o+swQyt308AMzlKsNJ8y/4JvAEKymTMUqap+UBijYeDOukrQHIzwDCyW7CqQUCxgdC2fhd0HCBtrptDmkZ80ZONSnXax68mc4Bys+5NxxweRit39IB1+mxjbtU6fZj5QwHWqgeSGzlurGKECfs4wAKvQltOiG5KVfzilfyMcEDovRVyxyZRovL5m/29ul1+t8jQcvUgRcohSI3ShccEE1JbqaIXRYkVZQjDoXm+rdb/OJa/1n4xIXSlLsPbmWOeAwTErqafRM7uirs4AO04cV8YAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_017aFXjY9xnmAB3eWijiFGzJ",
      "input": {
        "note": "Lemon grasped (0.50 ≈ 4.7 cm). Carrying it over the blue bowl, to the same spot where the pear dropped in.",
        "targets": {
          "right_x": 0.43,
          "right_y": 0.13,
          "right_z": 0.15
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_017aFXjY9xnmAB3eWijiFGzJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8204, 0.6132, -0.4507, -0.0135, -0.0307, 0.9987, 0.4042, 1.7191, 1.2701, -0.4995, 0.2855, 0.1978, 0.4981]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1627 left_yaw=-0.0019 left_pitch=-0.0889 left_roll=0.0004 left_gripper=0.9987 right_x=0.4277 right_y=0.1327 right_z=0.1263 right_yaw=0.039 right_pitch=-0.3321 right_roll=-0.1149 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.1692, 6.9812, 1.7949, -0.0171, -0.0317, -0.0122, -0.3077, -10.9197, 8.4855, 1.3797, 0.1001, 0.0611, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6038ae90bc0c49164c00fbeb026f420dca0e3ec41dd695830c33fedbc9d98fd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9e494650a28b491242269cc9e5c32b8b65e9118b810ec00e0657557c3d70d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:05818b12be20e40601aaea34093a76d70cd7e972d7c02c97c75d45ca069ea617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /messages · status 200 · 7.39 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, 0.8154, 0.6132, -0.4355, -0.0139, -0.0307, 0.9987, 0.6971, 1.861, 0.9356, -0.0612, 0.4553, 0.4519, 0.9966]\nstate[eef_state]: left_x=0.2895 left_y=-0.0003 left_z=0.1671 left_yaw=-0.0016 left_pitch=-0.0687 left_roll=0.0002 left_gripper=0.9987 right_x=0.3673 right_y=0.2109 right_z=0.0146 right_yaw=0.048 right_pitch=-0.2827 right_roll=-0.0915 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.2923, 7.0085, 1.6874, -0.0317, -0.0513, -0.0122, -0.335, -8.7316, 4.3419, 1.4188, 0.2173, -0.0659, -0.0171]",
      "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, 0.8154, 0.6132, -0.4419, -0.0139, -0.0307, 0.9987, 0.6971, 1.8797, 0.9241, -0.0566, 0.448, 0.445, 0.4957]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0016 left_pitch=-0.0751 left_roll=0.0004 left_gripper=0.9987 right_x=0.3628 right_y=0.2087 right_z=0.0037 right_yaw=0.0526 right_pitch=-0.3071 right_roll=-0.1072 right_gripper=0.4957\nstate[joint_eff]: [-0.0479, -1.3333, 7.0496, 1.7509, -0.0317, -0.0464, -0.0122, -0.0479, -10.2222, 6.2017, 1.2039, 0.2369, 0.0024, 0.9695]",
      "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, 0.8204, 0.6132, -0.4507, -0.0135, -0.0307, 0.9987, 0.4042, 1.7191, 1.2701, -0.4995, 0.2855, 0.1978, 0.4981]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1627 left_yaw=-0.0019 left_pitch=-0.0889 left_roll=0.0004 left_gripper=0.9987 right_x=0.4277 right_y=0.1327 right_z=0.1263 right_yaw=0.039 right_pitch=-0.3321 right_roll=-0.1149 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.1692, 6.9812, 1.7949, -0.0171, -0.0317, -0.0122, -0.3077, -10.9197, 8.4855, 1.3797, 0.1001, 0.0611, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6038ae90bc0c49164c00fbeb026f420dca0e3ec41dd695830c33fedbc9d98fd3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b9e494650a28b491242269cc9e5c32b8b65e9118b810ec00e0657557c3d70d8c",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 89):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:05818b12be20e40601aaea34093a76d70cd7e972d7c02c97c75d45ca069ea617",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Lemon over the bowl; releasing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PDBNUvDor1dBtZsNhbEsSD",
      "input": {
        "note": "Wrist view shows the lemon hanging directly over the blue bowl next to the pear; releasing.",
        "targets": {
          "right_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01PDBNUvDor1dBtZsNhbEsSD",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.82, 0.6132, -0.4507, -0.0139, -0.0307, 0.9987, 0.4038, 1.7149, 1.2739, -0.5236, 0.2756, 0.1829, 0.9959]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1628 left_yaw=-0.0015 left_pitch=-0.0885 left_roll=0.0006 left_gripper=0.9987 right_x=0.4238 right_y=0.1327 right_z=0.1258 right_yaw=0.0535 right_pitch=-0.3509 right_roll=-0.1225 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.1692, 6.9812, 1.6923, -0.0269, -0.0269, -0.0122, -0.0752, -8.2667, 6.2974, 1.5263, 0.1441, 0.1099, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96916efd17cca03bc5e55faf719e964390599f7036ae9e358fde171c271d9d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:083165d14bce72469fd69ac7fd919450d828594382cc3f017288dbe9b8b3a7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e416a3fa542a73d6d92cb2669056bb01d5514cd78f452002bda2d84bd9f33caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /messages · status 200 · 20.82 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, 0.8154, 0.6132, -0.4419, -0.0139, -0.0307, 0.9987, 0.6971, 1.8797, 0.9241, -0.0566, 0.448, 0.445, 0.4957]\nstate[eef_state]: left_x=0.2885 left_y=-0.0003 left_z=0.1658 left_yaw=-0.0016 left_pitch=-0.0751 left_roll=0.0004 left_gripper=0.9987 right_x=0.3628 right_y=0.2087 right_z=0.0037 right_yaw=0.0526 right_pitch=-0.3071 right_roll=-0.1072 right_gripper=0.4957\nstate[joint_eff]: [-0.0479, -1.3333, 7.0496, 1.7509, -0.0317, -0.0464, -0.0122, -0.0479, -10.2222, 6.2017, 1.2039, 0.2369, 0.0024, 0.9695]",
      "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, 0.8204, 0.6132, -0.4507, -0.0135, -0.0307, 0.9987, 0.4042, 1.7191, 1.2701, -0.4995, 0.2855, 0.1978, 0.4981]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1627 left_yaw=-0.0019 left_pitch=-0.0889 left_roll=0.0004 left_gripper=0.9987 right_x=0.4277 right_y=0.1327 right_z=0.1263 right_yaw=0.039 right_pitch=-0.3321 right_roll=-0.1149 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.1692, 6.9812, 1.7949, -0.0171, -0.0317, -0.0122, -0.3077, -10.9197, 8.4855, 1.3797, 0.1001, 0.0611, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.82, 0.6132, -0.4507, -0.0139, -0.0307, 0.9987, 0.4038, 1.7149, 1.2739, -0.5236, 0.2756, 0.1829, 0.9959]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1628 left_yaw=-0.0015 left_pitch=-0.0885 left_roll=0.0006 left_gripper=0.9987 right_x=0.4238 right_y=0.1327 right_z=0.1258 right_yaw=0.0535 right_pitch=-0.3509 right_roll=-0.1225 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.1692, 6.9812, 1.6923, -0.0269, -0.0269, -0.0122, -0.0752, -8.2667, 6.2974, 1.5263, 0.1441, 0.1099, -0.0317]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:96916efd17cca03bc5e55faf719e964390599f7036ae9e358fde171c271d9d22",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:083165d14bce72469fd69ac7fd919450d828594382cc3f017288dbe9b8b3a7c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e416a3fa542a73d6d92cb2669056bb01d5514cd78f452002bda2d84bd9f33caf",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01TUC64jPS5x2J2XTJ2mLfBg",
      "input": {
        "note": "Only the pear is in the blue bowl; the lemon appears to have bounced out and sits near-right of the bowl (yellow at the wrist image corner). Backing up to see it.",
        "targets": {
          "right_x": 0.35,
          "right_y": 0.1,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 6 steps (0.6s)",
      "tool_use_id": "toolu_01TUC64jPS5x2J2XTJ2mLfBg",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8253, 0.6132, -0.4606, -0.0139, -0.0307, 0.9987, 0.403, 1.4422, 0.9661, -0.5076, 0.2718, 0.1818, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0015 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.9987 right_x=0.3525 right_y=0.1026 right_z=0.115 right_yaw=0.0542 right_pitch=-0.37 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.8046, -0.0415, -0.0513, -0.0122, -0.3897, -6.3111, 7.0632, 1.4042, 0.1148, -0.0757, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6845f495bf882b83853338159422db854ef447c01fccd92ad4b085b3138f2581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80fe7273ebff5a14e3101ff75f0593ef6b73b13b0102566d5bd00ebf97980c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:a3bc8eb2c04d1eee3a4673127fecc40a1f4c1a536ea0752195217576bd8267b2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /messages · status 200 · 6.347 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, 0.8204, 0.6132, -0.4507, -0.0135, -0.0307, 0.9987, 0.4042, 1.7191, 1.2701, -0.4995, 0.2855, 0.1978, 0.4981]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1627 left_yaw=-0.0019 left_pitch=-0.0889 left_roll=0.0004 left_gripper=0.9987 right_x=0.4277 right_y=0.1327 right_z=0.1263 right_yaw=0.039 right_pitch=-0.3321 right_roll=-0.1149 right_gripper=0.4981\nstate[joint_eff]: [-0.1983, -1.1692, 6.9812, 1.7949, -0.0171, -0.0317, -0.0122, -0.3077, -10.9197, 8.4855, 1.3797, 0.1001, 0.0611, 0.5446]\napprover: 4 step(s) modified (delta_clamped ×4).",
      "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, 0.82, 0.6132, -0.4507, -0.0139, -0.0307, 0.9987, 0.4038, 1.7149, 1.2739, -0.5236, 0.2756, 0.1829, 0.9959]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1628 left_yaw=-0.0015 left_pitch=-0.0885 left_roll=0.0006 left_gripper=0.9987 right_x=0.4238 right_y=0.1327 right_z=0.1258 right_yaw=0.0535 right_pitch=-0.3509 right_roll=-0.1225 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.1692, 6.9812, 1.6923, -0.0269, -0.0269, -0.0122, -0.0752, -8.2667, 6.2974, 1.5263, 0.1441, 0.1099, -0.0317]",
      "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, 0.8253, 0.6132, -0.4606, -0.0139, -0.0307, 0.9987, 0.403, 1.4422, 0.9661, -0.5076, 0.2718, 0.1818, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0015 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.9987 right_x=0.3525 right_y=0.1026 right_z=0.115 right_yaw=0.0542 right_pitch=-0.37 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.8046, -0.0415, -0.0513, -0.0122, -0.3897, -6.3111, 7.0632, 1.4042, 0.1148, -0.0757, 0.0562]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6845f495bf882b83853338159422db854ef447c01fccd92ad4b085b3138f2581",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:80fe7273ebff5a14e3101ff75f0593ef6b73b13b0102566d5bd00ebf97980c3d",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 101):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3bc8eb2c04d1eee3a4673127fecc40a1f4c1a536ea0752195217576bd8267b2",
        "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_01FAyK1eXb4HJTVVUjRrRjzA",
      "input": {
        "note": "Overhead shows both pear and lemon in the blue bowl. The dark fruit is only reachable by the left arm and the blue bowl only by the right, so I'll slide the blue bowl toward the table centre first: moving over its left rim.",
        "targets": {
          "right_x": 0.46,
          "right_y": 0.21,
          "right_yaw": 0.0,
          "right_z": 0.12
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 9 steps (0.9s)",
      "tool_use_id": "toolu_01FAyK1eXb4HJTVVUjRrRjzA",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8303, 0.6132, -0.469, -0.0139, -0.0307, 0.9987, 0.5507, 1.9945, 1.6085, -0.6739, 0.3504, 0.3195, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0015 left_pitch=-0.1171 left_roll=0.0012 left_gripper=0.9987 right_x=0.4504 right_y=0.2096 right_z=0.1103 right_yaw=0.0439 right_pitch=-0.4015 right_roll=-0.1408 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.5795, 6.9538, 1.7021, -0.0513, -0.0269, -0.0122, -0.253, -11.3846, 7.8154, 0.9841, 0.3248, 0.2808, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5977d0e79b272ff822f2986791f4991d885b8c9c1b3abb2117a92e54d9945740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e231ec75daa6a11819f6b3beef8673874c26d0bf6351b03b8a1c855302c9ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:21ac020eb6543e19343f0ff02776f1de2b76d463bf5c722615842f9629308e69",
        "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 · 4.596 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, 0.82, 0.6132, -0.4507, -0.0139, -0.0307, 0.9987, 0.4038, 1.7149, 1.2739, -0.5236, 0.2756, 0.1829, 0.9959]\nstate[eef_state]: left_x=0.2875 left_y=-0.0003 left_z=0.1628 left_yaw=-0.0015 left_pitch=-0.0885 left_roll=0.0006 left_gripper=0.9987 right_x=0.4238 right_y=0.1327 right_z=0.1258 right_yaw=0.0535 right_pitch=-0.3509 right_roll=-0.1225 right_gripper=0.9959\nstate[joint_eff]: [-0.1162, -1.1692, 6.9812, 1.6923, -0.0269, -0.0269, -0.0122, -0.0752, -8.2667, 6.2974, 1.5263, 0.1441, 0.1099, -0.0317]",
      "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, 0.8253, 0.6132, -0.4606, -0.0139, -0.0307, 0.9987, 0.403, 1.4422, 0.9661, -0.5076, 0.2718, 0.1818, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0015 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.9987 right_x=0.3525 right_y=0.1026 right_z=0.115 right_yaw=0.0542 right_pitch=-0.37 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.8046, -0.0415, -0.0513, -0.0122, -0.3897, -6.3111, 7.0632, 1.4042, 0.1148, -0.0757, 0.0562]",
      "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, 0.8303, 0.6132, -0.469, -0.0139, -0.0307, 0.9987, 0.5507, 1.9945, 1.6085, -0.6739, 0.3504, 0.3195, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0015 left_pitch=-0.1171 left_roll=0.0012 left_gripper=0.9987 right_x=0.4504 right_y=0.2096 right_z=0.1103 right_yaw=0.0439 right_pitch=-0.4015 right_roll=-0.1408 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.5795, 6.9538, 1.7021, -0.0513, -0.0269, -0.0122, -0.253, -11.3846, 7.8154, 0.9841, 0.3248, 0.2808, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5977d0e79b272ff822f2986791f4991d885b8c9c1b3abb2117a92e54d9945740",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:25e231ec75daa6a11819f6b3beef8673874c26d0bf6351b03b8a1c855302c9ab",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 110):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:21ac020eb6543e19343f0ff02776f1de2b76d463bf5c722615842f9629308e69",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1woKEAgSGAI4AUIIdGhpbmtpbmcSDPy8GxjddVYRkkWS2BoMcEaXBlMIglL7dBTJIjAYGCC8UAGJ9JdPpGwC/6kefc8nPTqiWenjcksoQ1FmOnMneFr4AQe/x+KxsO9scDYq9AndKJprviXvdETzabrqvCKJJ1vYQAA2XA/qmKk5T+e5IoHcjUIg6LurbkL0DvFTmHgErOrHqoFH8T0ng+JiK7Nk20adQdChqTEw7hDOYGWj6bmVcTnV6sTqipkvPzMUkG+OrqEhxc+rFL9FEYa1F9aeg9awUIN8nbECLGAJaVkZs3GFMy7x3lqT/IwAN9vLP4bekWcQ9ANAiFtrQgy0Y60FlvQnY6ViUZPm0wW/9j+ssgjL0ioFbjXrpKfSB0gX/yU2MaZlBonfrfklXXMxrUobmE+zXlT7XNvY92/krf6anAOhp5jgDSg3KGBiUgApGztLrkudjJzdqRbPWrkffz3l5es7ED+cAewSoaBMi6VpasjubzrE9IcndbG/wLmwgDjJeheAk6gFK9O8ofc0TvgwfJz2OtiRF5QxUuoR45mmIEBVBKEP11K75D1yrcELP9Iu25myNH+mPkpIu5479FVHgeQHrEDmvLfnM9F8ua2LgWwR3N0MwH7tUwz4GjJShQTtu7nt571ePzTSsXnp+2wt9R5yBdHvOyTi4tBzW8a9eyyQZ2tm5h0aEA7SrATAj71Gcw1TvYdJMq4aQoJaTijFz9sezPRePYPBVRZ59KogFMq4aEY2cGh9TRqY9kj6GsdSXUQdVLfrJC+DZJOmxJhAoHIeR9zeIjevXQc7URSkCaKpFy+nn7FQ/gOtAEmr/9vZ5IGw3PjxPCNh2IfQ4R5HozQT4jOKr8D/F0AOJErO93zxzQXroaU3zTBmCil6afYClYOtAEJiD20og1LN+v2wRw4kObPX0xc0JK4JUiHcByjMUYKihiPznZZ1D+5hPjpOWY4AmMP/MNlOTUk98A5rZVhWt+fgfZj9q8CKXznIfi0sThzs60T/1LKtMkPxcaqO68TSA0hjPKHD4IZD3vHgaZA0oFlrf6+0sFGPIj3NHWrs2S2Ex5GJda7cuaoFVzrsdm2o8+jlnx8PH+mTddcA4GYygdGFnwuPVcxYUSHrN7Oizd5X76pNpjbIpycSRDd88MWKFOLZw/JpNsPsxndHril8VuY8uiFGMLDt+b+BQKZxIe296wJwVuX1zuHcUkq2EgkEYfZqfigpMn0sgQ9tPPCF3cuq9VlWNWmx9SZqpNBnUXeo8ZJ4OddzNcD/efB+w6E9OL1mLxJZT8APMoFadpDtriyucvyr+vEC2jokFt46JzeCytz5ubnbvCGMQTu4X+TtGUWg4raGrg+nL6h1/2bJWlN+lbUt6I6ZYBNVyWRjmZbD9eUz5V5MB60FPcXVYB8dO4/xDb9oVJZobQ0OGpT8y1+ol2478yyjA8xqQ2T0iPxhJw1OF6cplAi+GTPa5NE2Jvv/GrS1bpoUSpBMpAu/WnPbsIsD1sYJf9z6gri02/i7m0ynrckYpPyx9EzffpniA3jfzOkin5xRQ9uMxY3EOIOq7N4gsgpqQA7UL3/rkaMegY0DTGffukvs3yy6joqAmQi/pdkP4P+BXyjei0g9FZAA+gIH3uyyIIRX950d7PISVSIrFZ3O6cJ3AbOGj5eNvPsDfL90AHDSQ+0SLSGiOui7gAWWr9KDFlsqDsPa7SnKUl4FWoAS2n1AjrPma1tkCJplijAn6pep/8i2QVwPFznJxcTRcDnbyoJVC7+BnEwOocYua53t28uFDvnrv4ggvbxk9JcTPNPr147GoYrToxgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01MMdwNztKwR3hX4emTjWhgi",
      "input": {
        "note": "Blue bowl's left rim sits just ahead of the jaw column; descending to straddle the rim wall for a grasp.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.47,
          "right_y": 0.2,
          "right_z": 0.03
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_01MMdwNztKwR3hX4emTjWhgi",
      "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, -0.4755, -0.0139, -0.0311, 0.9987, 0.5377, 2.0144, 1.037, 0.3229, 0.4072, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0012 left_pitch=-0.1247 left_roll=0.0011 left_gripper=0.9987 right_x=0.4673 right_y=0.2014 right_z=0.0397 right_yaw=0.0507 right_pitch=-0.0254 right_roll=-0.0137 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.7265, -0.0562, -0.0366, -0.0122, -0.253, -7.8427, 4.6427, 1.4579, 0.105, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a796b6cceac324393dd25b6edfe50bc24bea4c833cff01befd880a66a0356e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924242c14f815079d1cd9b8ab1ed36c05e763f849423bbff6a3e826ff45764d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0ffef65a0b6d396c0a6e0c0bf6cf16a212f8b9662100c60202b842b8ed61dc82",
        "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 · 5.216 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, 0.8253, 0.6132, -0.4606, -0.0139, -0.0307, 0.9987, 0.403, 1.4422, 0.9661, -0.5076, 0.2718, 0.1818, 0.9965]\nstate[eef_state]: left_x=0.2862 left_y=-0.0002 left_z=0.1595 left_yaw=-0.0015 left_pitch=-0.1037 left_roll=0.0009 left_gripper=0.9987 right_x=0.3525 right_y=0.1026 right_z=0.115 right_yaw=0.0542 right_pitch=-0.37 right_roll=-0.127 right_gripper=0.9965\nstate[joint_eff]: [-0.0752, -1.3607, 7.0085, 1.8046, -0.0415, -0.0513, -0.0122, -0.3897, -6.3111, 7.0632, 1.4042, 0.1148, -0.0757, 0.0562]",
      "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, 0.8303, 0.6132, -0.469, -0.0139, -0.0307, 0.9987, 0.5507, 1.9945, 1.6085, -0.6739, 0.3504, 0.3195, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0015 left_pitch=-0.1171 left_roll=0.0012 left_gripper=0.9987 right_x=0.4504 right_y=0.2096 right_z=0.1103 right_yaw=0.0439 right_pitch=-0.4015 right_roll=-0.1408 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.5795, 6.9538, 1.7021, -0.0513, -0.0269, -0.0122, -0.253, -11.3846, 7.8154, 0.9841, 0.3248, 0.2808, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8314, 0.6132, -0.4755, -0.0139, -0.0311, 0.9987, 0.5377, 2.0144, 1.037, 0.3229, 0.4072, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0012 left_pitch=-0.1247 left_roll=0.0011 left_gripper=0.9987 right_x=0.4673 right_y=0.2014 right_z=0.0397 right_yaw=0.0507 right_pitch=-0.0254 right_roll=-0.0137 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.7265, -0.0562, -0.0366, -0.0122, -0.253, -7.8427, 4.6427, 1.4579, 0.105, 0.0757, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a796b6cceac324393dd25b6edfe50bc24bea4c833cff01befd880a66a0356e2b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:924242c14f815079d1cd9b8ab1ed36c05e763f849423bbff6a3e826ff45764d9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 124):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0ffef65a0b6d396c0a6e0c0bf6cf16a212f8b9662100c60202b842b8ed61dc82",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS2ggKEAgSGAI4AUIIdGhpbmtpbmcSDGw5rIVnWfA4YXBfBhoMkw2lCrPjWbtW5OF1IjDlg1NTSaNBC4+6ri/bicE8kLxS9ydubceUR4itAgq1F/6CuX4ABUvoEhxkaTCCvE8q9wcDzGCw1B8uHG3tFnHKWRGsz4slWhGX7TP9qzID3RjIvJzh26kE0/Z1EHjfCu034DVOd2wtmqjW6ShGANmPz9refS2k/SnY0esrCvLoTTLDiTz5R60ueSOD0unuBavvec9+mapKaOcBS+qNXjFtAFNERQeltsJfIfGb/fqSvItIVEzJ77Jzz7Bb2mAZM7b0Rno/qYOK0/eosQU5OH8sIp8heWqgmyKpXS3wuMT7YCroLoqqrl7JQcEFLLYDvoeTe+Pq0cb03N+5CNh4/ft1Uxtp/pi91FrW2OCGEHynbQYyc+AVLLCxSGf82xdV18ars/4ataENPbdEm0glI9lNuedcOcBNxPmXmdws96o2M1TQ1X6pVGfCq6okvIoZvgjGLTa2a+yvThUmHPcoF72DltI9h4/SX1HSkYeAtBLWr3e3an1OWb6HteYXopa9flS8SCQsnDMXW3J0uiwpHbzLU5mkMQCAINWPOmcv5eQpN/Xxn2uOgRB4kSBCyLCu2QjoAx17zSyzHmcMmnUY2By7x9dBTZ/HCliBnHpcFvqOBQBnejCUrLr3A44ZUBlgzuozpQQKwA9eIyH+h/TcZAKNsxy27dcYZrJPxBLx8aD9v+8C2k0EJ/HCUck/xe+tvadRqJeaTicEUDeYj0krKjqUlTvmEdA8jvzfUS7JjA5cM8pH01HAVCh0J4+NC8reExQmC3UhYKT0f/1ANl5i1pxfGebNDRPkWbchMq3LLhuNqIVfaQ5eUa57Fci0J1tAqkcydbwujptP18D7iXWIpoQJUlZADURpvIs+j5IygjsKi5kwZZLfHbtZPZHqua65gwx9O6wODByyJDmg7PLq7o8E8QhZh7EmemOxcggMfy68fPK16arZjhMZGgn3lyZaHRymCswK+WTptuaYATSEVs9TDuP+5P6z5AVTuELE/0ty4sJGHonFAu0mcNHDWbj3LfV32Eln/VY+xqDLe6Pg/YduUaiB/T6jVOKgzLTStuIL0g0FhNokdtpCrfXGEl+pSWPqFENqjASV/sYPxIlVYDrj+suUALqWSudRXHBiZxmX9HWNa8m7iFf3l3AcOI7BKvDFMEZC632VzJzwb5VC4UQ0ByX0vQnKeFJboSoer15aVkpRMTZLIEB0V6zdcFJDP2SS7mY/RK8+S4WVDEKiBYB7/v9dcLxZE41mcAM3bvnILKhnWbSaJuf/sYEGohueZB9jVhhpLAXF78R5CSJQVUbcYUvvs/GPxhulu9e3+X9/OU6JMbRXCxwI+Sx4fPH3kLP3/LY69NKXM5uOGJo1CPOwBkd/a6PUbKMFc/DRBHIzMKVvyatSIlJU3GlGrtfBjdmlcqrhdyTCUd5kGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_016gvYhhS8JBYvMoHhvC8dVZ",
      "input": {
        "note": "The bowl's rim wall lies between the jaws (left jaw outside, right jaw inside the bowl); 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_016gvYhhS8JBYvMoHhvC8dVZ",
      "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, -0.4763, -0.0139, -0.0307, 0.9987, 0.5346, 2.0296, 1.0256, 0.3401, 0.4267, 0.2604, 0.0157]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1549 left_yaw=-0.0015 left_pitch=-0.1255 left_roll=0.0014 left_gripper=0.9987 right_x=0.4665 right_y=0.1955 right_z=0.0321 right_yaw=0.0409 right_pitch=-0.0285 right_roll=-0.0426 right_gripper=0.0157\nstate[joint_eff]: [-0.0479, -1.4291, 6.9402, 1.6093, -0.0806, -0.0415, -0.0122, 0.1983, -10.5641, 6.5299, 1.3553, -0.3785, 0.1832, 1.1502]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a646c778d40c96a253dd25394f835786b249e6e255218892433f71580539d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a9cd21511be7719379c049082558e526770be08f13f681e28458d41626ea67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5d5123823b3bbe9c8c93ea9ab6190b2afc151752405e9dab56bd80e41c9cd556",
        "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 · 7.558 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, 0.8303, 0.6132, -0.469, -0.0139, -0.0307, 0.9987, 0.5507, 1.9945, 1.6085, -0.6739, 0.3504, 0.3195, 0.9966]\nstate[eef_state]: left_x=0.2851 left_y=-0.0002 left_z=0.1566 left_yaw=-0.0015 left_pitch=-0.1171 left_roll=0.0012 left_gripper=0.9987 right_x=0.4504 right_y=0.2096 right_z=0.1103 right_yaw=0.0439 right_pitch=-0.4015 right_roll=-0.1408 right_gripper=0.9966\nstate[joint_eff]: [-0.1436, -1.5795, 6.9538, 1.7021, -0.0513, -0.0269, -0.0122, -0.253, -11.3846, 7.8154, 0.9841, 0.3248, 0.2808, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 55 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8314, 0.6132, -0.4755, -0.0139, -0.0311, 0.9987, 0.5377, 2.0144, 1.037, 0.3229, 0.4072, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0012 left_pitch=-0.1247 left_roll=0.0011 left_gripper=0.9987 right_x=0.4673 right_y=0.2014 right_z=0.0397 right_yaw=0.0507 right_pitch=-0.0254 right_roll=-0.0137 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.7265, -0.0562, -0.0366, -0.0122, -0.253, -7.8427, 4.6427, 1.4579, 0.105, 0.0757, -0.0122]",
      "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, 0.8314, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.5346, 2.0296, 1.0256, 0.3401, 0.4267, 0.2604, 0.0157]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1549 left_yaw=-0.0015 left_pitch=-0.1255 left_roll=0.0014 left_gripper=0.9987 right_x=0.4665 right_y=0.1955 right_z=0.0321 right_yaw=0.0409 right_pitch=-0.0285 right_roll=-0.0426 right_gripper=0.0157\nstate[joint_eff]: [-0.0479, -1.4291, 6.9402, 1.6093, -0.0806, -0.0415, -0.0122, 0.1983, -10.5641, 6.5299, 1.3553, -0.3785, 0.1832, 1.1502]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6a646c778d40c96a253dd25394f835786b249e6e255218892433f71580539d5e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:74a9cd21511be7719379c049082558e526770be08f13f681e28458d41626ea67",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 134):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5d5123823b3bbe9c8c93ea9ab6190b2afc151752405e9dab56bd80e41c9cd556",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlwgKEAgSGAI4AUIIdGhpbmtpbmcSDPtJXoodsm07Z/E4vBoMn0TkY/mXS2mynfHRIjCi2AiNh+12v56bgsZ2wyi965r1E73ufXhOyznzzJumahT5oFE1VY5frJT2+8oblhgqtAdSI367qugJ4HEGH7JeJKIUvv+pbHgydmDJq7qLMJ9dMtFsG/RRDDgv0YK0d/pjL9WUrqlrzJ7sLgXlF8XSM0pwMPQpRMF1fo+KGfj1u9mUMpxcmjry8LOgrEs9Cv3R05BZVuz9lEuxI7uqOnOI/heb4bWTUOJAq6gN35jiKeuC7Y8SzJ0OW6VL2gcYAnp2egsOFh2XSK21t1Z583fvAg6v0pw0SHcjOx4zMz36ESBzWFdUvcuJyclvAUSGnO9syvbNScBfYDKs1ZcM618WNIU6nHnpS5aQ+VmBrHG/ZwIdQvbHOla5/R7aZww8+0UxCb9D450jnTa2FJuAGaDoPVp2rts3nv4CR3IYunHIdy4LkczbppNxk1lTRtxoCDWziXEnh1J6HofdZgeCbw6Tqf2HX3HDXJgsZp/xsp9ZSxmVQP9NeVoa6O9Gbc01Ntx3GBRSuchqIjMlVwWtDchBgaVeXbdbfpvT3sn0TsQmI3fPjffAPKOpcygLmIRxQT482BuHEELRE640KKG/fvaPLA0lDveSGXY/AiHOkoa2Qx8WC18m3/ZBxFXz5cGCmIDQCSSytZib3k2OUDmsw6yrQdncvBbrlgdq3j3C00GwE51G8VUG1S8c8qgW1e4vzZlrLk9RUHEhgM9DRkl7wE4+t9zWJNriHmzdhE+9hvZW/Rk8OjISfVXFOVHF5+KIh5dIqNspfnvYfAxNzhgLuuXA3HKWY/AiRvz+DRvbQBA3OjM13Dm8aeHX3fmvp183UrBuIiEF+YEpkmFpaixKrDE//rk6f2sBL5GtozFxjlRF4aIp+AL7JNtg2G3It1QMdvG9t15aA8a6hZ1TkwLjPgqwPE/PF2vEFrqgvM1FIOpSFOvhJxjUV+SFjsCFb6Zc+ShKuSb6gpThLqVjF6idYL5/u4adtQaHWVs7r4f7lzqDTZqEtrvr9GhPdqfsNyjKOOOueCJKOXyjDUpTePfhpRA+qijcEOfRaudTuZ5FO8BMKYrhssnZDuM+J9fGTKvXtPiwj4+LX7VdQd6UDLjdrrU6LqayqoRTznuEBEu8Il9t4rBzvFzCXtwES+0hDvsyp20cHtv3kqGBNzzmoWs2SS2PcS5B4Z+DoJ3G4mXzO1J0rDTrywPFtv3NeP5TECpAwN0vmyNu7q8pkiSx/7bkFb+8zzQNRdZhQNtPRoF2lyiIDdOUQV7gquWElZvgI2kicN6eNsW+237IoWiSkIGf+ZWDaO/NuunPAM4c6fQ1CU48BaKTbkET9DIYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_015AkJYLGmvmeaiUpxxngAXx",
      "input": {
        "note": "Gripper closed to 0.016, consistent with pinching a thin rim. Carrying the bowl toward the table centre (left) at low height; will confirm in the overhead view.",
        "targets": {
          "right_x": 0.45,
          "right_y": 0.36,
          "right_z": 0.06
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 14 steps (1.4s)",
      "tool_use_id": "toolu_015AkJYLGmvmeaiUpxxngAXx",
      "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, -0.4763, -0.0139, -0.0311, 0.9987, 0.8536, 2.2669, 1.57, -0.1062, 0.6327, 0.4808, 0.0159]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0011 left_gripper=0.9987 right_x=0.4463 right_y=0.3582 right_z=0.0505 right_yaw=0.0794 right_pitch=-0.0525 right_roll=-0.055 right_gripper=0.0159\nstate[joint_eff]: [-0.1573, -1.4564, 6.9812, 1.5995, -0.0659, -0.0757, -0.0122, 0.212, -12.8752, 8.1983, 1.4188, 0.4615, 0.1001, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2136a4856dc769aa4c16d2b5f21c146b10e39df722f3168cfc1f9f40cb9c5618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d60b6fa66a6e865be5fff2147f53431cd7871189740e0e2adf516cf7418392",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5de5fadc22484a08ed479be79e5ec742c5b84eee58c34fef30721cd16b7b4d39",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 21 attempt 0 · /messages · status 200 · 6.349 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, 0.8314, 0.6132, -0.4755, -0.0139, -0.0311, 0.9987, 0.5377, 2.0144, 1.037, 0.3229, 0.4072, 0.2771, 0.9966]\nstate[eef_state]: left_x=0.2842 left_y=-0.0002 left_z=0.155 left_yaw=-0.0012 left_pitch=-0.1247 left_roll=0.0011 left_gripper=0.9987 right_x=0.4673 right_y=0.2014 right_z=0.0397 right_yaw=0.0507 right_pitch=-0.0254 right_roll=-0.0137 right_gripper=0.9966\nstate[joint_eff]: [-0.1709, -1.347, 6.9812, 1.7265, -0.0562, -0.0366, -0.0122, -0.253, -7.8427, 4.6427, 1.4579, 0.105, 0.0757, -0.0122]",
      "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, 0.8314, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.5346, 2.0296, 1.0256, 0.3401, 0.4267, 0.2604, 0.0157]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1549 left_yaw=-0.0015 left_pitch=-0.1255 left_roll=0.0014 left_gripper=0.9987 right_x=0.4665 right_y=0.1955 right_z=0.0321 right_yaw=0.0409 right_pitch=-0.0285 right_roll=-0.0426 right_gripper=0.0157\nstate[joint_eff]: [-0.0479, -1.4291, 6.9402, 1.6093, -0.0806, -0.0415, -0.0122, 0.1983, -10.5641, 6.5299, 1.3553, -0.3785, 0.1832, 1.1502]",
      "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, 0.8322, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, 0.8536, 2.2669, 1.57, -0.1062, 0.6327, 0.4808, 0.0159]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0011 left_gripper=0.9987 right_x=0.4463 right_y=0.3582 right_z=0.0505 right_yaw=0.0794 right_pitch=-0.0525 right_roll=-0.055 right_gripper=0.0159\nstate[joint_eff]: [-0.1573, -1.4564, 6.9812, 1.5995, -0.0659, -0.0757, -0.0122, 0.212, -12.8752, 8.1983, 1.4188, 0.4615, 0.1001, 0.8718]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2136a4856dc769aa4c16d2b5f21c146b10e39df722f3168cfc1f9f40cb9c5618",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d3d60b6fa66a6e865be5fff2147f53431cd7871189740e0e2adf516cf7418392",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 148):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5de5fadc22484a08ed479be79e5ec742c5b84eee58c34fef30721cd16b7b4d39",
        "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_01USEW6vi9mtQiNrsKK6xxwT",
      "input": {
        "note": "Blue bowl (with pear) has slid to near the table centre, beside the white bowl. Setting it down and releasing. The lemon is lying on the table at the far right near the fence; I'll fetch it next.",
        "targets": {
          "right_gripper": 1.0,
          "right_z": 0.035
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01USEW6vi9mtQiNrsKK6xxwT",
      "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, -0.4763, -0.0139, -0.0307, 0.9987, 0.8555, 2.2734, 1.5581, -0.0788, 0.6239, 0.4774, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0014 left_pitch=-0.1262 left_roll=0.0014 left_gripper=0.9987 right_x=0.4455 right_y=0.3609 right_z=0.046 right_yaw=0.0899 right_pitch=-0.0504 right_roll=-0.0469 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.2786, 6.9402, 1.5897, -0.0757, -0.0415, -0.0122, 0.0205, -10.7282, 5.5726, 1.58, 0.2906, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4a87f2adb4bfd9c871adcc1ace1ed7aff08a52f3b9d660678c7fb3afff110f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a92d5ec4c8d46e03958d8bf3065aa7dbed03777961ced19be39ab0f31995a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d4177f3889f1d489b0d19c7fdc3ab95ea882344388351eea587352a1fbd258e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 22 attempt 0 · /messages · status 200 · 14 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, 0.8314, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.5346, 2.0296, 1.0256, 0.3401, 0.4267, 0.2604, 0.0157]\nstate[eef_state]: left_x=0.284 left_y=-0.0002 left_z=0.1549 left_yaw=-0.0015 left_pitch=-0.1255 left_roll=0.0014 left_gripper=0.9987 right_x=0.4665 right_y=0.1955 right_z=0.0321 right_yaw=0.0409 right_pitch=-0.0285 right_roll=-0.0426 right_gripper=0.0157\nstate[joint_eff]: [-0.0479, -1.4291, 6.9402, 1.6093, -0.0806, -0.0415, -0.0122, 0.1983, -10.5641, 6.5299, 1.3553, -0.3785, 0.1832, 1.1502]",
      "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, 0.8322, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, 0.8536, 2.2669, 1.57, -0.1062, 0.6327, 0.4808, 0.0159]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0011 left_gripper=0.9987 right_x=0.4463 right_y=0.3582 right_z=0.0505 right_yaw=0.0794 right_pitch=-0.0525 right_roll=-0.055 right_gripper=0.0159\nstate[joint_eff]: [-0.1573, -1.4564, 6.9812, 1.5995, -0.0659, -0.0757, -0.0122, 0.212, -12.8752, 8.1983, 1.4188, 0.4615, 0.1001, 0.8718]",
      "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, 0.8322, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.8555, 2.2734, 1.5581, -0.0788, 0.6239, 0.4774, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0014 left_pitch=-0.1262 left_roll=0.0014 left_gripper=0.9987 right_x=0.4455 right_y=0.3609 right_z=0.046 right_yaw=0.0899 right_pitch=-0.0504 right_roll=-0.0469 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.2786, 6.9402, 1.5897, -0.0757, -0.0415, -0.0122, 0.0205, -10.7282, 5.5726, 1.58, 0.2906, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4a87f2adb4bfd9c871adcc1ace1ed7aff08a52f3b9d660678c7fb3afff110f2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:a3a92d5ec4c8d46e03958d8bf3065aa7dbed03777961ced19be39ab0f31995a9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 158):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d4177f3889f1d489b0d19c7fdc3ab95ea882344388351eea587352a1fbd258e9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSyggKEAgSGAI4AUIIdGhpbmtpbmcSDJlxcXLn7oQ/TThALRoMYm0Ui2omEexV1Fw3IjAI8kYWjGAPAy6id6aKjMEAsZrBpAh/oDu9dI5Dvn84NArxCLR0lHy5413keaicYlAq5weKQ9yuIYblSHZGsUaGcpNFGKNRDRMOGg5YNrVrTKOx3sPvTjFGN+uQA35P5BCeuRkuqvfE0RlHaebjx1PulqjFDx27e7FxC5Gm+jmc1P0/awP3z2/VnZqARJjcHmT0IRJSJurOPB7pzf7wM17kdS0SqPSQXZnOL9II1AF77kUKCmzsUodBTNaPSNMIb0zMgA/YtBep9lnoHzj5E4e7bZeACVKu+dpoJwnCipgbSW/l0LcUtSUO0OgMQNXDXg+QZaxFurnPtLCoIaZXyOwrfBLXDTy2EkcFQ/Dn+L4qzwE8yRwyNx+SDrKhwdVUKZxzRRon8kPcTP+Y8qzfAiQa5rEa8oIqu8bxnpRdDIuunz7zuC1nWX6ejU2RiNTSkYKL0dzFoNr4UUWX33R5VwZbjfTEPD8bLbtUTkmCPdID61xMYQmPKx815KdRQRottEmV5pAj95hxGWlw21NjaPNobV/9jAxRNm/wlBJqOU5Sz3GkM9M2tT47OAN0V0nW54ps+O0REb9IberP6fiZtidD8z7ClgDVU+ccemVd/J6rFbXwZc3HCReo3S5ZoFZiuXEeu7m2CzWiHANJl5S/vV3nHG60c7sEJZI7JJvL/ydiwcbPurMTLswlW3Y9Dw1WcfSaLpxOWAIYKzoTxsBzGX1ElzKJ41kk30RYP0moRnKWANbM1f1u3nMFJTq4FPOFXPh+xVtw/a4k7GXUPb9pxeJ/JfVPe38Y/kX7TS6C7eJh2rdO42cg3UJ84/S4jsdikKD/h27dlLW8ck1Lwj3Q2C95uTFS2d7U53+hxOpJ0aWnRvKuilLdlB/aFcJG33etu/Ji2RDkQGy+G9oH9dDj0/512hNa+vE6JR92VUI2D53k91JCLKO2yqVVfXfux/PZFAqfCgcSKouc18hjxXfFR6b4yM1f4MoE6KfMJpv3dsiImDW+58uX8Z4lXS+bOog+ckEZgarAqtybWejLgTSM7q4amGzY3HmKh+lfr3VLWctie4lXdGEOfBSXtMosS/fVTuTmDIJwYc+Q4hEbhX6yCZUp32dmCFWYjU7P2V7Ah0zOxaeODK9wAXQUJRThwRukC26NZaP/BXOpp3+dj4C1KYW2RbnQGaihqTudRTvsHTC9SJQKNNcNNkh/m0eCA5yRoI/6Bae6TcuzKmyq6/SyNcn4HtSNCb1s8FXOkWqsszHw/0XuNom/vJ0/vRuc1dw1nJ2432p0J+QlumuCWzoClxVrZw4vWG2L+tbv7HaG8nw972Z1j8PTd01c1w1Svl3btM6utZIlkE7PeVDbDkR8pnbxLW/W78m8B+FLrl8rYv7zw91oH+gTj12q21EYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01V6Vpv5Jvcr7sEjGADmtwXC",
      "input": {
        "note": "Bowl released near centre. Heading the right arm to the lemon, which lies at the far right of the table near the fence.",
        "targets": {
          "right_pitch": 0.0,
          "right_roll": 0.0,
          "right_x": 0.34,
          "right_y": -0.08,
          "right_yaw": 0.0,
          "right_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 37 steps (3.7s)",
      "tool_use_id": "toolu_01V6Vpv5Jvcr7sEjGADmtwXC",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, -0.3923, 1.2392, 0.4438, 0.1638, -0.2886, -0.1974, 0.9964]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0012 left_gripper=0.9987 right_x=0.3364 right_y=-0.0809 right_z=0.0875 right_yaw=-0.0427 right_pitch=-0.0339 right_roll=0.0076 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.5795, 6.9812, 1.6532, -0.0415, -0.0757, -0.0122, -0.1709, -5.0393, 7.8564, 1.7802, -0.1245, -0.0952, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ba0d02f862813ca12e8582363f092768d5a8516d3cd91a02e87f822649799b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e4d2f8e05130a0de03ffda5f95d0dc69e344b9b296ead8648a1f63afd90b4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:d36f8c846e07ab1f6fd1c2c9a5ac34f388f730af35a7ba3abd82f05e6bdf9c49",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /messages · status 200 · 11.39 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, 0.8322, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, 0.8536, 2.2669, 1.57, -0.1062, 0.6327, 0.4808, 0.0159]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0012 left_pitch=-0.1263 left_roll=0.0011 left_gripper=0.9987 right_x=0.4463 right_y=0.3582 right_z=0.0505 right_yaw=0.0794 right_pitch=-0.0525 right_roll=-0.055 right_gripper=0.0159\nstate[joint_eff]: [-0.1573, -1.4564, 6.9812, 1.5995, -0.0659, -0.0757, -0.0122, 0.212, -12.8752, 8.1983, 1.4188, 0.4615, 0.1001, 0.8718]",
      "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, 0.8322, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.8555, 2.2734, 1.5581, -0.0788, 0.6239, 0.4774, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0014 left_pitch=-0.1262 left_roll=0.0014 left_gripper=0.9987 right_x=0.4455 right_y=0.3609 right_z=0.046 right_yaw=0.0899 right_pitch=-0.0504 right_roll=-0.0469 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.2786, 6.9402, 1.5897, -0.0757, -0.0415, -0.0122, 0.0205, -10.7282, 5.5726, 1.58, 0.2906, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, -0.3923, 1.2392, 0.4438, 0.1638, -0.2886, -0.1974, 0.9964]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0012 left_gripper=0.9987 right_x=0.3364 right_y=-0.0809 right_z=0.0875 right_yaw=-0.0427 right_pitch=-0.0339 right_roll=0.0076 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.5795, 6.9812, 1.6532, -0.0415, -0.0757, -0.0122, -0.1709, -5.0393, 7.8564, 1.7802, -0.1245, -0.0952, 0.0904]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:39ba0d02f862813ca12e8582363f092768d5a8516d3cd91a02e87f822649799b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c0e4d2f8e05130a0de03ffda5f95d0dc69e344b9b296ead8648a1f63afd90b4b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 195):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:d36f8c846e07ab1f6fd1c2c9a5ac34f388f730af35a7ba3abd82f05e6bdf9c49",
        "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_013y5mGkDk3HkjVTZRQywaFq",
      "input": {
        "note": "Lemon lies against the right fence, just inside the right jaw's span at the y-bound limit. Descending so the jaws straddle it; closing should sweep it toward the gripper centre.",
        "targets": {
          "right_x": 0.33,
          "right_y": -0.08,
          "right_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_013y5mGkDk3HkjVTZRQywaFq",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8379, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, -0.3977, 1.5398, 0.276, 0.5171, -0.2932, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0014 left_pitch=-0.1472 left_roll=0.0018 left_gripper=0.9987 right_x=0.315 right_y=-0.0731 right_z=-0.0019 right_yaw=-0.0277 right_pitch=-0.1405 right_roll=0.0319 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.6479, 6.9265, 1.7363, -0.0366, -0.0269, -0.0171, -0.5128, -5.6137, 4.6838, 1.4872, -0.2125, 0.442, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde1719137d2eacf727c0fb6923447b98920ccf168866237d15fafa36553a20f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20434c64dd9f69b85dffe7459056c6052a89968169b1399a76ea1c902db571e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:b804edc9a7e436e32c10f33b7d04dd5140bd0f023a7a7023ff05f711836742e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /messages · status 200 · 6.718 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, 0.8322, 0.6132, -0.4763, -0.0139, -0.0307, 0.9987, 0.8555, 2.2734, 1.5581, -0.0788, 0.6239, 0.4774, 0.9955]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1547 left_yaw=-0.0014 left_pitch=-0.1262 left_roll=0.0014 left_gripper=0.9987 right_x=0.4455 right_y=0.3609 right_z=0.046 right_yaw=0.0899 right_pitch=-0.0504 right_roll=-0.0469 right_gripper=0.9955\nstate[joint_eff]: [-0.1299, -1.2786, 6.9402, 1.5897, -0.0757, -0.0415, -0.0122, 0.0205, -10.7282, 5.5726, 1.58, 0.2906, 0.0611, -0.0171]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 67 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0219, 0.8341, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, -0.3923, 1.2392, 0.4438, 0.1638, -0.2886, -0.1974, 0.9964]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0012 left_gripper=0.9987 right_x=0.3364 right_y=-0.0809 right_z=0.0875 right_yaw=-0.0427 right_pitch=-0.0339 right_roll=0.0076 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.5795, 6.9812, 1.6532, -0.0415, -0.0757, -0.0122, -0.1709, -5.0393, 7.8564, 1.7802, -0.1245, -0.0952, 0.0904]",
      "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, 0.8379, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, -0.3977, 1.5398, 0.276, 0.5171, -0.2932, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0014 left_pitch=-0.1472 left_roll=0.0018 left_gripper=0.9987 right_x=0.315 right_y=-0.0731 right_z=-0.0019 right_yaw=-0.0277 right_pitch=-0.1405 right_roll=0.0319 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.6479, 6.9265, 1.7363, -0.0366, -0.0269, -0.0171, -0.5128, -5.6137, 4.6838, 1.4872, -0.2125, 0.442, 0.0024]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:bde1719137d2eacf727c0fb6923447b98920ccf168866237d15fafa36553a20f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:20434c64dd9f69b85dffe7459056c6052a89968169b1399a76ea1c902db571e8",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 200):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:b804edc9a7e436e32c10f33b7d04dd5140bd0f023a7a7023ff05f711836742e2",
        "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_01FspeGR4VAAPZ6P7qdvM4Fx",
      "input": {
        "note": "The lemon sits against the right fence beyond the right arm's y-limit, outside the jaws, so I can't grasp it; moving on. Parking the right arm and bringing the left arm over the dark fruit near the white bowl.",
        "targets": {
          "left_x": 0.33,
          "left_y": -0.09,
          "left_z": 0.08,
          "right_x": 0.3,
          "right_y": 0.0,
          "right_z": 0.18
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 12 steps (1.2s)",
      "tool_use_id": "toolu_01FspeGR4VAAPZ6P7qdvM4Fx",
      "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]: [-0.4301, 1.2598, 0.5346, -0.0967, -0.2981, -0.2977, 0.9987, -0.028, 0.9356, 0.7086, -0.4698, -0.0437, -0.0093, 0.9965]\nstate[eef_state]: left_x=0.3186 left_y=-0.0851 left_z=0.0709 left_yaw=-0.0189 left_pitch=-0.2068 left_roll=0.0216 left_gripper=0.9987 right_x=0.305 right_y=0.0028 right_z=0.1698 right_yaw=0.0156 right_pitch=-0.1284 right_roll=0.0223 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -3.9179, 7.1179, 1.7216, -0.2955, -0.1245, -0.0122, 0.1846, -2.7829, 8.9641, 1.5897, 0.0904, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b228512f4211b6aeec50ffed1915cacb4eff5316f20ac2762b69ccad76ae29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01057647090720b733916f8d8e44b6432efb9cfabbe0cfd828fc2c56f8520c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:c4fded94a59101d966d6d12d62a6228cb42ccf881447833245cc0e5bb9eaeeb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /messages · status 200 · 3.672 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, 0.8341, 0.6132, -0.4763, -0.0139, -0.0311, 0.9987, -0.3923, 1.2392, 0.4438, 0.1638, -0.2886, -0.1974, 0.9964]\nstate[eef_state]: left_x=0.2841 left_y=-0.0002 left_z=0.1542 left_yaw=-0.0012 left_pitch=-0.1282 left_roll=0.0012 left_gripper=0.9987 right_x=0.3364 right_y=-0.0809 right_z=0.0875 right_yaw=-0.0427 right_pitch=-0.0339 right_roll=0.0076 right_gripper=0.9964\nstate[joint_eff]: [-0.0479, -1.5795, 6.9812, 1.6532, -0.0415, -0.0757, -0.0122, -0.1709, -5.0393, 7.8564, 1.7802, -0.1245, -0.0952, 0.0904]",
      "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, 0.8379, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, -0.3977, 1.5398, 0.276, 0.5171, -0.2932, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0014 left_pitch=-0.1472 left_roll=0.0018 left_gripper=0.9987 right_x=0.315 right_y=-0.0731 right_z=-0.0019 right_yaw=-0.0277 right_pitch=-0.1405 right_roll=0.0319 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.6479, 6.9265, 1.7363, -0.0366, -0.0269, -0.0171, -0.5128, -5.6137, 4.6838, 1.4872, -0.2125, 0.442, 0.0024]",
      "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]: [-0.4301, 1.2598, 0.5346, -0.0967, -0.2981, -0.2977, 0.9987, -0.028, 0.9356, 0.7086, -0.4698, -0.0437, -0.0093, 0.9965]\nstate[eef_state]: left_x=0.3186 left_y=-0.0851 left_z=0.0709 left_yaw=-0.0189 left_pitch=-0.2068 left_roll=0.0216 left_gripper=0.9987 right_x=0.305 right_y=0.0028 right_z=0.1698 right_yaw=0.0156 right_pitch=-0.1284 right_roll=0.0223 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -3.9179, 7.1179, 1.7216, -0.2955, -0.1245, -0.0122, 0.1846, -2.7829, 8.9641, 1.5897, 0.0904, 0.1294, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:33b228512f4211b6aeec50ffed1915cacb4eff5316f20ac2762b69ccad76ae29",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:01057647090720b733916f8d8e44b6432efb9cfabbe0cfd828fc2c56f8520c2a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 212):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:c4fded94a59101d966d6d12d62a6228cb42ccf881447833245cc0e5bb9eaeeb1",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSzwkKEAgSGAI4AUIIdGhpbmtpbmcSDLY6KrayO8f+4GsRIxoM1RKmMAa8/CyHI+ieIjDK759jKs4Zqj1hYlgcsdKUPHIMvykFYab3hrXQQSjj/r4hXyVeqixVx/Ch2iH71Qwq7AiWmRHQo/dpDe0qvljhhzLdT1Rtg5mFv+CynTIrodu0PX9UrZHTQI0RmtAzgEghAsLzWFoRjaFmFk6/PCB51ooQtiDs82zh3gj2y4RS6UsKhEVgyuQjH4l9FPQmD0F2X1hqq0kCi6XJXaBa/4CMfQFBMlocXmxXxYFuwCoNjkteb34vh3StdxIPtSgOtcxQHrB0sLH9gv97x4VzMj0cXe9+VQOKDn3oc7yrSaRADL1Og2QwU8qU99kZlKhs64ysCrl2Wq9RGEGPoJPL7EiGGWsdrfXh3i/QB+ROGBsVTPhvvn7n1zix6YjSC6tyYaoygy8PObJPuJS6IiSIDzY+Dzp237hbKscy4o787qyVZnyrfVrLNwr6gzGeQ4BdwFbUS0yyVBbnQCAcpC1/KGBqfSyHk6/WYb2vfKpbIX1oLNLhEeHnmAZlobaYeZeImmAjs3vh82/kjRUcWVo4yH5evgVZXBoNQ1AU3O0doIx89wOf/2rTDDGlcys1Ous5twUoOBI+8Y7KBNX6kvIAHCfXnoJS4kWr7eiGjrpgrEnsG0JD6c/oVMfuOkqSfJ+SuwkA3ojZw7VhCTDCCL1HdcS4hzNsH3N6j4LrHHN7E7Xu5pIsvs4fOaZ5rq29O8CAulB6f0UYVyPi3DIASkgqQqJWt8BAliaJL6qQfTgdw6jhzrnbjazcSfY8Rh6T6TZ8ZlLY8RB0uK22Oisjm9/q//FBadjEv0swP4r1Th62eZ3y4tHw+GIcofd/KWvHkKuw9oSeUyPakeQMzX9wNPKTZhp9ZKHxvUnesZQIR4fQ6KdBtKhwdw2JyuWsvRp15AaJJlo6jlI5B3hLvbT41hYB96qZegkIZyPt+prHjkgkcT1vEwRjTli8tSpO0w1YIyMJYgX4uQ+13/0qcUusF1NbaJhfxbgYzmJUnn39Cf/G9VRrdvR4xx7oytZjo5qG3FUsXwzKxG+6G3xxTNOq0DxcELSpVpoa3erdoavx8hKUP/j4cfUFiz6h0ggunAk6VhsTiZhqrzGbFYJ+45FvLFFBKsrBO2nsi0Fb2S2N6zDNY7SP2ML/XaLU1lskMxhOdRpxUIMa6rHsSTY53XQSM50UNnJelrXl7FXTfT/SsNGhAbQDuMtcSllW6Jiojk0CSWjMdLWBhI9myhjqbVA217piay2b1PiKvrtQzlBpg+bWcxylCNwEXREuhILwVoG99UTM6+GRiZhlW2LAprLoZovgxRT+QSuqYd5F4kuw3C4aFuZxM70lCBJNJb89PaLwHJ/BA4qAqfssQjn4+XeJLnU6TxbBmNzpXYc9UPkdhPRMDDfuhftW+y1IPGSQxN4qFqhciA0/KZn5LVIsqfkdnr3+4L3sdD+mdCeR7p34SBhiMR2VHLxj77gDkFSod/OPj9LuXPIFp3d44Bm/iyOSyw53p7m2twwlCDRpCGbIjv32YXTHg1oUgujjSa6BSKFabjF7lmINSFgot7pEHm+RdDfUOulGqTuVV3URUV+EdWuD7AoDGAE=",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01LjhJGWDQuR2yAoNP7GBXG6",
      "input": {
        "note": "The dark fruit (plum) is just ahead and to the right of the left jaws; shifting right ~5 cm, a little forward, and descending to grasp.",
        "targets": {
          "left_x": 0.34,
          "left_y": -0.135,
          "left_z": 0.02
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01LjhJGWDQuR2yAoNP7GBXG6",
      "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]: [-0.5613, 1.5845, 0.5446, 0.0917, -0.3672, -0.3882, 0.9987, -0.0284, 0.9382, 0.717, -0.4969, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1224 left_z=0.0043 left_yaw=-0.0291 left_pitch=-0.2931 left_roll=0.0662 left_gripper=0.9987 right_x=0.3021 right_y=0.0017 right_z=0.1676 right_yaw=0.0096 right_pitch=-0.1499 right_roll=0.0206 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -6.6803, 7.3504, 1.6288, -0.3541, -0.0171, -0.0171, -0.3214, -2.3726, 6.3795, 1.873, -0.1197, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1090174bfe1ec1a0229b48df7439860bc91fceb5472f7887ac1f7f52dd2fbb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7947bf97706d8a698a9ce75792ac9076cc5d6306f28f0f472f6c83f79e90d587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:cb4750bc0364fca7c5d6d70adb97770cdc547a960be5e9eb24d87416418e5fea",
        "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 · 7.846 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, 0.8379, 0.6132, -0.4915, -0.0139, -0.0307, 0.9987, -0.3977, 1.5398, 0.276, 0.5171, -0.2932, -0.2214, 0.9965]\nstate[eef_state]: left_x=0.2818 left_y=-0.0001 left_z=0.1503 left_yaw=-0.0014 left_pitch=-0.1472 left_roll=0.0018 left_gripper=0.9987 right_x=0.315 right_y=-0.0731 right_z=-0.0019 right_yaw=-0.0277 right_pitch=-0.1405 right_roll=0.0319 right_gripper=0.9965\nstate[joint_eff]: [-0.212, -1.6479, 6.9265, 1.7363, -0.0366, -0.0269, -0.0171, -0.5128, -5.6137, 4.6838, 1.4872, -0.2125, 0.442, 0.0024]",
      "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]: [-0.4301, 1.2598, 0.5346, -0.0967, -0.2981, -0.2977, 0.9987, -0.028, 0.9356, 0.7086, -0.4698, -0.0437, -0.0093, 0.9965]\nstate[eef_state]: left_x=0.3186 left_y=-0.0851 left_z=0.0709 left_yaw=-0.0189 left_pitch=-0.2068 left_roll=0.0216 left_gripper=0.9987 right_x=0.305 right_y=0.0028 right_z=0.1698 right_yaw=0.0156 right_pitch=-0.1284 right_roll=0.0223 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -3.9179, 7.1179, 1.7216, -0.2955, -0.1245, -0.0122, 0.1846, -2.7829, 8.9641, 1.5897, 0.0904, 0.1294, -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]: [-0.5613, 1.5845, 0.5446, 0.0917, -0.3672, -0.3882, 0.9987, -0.0284, 0.9382, 0.717, -0.4969, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1224 left_z=0.0043 left_yaw=-0.0291 left_pitch=-0.2931 left_roll=0.0662 left_gripper=0.9987 right_x=0.3021 right_y=0.0017 right_z=0.1676 right_yaw=0.0096 right_pitch=-0.1499 right_roll=0.0206 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -6.6803, 7.3504, 1.6288, -0.3541, -0.0171, -0.0171, -0.3214, -2.3726, 6.3795, 1.873, -0.1197, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:1090174bfe1ec1a0229b48df7439860bc91fceb5472f7887ac1f7f52dd2fbb8e",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:7947bf97706d8a698a9ce75792ac9076cc5d6306f28f0f472f6c83f79e90d587",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 217):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:cb4750bc0364fca7c5d6d70adb97770cdc547a960be5e9eb24d87416418e5fea",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS+wYKEAgSGAI4AUIIdGhpbmtpbmcSDFfggxqV2dqsridx9xoMzqeUbfs+uhW7whhPIjAcTk4DFhrsbMB8iZmdL08Q/KkN3AfTHbIpcaHc9MSLwYIwVumlZJt0tBuL0w3hrv8qmAbNWU4t/dHOkiKc/SBnDSy620CoHA3M/ZI/pO7cZaXwT5j6M7erpDdi3raher2cVz/FA8pqQoWCNjHdirOD9YkA0BL+3G6NE7IN4y4EXMjVKncQBJLGiO5fGLqweXgjzjDZsPG/HTCxiPiSobzMrFO92xuWP0xQQ+xdhDp0ohaTx5aZmqCDKaFTloXjksqt0c64YgDP+7LN9B70+3bXZUQlrgborCVNvL/ecdCz6qsXR+7e9At6UQ6L70LDHwmlGODcSzuM/6FiOkyygauu/rt401FuILgb5NdLfcxlc3O078ZVP38WqfhERpCk5XGvreD29blfJvj48Agj94VS51PN697sJk4w/isl9Vo5X2B2WPblXGnmYcolrRBtqxK7sjpyPuVKDof6DfNRIZVZKfdTQLC/5PEu4Zh2Q5NZvE/m0PQbSZc38iDiWDGtST0Jy/vxbX/npaBX62ZwSm/O0Mone5QYx3HXcSY0irH4cWkLvJUO48mIPFoOXxvxlaLnXn6tpdi/uEcc9rKEZL9JMLu1DuxVvrOKPYW4uPxuShgMkAWNIuzE2lUKPQ6X3aPH6sff23FP9y9plYOiFNP/sRSFTw+lAlWZMrdvaznWqWeMEmPQ/U/xqC06D102JXdCyQqpihDHuL/GXYTl6AaAAc1oAF6tSzqpHu+gsBN6L4u1706gviwG/H+81ezypPFcQVKjPGscPIdR1SNcEEfT2CAtP9pi/lkYwwCSAmeaT6TpOMPDooOslNTkUSnz4x3ZPOIymI0S1Dk3VMeDm4Mq3wL4KahK0vLG9pifRmXvLuV78AyMIis2YJNW4wT4NtbG3rBx1oumuEmf3EWuWiYpqXmMtcUXOnKNL0cRZiyQQ9JAa/Cn70SjY0dlBeZn6OlyMKREf3qOB1ZCqNKzP5MDnoCS1Vt2dwNt+omVMnMZSYT4x/aghQXiaSKT/D0f9PYigFf4rAWqKeCHRDCL6z//Llmq/iW6gzIVv6XkCEQSrSXq0Ahn4fhRa7FkPhdxj6YFMclCZOBKNvkXvrwAUdzbbbg1XHtquVheN3QYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01FFdrTWNsmLXVPkQgkF9pbH",
      "input": {
        "note": "Plum is between the left jaws at table level; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01FFdrTWNsmLXVPkQgkF9pbH",
      "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]: [-0.572, 1.6073, 0.5568, 0.1467, -0.3824, -0.4191, 0.0088, -0.028, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3304 left_y=-0.1301 left_z=0.0094 left_yaw=-0.0168 left_pitch=-0.2482 left_roll=0.0319 left_gripper=0.0088 right_x=0.3013 right_y=0.0018 right_z=0.1658 right_yaw=0.01 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2701, 6.5983, 1.5604, -0.2857, 0.0513, 0.6911, -0.0752, -2.0171, 7.3915, 1.5946, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8cb51511381867caf210e50b059f0387e63902f9c6c037e2d5a3a094c54a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45939c40a15f5b31f87a91bff5cf551a372dde6d59d316dacdec17306fcb09ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:6602d3227d09b15b36627ddbc7a9ac6a33d381d691cfbf72006c71109bd97bae",
        "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 · 5.214 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]: [-0.4301, 1.2598, 0.5346, -0.0967, -0.2981, -0.2977, 0.9987, -0.028, 0.9356, 0.7086, -0.4698, -0.0437, -0.0093, 0.9965]\nstate[eef_state]: left_x=0.3186 left_y=-0.0851 left_z=0.0709 left_yaw=-0.0189 left_pitch=-0.2068 left_roll=0.0216 left_gripper=0.9987 right_x=0.305 right_y=0.0028 right_z=0.1698 right_yaw=0.0156 right_pitch=-0.1284 right_roll=0.0223 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -3.9179, 7.1179, 1.7216, -0.2955, -0.1245, -0.0122, 0.1846, -2.7829, 8.9641, 1.5897, 0.0904, 0.1294, -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]: [-0.5613, 1.5845, 0.5446, 0.0917, -0.3672, -0.3882, 0.9987, -0.0284, 0.9382, 0.717, -0.4969, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1224 left_z=0.0043 left_yaw=-0.0291 left_pitch=-0.2931 left_roll=0.0662 left_gripper=0.9987 right_x=0.3021 right_y=0.0017 right_z=0.1676 right_yaw=0.0096 right_pitch=-0.1499 right_roll=0.0206 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -6.6803, 7.3504, 1.6288, -0.3541, -0.0171, -0.0171, -0.3214, -2.3726, 6.3795, 1.873, -0.1197, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.6073, 0.5568, 0.1467, -0.3824, -0.4191, 0.0088, -0.028, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3304 left_y=-0.1301 left_z=0.0094 left_yaw=-0.0168 left_pitch=-0.2482 left_roll=0.0319 left_gripper=0.0088 right_x=0.3013 right_y=0.0018 right_z=0.1658 right_yaw=0.01 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2701, 6.5983, 1.5604, -0.2857, 0.0513, 0.6911, -0.0752, -2.0171, 7.3915, 1.5946, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ff8cb51511381867caf210e50b059f0387e63902f9c6c037e2d5a3a094c54a78",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45939c40a15f5b31f87a91bff5cf551a372dde6d59d316dacdec17306fcb09ce",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:6602d3227d09b15b36627ddbc7a9ac6a33d381d691cfbf72006c71109bd97bae",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "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",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01XRWJrq2eyC1nbHeycTHfgJ",
      "input": {
        "note": "Empty close (0.009): the plum sits a few cm ahead of the fingertips. Opening and lifting slightly before advancing.",
        "targets": {
          "left_gripper": 1.0,
          "left_z": 0.05
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01XRWJrq2eyC1nbHeycTHfgJ",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.499, 0.6102, -0.0505, -0.3817, -0.4252, 0.9947, -0.0284, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3236 left_y=-0.1258 left_z=0.0342 left_yaw=-0.0089 left_pitch=-0.2785 left_roll=0.0466 left_gripper=0.9947 right_x=0.3013 right_y=0.0017 right_z=0.1658 right_yaw=0.0096 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.241, 8.0205, 1.2821, -0.2662, 0.0415, -0.0513, -0.1573, -2.1402, 7.0769, 1.5751, -0.0806, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2cbb8cd326d471320837019dd9c919ea5c6d0023d2d6568eed63753df6b970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8528285c5a3b0ae0ec2b7d756b65a56ce464c1af86b67338f268be349a7545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5ecf27abf1e410515f03ca2a1f036bd26d90584cabbb135462712bcf989d80dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 28 attempt 0 · /messages · status 200 · 3.516 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]: [-0.5613, 1.5845, 0.5446, 0.0917, -0.3672, -0.3882, 0.9987, -0.0284, 0.9382, 0.717, -0.4969, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3205 left_y=-0.1224 left_z=0.0043 left_yaw=-0.0291 left_pitch=-0.2931 left_roll=0.0662 left_gripper=0.9987 right_x=0.3021 right_y=0.0017 right_z=0.1676 right_yaw=0.0096 right_pitch=-0.1499 right_roll=0.0206 right_gripper=0.9965\nstate[joint_eff]: [-0.3624, -6.6803, 7.3504, 1.6288, -0.3541, -0.0171, -0.0171, -0.3214, -2.3726, 6.3795, 1.873, -0.1197, -0.0464, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.6073, 0.5568, 0.1467, -0.3824, -0.4191, 0.0088, -0.028, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3304 left_y=-0.1301 left_z=0.0094 left_yaw=-0.0168 left_pitch=-0.2482 left_roll=0.0319 left_gripper=0.0088 right_x=0.3013 right_y=0.0018 right_z=0.1658 right_yaw=0.01 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2701, 6.5983, 1.5604, -0.2857, 0.0513, 0.6911, -0.0752, -2.0171, 7.3915, 1.5946, -0.0611, -0.0611, -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 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]: [-0.572, 1.499, 0.6102, -0.0505, -0.3817, -0.4252, 0.9947, -0.0284, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3236 left_y=-0.1258 left_z=0.0342 left_yaw=-0.0089 left_pitch=-0.2785 left_roll=0.0466 left_gripper=0.9947 right_x=0.3013 right_y=0.0017 right_z=0.1658 right_yaw=0.0096 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.241, 8.0205, 1.2821, -0.2662, 0.0415, -0.0513, -0.1573, -2.1402, 7.0769, 1.5751, -0.0806, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ec2cbb8cd326d471320837019dd9c919ea5c6d0023d2d6568eed63753df6b970",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:2f8528285c5a3b0ae0ec2b7d756b65a56ce464c1af86b67338f268be349a7545",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 237):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5ecf27abf1e410515f03ca2a1f036bd26d90584cabbb135462712bcf989d80dc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSlgcKEAgSGAI4AUIIdGhpbmtpbmcSDDL9llz0onxrG12IEhoMA+LnyQY5aCnPv2fyIjBZiM+0Wp5eMY/cKVJ+yfqlGv6uJwSgVzxDLKJLOgs/b18wWAAll/8t2LFTYTIZPIEqswa8Ue820WHx37p6I/Xu/ht58g8aHnacE0bRkG7bdEHUAh6+uQnmOCOQ3hQ8+d2kmVVx8fq3LaCupj9D5hVv94erG1UqwHFQwPW1Bm9dLbhJafGI0Nga3fDungFBO47WuWG3OTtT+DiQ9bMfO8QOhVrDKuceu/mcbRdeAYgGk6Xcq9STw4I2VJVVI47ebWdIxUzQesobaus1ccCS7ubrF/3GRpRojhc6pb323ULOK40C/d2P1XriXjBic5a2mYPyEOdPjtpMr2xC1ILVEHws28L8ITgQ986N6lp4tK2AYcYI3x/f0yLTt3NpSiHd8D29aU1gshJgDt7MWfqXBRdeFROdvUhg8G8ca8pe0sNKmbT0WjoPgg1hBq8mA3XKltrJxBatg4+biVP+kzPAbDmClfIhAcpK/72enmFUAcDnMoS2J8yRJElMmkQ67edY13U4W3dZYC4DR6H/O3gIcavaZv/Ubgwq+NUYDxORqh/DgoQ9ZlHzIHgIfpBjnZ8NoVPWu2U2bofwcofR5j0sIHMCEXb47bSapPI6S2qFs5bmQyhzMwFkjqGX2sRh83viAPisTGqrLkvELh2VUawmXnr0dL/R10uoiMnQ+a15DUsBZAuCXzHvLxQPpAYVAdQZ5eMBBxE5LqlLYzvTNso104ILRGewIeheTGk73CklbV2XritE4EKcgk52GFqBwX9nhqR7105LfpdJkuioBBPURD0HRSPqwhkUd/QvRj0jmvdtXBkW2wJBnFHP6Zlv5kaTZj8aHrCmV9S4GZycNEpBkwxxUubLZwaScIt1tHS+qW6AcL+4O2cCmsG+swIolYvVoO48RmC/pDorhOoPk2+ndFkahOyIb4g9gcsH1+vUW1s5Cszx5tFgOX3YYrDwfeG8MNh0c4RbzI0JlWgoA50fNZHEy+zgKxUu508+ZKaRKUjM0YYWM3soUTyxtzNTkKEEsJirt9dPk11Uokrnm9vWkj4gQ8ngt39rB0Dzd1YC3eW/bRNRGuEOaZSOVN0DwovV+ISg83Dy5S5GwrMZelJ2gZUsx7g0iHDoZnYas6QqNldgxvPysFxvwiYuC2uUG/foBgifWOAR91IYAQ==",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01Wwc6FnAdwKevMeQQ5wMzN2",
      "input": {
        "note": "Plum is centred on the jaw column but well ahead; advancing ~5.5 cm and descending to put it between the jaws.",
        "targets": {
          "left_x": 0.38,
          "left_y": -0.128,
          "left_z": 0.015
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_01Wwc6FnAdwKevMeQQ5wMzN2",
      "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]: [-0.4839, 1.7218, 0.7315, 0.0254, -0.3416, -0.3763, 0.9957, -0.0284, 0.9413, 0.7139, -0.4992, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3646 left_y=-0.1207 left_z=0.0067 left_yaw=0.0239 left_pitch=-0.3185 left_roll=0.0639 left_gripper=0.9957 right_x=0.3014 right_y=0.0017 right_z=0.165 right_yaw=0.0097 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [0.4855, -7.1316, 6.612, 1.3553, -0.0366, 0.1294, 0.0904, -0.3487, -2.3863, 6.9128, 1.5995, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c8db6b44979f920e9fa883d42e21a9693797d0fbf81953c8992c4cc9704231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbff21ceb824080f20bca75745e0ffd4186563a20073ecd0837ac6c40284e318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:5b4e8601f270b4ef9ddeb059fae3c7f835b983222cc434afb7230668577ca39b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 29 attempt 0 · /messages · status 200 · 7.34 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 79 changed as sent

message 82 changed as sent

message 85 changed as sent

message 79 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.6073, 0.5568, 0.1467, -0.3824, -0.4191, 0.0088, -0.028, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3304 left_y=-0.1301 left_z=0.0094 left_yaw=-0.0168 left_pitch=-0.2482 left_roll=0.0319 left_gripper=0.0088 right_x=0.3013 right_y=0.0018 right_z=0.1658 right_yaw=0.01 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -6.2701, 6.5983, 1.5604, -0.2857, 0.0513, 0.6911, -0.0752, -2.0171, 7.3915, 1.5946, -0.0611, -0.0611, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.499, 0.6102, -0.0505, -0.3817, -0.4252, 0.9947, -0.0284, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3236 left_y=-0.1258 left_z=0.0342 left_yaw=-0.0089 left_pitch=-0.2785 left_roll=0.0466 left_gripper=0.9947 right_x=0.3013 right_y=0.0017 right_z=0.1658 right_yaw=0.0096 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.241, 8.0205, 1.2821, -0.2662, 0.0415, -0.0513, -0.1573, -2.1402, 7.0769, 1.5751, -0.0806, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4839, 1.7218, 0.7315, 0.0254, -0.3416, -0.3763, 0.9957, -0.0284, 0.9413, 0.7139, -0.4992, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3646 left_y=-0.1207 left_z=0.0067 left_yaw=0.0239 left_pitch=-0.3185 left_roll=0.0639 left_gripper=0.9957 right_x=0.3014 right_y=0.0017 right_z=0.165 right_yaw=0.0097 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [0.4855, -7.1316, 6.612, 1.3553, -0.0366, 0.1294, 0.0904, -0.3487, -2.3863, 6.9128, 1.5995, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:19c8db6b44979f920e9fa883d42e21a9693797d0fbf81953c8992c4cc9704231",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:dbff21ceb824080f20bca75745e0ffd4186563a20073ecd0837ac6c40284e318",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:5b4e8601f270b4ef9ddeb059fae3c7f835b983222cc434afb7230668577ca39b",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "text": "Plum now between jaws. Closing.",
      "type": "text"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01PD5wvVHBdLX7EmFuvWnt1u",
      "input": {
        "note": "Plum fills the space between the left jaws; closing.",
        "targets": {
          "left_gripper": 0.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 10 steps (1.0s)",
      "tool_use_id": "toolu_01PD5wvVHBdLX7EmFuvWnt1u",
      "type": "tool_result"
    }
  ],
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4828, 1.7374, 0.7368, 0.0303, -0.3367, -0.3752, 0.5281, -0.028, 0.9417, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3657 left_y=-0.1217 left_z=0.0032 left_yaw=0.0212 left_pitch=-0.3251 left_roll=0.0636 left_gripper=0.5281 right_x=0.3015 right_y=0.0018 right_z=0.1649 right_yaw=0.01 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -8.7179, 4.8342, 1.2137, -0.2906, -0.0611, 1.0281, -0.0889, -2.2085, 7.1863, 1.6239, -0.0611, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63480fa1a6bab40caf0b64abc23ba44f172fd635b2180a2daf4ee0a8e8f66e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0960177a7ff08b4ee60150ddda060363bec6d99b81acaf3a3755be5cf5a53f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:0677186c4a48aa15ef26829f84bc21a2b1e5c095c5ab8e08d74b56760ada1885",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 30 attempt 0 · /messages · status 200 · 6.693 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 85 changed as sent

message 88 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.572, 1.499, 0.6102, -0.0505, -0.3817, -0.4252, 0.9947, -0.0284, 0.9386, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3236 left_y=-0.1258 left_z=0.0342 left_yaw=-0.0089 left_pitch=-0.2785 left_roll=0.0466 left_gripper=0.9947 right_x=0.3013 right_y=0.0017 right_z=0.1658 right_yaw=0.0096 right_pitch=-0.1552 right_roll=0.0208 right_gripper=0.9965\nstate[joint_eff]: [-0.0889, -7.241, 8.0205, 1.2821, -0.2662, 0.0415, -0.0513, -0.1573, -2.1402, 7.0769, 1.5751, -0.0806, -0.0464, -0.0073]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4839, 1.7218, 0.7315, 0.0254, -0.3416, -0.3763, 0.9957, -0.0284, 0.9413, 0.7139, -0.4992, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3646 left_y=-0.1207 left_z=0.0067 left_yaw=0.0239 left_pitch=-0.3185 left_roll=0.0639 left_gripper=0.9957 right_x=0.3014 right_y=0.0017 right_z=0.165 right_yaw=0.0097 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [0.4855, -7.1316, 6.612, 1.3553, -0.0366, 0.1294, 0.0904, -0.3487, -2.3863, 6.9128, 1.5995, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4828, 1.7374, 0.7368, 0.0303, -0.3367, -0.3752, 0.5281, -0.028, 0.9417, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3657 left_y=-0.1217 left_z=0.0032 left_yaw=0.0212 left_pitch=-0.3251 left_roll=0.0636 left_gripper=0.5281 right_x=0.3015 right_y=0.0018 right_z=0.1649 right_yaw=0.01 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -8.7179, 4.8342, 1.2137, -0.2906, -0.0611, 1.0281, -0.0889, -2.2085, 7.1863, 1.6239, -0.0611, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:63480fa1a6bab40caf0b64abc23ba44f172fd635b2180a2daf4ee0a8e8f66e14",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0960177a7ff08b4ee60150ddda060363bec6d99b81acaf3a3755be5cf5a53f31",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 252):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:0677186c4a48aa15ef26829f84bc21a2b1e5c095c5ab8e08d74b56760ada1885",
        "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_018KqWy5mi2pQvgKsFSj8udz",
      "input": {
        "note": "Plum grasped (0.53). Carrying it over the blue bowl, which now sits near the table centre (≈ left-frame x 0.44, y −0.37).",
        "targets": {
          "left_x": 0.44,
          "left_y": -0.37,
          "left_z": 0.14
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 23 steps (2.3s)",
      "tool_use_id": "toolu_018KqWy5mi2pQvgKsFSj8udz",
      "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]: [-0.8501, 2.4546, 2.4107, -1.0397, -0.5053, -0.7345, 0.5322, -0.028, 0.9443, 0.7139, -0.4995, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4475 left_y=-0.3745 left_z=0.1303 left_yaw=0.0067 left_pitch=-0.3151 left_roll=0.0184 left_gripper=0.5322 right_x=0.3015 right_y=0.0018 right_z=0.164 right_yaw=0.0101 right_pitch=-0.1617 right_roll=0.0211 right_gripper=0.9965\nstate[joint_eff]: [-0.9094, -14.7487, 7.6786, 0.1929, -0.5201, -0.0464, 1.033, -0.1983, -2.359, 6.9402, 1.5946, -0.0659, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8d24e4e72ebfd011d88f51b906d9ec29429e29aeb2d034d99bc79c297a2c27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10686b5f1bbdfcb61f2b9cac2e4a48d7913c44c17ed07578023a641c463691c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:f25d08c4cf5a4bae532d2982550cbaf15c16e6fe39d152cf7bb8ed20cb61e820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 31 attempt 0 · /messages · status 200 · 4.982 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 85 changed as sent

message 88 changed as sent

message 91 changed as sent

message 85 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4839, 1.7218, 0.7315, 0.0254, -0.3416, -0.3763, 0.9957, -0.0284, 0.9413, 0.7139, -0.4992, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3646 left_y=-0.1207 left_z=0.0067 left_yaw=0.0239 left_pitch=-0.3185 left_roll=0.0639 left_gripper=0.9957 right_x=0.3014 right_y=0.0017 right_z=0.165 right_yaw=0.0097 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [0.4855, -7.1316, 6.612, 1.3553, -0.0366, 0.1294, 0.0904, -0.3487, -2.3863, 6.9128, 1.5995, -0.0366, -0.0122, -0.0122]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4828, 1.7374, 0.7368, 0.0303, -0.3367, -0.3752, 0.5281, -0.028, 0.9417, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3657 left_y=-0.1217 left_z=0.0032 left_yaw=0.0212 left_pitch=-0.3251 left_roll=0.0636 left_gripper=0.5281 right_x=0.3015 right_y=0.0018 right_z=0.1649 right_yaw=0.01 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -8.7179, 4.8342, 1.2137, -0.2906, -0.0611, 1.0281, -0.0889, -2.2085, 7.1863, 1.6239, -0.0611, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8501, 2.4546, 2.4107, -1.0397, -0.5053, -0.7345, 0.5322, -0.028, 0.9443, 0.7139, -0.4995, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4475 left_y=-0.3745 left_z=0.1303 left_yaw=0.0067 left_pitch=-0.3151 left_roll=0.0184 left_gripper=0.5322 right_x=0.3015 right_y=0.0018 right_z=0.164 right_yaw=0.0101 right_pitch=-0.1617 right_roll=0.0211 right_gripper=0.9965\nstate[joint_eff]: [-0.9094, -14.7487, 7.6786, 0.1929, -0.5201, -0.0464, 1.033, -0.1983, -2.359, 6.9402, 1.5946, -0.0659, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:ad8d24e4e72ebfd011d88f51b906d9ec29429e29aeb2d034d99bc79c297a2c27",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:10686b5f1bbdfcb61f2b9cac2e4a48d7913c44c17ed07578023a641c463691c0",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 275):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f25d08c4cf5a4bae532d2982550cbaf15c16e6fe39d152cf7bb8ed20cb61e820",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQS1woKEAgSGAI4AUIIdGhpbmtpbmcSDE6zThut0dQfcZBF6RoMmmpk8xxErRYDjSFDIjDP9LjY0gtPx5Hsyrh4c8tj3++xYQdZl8U2MLz0L7UgMOhO08COqgus5YzAGESwOJMq9AkLil/A5NQ8e3njJN+Us2xxvcXsIBZosNAGmRyKpACMgqIrQL4Ms/sLQryuKY84W9sjVLvCwztD7lnVfSmhGVloihmHScdUaJPjudkngG1KsrEPQtAENMqmwnGy/yhUwy8zTq4q96U2owOpOCvfLZ53/M4kcsD0zP0XeuSgSJ0lhqGeCwuFOQHb9Ks++lKIGFXqh7flIOd3Iku0OSrS7ZVc07G6vdyDIzB7KeuEpNzO2bBGD+EWPdfl1Hs36AJnCcf+VOGY5cGcE2PYYng963WjqaJxDiHfiKFKv9YmltwOHhCNG9Qvu0WcdfS3jXXrbF641WTKSX/ZkmkiduB5YUWieMUDgOWpHW3dK6rDIkqugBRwlTZXeyTe8l6Uuw4Wob4U2EuuUfUbrbZbfClzwvrZeYix6NW4KNtC4raQYliEEUoox90emWVBkofhWjcBf5AilQUXlts8RJxaZCleszoDmS1YAj8adzWLwRnR7gwy/Bzl7Hi6V03jGzaF4/qb9eGuT1fhCBOTGBKo/TxvWXF4ZZ/mPimui79DSYFmCCpc2U+wfOvuY/4byTFaeHCrdN9mGm/x4tsKnOsaXqBu7iGSzQdIovTYdOwBM0/ejeSE9aX0BcsALQYz3oWdMBBZb8cXx3m48gU47s7ARqEKSA5+BOdZ1bkSlI68fHpcFgvWERzhwlu0jxxdGn2bM0XH1BMBqtmkYz3BhZafouAfNabszeZzQSWcqrreEDSFNIcUrhHw8bUZ34x9SOabQwpVNdcPnNq0ZWZi7vtWlAaARMLTnqp6f4rzxxpDXlJm875jwrPdncIu+oK4S7BuwzUtTEBuuvEn4/qJrrHVSs4Ai8MPh1M0UY8hUqPMh7K50lh4tfpip1s7kZx5iu+rCQjZ8TSbVKCYSyOSgT5ju5jHZN2JpUF+gkJrtqRRrbAtprZXYNYOZOeAPfjw+NGyJ2e8q6Orziq5ht3vUOFQ/QceQMU8r6QNDLCzUkbBFwfPkSwibGQlR1wYD+pJDTQk0r3rHw/MWJ+blCxOAp7s+oLe9juSWjT75HyMcKbF600UUevQgErzeLyawcHqR9IgBSX7cMnrjlncfxH8+PzjeLVs5CxrZ2WLrDhZB33ddLN6SuAj0oVhLnXeBCcELq67qh/l54QS2rpkhVXkMZHSdJFz5ysdqNxGpWFEKOpYJ8zR5K9X0a4DpQuUZban/OiBSrE7OBaNILSi2dbLyUMO67nrzzliTftqkmi1d2aX3Dn/xXCFuJCT/PlM/6AjQNqC+2/TP9VaFnkzJSoGMp/+S+El1JoN+6MpcU+2Kl+0X9pjPoQQM+efLQRN0AvbrwSmNPPNhJ8Nivv+vLFQwBFL5cq5dswaPiXYoRjlXm93tFVdMwMSpyJdtXd/PGjk+R4ouIu6jRKMw+doTnVS2v3dCofyJUcpPZkucGKFQT2eGnWfXjlicjazNjZcgAuVngwGhJ3BIWZR2xCxWypDnAsF/Aon4975XjqD1B5WKKwaBri/DNxyb+bJW6Np7GdC6qkN+wJ+tkcoZBClW1lKeLz0WKzyYcjwY6Cu4HjvjDFYYkC43Qoh0f+gNnJyU1AlVo7xRcjN9KPIvKxYri1YQaoPmYZ3LY2A+SQ+xDkCr2R4NP2oE5viFIu6CVPAKYzwlzWT4AGNA3+bILcTx+TPeN39FxX0Y5fmBvGUkhgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_01BZdc49Gqz8P9WNiJjhmxzx",
      "input": {
        "note": "The blue bowl appears right of the jaws in the left wrist view; shifting as far right as the left arm allows and lowering before release.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.4,
          "left_z": 0.1
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 3 steps (0.3s)",
      "tool_use_id": "toolu_01BZdc49Gqz8P9WNiJjhmxzx",
      "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]: [-0.8581, 2.6396, 2.6709, -1.116, -0.5079, -0.7498, 0.5342, -0.028, 0.9463, 0.7139, -0.4995, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4595 left_y=-0.3949 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.3139 left_roll=0.0108 left_gripper=0.5342 right_x=0.3016 right_y=0.0018 right_z=0.1635 right_yaw=0.0101 right_pitch=-0.1636 right_roll=0.0212 right_gripper=0.9965\nstate[joint_eff]: [-0.8137, -15.2, 7.6786, 0.6276, -0.2759, -0.0024, 0.989, -0.0615, -2.3316, 6.9128, 1.5458, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e924390401889611e2f853a75669f2d68ab33efa354a8e030e8063522f555353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45fca6c020de27768248e69dbe19c545486764d16293df29dd561f047640b3c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:263e5d68f587adf43ff05aeaa6b33db0240260777c043f6fd1d599697bf7919a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 32 attempt 0 · /messages · status 200 · 15.23 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 88 changed as sent

message 91 changed as sent

message 94 changed as sent

message 88 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4828, 1.7374, 0.7368, 0.0303, -0.3367, -0.3752, 0.5281, -0.028, 0.9417, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.3657 left_y=-0.1217 left_z=0.0032 left_yaw=0.0212 left_pitch=-0.3251 left_roll=0.0636 left_gripper=0.5281 right_x=0.3015 right_y=0.0018 right_z=0.1649 right_yaw=0.01 right_pitch=-0.1583 right_roll=0.021 right_gripper=0.9965\nstate[joint_eff]: [-0.4444, -8.7179, 4.8342, 1.2137, -0.2906, -0.0611, 1.0281, -0.0889, -2.2085, 7.1863, 1.6239, -0.0611, -0.0806, -0.0073]",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8501, 2.4546, 2.4107, -1.0397, -0.5053, -0.7345, 0.5322, -0.028, 0.9443, 0.7139, -0.4995, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4475 left_y=-0.3745 left_z=0.1303 left_yaw=0.0067 left_pitch=-0.3151 left_roll=0.0184 left_gripper=0.5322 right_x=0.3015 right_y=0.0018 right_z=0.164 right_yaw=0.0101 right_pitch=-0.1617 right_roll=0.0211 right_gripper=0.9965\nstate[joint_eff]: [-0.9094, -14.7487, 7.6786, 0.1929, -0.5201, -0.0464, 1.033, -0.1983, -2.359, 6.9402, 1.5946, -0.0659, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8581, 2.6396, 2.6709, -1.116, -0.5079, -0.7498, 0.5342, -0.028, 0.9463, 0.7139, -0.4995, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4595 left_y=-0.3949 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.3139 left_roll=0.0108 left_gripper=0.5342 right_x=0.3016 right_y=0.0018 right_z=0.1635 right_yaw=0.0101 right_pitch=-0.1636 right_roll=0.0212 right_gripper=0.9965\nstate[joint_eff]: [-0.8137, -15.2, 7.6786, 0.6276, -0.2759, -0.0024, 0.989, -0.0615, -2.3316, 6.9128, 1.5458, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e924390401889611e2f853a75669f2d68ab33efa354a8e030e8063522f555353",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:45fca6c020de27768248e69dbe19c545486764d16293df29dd561f047640b3c9",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 278):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:263e5d68f587adf43ff05aeaa6b33db0240260777c043f6fd1d599697bf7919a",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
{
  "content": [
    {
      "signature": "CAQSrwkKEAgSGAI4AUIIdGhpbmtpbmcSDP1fEyq7S//BEnnMahoMYhyApE9js/yFWHFuIjA7VGPh/sNgMsHNwCFqroZxu5r1bFAeTQRkakEhfuySy1NVp65TL/Rf91SPwpmPTkgqzAg6FAKkfos4Lf9/eM7fOm0ARlObh0RIsn4SEttODCXgVEvjLwGGnHWryZpNmDi6zI3omLiMh5IDm5Cz+bytcGw/rIJA0aNT+I18hna2KbDYmgKeBgZ5Dod/OMSVBATr9ETK9RawnaRCzSkLxkesTegBmhEcN9E1UGE2xIna0+qw8kWi67DbUIjPwaDKuLJNffsvlYJz5MnUfcZAPHfLlKUT47p+j4oJmxbPYwHzjIBksxEmdJ6d6anToEpxTKuVo5Crdu3GWyL9EWQfX/Wr0/tynwx8ROzu7JUqElh3DQcNkQilfExnD5F8P99YVz31FnyXV0byRIi1dXtkMY06jvgDjsDXM2UQEnld8Ex41gFOAU+bcE+yaUMabiry3GkhXJRz5GWIXzeGsxW9tHQR6UWKz9IylxUVyZJ4qE6x0UQK9NodNUeIYtV0gb+Hw5r2AluC0Q4NwPAcpxKMZUyGyWQ7l1HXoEhNhigY16mDuVZlxr8aGidpbFKVEdNV+xdWiMf3CDHABspKt5dbIF+fUBvIfFQW8ltpBvKjzYttB3+24UIGHOb570HKPONoQo7LbWVu/qEb0Urs4lyi5MLBNyYDtXCpR32MDujL+6EG1j8tDDl67taqEzmzMcU2CfdnDF5VV0Qn1z1HbwEeGrUx6KP++La9duw6bnGskB/gfVo8dxsLmL2/NhpKAN8hjbKx2oVlGwHx1xTeTDnQkIA2rJ/drQiArcCY4PACEbvi1ChYF5KduTZWi3byXMFCjrCC8TflBXivOYMVyAi17Y7AjE6yv41GX/jkDYLJlGZ+JyLc81vqVSjtkiKdiSe9WvCYkYcTnwDE6FsJYBFMRQegVbwIUgbqMWoNAdYsg6+xuoqlQgqzjL2Pkn2SRkYpMfKAH+iZfw1xH8T0rHzCjnuOmTOMFB2PM3fDYQRtvGHbR0BbUm7Ptqez/7R+PVR36Sd+6/mqNkq2d4IjFhpBhvdkcFMfJeYitdebAFi3r/w0C25PJDozSDGlVgKjNqh4qpjmoSjqw6EX66lwcOS06y0sFmJAK+8yAbRqZu27Oq9d+A5WRJm3MeJJf+AwishQq7lVTyElZA5NVoyIBrB4nI+DOwnRjs7NYYHUXoYz3lR+MAGIRAiI8KqnMGlsh2r9aCj1m/TPNG3hq/5CKWuiMFeuttoHbrAwxT8RknXueqI6Mwn/B5Ma1Zn6WBB5UJUgQKZ2dhRUhYg99xJSH1tIl3VWy+6VkjirNTAFEb+HMG0e3N90r1qlSaBGS3SrluqM9lBsfbAuVACQn497DBTBEi6hdR0YAaa+wsx0veHaiMIme+10XZhayBD6teE+4FEvaxukwsqk+ePKoVwFQeQajcd9p1hqZuWEF7vtaOpeHpsRab+aH/wP7MJVn7RvLvL7T3f6/tVHrFJYS4FmiBrnwi8RFn7zo4H9soaLQ5YgGytqacTR/ipkoDeSsRuU4rJ4kBgB",
      "thinking": "",
      "type": "thinking"
    },
    {
      "caller": {
        "type": "direct"
      },
      "id": "toolu_011xPPzkdFP6kD5Y8UzqZw6z",
      "input": {
        "note": "Plum is hanging over the left part of the blue bowl (bowl visible just under/behind it); releasing.",
        "targets": {
          "left_gripper": 1.0
        }
      },
      "name": "move_to",
      "type": "tool_use"
    }
  ],
  "role": "assistant"
}
{
  "content": [
    {
      "content": "executing move_to over 5 steps (0.5s)",
      "tool_use_id": "toolu_011xPPzkdFP6kD5Y8UzqZw6z",
      "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]: [-0.86, 2.7098, 2.6949, -1.1313, -0.5045, -0.757, 0.9954, -0.028, 0.9463, 0.7139, -0.4992, -0.038, -0.0082, 0.9965]\nstate[eef_state]: left_x=0.4577 left_y=-0.3953 left_z=0.0742 left_yaw=0.0258 left_pitch=-0.3555 left_roll=0.0539 left_gripper=0.9954 right_x=0.3016 right_y=0.0018 right_z=0.1636 right_yaw=0.0103 right_pitch=-0.1632 right_roll=0.0209 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -17.0735, 8.8957, 0.9695, -0.4029, 0.0464, -0.1343, -0.0752, -2.2085, 7.1726, 1.5751, -0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058195af2c2442232dc1fc9c8061ac5919e5e439cffd2ece29cacb70cf7d08fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bf3cf159b0b5e1a3584d2704c19248e4380d0c3c51673ea943301e60d5d8e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:e9a7d8cb8e3c581c781f08cce6bff1810a462752f22a3f9636ff263457e42925",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 33 attempt 0 · /messages · status 200 · 13.62 s
model
claude-opus-5-5
effort
medium
temperature
n/a
tool count
3

message 91 changed as sent

message 94 changed as sent

message 97 changed as sent

message 91 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8501, 2.4546, 2.4107, -1.0397, -0.5053, -0.7345, 0.5322, -0.028, 0.9443, 0.7139, -0.4995, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4475 left_y=-0.3745 left_z=0.1303 left_yaw=0.0067 left_pitch=-0.3151 left_roll=0.0184 left_gripper=0.5322 right_x=0.3015 right_y=0.0018 right_z=0.164 right_yaw=0.0101 right_pitch=-0.1617 right_roll=0.0211 right_gripper=0.9965\nstate[joint_eff]: [-0.9094, -14.7487, 7.6786, 0.1929, -0.5201, -0.0464, 1.033, -0.1983, -2.359, 6.9402, 1.5946, -0.0659, -0.0317, -0.0122]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8581, 2.6396, 2.6709, -1.116, -0.5079, -0.7498, 0.5342, -0.028, 0.9463, 0.7139, -0.4995, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4595 left_y=-0.3949 left_z=0.1084 left_yaw=0.0093 left_pitch=-0.3139 left_roll=0.0108 left_gripper=0.5342 right_x=0.3016 right_y=0.0018 right_z=0.1635 right_yaw=0.0101 right_pitch=-0.1636 right_roll=0.0212 right_gripper=0.9965\nstate[joint_eff]: [-0.8137, -15.2, 7.6786, 0.6276, -0.2759, -0.0024, 0.989, -0.0615, -2.3316, 6.9128, 1.5458, -0.0366, -0.0171, -0.0122]",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "text": "[3 camera frame(s) elided]",
      "type": "text"
    }
  ],
  "role": "user"
}
message 97 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.86, 2.7098, 2.6949, -1.1313, -0.5045, -0.757, 0.9954, -0.028, 0.9463, 0.7139, -0.4992, -0.038, -0.0082, 0.9965]\nstate[eef_state]: left_x=0.4577 left_y=-0.3953 left_z=0.0742 left_yaw=0.0258 left_pitch=-0.3555 left_roll=0.0539 left_gripper=0.9954 right_x=0.3016 right_y=0.0018 right_z=0.1636 right_yaw=0.0103 right_pitch=-0.1632 right_roll=0.0209 right_gripper=0.9965\nstate[joint_eff]: [-0.6906, -17.0735, 8.8957, 0.9695, -0.4029, 0.0464, -0.1343, -0.0752, -2.2085, 7.1726, 1.5751, -0.0904, -0.0708, -0.0122]",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:058195af2c2442232dc1fc9c8061ac5919e5e439cffd2ece29cacb70cf7d08fc",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:f4bf3cf159b0b5e1a3584d2704c19248e4380d0c3c51673ea943301e60d5d8e2",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 283):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e9a7d8cb8e3c581c781f08cce6bff1810a462752f22a3f9636ff263457e42925",
        "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_01CajyXFJp3djeN1gDMbnugy",
      "input": {
        "note": "Plum and pear are now in the blue bowl (lemon is stuck at the right fence). Shifting the left arm so the bowl's left rim wall sits between the jaws, and descending to pinch it for the pour.",
        "targets": {
          "left_x": 0.46,
          "left_y": -0.36,
          "left_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_01CajyXFJp3djeN1gDMbnugy",
      "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]: [-0.86, 2.7098, 2.6949, -1.1309, -0.5045, -0.757, 0.9963, -0.028, 0.9463, 0.7139, -0.4988, -0.038, -0.0078, 0.9965]\nstate[eef_state]: left_x=0.4577 left_y=-0.3953 left_z=0.0742 left_yaw=0.0257 left_pitch=-0.3553 left_roll=0.0536 left_gripper=0.9963 right_x=0.3017 right_y=0.0018 right_z=0.1636 right_yaw=0.0101 right_pitch=-0.1628 right_roll=0.0211 right_gripper=0.9965\nstate[joint_eff]: [-0.3897, -17.2513, 9.0325, 0.9646, -0.4078, 0.0073, 0.0904, 0.0068, -2.1949, 7.1316, 1.6044, -0.0415, -0.0171, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "text"
    },
    {
      "text": "camera 'top_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:4926299744ad230bb09ba4a3f7280006474f6d1fac3ca8f5907cbe3284fdcc40",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'left_cam' (step 287):",
      "type": "text"
    },
    {
      "source": {
        "data": "$blob:e2b5518ab60d615d05cece8a83865016ad1ba616d68dccf1917a49dab9ce5aa3",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    },
    {
      "text": "camera 'right_cam' (step 287):",
      "type": "text"
    },
    {
      "cache_control": {
        "type": "ephemeral"
      },
      "source": {
        "data": "$blob:8259c1a8f57f75e1ccb254622967a4bc27481729e94c83b24e246e53374f046f",
        "media_type": "image/png",
        "type": "base64"
      },
      "type": "image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]